JP5481882B2 - Driving support information provision device - Google Patents

Description

The present invention relates to a driving assistance information providing apparatus that informs a positional relationship with a front object and assists the driving.

  When driving on a curve, a technology that detects blind spots that cannot be seen directly by obstacles ahead and blurs the connection between the virtual road image of the road in the blind spot and the actual scenery ahead is displayed on the head-up display is known. (See Patent Document 1).

JP 2005-215879 A

  However, in the conventional technique, since the connection portion between the virtual road image of the road and the front real scenery is displayed blurred, there is a problem that it is difficult for the occupant to visually recognize the relationship with the target existing in front of the vehicle.

  The present invention relates to driving assistance information including a figure that schematically represents the degree of proximity between the host vehicle and the front object in the positional relationship between the front object and the host vehicle detected in front of the traveling direction of the vehicle. The above-mentioned problem is solved by displaying in the peripheral visual field.

According to the present invention, since the degree of approach between the host vehicle and the front object is indicated by the graphic displayed in the peripheral visual field, the driving assistance information that allows the driver to easily recognize the relationship with the object existing in front of the vehicle is provided. be able to.

FIG. 1 is a block configuration diagram of a driving support information providing system driving information providing system 100 according to the present embodiment. FIG. 2 is a first diagram for explaining an arrangement example of the display device 20 shown in FIG. FIG. 3 is a cross-sectional view of the display device 20 shown in FIG. 2 along the longitudinal direction (traveling direction) of the vehicle. FIG. 4 is a diagram for explaining the positional relationship between the display device 20 and the driver's D visual field. FIG. 5 is a diagram for explaining an example of calculating an approach degree (first approach degree) with a preceding other vehicle. FIG. 6 is a diagram for explaining a calculation example of the distance between the boundary of the traveling lane and the own vehicle. FIG. 7 is a diagram for explaining an example of calculating the approach degree (second approach degree) with the boundary of the travel lane. FIG. 8 is a diagram illustrating a display example of the approach degree between the preceding other vehicle and the host vehicle, and a display example of the road boundary (running lane boundary) and the approach degree of the host vehicle at the time of a curve. FIG. 8A shows an example of a figure that simulates the first approach degree related to the degree of approach between the host vehicle and the preceding other vehicle, and FIG. 8B shows the host vehicle and the travel lane. The example of the figure which expresses the 2nd approach degree which concerns on the approach degree with a boundary in simulation is shown. FIG. 9 illustrates a method of comparing the first approach degree relating to the degree of approach between the host vehicle and the preceding other vehicle and the second approach degree relating to the degree of approach between the host vehicle and the travel lane boundary. FIG. FIGS. 10A to 10C are diagrams showing three display examples of driving support information including figures having different shapes according to the first approach degree of the preceding other vehicle and the host vehicle. FIGS. 11A to 11D are diagrams showing four display examples of driving support information including figures having different shapes according to the road boundary (running lane boundary) at the time of a curve and the second approach degree of the host vehicle. It is. FIGS. 12A to 12D are first diagrams for explaining a graphic setting method according to a road boundary (running lane boundary) at the time of a curve and a second approach degree of the host vehicle. FIGS. 13A to 13D are second diagrams for explaining a graphic setting method according to a road boundary (running lane boundary) at the time of a curve and a second approach degree of the host vehicle. FIG. 14 is a table that defines the color and brightness assigned to the graphic in accordance with the first approach degree between the preceding other vehicle and the host vehicle. FIGS. 15A to 15D are diagrams showing four display examples of driving support information including graphics with different colors and brightness depending on the degree of approach between the preceding other vehicle and the host vehicle. FIG. 16 is a table that defines the color and brightness attached to the figure according to the road boundary (running lane boundary) at the time of the curve and the degree of approach of the host vehicle. FIGS. 17A to 17D are diagrams showing four display examples of driving assistance information including figures with different colors and brightness given according to the degree of approach between the road boundary (running lane boundary) and the host vehicle at the time of a curve. It is. FIG. 18 is a flowchart for explaining the driving assistance information providing process of the present embodiment.

  The driving support information providing system 100 according to the present embodiment supports driving of a driver by providing information including a figure that simulates the degree of approach between an object existing ahead in the traveling direction of the vehicle and the host vehicle. It is a device to do.

A driving support information providing system 100 according to the present embodiment will be described based on the drawings. In the present embodiment, an in-vehicle device 1000 including a driving support information providing system 100 that is mounted on a vehicle and supports driving of the vehicle will be described as an example.

  As shown in FIG. 1, the driving support information providing system 100 includes a control device 10 and a display device 20.

  As shown in FIG. 1, the driving support information providing system 100 includes a navigation device 200, a vehicle controller 300, and a ranging / positioning device 400 included in the in-vehicle device 1000, a CAN (Controller Area Network), and other in-vehicle LANs. To exchange information with each other.

  Further, as shown in FIG. 1, the control device 10 of the driving assistance information providing system 100 includes a ROM (Read Only Memory) 12 storing a program for executing the driving assistance information generating process according to the present embodiment, By executing a program stored in the ROM 12, a CPU (Central Processing Unit) 11 as an operation circuit that functions as the driving support information providing system 100 and a RAM (Random Access Memory) 13 that functions as an accessible storage device. And comprising. As an operation circuit, instead of or in addition to the CPU (Central Processing Unit) 11, an MPU (Micro Processing Unit), a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array). Etc. can be used.

  Next, the processing function with which the control apparatus 10 of the driving assistance information provision system 100 is provided is demonstrated. The control device 10 calculates a positional relationship calculation function for calculating the positional relationship between the target object detected in front of the traveling direction of the host vehicle and the host vehicle, and calculates the degree of approach between the host vehicle and the target object based on the positional relationship. A function for calculating the degree of approach, a figure derivation function for deriving a figure that simulates the degree of approach between the vehicle and the object in the positional relationship, and driving assistance information including the derived figure for the driver of the host vehicle Display control function for displaying in the peripheral visual field. And each function is performed by cooperation of the software for implement | achieving each function, and the hardware containing the control apparatus 10 mentioned above.

  Hereinafter, functions realized by the control device 10 of the driving assistance information providing system 100 described above will be described.

  First, the display control function of the driving assistance information providing system 100 will be described. The control device 10 uses the display device 20 to display driving support information including a figure that represents the degree of approach between the vehicle and the object in a simulated manner in the peripheral vision of the driver.

  Here, the display apparatus 20 of this embodiment is demonstrated based on FIGS. The display device 20 of the present embodiment is installed so that its display surface is within the peripheral vision of the driver. Specifically, as shown in FIG. 2, the display device 20 is provided such that its display surface is located within a peripheral visual field range that surrounds the central visual field at the center of the line of sight of the driver sitting in the driver's seat. Incidentally, although there are individual differences, the central visual field is generally in the range of about 8 ° to 12 ° from the center of the human line of sight, and the peripheral visual field is generally about 13 ° to 17 ° from the center of the human line of sight. It is a range.

