JP5826375B2 - Driving assistance device - Google Patents

Description

  The present invention relates to a driving assistance apparatus that displays a driving assistance marker using a windshield of a vehicle or the like as a head-up display.

  A driving assistance device having a function of displaying a guide line representing a vehicle width, a traveling locus, and the like superimposed on an image around a vehicle captured by an around view camera or a back camera has been put into practical use. However, since the image is displayed on the monitor display in any of the devices, the driver needs to move the line of sight from the front of the vehicle to the monitor display, and there is a problem that the periphery of the vehicle cannot be directly confirmed. In response to this problem, there has been proposed a driving support device that uses a head-up display and displays a guide line superimposed on a windshield (see, for example, Patent Document 1).

JP 2005-78414 A

  By using the head-up display as in Patent Document 1, the driver can check the road conditions and the guide line through the windshield. In order to further improve the effectiveness of the vehicle, improvement of a method for displaying information for driving assistance has been desired.

  The present invention has been made to solve the above-described problems, and displays a virtual image of a marker for driving assistance on a scenery viewed by the driver through the windshield so that the driver can recognize the situation around the vehicle and drive the vehicle. The purpose is to reduce the load.

The driving support device according to the present invention displays a virtual image of a marker indicating a point at which the current vehicle arrives without correcting the steering angle in a scene that can be seen through the windshield as a driving support image, and is placed by the driver. A display controller that allows the driver to recognize the recommended viewpoint marker that indicates the position of the viewpoint to be operated. The recommended viewpoint marker includes a line that indicates a trajectory that the host vehicle will travel from, a line that indicates a point where the host vehicle reaches after a predetermined time, and a It is a shape in which at least one of the boundary lines indicating the left and right widths of the vehicle is combined with an image of the vehicle .

  According to this invention, the virtual image of the recommended viewpoint marker indicating the position of the viewpoint to be placed by the driver is recognized on the scene that can be seen through the windshield, so that the driver can travel while looking at a distant distance. The situation recognition and driving operation load can be reduced.

It is a block diagram which shows the structure of the driving assistance apparatus which concerns on Embodiment 1 of this invention. It is a schematic diagram which shows the scenery which the driver looked through the windshield, and shows the state where the point-shaped recommended viewpoint marker is displayed. It is a figure explaining the display position determination method of the recommended viewpoint marker by the driving assistance device which concerns on Embodiment 1. FIG. It is the schematic diagram which accumulated the optical flow on the scenery which the driver saw through the windshield. It is a schematic diagram which shows the scenery which the driver looked through the windshield, and shows a state in which a short line-shaped recommended viewpoint marker is displayed. It is a schematic diagram which shows the scenery which the driver saw through the windshield, and shows a state in which a long line-shaped recommended viewpoint marker is displayed. It is a mimetic diagram showing the scenery which a driver looked through the windshield, and shows the state where the recommended viewpoint marker of the vehicle shape was displayed. It is a schematic diagram which shows the scenery which the driver looked through the windshield, and shows a state in which a linear recommended viewpoint marker indicating the vehicle width is displayed. It is a schematic diagram which shows the scenery which the driver looked through the windshield, and shows a state in which a linear recommended viewpoint marker indicating the vehicle width is displayed. It is a schematic diagram which shows the scenery which the driver looked through the windshield, and shows a state in which a linear recommended viewpoint marker indicating the vehicle width is displayed. It is a mimetic diagram showing the scenery which a driver looked through the windshield, and shows the state where the recommended viewpoint marker of the vehicle shape showing the vehicle width is displayed.

Hereinafter, in order to explain the present invention in more detail, modes for carrying out the present invention will be described with reference to the accompanying drawings.
Embodiment 1 FIG.
1 includes a head-up display (hereinafter referred to as HUD) 1, a display controller 2, a vehicle speed sensor 3, a steering sensor 4, a yaw rate sensor 5, a turn signal switch 6, a camera 7, an image processing unit 8, and a car navigation system. An apparatus (hereinafter referred to as “navigation”) 9 and a road condition determination unit 10 are included.