  3 is a cross-sectional view of the state shown in FIG. 2 along the longitudinal direction (traveling direction) of the vehicle. The display device 20 is installed in the vicinity of the upper surface of the instrument panel of the host vehicle. As shown in FIG. 3, the display device 20 of the present embodiment is installed on the lower side of the instrument panel having transparency. That is, the driver can view the driving support information displayed on the display device 20 from above the instrument panel.

  As shown in FIG. 3, the display device 20 of the present embodiment includes a plurality of light emitters 22 arranged in a planar shape and a diffusion plate 23 that covers the light emitter rows 22. Each light emitter 22 of the present embodiment is identified by its arrangement position (coordinates), and blinking, brightness adjustment, and hue adjustment are possible for each light emitter 22 in accordance with a control command of the control device 20. The light emitter 22 of the present embodiment is a light emitting diode. In addition, the light emitting diode of this embodiment can express arbitrary colors including what light-emits the three primary colors of red, blue, and green. Further, the diffusion plate 23 blurs the light emitting point of the light emitting diode. Thereby, the light spot of the light emitting diode provided with the predetermined pitch can be expressed as a continuous line.

  Further, FIG. 4 shows a positional relationship between the display device 20 and the visual field of the driver D. As shown in FIG. 4, the central visual field is the range of 0 ° or more and less than 10 ° with respect to the line of sight Q of the driver D, and the range of 10 ° or more and less than 15 ° with respect to the line of sight of the driver D Is the peripheral vision. As shown in FIG. 4, the display device 20 is installed so that the display surface 21 is included in the peripheral visual field region.

  3 and 4, the display device 20 is installed with an inclination with respect to the horizontal plane of the host vehicle so that the display surface 21 faces the rear side of the host vehicle. This inclination is appropriately set for each vehicle according to the position of the driver's seat, the height and shape of the dashboard, and the like. At this time, the inclination of the display device 20 is set to a small value (about 3 ° to 6 °, or about 1 ° to 10 °). Thus, by providing a slight angle between the display surface 21 of the display device 20 and the traveling road surface, the occupant can easily associate the information displayed on the display device 20 with the actually viewed traveling road surface. At the same time, it is easy to see from the passenger. Moreover, it becomes easy to express a sense of perspective along the traveling direction in the information displayed on the display surface 21 by a slight inclination.

  Incidentally, the region of the central visual field is a range that a person sees in order to consciously understand and recognize itself, and is a range in which the shape and size of things can be accurately captured. On the other hand, the peripheral vision region is a range in which a person can unconsciously perceive, and is a range in which the shape and size of a thing can be perceived sensuously. Since the peripheral visual field is wider than the central visual field, a person can perceive the position and shape of what changes in the peripheral visual field. That is, the driver can recognize the information presented in the peripheral visual field in parallel while setting the central visual field at the cautionary point ahead of the vehicle and accurately judging the driving situation. In the present embodiment, by utilizing such a human visual characteristic, a figure that simulates the degree of approach between the vehicle and the object is displayed in the peripheral visual field, so that the driver who concentrates on the driving operation can display it. On the other hand, the degree of approach between the vehicle and the object can be transmitted sensuously.

  Next, the positional relationship calculation function of the driving support information providing system 100 will be described. The control device 10 of the driving support information providing system 100 calculates the positional relationship between the target object detected in front of the traveling direction of the host vehicle and the host vehicle. That is, the control device 10 acquires the current position, traveling direction, vehicle speed, and steering angle of the host vehicle at a predetermined timing, and information on whether or not an object is detected in front of the traveling direction of the host vehicle and its position. To get.

  The current position of the vehicle at a predetermined timing is acquired from the navigation device 200. The navigation device 200 has a position detection device 210 including a GPS (Global Positioning System) 211, and detects the position of the host vehicle by the GPS (Global Positioning System) 211 and other positioning functions.

  Further, the vehicle speed, the steering angle, and the vehicle controller 300 at a predetermined timing are acquired. The vehicle controller 300 includes a vehicle speed sensor 310 and a steering angle sensor 320. The vehicle speed sensor 310 detects the vehicle speed V of the host vehicle by measuring the number of rotations of the wheels and the number of rotations on the output side of the transmission, and outputs the detected host vehicle speed to the control device 10. Further, the steering angle sensor 320 detects the steering angle α of the steering wheel attached to the vehicle and outputs it to the control device 10.

  Further, the positional relationship between the host vehicle and the object at a predetermined timing is acquired from the distance measuring / positioning device 400. The distance measuring / positioning device 400 includes an image processing device 410 and / or a radar distance measuring device 420.

  The image processing device 410 detects an object and calculates a distance to the object based on the image. The image processing apparatus 410 includes a side camera 411 that images the side of the vehicle and a front camera 412 that images the front in the traveling direction of the vehicle. The side camera 411 is, for example, a small CCD (Charge Coupled Device) camera or a CMOS (Complementary Metal Oxide Semiconductor) attached to the lower part of the left and right side mirrors. Get an image. The detection area by the side camera 411 is about 0 m to 2 m on each of the left and right sides of the vehicle, and the side road scenery included in this area is captured as an image. The image processing device 410 extracts a travel lane in which the host vehicle travels based on the image information of the lane marker included in the captured image detected by the side camera 411. Further, the image processing apparatus 410 obtains the distance between the traveling lane and the host vehicle (lateral position in the lane), the angle of the traveling direction of the host vehicle with respect to the lane, and the like.

  The front camera 412 is a small CCD (Charge Coupled Device) camera or CMOS (Complementary Metal Oxide Semiconductor) camera mounted on the upper part of the front window, and detects the road condition ahead of the host vehicle as an image. To do. The image processing apparatus 410 travels forward in the traveling direction of the host vehicle from a captured image captured by the front camera 412 using a pattern of an object (a vehicle, an installation on the road, a travel lane boundary, etc.) prepared in advance. Objects such as a lane marker indicating a boundary between a preceding other vehicle, a road installation object, and a traveling lane are detected. Further, the image processing apparatus 410 obtains the distance and direction from the own vehicle detected to the preceding other vehicle, the installation object on the road, the lane marker, and the like, and calculates the positional relationship from the own vehicle to the object and its change amount. To do. The object detection process and the positional relationship calculation process are executed in a predetermined cycle.

  The radar distance measuring device 420 emits electromagnetic waves, receives reflected waves generated by hitting objects around the host vehicle, detects the presence and direction of the object from the time difference between the emitted and reflected waves, The distance between the host vehicle and the object is measured, and the positional relationship between the host vehicle and the object and the amount of change are calculated.

  Further, the control device 10 refers to the road information (road curvature, road width) stored in the map information 220 of the navigation device 200, and determines the distance from the position of the own vehicle to the boundary of the traveling lane of the own vehicle (the own vehicle). The distance to the intersection of the extension line in the traveling direction of the vehicle and the boundary of the traveling lane) may be calculated by a geometric method. This method will be described in detail later.

  In addition, the method of ranging and positioning is not particularly limited, and a method that can be used at the time of filing can be used.

  Then, the distance measurement / positioning device 400 sends the calculated positional relationship between the host vehicle and the object to the control device 10. The control device 10 acquires the positional relationship between the host vehicle and the object. The positional relationship between the host vehicle and the object may be calculated using the functions of both the image processing device 410 and the radar distance measuring device 420.

  Next, the approach degree calculation function of the driving support information providing system 100 will be described. The control device 10 calculates the degree of approach between the host vehicle and the object based on the positional relationship calculated by the positional relationship calculation function. The degree of approach in the present embodiment is expressed as the time or distance until the host vehicle approaches the object most. That is, the closer the host vehicle is to the object, the smaller the margin time is, and the closer the host vehicle is to the object, the greater the degree of approach.

  The control device 10 of the present embodiment calculates the degree of approach between the host vehicle and the object based on the distance between the host vehicle and the object or the time until the host vehicle reaches the object.

  The control device 10 according to the present embodiment includes a first approach degree related to the degree of approach between the host vehicle and the preceding other vehicle and / or a second approach degree related to the degree of approach between the host vehicle and the boundary of the traveling lane. Is calculated.

  First, the first approach degree calculation method will be described. The control device 10 calculates the positional relationship between the host vehicle and the preceding other vehicle (object) that travels forward in the traveling direction of the host vehicle based on the distance and relative speed between the host vehicle and the preceding other vehicle. Further, as shown in FIG. 5 and Formula 1, the control device 10 calculates the front inter-vehicle margin time (TTC) obtained by dividing the inter-vehicle distance Lc between the host vehicle and the preceding vehicle by the relative speed ΔVc between the host vehicle and the preceding vehicle. : Time to Collision) is calculated as the first approach degree.

TTC (front vehicle margin time) = Lc (vehicle distance) / ΔVc (relative speed) (Equation 1)
The inter-vehicle distance Lc and the relative speed ΔVc are acquired based on the positional relationship between the preceding other vehicle and the host vehicle detected at a predetermined cycle and the change thereof. Moreover, the approach degree mentioned above can also be expressed by the distance from the current position of the traveling vehicle to the preceding other vehicle (target object).

  A second approach degree calculation method will be described. First, the control device 10 calculates the positional relationship with the boundary (object) of the traveling lane extending forward in the traveling direction of the host vehicle based on the distance between the host vehicle and the boundary of the traveling lane and the speed of the host vehicle. To do.

  Based on FIG. 6, a method for calculating the degree of approach expressed by the arrival time until the vehicle reaches a point T on the outer boundary of the curve of the traveling lane and exceeds (departs from the traveling lane) will be described. To do.

  First, the control device 10 determines a point T where the host vehicle is on the boundary of the travel lane. As shown in FIG. 6, the point T is an intersection drawn from a vehicle traveling on the traveling lane with respect to a circle formed by a lane boundary outside the curve of the traveling path.

The distance LI from the host vehicle to the point T (coordinates x, y) is derived as shown in FIG. First, y is obtained from the relational expression x ² + y ² = (R + D) ² by the expression {y = (R + D) ² −x ² } ^1/2 . Since (x, y) = (− R, LI), LI = {(R + 2R · D + D) −R} ^1/2 , so that LI = (2RD + D) ^1/2. . Here, R is the curvature of the road, D is half the width of the travel lane, and is acquired from the map information 220 as road information. The road information includes the curvature of the road including each point and / or the lane width of the road including each point. The road information of the present embodiment is stored in a readable state in a memory that stores the map information 220 of the navigation device 200. The navigation device 200 transmits the point information and / or road information of a predetermined point in response to a request from the control device 10. The control device 10 may calculate the distance LI from the host vehicle to the point T (coordinates x, y) at the timing when the steering angle sensor 320 detects a steering operation of a predetermined value or more.

The distance LI from the host vehicle to the point T (coordinates x, y) may be calculated by the image processing device 410. For example, a lane marker is extracted based on the captured image, and an intersection point between the lane marker and an extension line in the longitudinal center of the host vehicle is set as a point T, and a distance LI from the host vehicle to the point T can be obtained.

Then, as shown in FIG. 7 and Expression 2, the control device 10 divides the distance LI between the host vehicle and the travel lane by the speed V of the host vehicle and obtains a lane departure allowance time (TLC: Time to Lane). crossing) is calculated as the second approach degree.

TLC (lane departure margin time) = Ll (lane departure distance) / V (speed) (Formula 2)
In addition, the approach degree mentioned above can also be expressed by the distance from the current position of the traveling vehicle to the point T.

Next, the graphic derivation function of the driving support information providing system 100 will be described. The control device 10 derives a figure that simulates the degree of approach between the host vehicle and the object in the positional relationship. The control device 10 derives a figure corresponding to each of the two approach degrees (first approach degree and second approach degree) described above. That is, the control device 10 derives one figure that represents the degree of approach between the host vehicle and the preceding other vehicle in a simulated manner, and another figure that represents the degree of approach between the host vehicle and the boundary of the traveling lane in a simulated manner. Is derived.

As shown in FIG. 8, the control device 10 derives a figure having a shape corresponding to the first approach degree or the second approach degree, that is, a figure having different characteristics. That is, when the first approach degree related to the degree of approach between the host vehicle and the preceding other vehicle is represented in a simulated manner, a figure composed of a straight line illustrated in FIG. When the second approach degree related to the approach degree with the lane boundary is simulated, a figure including a curve illustrated in FIG. 8B is used. Depending on the characteristics of the figure, the driver may determine whether the indicated driving support information indicates the first degree of approach related to the degree of approach between the host vehicle and the preceding other vehicle, or the approach between the host vehicle and the boundary of the driving lane. It can be intuitively recognized whether it indicates the second approach degree related to the degree.

  In addition, the control device 10 represents the first approach degree (the degree of approach expressed by TTC) between the host vehicle and the preceding other vehicle and the second approach degree (expressed by TLC) between the host vehicle and the travel lane boundary. And a figure that schematically represents the first approach degree or the second approach degree of the higher approach degree (shorter margin time). The control device 10 automatically switches between driving support information including a graphic representing a first approach degree and driving support information including a graphic representing a second approach degree according to the comparison result. .