The HUD 1 reflects the image from the projector 11 by the mirror 12 and projects the image on the windshield 13 of the vehicle, causing the driver to recognize it as a virtual image. The display controller 2 performs display control of an image projected by the projector 11 onto the windshield 13. With this configuration, when the driver looks at the front of the vehicle, the virtual image projected from the projector 11 onto the windshield 13 appears to be superimposed on the scenery in front of the vehicle seen through the windshield 13. As a display control method, a known technique (for example, refer to Japanese Patent Laid-Open No. 6-115381) may be used. In accordance with this, a parameter indicating the relationship between the projection position of the virtual image and the display position on the scene is previously displayed. Set to.
In addition, by sticking a sheet on the windshield 13 or installing a transparent screen or the like in front of the windshield 13, the image of the projector 11 is projected onto the sheet or the screen, and on the scene that can be seen through the windshield 13. The images may overlap at a predetermined position.

  The vehicle speed sensor 3 measures the speed of the host vehicle and outputs it to the display controller 2. The steering sensor 4 detects the steering angle of the host vehicle and outputs it to the display controller 2. The yaw rate sensor 5 detects the yaw rate of the host vehicle and outputs it to the display controller 2. It is not necessary to provide both the steering sensor 4 and the yaw rate sensor 5, and either one may be provided. The turn signal switch 6 outputs turn signal information indicating a right turn or a left turn to the display controller 2.

  The camera 7 images the front of the host vehicle and outputs it to the image processing unit 8. The image processing unit 8 calculates the optical flow of the captured image by image processing, recognizes the shape of the road in front of the vehicle, the shape of the curve, and the like, and outputs the processing result to the display controller 2.

  The navigation 9 holds map information around the host vehicle, and the road condition determination unit 10 determines from the map information of the navigation 9 the type of road on which the host vehicle is traveling (highway, general road, etc.) and the type of location ( The intersection, a parking lot, etc.) or the shape of the road in front of the vehicle and the shape of the curve, etc. are determined, and the determination result is output to the display controller 2.

The display controller 2 is based on information obtained from any one or more of the vehicle speed sensor 3, the steering sensor 4, the yaw rate sensor 5, the turn signal switch 6, the image processing unit 8, and the road condition determination unit 10. And the position and shape of the display of the driving assistance marker are changed according to the vehicle traveling state.
Hereinafter, a marker display method corresponding to the vehicle traveling state will be described.

[1. How to change marker display position according to vehicle driving conditions]
The display controller 2 displays the viewpoint on which the driver should be placed on the windshield 13 as a point when the host vehicle is traveling at a medium to high speed.

  It is generally known that when driving at medium and high speeds, it is easier to recognize by looking at a reasonable distance, and less rudder angle correction is required, resulting in smooth driving. The driving support marker is displayed at a recommended position where the driver should place his / her viewpoint in order to extract the effect. Here, FIG. 2 shows the scenery viewed from the driver. From the driver, the handle 14 and the windshield 13 are visible, and the recommended viewpoint marker 20 is recognized as a virtual image on the scenery in front of the vehicle seen through the windshield 13. The recommended viewpoint marker 20 in the example of FIG. 2 is displayed on a road indicating a destination point about 60 m ahead at 60 km / h, that is, about 3 seconds after traveling straight ahead.

FIG. 3 is a diagram illustrating a method for determining the display position of the recommended viewpoint marker 20. The display controller 2 determines the display position of the recommended viewpoint marker 20 according to the vehicle speed measured by the vehicle speed sensor 3 and the steering angle estimated from the steering angle detected by the steering sensor 4 or the yaw rate detected by the yaw rate sensor 5. .
For example, when it is set to display the recommended viewpoint marker 20 at the arrival point about 3 seconds after traveling, the display controller 2 responds to the vehicle speed during straight traveling (steering angle 0 degree) as shown in FIG. The reach distance at / h, the reach distance of 60 km / h, and the reach distance of 100 km / h are obtained.

Further, in the case of curve traveling, the direction in which the recommended viewpoint marker 20 is displayed is determined according to the steering angle.
Further, in the case of a curve run, if the recommended viewpoint marker 20 is displayed far away, it may be displayed in a range where the line of sight is not clear. Therefore, it is desirable to limit the display position of the recommended viewpoint marker 20 to at least a range that is theoretically visible according to the traveling curvature, that is, the steering angle. Specifically, it is necessary to limit the display range of the recommended viewpoint marker 20 near the host vehicle as the steering angle increases. Therefore, as shown in FIG. 3, the display range 30 recommended at the vehicle speed of 30 km / h, the display range 31 of 60 km / h, and the display range 32 of 100 km / h are substantially arc-shaped.