The comparison between the first approach degree and the second approach degree is performed by comparing a lane departure margin time (TLC: Time to Lane crossing) and a front inter-vehicle margin time (TTC: Time to Collision).

As shown in FIG. 9, when TTC and TLC are associated, and TTC is less than (or less than) TLC, and TTC is less than a certain threshold (T2) (the dark gray portion in FIG. 9), That is, when the front inter-vehicle margin time (TTC) is smaller than the lane departure margin time (TLC) of the curve, a graphic representing the first approach degree is derived.

Further, when TLC is equal to or less than (or less than) TTC and TLC is smaller than a certain threshold value (T1) (the light gray portion at the upper left in FIG. 9), that is, the lane departure margin time (TLC) of the curve Is smaller than the front inter-vehicle margin time (TTC), a graphic representing the second approach degree is derived.

The control device 10 according to the present embodiment derives a figure having a shape corresponding to the degree of proximity between the host vehicle and the object in the positional relationship. That is, figures having different shapes are derived according to the degree of approach. By providing driving support information including figures having different shapes, the driver can intuitively recognize the level of approach from the shape of the figures.

FIGS. 10A to 10C are driving assistances including figures of different shapes derived in accordance with the level of the first approach degree (the degree of approach expressed by TTC) between the host vehicle and the preceding other vehicle. It is a figure which shows the example of a display of information. In the example shown in FIGS. 10A to 10C, the first approach degree is simulated by a trapezoid that is a quadrilateral in which a pair of opposite sides extends in a direction substantially perpendicular to the traveling direction of the host vehicle. At this time, it is preferable to display the figure so that the long side of the trapezoid (the long side of the pair of parallel opposite sides) is the end side of the display surface 21 closest to the driver. In FIG. 10A, a trapezoidal image simulating this figure is superimposed on the figure to be displayed.

By expressing the first degree of approach between the vehicle and the preceding other vehicle with a trapezoid as shown in FIGS. 10A to 10C, the scene in front of the traveling lane of the host vehicle and the display device 10 are displayed. The relationship with driving support information can be displayed in an easy-to-understand manner. That is, the other set of opposite sides connecting the opposite ends of the trapezoidal pair is inclined toward the center at the same angle, and these two straight lines are the two lane markers extending forward of the traveling lane of the own vehicle. Since they are similar, the relationship between the scene in front of the traveling lane of the host vehicle and the driving support information displayed on the display device 10 can be displayed in an easily understandable manner.

In the present embodiment, the control device 10 derives graphics having different areas according to the first approach level.

10A to 10C showing examples of driving support information, the first approach degree (the degree of approach expressed by TTC) has a relationship of A <B <C. That is, the state shown in FIG. 10A has the lowest first approach degree (the most separated state), and the state shown in FIG. 10C has the highest first approach degree (the closest approach state).

10A to 10C, figures having different heights are derived according to the first approach degree. In the present embodiment, as shown in FIGS. 10A to 10C, a graphic having a lower height is derived as the first approach degree is higher.

At this time, as shown in FIGS. 10A to 10C, the height direction of the graphic to be changed is set so as to follow the traveling direction of the host vehicle, and the base point of the height is set to the driver most. It is preferable to use a point on a near side. In this way, the driver recognizes the degree of approach between the preceding other vehicle and the host vehicle in association with the state in which the height of the figure along the traveling direction of the host vehicle changes from the side closest to the driver. can do.

In other words, if the figure is shortened and the figure shows a figure contracted to the driver side, the driver can intuitively recognize that the preceding other vehicle has approached the host vehicle, and the figure height When the figure becomes longer and the figure is extended forward from the driver side, the driver can intuitively recognize that the preceding other vehicle is separated from the host vehicle.

Next, a display example of a figure simulating the second approach degree between the boundary of the traveling lane in the curve and the host vehicle will be described.

11A to 11D show figures having curves of different curvatures derived according to the level of the second approach degree (the degree of approach expressed by TLC) between the host vehicle and the preceding other vehicle. It is a figure which shows the example of a display of the driving assistance information containing. In FIG. 11B, an image of a curve simulating this figure is superimposed on the figure to be displayed.

At this time, the curve preferably has a shape extending in a direction in which the host vehicle curves. That is, as shown in FIGS. 11A to 11D, when the host vehicle curves to the right side, the figure including a curve extending from the position of y = 0, x = 0 on the display surface 21 of the display device 20 is used. When the host vehicle curves to the left side, the second approach degree is simulated by a figure including a curve extending from the position of y = 0, x = max on the display surface 21 of the display device 20. .

By expressing the second degree of approach between the vehicle and the boundary of the travel lane with a curve as shown in FIGS. 11A to 11D, the scene in front of the travel lane of the host vehicle and the display device 10 are displayed. It is possible to display the relationship with the provided driving support information in an easy-to-understand manner. That is, the driver can recognize the extending direction of the curve and the shape of the curve displayed on the display device 20 in association with the travel lane on which the host vehicle travels. For this reason, the relationship between the scene in front of the traveling lane of the host vehicle and the driving support information displayed on the display device 10 can be displayed in an easily understandable manner.

As illustrated in FIGS. 11A to 11D, the control device 10 derives a graphic having a different curvature according to the level of the second approach degree. The curvature that changes according to the level of the second approach degree indicates the degree of the curvature, and the curvature increases as the curvature increases.

11A to 11D showing other examples of driving support information, the second degree of approach (the degree of approach expressed by TLC) is in a relationship of A <B <C <D. That is, the state shown in FIG. 11A has the lowest second approach degree (the most separated state), and the state shown in FIG. 11D has the highest second approach degree (the closest approach state).

In this embodiment, as shown in FIGS. 11A to 11D, as the second approach degree is higher, a figure including a curve having a larger curvature (a smaller radius of curvature) is derived, and the host vehicle and the object are derived. The figure including a curve with a smaller curvature (a larger radius of curvature) is derived as the degree of proximity to is lower.

Further, if differently grasped, a figure having a different outer angle or inner angle at the right end portion or the left end portion of the figure is derived according to the degree of approach between the host vehicle and the object. Here, the outer angle of the right end or left end of the figure is the angle between the right end or left end of the figure and the extension of the adjacent side, and the inner angle of the right end or left end of the figure is the right end of the figure It is an angle formed inside two sides adjacent to each other at the portion or the left end portion.

As shown in FIGS. 11A to 11D, the control device 10 differs in the outer angle or inner angle of the right end portion or the left end portion according to the level of the second approach degree (the degree of approach expressed by TLC). Derive a figure. In the present embodiment, as shown in FIGS. 11A to 11D, a graphic having a larger outer angle or smaller inner angle at the right end portion or the left end portion is derived as the second approach degree is higher. As shown in FIGS. 11A to 11D, in the case where the figure is a non-polygonal diagram, the outer angle or inner angle of the right end portion or the left end portion is the x axis or the x axis of the display surface 21 of the display device 20. The angle at which the y-axis and the figure intersect.

Although not particularly limited, in the present embodiment, the second approach value and the graphic included in the driving support information are associated with each other and stored in advance. FIG. 12 shows a graphic form associated with the range of the second approach degree (the degree of approach expressed by TLC).

The graphic shown in FIG. 12 is characterized by the angle at the left end Q of the graphic located in the area near the origin (x = 0, y = 0) of the display surface 21. That is, the angle between the tangent of the curve at the left end Q and the horizontal (the x coordinate (y = 0) of the display surface 21) is α, and the angle α is changed according to the second approach value. The angle α corresponds to the outer angle of the left end portion of the figure shown in Fig. 12. As shown in Figs 12A to 12D, the second approach degree is the smallest value range (Fig 12A). When the figure angle α is α1 and the second approach degree is the next smallest range (same (B)), the figure angle α is α2, and the second approach degree is the second smallest range (same (C )), The figure angle α is α3, and the figure angle α is α4 when the second approaching degree is the smallest value range ((D)). , D The second degree of approach (degree of approach expressed by TLC) is A <B <C <D, and the angles α1 to α1 at the left end Q of the figure. The relationship of 4 is α1 <α2 <α3 <α4 As described above, the control device 10 of the present embodiment refers to information associated in advance, and displays when the second degree of approach in the curve is the smallest. Then, α is set to the minimum α1, and a figure is derived in which the angle α1 increases as α2 → α3 → α4 as the second approach degree increases, since the sum of the inner angle and the outer angle is 180 °. You may derive | lead-out the figure which an interior angle reduces as a 2nd approach degree becomes large.

Moreover, although the length L of the figure including the curve shown in FIG. 12 may be set to an arbitrary constant value, L may be lengthened as the second approach degree increases.

Moreover, you may characterize the figure shown in FIG. 12 by the angle in the right end part P of the figure used as the other end side of the left end part Q. FIG. The angle between the tangent to the curve at the right end P and the horizontal (the x coordinate (y = 0) of the display surface 21 is β), and the magnitude of the angle β is changed according to the second approach value. Corresponds to the outer angle of the right end P of the figure shown in FIG.

As shown in FIGS. 12A to 12D, when the second approach degree is the smallest value range (FIG. 12A), the figure angle β is set to β1, and the second approach degree is the next smallest. When it is in the range (same (B)), the figure angle β is β2, and when the second approach degree is the next smallest range (same (C)), the figure angle β is β3, and the second approach degree Is the smallest value range (same (D)), the figure angle β is β4. At this time, the relationship between the second approach degrees in FIGS. 12A, B, C, and D is A <B <C <D, and the relationship between the angles β1 to β4 at the right end portion P of the figure is β1> β2> β3>. β4. As described above, the control device 10 according to the present embodiment refers to the information associated in advance and sets β as the maximum β1 in the display when the second approach degree in the curve is the smallest, and the second approach degree is A figure whose curvature β changes as β2 → β3 → β4 as it increases is derived. In addition, it is preferable that the angle β4 when the degree of approach is the largest is β4 = 0, that is, horizontal so that the distinction between the left and right approaches is clear.

Furthermore, in this embodiment, the control apparatus 10 may calculate the angle α or the angle β of the graphic described above based on the second approach value.

As shown in FIGS. 13A to 13D, when the second approach degree is the smallest value range (FIG. 13A), the figure angle α is α1, and the second approach degree is the smallest value range. When (D), the angle α of the figure is α4.

Also, when the second approach degree is the smallest value range (FIG. 13A), the figure angle β is β1, and when the second approach degree is the smallest value range (the same (D)), the figure angle. Let β be β4. In addition, it is preferable that the angle β4 when the degree of approach is the largest is β4 = 0, that is, horizontal so that the distinction between the left and right approaches is clear. The relational expression α = α1 · K1 (K1 is an arbitrary coefficient), β = β1 · K2 (K2 is an arbitrary coefficient) so that the angle α of the curvature increases or the angle β decreases as the second approach value increases. Arbitrary coefficient) is defined in advance. The control device 10 calculates the angle α and the angle β corresponding to the second approach value using this relational expression. By calculating the angle α and the angle β using the relational expression and deriving the graphic to be included in the driving support information, the driver can be notified of a small change in the second approach value.

In this way, by providing driving support information including curves with different curvatures, figures with different outer or inner angles at the right or left end, the driver can determine the degree of approach from the shape of the curve, the outer angle or the inner angle. High and low can be intuitively recognized.

As shown in FIGS. 12 and 13, when a curve approaching a horizontal region (near the x-axis of the display surface) is shown, the driver can intuitively recognize that the boundary of the traveling lane and the host vehicle are approaching. . If a curve that moves away from the vicinity of the x-axis of the display surface 21 is shown, the driver can intuitively recognize that the boundary between the traveling lane and the host vehicle is separated.

Further, in the present embodiment, the control device 10 derives graphics having different colors and brightness according to the first approach level.

FIG. 14 is a table that defines a color to be attached to the graphic in accordance with the first approach degree between the preceding other vehicle and the host vehicle. In the table shown in FIG. 14, when TTC is Ta or more and less than T2, white (and / or low brightness) is displayed, and when TTC is less than Ta and less than Ta, yellow (and / or medium brightness) which is warmer than white is displayed. In the case of 0 or more and less than Tb, red (and / or higher brightness) which is warmer than yellow is defined as a color attached to the figure.

15A to 15D showing examples of driving support information, the first approach degree (the degree of approach expressed by TTC) is in a relationship of A <B <C <D. That is, the state shown in FIG. 15A has the lowest first approach degree (the most separated state), and the state shown in FIG. 15D has the highest first approach degree (the closest approach state).

15A to 15D, figures having different hue and brightness (brightness) are derived according to the first approach level. In the present embodiment, as shown in FIGS. 15A to 15D, as the first degree of approach is higher, a figure of a warm color or a figure displayed with higher brightness is derived. By the way, the control device 10 sends a display command for specifying the color assigned to the derived graphic to the display device 20 and causes the display device 20 to display the graphic with the specified color. Similarly, the control device 10 sends a display command for specifying the lightness when displaying the derived graphic to the display device 20, and causes the display device 20 to display the graphic with the specified lightness (brightness).

Similarly, in the present embodiment, the control device 10 derives graphics having different colors and brightness according to the second approach level.