As described above, the display controller 2 determines the arrival distance according to the vehicle speed and the display direction according to the steering angle, further corrects the arrival distance according to the steering angle, and displays the recommended viewpoint marker 20 at the position. To do.
Note that the display controller 2 may adjust the display position so that the recommended viewpoint marker 20 does not deviate from the road based on the degree of road bending, the road width, and the like recognized by the image processing unit 8 through the image recognition process. Alternatively, the display position may be adjusted so that the recommended viewpoint marker 20 does not deviate from the road based on the degree of road bending or the road width determined by the road condition determination unit 10 from the map information of the navigation 9.

Based on the determination method described above, the display controller 2 displays the recommended viewpoint marker 20 at the point 34 on the road when the vehicle speed of the host vehicle 33 is 30 km / h and the steering angle is 0 degree. When the steering angle changes from 0 degrees to 180 degrees, the display controller 2 moves the display position of the recommended viewpoint marker 20 from the point 34 to the point 35.
The display controller 2 displays the recommended viewpoint marker 20 at the point 36 when the vehicle speed of the host vehicle 33 is 60 km / h and the steering angle is 90 degrees, and the vehicle speed of the host vehicle 33 is 100 km / h and the steering angle is 0. At the time, the recommended viewpoint marker 20 is displayed at the point 37.
In the following description, the arrival point after about 3 seconds is set as the recommended position where the driver should place the viewpoint, but the arrival point at any other time may be set as the recommended position.

  Further, since the highway has good visibility, the display controller 2 may display the recommended viewpoint marker 20 farther than the display ranges 30 to 32 shown in FIG. 3 when the traveling place is the highway. In this case, the display controller 2 may determine whether the current travel location is an expressway based on the road type acquired by the road condition determination unit 10 from the map information of the navigation 9 or the vehicle speed of the vehicle speed sensor 3. .

  On the contrary, since the visibility in the parking lot and other facilities is poor, the display controller 2 displays the recommended viewpoint marker 20 closer to the display range 30 to 32 shown in FIG. 3 when the traveling place is a parking lot or the like. It may be. In this case, if the display controller 2 determines whether or not the current travel location is in a parking lot or other facility based on the information indicating the travel location acquired from the map information of the navigation 9 by the road condition determination unit 10. Good.

  Furthermore, in order to guide the driver's viewpoint to the vicinity of the intersection at places such as intersections where a right or left turn is necessary, the display controller 2 is recommended closer to the display range 30 to 32 shown in FIG. The viewpoint marker 20 may be displayed. In this case, the display controller 2 may determine whether or not the traveling place is a place that requires a right or left turn such as an intersection based on the turn signal information indicating the right or left turn of the turn signal switch 6. Or you may judge based on the information which shows the driving | running | working place which the road condition judgment part 10 acquired from the map information of the navigation 9. FIG.

  Further, the display controller 2 uses an optical flow (for example, an optical flow in a straight line direction of the vehicle) recognized from an image obtained by imaging the periphery of the vehicle, instead of the vehicle speed, as a determinant of the distance from the host vehicle to the viewpoint to be placed by the driver. Alternatively, the recommended viewpoint marker 20 is displayed at a position where the optical flow has a predetermined speed in the scenery seen through the windshield 13. The optical flow is a distribution of velocity vectors representing how much the attention point in successive images has moved in which direction per unit time. The velocity vector is large in the vicinity of the host vehicle, and the velocity vector is small as the distance is increased. The optical flow is calculated from the image captured by the camera 7 by the image processing unit 8.