FIG. 16 is a table that defines colors to be added to the figure according to the boundary of the travel lane and the second approach degree of the host vehicle. In the table shown in FIG. 16, when TLC is Tc or more and less than T1, white (and / or low brightness) is displayed, and when TLC is less than Tc and less than Tc, yellow (and / or medium brightness) which is warmer than white is displayed. In the case of 0 or more and less than Td, red (and / or higher brightness), which is warmer than yellow, is defined as a color attached to the figure.

17A to 17D showing examples of driving support information, the second approach degree has a relationship of A <B <C <D. That is, the state shown in FIG. 17A has the lowest second approach (the most separated state), and the state shown in FIG. 17D has the highest second approach (the closest approach).

In FIGS. 17A to 17D, figures having different hue and brightness (brightness) are derived according to the second approach level. In the present embodiment, as shown in FIGS. 17A to 17D, as the second approach degree is higher, a figure with a warm color or a figure displayed with higher brightness is derived. By the way, the control device 10 sends a display command for specifying the color assigned to the derived graphic to the display device 20 and causes the display device 20 to display the graphic with the specified color. Similarly, the control device 10 sends a display command for specifying the lightness when displaying the derived graphic to the display device 20, and causes the display device 20 to display the graphic with the specified lightness (brightness).

By doing in this way, the driver can recognize the second approach degree between the preceding other vehicle and the host vehicle in association with the state in which the color and brightness of the graphic change.

In other words, if the color of the figure becomes a warm color that is relatively close to red, or if the brightness of the figure becomes relatively bright, the driver can intuitively recognize that the preceding other vehicle has approached the host vehicle. In other words, when the color of the graphic is relatively blue, or when the brightness of the graphic is relatively dark, the driver can intuitively recognize that the preceding other vehicle is separated from the host vehicle. it can.

  Then, based on the flowchart of FIG. 18, the control procedure of the driving assistance information provision system 100 of this embodiment is demonstrated.

First, the driving support information providing system 1000 is activated and the control process is started. This processing content is executed in the control device 10 at a constant cycle. Briefly, in step group 1, the first approach degree and the second approach degree are calculated, and in step group 2, the first approach degree and the second approach degree are compared, and the first approach degree or the second approach degree is compared. A graphic representing the second approach degree simulation is displayed. In step group 3, the color of the figure is changed according to the value of the preceding vehicle approach degree (first approach degree) or the curve approach degree (second approach degree).

Then, the control device 10 causes the display device 20 described above to present the driving support information including the derived graphic.

Hereinafter, each step will be described.

In step S <b> 100, the control device 10 acquires the inter-vehicle distance from the preceding vehicle and the speed of the preceding other vehicle from the distance measurement / positioning device 400, and acquires the speed of the host vehicle from the vehicle controller 300.

In subsequent step S <b> 101, the control device 10 acquires, from the navigation device 200, road information of a traveling lane in which the host vehicle is traveling.

Further, in step S102, the control device 10 calculates TTC values corresponding to the first approach degree and TLC values corresponding to the second approach degree.

In step S <b> 103, the control device 10 compares the TTC expressing the first approach degree with the TLC value expressing the second approach degree. When the first TLC (curve margin time) is equal to or longer than TTC (interval margin time), it is determined that the TTC (interval margin time) is short and the first approach degree with the preceding vehicle is high, and the process proceeds to step S104. If the TLC is less than the TTC, it is determined that the TLC (curve margin time) is short and the second approach to the boundary of the traveling lane is high, and the process proceeds to step S110.

In step S104, the control device 10 proceeds to step S105 if the TTC is less than the predetermined threshold T2, and proceeds to step S120 otherwise. This is because the driving support information is provided only when the degree of approach is high.

In step S <b> 105, the control device 10 derives a figure that represents the first degree of approach between the preceding other vehicle and the host vehicle in a simulated manner. The control device 10 derives a figure having a shape, an area, and a height corresponding to the first degree of approach.

In step S106, the control device 10 determines the color attached to the graphic. Specifically, when the TTC is greater than the predetermined threshold value Tb and equal to or less than the predetermined threshold value Ta, the first approach degree is determined to be medium, and the process proceeds to step S108 to display the derived figure. The yellow light emitting diode LED22 of the device 20 is turned on. On the other hand, if the TTC is greater than the predetermined threshold Tb and not less than the predetermined threshold Ta, the process proceeds to step S107.

In step S107, when the TTC is equal to or less than the predetermined threshold value Tb, the control device 10 determines that the first approach degree is high, and proceeds to step S109 to display the derived graphic. The red light emitting diode LED22 is turned on.

Then, the process after step S110 is demonstrated. In step S110, the control device 10 proceeds to step S111 if the TLC is less than the predetermined threshold T1, and proceeds to step S120 otherwise. This is because the driving support information is provided only when the degree of approach is high.

In step S <b> 111, the control device 10 derives a figure that simulates the second approach degree between the boundary of the traveling lane and the host vehicle. The control device 10 derives a graphic having a curvature, an outer angle or an inner angle, and a length according to the second approach degree.

In step S112, the control device 10 determines the color attached to the graphic. Specifically, when the TLC is greater than the predetermined threshold value Td and equal to or less than the predetermined threshold value Tc, the second approach degree is determined to be medium, and the process proceeds to step S114 to display the derived figure. The yellow light emitting diode LED22 of the device 20 is turned on. On the other hand, if TLC is greater than the predetermined threshold Td and not less than the predetermined threshold Tc, the process proceeds to step S113.

In step S113, when the TLC is equal to or less than the predetermined threshold value Td, the control device 10 determines that the second approach degree is high, and proceeds to step S115 to show the derived figure. The red light emitting diode LED is turned on.

When the control device 10 performs the lighting of step S108, step S109, step S114, and step S115, the control device 10 proceeds to step S120. In step S120, the control device 10 repeats the processing from step S100 until the vehicle key-off is input.

  The driving information providing system 100 of the present embodiment is configured and operates as described above, and therefore has the following effects.

  The driving information providing system 100 according to the present embodiment can provide driving support information that allows the driver to easily recognize a relationship with an object existing ahead of the vehicle.

That is, the driving information providing system 100 according to this embodiment is a figure that simulates the degree of approach between the host vehicle and the front object in the positional relationship between the front object and the host vehicle detected in front of the vehicle in the traveling direction. By displaying the driving support information including the driver's peripheral vision in the peripheral visual field, the degree of proximity between the vehicle and the front object can be indicated by the graphic displayed in the peripheral visual field. It is possible to provide driving support information that easily recognizes the relationship between

In addition, the driver can recognize the driving support information according to the present embodiment presented in the peripheral visual field while accurately determining the driving situation by providing a central visual field at the caution point in front of the vehicle. In the present embodiment, by utilizing such a human visual characteristic, a figure that simulates the degree of approach between the vehicle and the object is displayed in the peripheral visual field, so that the driver who concentrates on the driving operation can display it. On the other hand, the degree of approach between the vehicle and the object can be transmitted sensuously.

In addition, since the driving information providing system 100 according to the present embodiment presents information in the range of the peripheral vision of the driver, the driver's attention is not attracted more than necessary. In addition, since the information is presented in the range of the peripheral vision of the driver, the information can be presented at all times, and the driver's attention is not attracted more than necessary by starting or switching the presentation of information. You don't feel annoyed.

In addition, the driving information providing system 100 according to the present embodiment is advantageous in terms of cost because it does not require a device or the like necessary for displaying information on the front windshield.

Further, the driving information providing system 100 according to the present embodiment displays driving support information including a figure that simulates the degree of approach between the preceding other vehicle and the own vehicle traveling in front of the own vehicle in the traveling direction. The effects described above can be achieved.

In addition, the driving information providing system 100 according to the present embodiment displays driving support information including a figure that schematically represents the degree of approach between the boundary of the traveling lane extending forward in the traveling direction of the host vehicle and the host vehicle. Thus, the above-described effects can be achieved.

Further, the driving information providing system 100 according to the present embodiment compares the first approach degree between the preceding other vehicle and the host vehicle and the second approach degree between the boundary of the traveling lane and the host vehicle, and either of the approach degrees is compared. By deriving a graphic representing the higher first approach degree or second approach degree in a simulated manner, it is possible to present driving support information about an object to which the driver should pay more attention.

In addition, the driving information providing system 100 of the present embodiment simulates the first approach degree when the first approach degree is higher than the second approach degree and the first approach degree is higher than a predetermined threshold. Driving assistance information including a graphically expressed figure, and when the second approach is higher than the first approach and the second approach is higher than a predetermined threshold, the second approach is Since driving support information including a figure to be expressed in a simulated manner is presented, driving support information can be presented when an approaching degree of attention is exceeded.

In addition, the driving information providing system 100 according to the present embodiment presents driving assistance information including a figure having a shape corresponding to the first approaching degree or the second approaching degree, so that the driver can obtain the first approaching degree. The shape of the figure to be shown and the shape of the figure showing the second approach degree can be distinguished and identified. For this reason, the driver uses the information on the first approach between the preceding other vehicle and the host vehicle or the information on the second approach between the boundary of the traveling lane and the host vehicle depending on the difference in the shape of the figure. It can be intuitively recognized whether there is.

In addition, since the driving information providing system 100 according to the present embodiment presents driving support information including a figure having a shape corresponding to the degree of proximity between the host vehicle and the target object, the driver can change the target according to the shape of the figure. It is possible to intuitively recognize the degree of approach to an object, that is, the urgency of response.

In addition, since the driving information providing system 100 according to the present embodiment presents driving support information including a graphic having a different area according to the degree of approach between the host vehicle and the target object, the driver has an area of the graphic, that is, a size. By the difference, it is possible to intuitively recognize the degree of approach to the object, that is, the urgency of the response.

In addition, since the driving information providing system 100 according to the present embodiment presents driving support information including figures having different heights according to the degree of approach between the host vehicle and the target object, The degree of approach to the object, that is, the urgency of the response can be intuitively recognized by the difference in the depth in the traveling direction.

In addition, the driving information providing system 100 according to the present embodiment presents driving support information including a graphic with a lower height as the degree of proximity between the host vehicle and the object is higher. It is possible to intuitively recognize that the degree of approach to the target object is high, that is, the urgency of the response is high, by looking at the figure having a low depth in the moving direction of the figure.

In other words, the driver can intuitively recognize that the preceding other vehicle has approached the host vehicle by showing the figure whose figure is shortened and the figure is contracted to the driver side. In addition, the driver can intuitively recognize that the preceding other vehicle is separated from the host vehicle by indicating a figure in which the height of the figure is increased and the shape is extended from the driver side.

Further, the driving information providing system 100 according to the present embodiment allows the driver to obtain a figure by making a pair of opposite sides such as a trapezoid in a direction substantially perpendicular to the traveling direction of the host vehicle. The degree of approach can be intuitively recognized from the shape of the figure.

Furthermore, the first approach degree between the preceding other vehicle and the host vehicle is expressed in a trapezoidal manner, so that the relationship between the scene in front of the traveling lane of the host vehicle and the driving support information displayed on the display device 10 can be easily understood. Can be displayed. That is, the other set of opposite sides connecting the opposite ends of the trapezoidal pair is inclined toward the center at the same angle, and these two straight lines are the two lane markers extending forward of the traveling lane of the own vehicle. Since they are similar, the relationship between the scene in front of the traveling lane of the host vehicle and the driving support information displayed on the display device 10 can be displayed in an easily understandable manner.

In addition, since the driving information providing system 100 according to the present embodiment presents driving support information including a graphic including a curve having different curvatures according to the degree of approach between the host vehicle and the target object, the driver can calculate the curvature of the curve. Depending on the difference, it is possible to intuitively recognize the degree of proximity to the object, that is, the urgency of the response.

In addition, the driving information providing system 100 according to the present embodiment presents driving support information including a graphic including a curve having a larger curvature as the degree of proximity between the host vehicle and the target object is higher. Thus, it is possible to intuitively recognize the degree of approach to the object, that is, the urgency of the response.

In addition, the driving information providing system 100 according to the present embodiment presents driving support information including a graphic in which an outer angle or an inner angle of the right end portion or the left end portion of the graphic is different according to the degree of approach between the host vehicle and the object. The person can intuitively recognize the magnitude of the degree of approach to the object, that is, the urgency of the response, based on the difference in the outer angle or the inner angle.

In addition, the driving information providing system 100 according to the present embodiment presents driving support information including a graphic having a larger outer angle or smaller inner angle at the right end or left end of the graphic as the degree of proximity between the host vehicle and the object is higher. The driver can intuitively recognize the magnitude of the degree of approach to the object, that is, the urgency of the response, based on the angle of the figure.

Further, the driving information providing system 100 according to the present embodiment presents driving support information including a figure with a hue of a warm color when the degree of proximity between the host vehicle and the object is high compared to when the degree of proximity is low. Therefore, the driver can intuitively recognize the degree of approach to the object, that is, the urgency of the response, based on the color image.

Further, the driving information providing system 100 according to the present embodiment presents driving support information including a figure having a brighter brightness when the degree of approach between the host vehicle and the object is high than when the degree of approach is low. Can intuitively recognize the degree of proximity to the object, that is, the urgency of the response, based on the brightness of the light.

In addition, the driving information providing system 100 of the present embodiment is installed with an inclination with respect to the horizontal plane of the host vehicle so that the display surface 21 having the light emitter 22 faces the rear side of the host vehicle. The information displayed on the road 20 can be easily associated with the actually viewed road surface, and can be easily viewed by the driver. Moreover, it becomes easy to express a sense of perspective along the traveling direction in the information displayed on the display surface 21 by a slight inclination.