FIG. 4 shows the scenery seen from the driver. The optical flow corresponding to the speed 60 km / h and the viewpoint distance 60 m, the speed 60 km / h and the viewpoint distance 30 m, the speed 80 km / h and the viewpoint distance 30 m in FIGS. Each is indicated by a broken line, and the range of the optical flow corresponding to each speed in the vehicle left-right direction is indicated by a solid line.
In general, when a viewpoint is placed at a close distance during high-speed traveling, the driving operation becomes difficult because the scenery around the viewpoint moves quickly, the movement range is wide, and the situation recognition becomes difficult. For example, when the driver's viewpoint is placed at a position 30 m away from the host vehicle, the scenery to be recognized by the driver at medium speed travels at a speed of 60 km / h as shown by a broken line in FIG. On the other hand, during high-speed driving, the scenery to be recognized moves at a faster speed of 80 km / h, as shown in FIG. . This makes it difficult for the driver to recognize the situation during high-speed traveling.

  On the other hand, placing the viewpoint moderately far means, in other words, looking at a point where the amount of movement and the range of movement of the scenery are easily recognized. For example, when the driver's viewpoint is placed at a position 60 m away as shown in FIG. 4A, the scenery to be recognized moves at the same speed of 60 km / h as in FIG. 4B, but the movement range is as shown in FIG. Narrower than Therefore, the driver can easily recognize the situation.

  This “scenery movement amount and range” is an optical flow itself, and it is appropriate to determine the distance at which the recommended viewpoint marker 20 is displayed using the scenery optical flow captured by the camera 7. In addition, it is generally known that as the traveling speed increases, it is necessary to look farther. However, it is also considered that an appropriate determination can be made by considering the viewpoint position based on the speed information of the optical flow. .

[2. Changing the marker display shape]
When the shape of the recommended viewpoint marker 20 is a point shape as shown in FIG. 2, the driver may perform a driving operation (fine correction of the steering) so that the recommended viewpoint marker 20 continues to be in the range of the road width. There is an advantage that the load is small. Also, there is an advantage that the cognitive load is small by looking at a point where the situation is easily recognized.

The shape of the recommended viewpoint marker 20 may be other than a point shape. A modification example will be described below.
5 and 6 are examples in which the recommended viewpoint marker 20 is linear. The display controller 2 calculates a future travel locus based on the vehicle speed and the steering angle, and displays it as a recommended viewpoint marker 20 of a line segment having a predetermined length. The short recommended viewpoint marker 20 as shown in FIG. 5 may be displayed only in the vicinity of the arrival point after about 3 seconds, and only the traveling locus in the vicinity of the arrival point may be notified to the driver, or the long recommended viewpoint marker as shown in FIG. 20 may be displayed extending to the arrival point after about 3 seconds from the current position of the host vehicle, and the driver may be informed of the continuous travel locus to the arrival point.
In the case of a line shape, since the driver can be aware of the continuity of the response (arrival point) to his / her driving operation, there is an advantage that sudden or unnecessary steering angle correction is unlikely to occur.

  As described in the explanation of the optical flow, driving operation becomes difficult when the viewpoint is placed at a distance close to the own vehicle when traveling at high speed. Therefore, the display controller 2 may perform display control so as to change the length of the recommended viewpoint marker 20 according to the vehicle speed. For example, when the vehicle is traveling at a medium speed or higher than a predetermined vehicle speed, the recommended recommended viewpoint marker 20 is short as shown in FIG. Is displayed, and a long recommended viewpoint marker 20 is displayed as shown in FIG.

  The display controller 2 may also change the thickness of the line of the recommended viewpoint marker 20 when changing the distance for displaying the recommended viewpoint marker 20 according to the vehicle speed. For example, the line of the recommended viewpoint marker 20 is made thinner as the vehicle speed increases.

FIG. 7 shows an example in which the recommended viewpoint marker 20 has a vehicle shape. The display controller 2 calculates the arrival point after about 3 seconds based on the vehicle speed and the steering angle, and displays the recommended viewpoint marker 20 of the vehicle shape at the arrival point. The display controller 2 may also change the size of the vehicle shape of the recommended viewpoint marker 20 when changing the distance for displaying the recommended viewpoint marker 20 according to the vehicle speed.
In the case of the vehicle shape, there is an advantage that the driver can specifically imagine the passing image of the marker display point. For example, it is possible to easily trace the same travel line as the preceding vehicle by performing the driving operation so that the recommended viewpoint marker 20 of the vehicle shape overlaps the preceding vehicle.