  The embodiment described above is described for facilitating the understanding of the present invention, and is not described for limiting the present invention. Therefore, each element disclosed in the above embodiment is intended to include all design changes and equivalents belonging to the technical scope of the present invention.

  That is, in the present specification, the driving information providing system 100 will be described as an example of the driving support information providing apparatus according to the present invention, but the present invention is not limited to this.

  Further, in this specification, as an example of the driving support information providing apparatus according to the present invention, the driving information providing system 100 including the control device 10 including the CPU 11, the ROM 12, and the RAM 13 will be described as an example, but the present invention is not limited thereto. It is not something.

Further, in the present specification, as one aspect of the driving support information providing apparatus having the positional relationship calculating means, the approach degree calculating means, the figure deriving means, and the display means according to the present invention, a positional relationship calculating function, The driving information providing system 100 including the control device 10 that realizes the degree calculation function, the figure derivation function, and the display control function will be described as an example, but the present invention is not limited to this.

DESCRIPTION OF SYMBOLS 1 ... Driving assistance information provision system 10 ... Control apparatus 11 ... CPU
12 ... ROM
13 ... RAM
DESCRIPTION OF SYMBOLS 20 ... Display apparatus 21 ... Display surface 22 ... Luminescent body (light emitting diode, light bulb)
23 ... Diffuser 200 ... Navigation device 210 ... Position detection device 220 ... Map information 300 ... Vehicle controller 310 ... Vehicle speed sensor 320 ... Steering angle sensor 400 ... Ranging / positioning device 410 ... Image processing device 411 ... Side camera 412 ... Forward Camera 420 ... Radar ranging device

Claims (14)

When calculating the positional relationship between an object detected in the traveling direction of the host vehicle and the host vehicle, a preceding other vehicle that travels in front of the traveling direction of the host vehicle is detected at a predetermined period, and the detected The positional relationship between the preceding other vehicle and the host vehicle is calculated, the boundary of the traveling lane extending forward in the traveling direction of the host vehicle is detected, and the positional relationship between the detected boundary of the traveling lane and the host vehicle is detected. A positional relationship calculating means for calculating
When calculating the degree of approach between the host vehicle and the object based on the positional relationship, the first relationship between the host vehicle and the preceding other vehicle based on the positional relationship and the amount of change of the positional relationship per unit time. An approach degree calculating means for calculating a second approach degree between the host vehicle and a boundary of the traveling lane based on the positional relationship and the speed of the host vehicle;
When deriving a figure that simulates the degree of approach between the host vehicle and the object in the positional relationship, the figure may have a different shape depending on the type of the first approach or the second approach. Then, the first approach degree between the host vehicle and the preceding other vehicle is compared with the second approach degree between the host vehicle and the boundary of the traveling lane, and the higher one of the approach degrees is compared with the first approach degree. A figure deriving means for deriving a figure that simulates the approach degree of the second approach degree or the second approach degree;
Display means for displaying driving assistance information including the derived figure in the peripheral visual field of the driver of the host vehicle,
The figure deriving means, as a result of the comparison, if the first approach degree is higher than the second approach degree and the first approach degree is higher than a predetermined threshold value, the first approach degree. When the second approach degree is higher than the first approach degree and the second approach degree is higher than a predetermined threshold, the second approach degree is derived. A driving support information providing apparatus for deriving the graphic that represents the vehicle in a simulated manner. In the driving assistance information providing device according to claim 1,
The figure deriving means is a driving support information providing apparatus for deriving a figure having a shape corresponding to the degree of approach between the host vehicle and the object. In the driving assistance information providing device according to claim 1 or 2,
The figure deriving means is a driving support information providing apparatus for deriving a figure having a different height according to the degree of approach between the host vehicle and the object. In the driving assistance information providing device according to claim 3,
The figure deriving means is a driving support information providing apparatus for deriving a figure having a lower height as the degree of approach between the host vehicle and the object is higher. In the driving assistance information providing device according to claim 3 or 4,
The figure is a driving assistance information providing device in which a pair of opposite sides is a quadrilateral extending in a direction substantially perpendicular to the traveling direction of the host vehicle. In the driving assistance information providing device according to claim 5,
The figure deriving means is a driving support information providing apparatus for deriving a figure having a different area according to the degree of approach between the host vehicle and the object. In the driving assistance information providing device according to any one of claims 1 to 6,
The figure deriving means is a driving support information providing apparatus for deriving a figure including curves having different curvatures according to the degree of approach between the host vehicle and the object. In the driving assistance information providing device according to claim 7,
The figure deriving means derives a figure including a curve having a larger curvature as the degree of approach between the host vehicle and the object is higher, and a figure including a curve having a smaller curvature as the degree of approach between the host vehicle and the object is lower. Driving assistance information providing device that derives In the driving assistance information providing device according to claim 8,
The figure derivation means, for in response to said proximity between the host vehicle and the object, the x-axis on the display surface of the right end portion or the left end along the x-axis direction on the display surface of the curve included in the graphic driving support information providing apparatus exterior angle or the internal angle to derive the different figures. In the driving assistance information providing device according to claim 9,
The figure derivation means, the vehicle and the higher the access degree between the object, figure the right end portion or the external angle is large or the interior angle with respect to the x-axis on the display surface at the left end of the curve included in the figure is small It derives, the lower the access degree between the host vehicle and the object, deriving a figure exterior angle is small or internal angle greater relative to the x-axis on the display surface of the right end portion or the left end of the curve included in the figure Driving support information providing device. In the driving assistance information providing device according to any one of claims 1 to 10,
The figure deriving means derives a figure having a color with a warmer hue when the approach degree between the host vehicle and the object is high than when the approach degree is low, The driving support information providing apparatus for deriving a figure with a color whose hue is cooler than that when the approach degree is low. In the driving assistance information providing device according to any one of claims 1 to 11,
When the degree of approach between the host vehicle and the object is high, the figure deriving unit derives a figure having a higher brightness than when the degree of approach is low, and the degree of approach between the host vehicle and the object is low Is a driving assistance information providing device for deriving a figure having a lower brightness than when the degree of approach is high. In the driving assistance information providing device according to any one of claims 1 to 12,
The display means is installed near the upper surface of the instrument panel of the host vehicle, and has a display surface having a plurality of light emitters arranged in a plane,
A driving support information providing apparatus comprising: a display control unit configured to display driving support information including the derived figure by controlling the operation of the light emitter. In the driving assistance information providing device according to claim 13,
The display means is a driving assistance information providing device installed with an inclination with respect to a horizontal plane of the host vehicle such that a display surface thereof faces the rear side of the host vehicle.

Images