[3. Marker display method for arrival point and vehicle width]
FIG. 8 is an example in which a function that represents the vehicle width is combined with the recommended viewpoint marker. The display controller 2 calculates a future travel locus based on the vehicle speed and the steering angle, and displays a recommended viewpoint marker 21 representing the actual vehicle width as viewed from the driver in the vicinity of the arrival point after about 3 seconds. The recommended viewpoint marker 21 includes a line segment indicating the right end position of the host vehicle and a line segment indicating the left end position as shown in FIG. Since the recommended viewpoint marker 21 is displayed at a position close to the host vehicle during low speed traveling in FIG. 8C, the right end line and the left end line representing the vehicle width are separated, but the medium speed traveling in FIG. As the vehicle speed increases as the vehicle travels at a high speed in FIG. 8A, the display position of the recommended viewpoint marker 21 becomes far from the host vehicle, so that the right end line and the left end line approach each other, and finally one line (or 1) Two points). For this reason, it is possible for the driver to have a natural display in which there is no switching between the boundary line indicating the vehicle width and the marker indicating the arrival point.

Further, when traveling at a low speed, as shown in FIG. 8C, it is effective to indicate in which range the vehicle passes with respect to the nearest road surface, that is, the vehicle width. By displaying the recommended viewpoint marker 21 that can recognize the vehicle width when traveling at a low speed, the driver basically has only to perform the determination of wheel-out and contact on a uniform plane. There is merit that it is easy to do. In addition, since it is possible to display a line up to the position immediately before the host vehicle without complicated display, it is possible to confirm safety on the travel route at a glance.
Particularly, it is effective in a narrow road traveling as shown in FIG. 9, prevention of wheel-out to the road-side groove 40, passing with an oncoming vehicle 41, and a safe overtaking of the on-street parking vehicle 42 as shown in FIG. 10. Demonstrate.

Further, the shape of the recommended viewpoint marker 21 representing the arrival point and the vehicle width may be a vehicle shape. FIG. 11 shows an example in which the recommended viewpoint marker 21 has a vehicle shape. Although not shown in the drawing, the vehicle-shaped recommended viewpoint marker 21 is also displayed as small in the distance during high-speed travel and large in the vicinity during low-speed travel, similarly to the linear recommended viewpoint marker 21 shown in FIG.
In the case of a vehicle shape, by displaying an accurate vehicle shape, the driver can strictly determine contact / non-contact with an obstacle (such as a tunnel) having a height with respect to the ground.

  As described above, according to the first embodiment, the driving assistance device controls the video of the projector 11 of the HUD 1 and recommends the recommended viewpoint marker 20 that indicates the position of the viewpoint that the driver should place in the scenery seen through the windshield 13. The display controller 2 for displaying the virtual image is provided. For this reason, it becomes possible for the driver to travel while viewing the recommended viewpoint marker 20 at an appropriate distance, and it is possible to reduce the situational recognition of the surroundings of the vehicle and the driving operation load.

  Further, according to the first embodiment, the display controller 2 is configured to move the display position of the recommended viewpoint marker 20 in the perspective direction and the left-right direction with respect to the host vehicle based on the current driving situation. For this reason, the driver's viewpoint can be guided to an appropriate position according to the driving situation, and the driving operation load can be reduced.

  In addition, according to the first embodiment, the display controller 2 displays the recommended viewpoint marker 20 based on the current traveling state, a line indicating the trajectory that the host vehicle will travel from, and a point where the host vehicle reaches after a predetermined time. It is configured to change to a shape combining any one or more of a line or a point to be displayed, a boundary line indicating the left-right width of the host vehicle, and an image of the vehicle. For this reason, the display according to the driving | running | working condition is attained, and the improvement of the effectiveness of driving assistance can be aimed at.

  In addition, according to the first embodiment, the driving support device uses the peripheral image captured by the camera 7 mounted on the host vehicle to calculate the image processing unit 8 that calculates the optical flow of the scenery seen through the windshield 13. The display controller 2 is configured to display the recommended viewpoint marker 20 on the scenery moving at a predetermined speed based on the optical flow calculated by the image processing unit 8. For this reason, the load of situation recognition can be reduced.

  Further, according to the first embodiment, the display controller 2 is configured to move the display position of the recommended viewpoint marker 20 to a position far from the own vehicle when the vehicle speed is high, and to a close position when the vehicle speed is low. Therefore, it is possible to reduce the situation recognition and driving operation load.

  Further, according to the first embodiment, the display controller 2 moves the display position of the recommended viewpoint marker 20 in the left-right direction according to the steering angle, and automatically displays the display position of the recommended viewpoint marker 20 when the steering angle is small. When the steering angle is large, the display position of the recommended viewpoint marker 20 is moved to a near position. For this reason, the recommended viewpoint marker 20 can be displayed in the range where the visibility of a curved road is clear.

  Further, according to the first embodiment, the display controller 2 is configured such that the size of the recommended viewpoint marker 20 is reduced when displayed at a position far from the host vehicle and increased when displayed at a close position. . For this reason, it is possible to improve the effectiveness of driving support by changing the length of the recommended viewpoint marker 20 having a linear shape or changing the size of the recommended viewpoint marker 20 having a vehicle shape according to the driving situation. it can.

  In addition, according to the first embodiment, the driving support apparatus includes the road condition determination unit 10 that determines whether the travel location is an expressway from the map information that the navigation 9 has, and the display controller 2 includes the vehicle speed sensor 3, The display position of the recommended viewpoint marker 20 determined based on information of one or more of the steering sensor 4, the yaw rate sensor 5, and the camera 7 is moved to a farther position when the current travel location is an expressway. It was configured to make it. For this reason, the load of situation recognition can be reduced when traveling on a highway with good visibility.

  Further, according to the first embodiment, the display controller 2 displays the recommended viewpoint marker 20 determined based on any one or more of the vehicle speed sensor 3, the steering sensor 4, the yaw rate sensor 5, and the camera 7. The position is configured to be moved to a closer position when the turn signal switch 6 outputs information on turning left or right. Alternatively, a road condition determination unit 10 that determines whether the travel location is an intersection from map information of the navigation 9 is provided, and the display controller 2 is any of the vehicle speed sensor 3, the steering sensor 4, the yaw rate sensor 5, and the camera 7. The display position of the recommended viewpoint marker 20 determined based on one or more information is configured to be moved to a closer position when the current travel location is an intersection. For this reason, it is possible to reduce the load of situation recognition when turning right or left.

  In addition, according to the first embodiment, the driving support apparatus includes the road condition determination unit 10 that determines whether the travel location is in the parking lot or the facility from the map information of the navigation 9, and the display controller 2 The display position of the recommended viewpoint marker 20 determined based on any one or more information of the sensor 3, the steering sensor 4, the yaw rate sensor 5, and the camera 7 is used when the current travel location is in a parking lot or facility. It was configured to move to a closer position. For this reason, the load of situation recognition can be reduced when traveling in a parking lot or the like with poor visibility.

  In addition, according to the first embodiment, the driving support device can detect the front of the vehicle from the map information of the image processing unit 8 or the navigation 9 that recognizes the shape of the road ahead of the vehicle from the peripheral image captured by the camera 7. The display controller 2 recognizes the shape of the road of the vehicle so that the display controller 2 overlaps the display position of the recommended viewpoint marker 20 on the road ahead of the host vehicle recognized by the image processing unit 8 or the road state determination unit 10. Configured to adjust. For this reason, the recommended viewpoint marker 20 can be displayed in the range where the visibility of a curved road is clear.

  In the present invention, any constituent element of the embodiment can be modified or any constituent element of the embodiment can be omitted within the scope of the invention.

  As described above, the driving support device according to the present invention displays the recommended position of the driver's viewpoint on the scenery seen through the windshield, and is therefore suitable for use in a vehicle equipped with a head-up display.

  1 HUD, 2 display controller, 3 vehicle speed sensor, 4 steering sensor, 5 yaw rate sensor, 6 turn signal switch, 7 camera, 8 image processing unit, 9 navigation, 10 road condition judgment unit, 11 projector, 12 mirror, 13 front Glass, 14 Handle, 20, 21 Recommended viewpoint marker, 30-32 Recommended viewpoint marker display range, 33 Own vehicle, 34-37 Recommended viewpoint marker display point, 40 Roadside groove, 41 Oncoming vehicle, 42 Parking vehicle.

Claims (13)

In a driving assistance device that uses a head-up display that displays a driving assistance image as a virtual image in the scenery that the driver sees through the windshield of the vehicle,
As a video of the driving assistance, a virtual image of a marker indicating a point where the current vehicle reaches without correction of the rudder angle is displayed on the scenery seen through the windshield, and the position of the viewpoint to be placed by the driver is indicated. Comprising a display controller for the driver to recognize as a recommended viewpoint marker to be shown,
The recommended viewpoint marker is:
A vehicle image is combined with at least one of a line indicating a trajectory from which the host vehicle will travel, a line indicating a point where the host vehicle reaches after a predetermined time, and a boundary line indicating the left-right width of the host vehicle. Driving support device characterized by having a curved shape.   The driving support device according to claim 1, wherein the display controller moves the display position of the recommended viewpoint marker in a perspective direction and a left-right direction with respect to the host vehicle based on a current traveling state.   The driving support device according to claim 2, wherein the display controller changes a shape of the recommended viewpoint marker based on a current traveling state.   The display controller outputs a current traveling state from a vehicle speed measured by a vehicle speed sensor mounted on the host vehicle, a steering angle detected by a steering sensor or a steering angle detected by a yaw rate sensor, and a turn signal switch. The driving support device according to claim 2, wherein the determination is made using one or more pieces of information among right and left turn information, a peripheral image captured by the camera, and map information included in the navigation device. An image processing unit that calculates an optical flow of a scene seen through the windshield using a peripheral image captured by the camera,
The driving support device according to claim 4, wherein the display controller displays the recommended viewpoint marker on a scenery that moves at a predetermined speed based on the optical flow calculated by the image processing unit.   5. The driving according to claim 4, wherein the display controller moves the display position of the recommended viewpoint marker to a position far from the host vehicle when the vehicle speed is high, and moves to a close position when the vehicle speed is low. Support device.   The display controller moves the display position of the recommended viewpoint marker in the left-right direction according to a steering angle, and moves the display position of the recommended viewpoint marker to a position far from the host vehicle when the steering angle is small. The driving support device according to claim 4, wherein when the steering angle is large, the driving support device is moved to a close position.   The driving support device according to claim 3, wherein the display controller reduces the size of the recommended viewpoint marker when displaying it at a position far from the host vehicle and increases the size when displaying it at a close position. . From the map information that the navigation device has, a road condition determination unit that determines whether the travel location is an expressway,
The display controller displays a display position of the recommended viewpoint marker determined based on information of one or more of the vehicle speed sensor, the steering sensor, the yaw rate sensor, and the camera, and the current travel location is an expressway The driving support device according to claim 4, wherein the driving support device is moved to a farther position.   The display controller is configured to display a display position of the recommended viewpoint marker determined based on information of one or more of the vehicle speed sensor, the steering sensor, the yaw rate sensor, and the camera from the turn signal switch. The driving support device according to claim 4, wherein when the is output, the vehicle is moved to a closer position. From the map information that the navigation device has, a road condition determination unit that determines whether the travel location is an intersection,
The display controller displays a display position of the recommended viewpoint marker determined based on information of one or more of the vehicle speed sensor, the steering sensor, the yaw rate sensor, and the camera when the current travel location is an intersection. The driving support apparatus according to claim 4, wherein the driving support apparatus is moved to a closer position. From the map information that the navigation device has, a road condition determination unit that determines whether the travel location is a parking lot or a facility,
The display controller displays a display position of the recommended viewpoint marker determined based on information of one or more of the vehicle speed sensor, the steering sensor, the yaw rate sensor, and the camera. The driving support device according to claim 4, wherein the driving support device is moved to a closer position. An image processing unit that recognizes the shape of the road ahead of the host vehicle from a peripheral image captured by the camera, or a road condition determination unit that recognizes the shape of the road ahead of the host vehicle from map information of the navigation device. ,
The driving support according to claim 4, wherein the display controller adjusts the display position of the recommended viewpoint marker so as to overlap a road ahead of the host vehicle recognized by the image processing unit or the road condition determination unit. apparatus.

Images