JP6303419B2 - Vehicle travel guidance device and vehicle travel guidance method - Google Patents

Description

  The present invention relates to a vehicle travel guide device and a vehicle travel guide method.

  As this type of technique, a technique described in Patent Document 1 below is disclosed. This document discloses an image projected on a screen arranged between the driver's seat and the windshield, so that the driver can perceive the scene in front of the vehicle and the image superimposed on each other. Yes. The screen displays a predicted traveling locus of the host vehicle, a predicted stop position, and the like.

Japanese Patent Laid-Open No. 8-178679

In the technique described in Patent Document 1 above, the predicted travel locus of the host vehicle, the predicted stop position, and the like are known, but since the information such as what speed should be traveled or the predicted travel locus is unknown, The driver feels uneasy because he / she cannot judge whether to accelerate, maintain speed, decelerate, or whether the vehicle accelerates, maintains speed, or decelerates There was a fear.
The present invention pays attention to the above-mentioned problem, and an object of the present invention is to provide a vehicle travel guide device and a vehicle travel guide capable of teaching a driver the speed information of the host vehicle of a predicted travel locus (planned travel route). Is to provide a method.

  In order to solve the above-described problem, in the first and second inventions, a route image is displayed on the display unit in a display form corresponding to the planned traveling speed, and the display unit arranges the route image on the planned traveling speed. A graph showing the change of the corresponding value was displayed.

  Therefore, in the first invention and the second invention, the driver can obtain information on the planned traveling speed, and anxiety can be suppressed.

FIG. 2 is a control block diagram of the vehicle travel guide apparatus according to the first embodiment. 3 is a flowchart illustrating a route image generation process according to the first embodiment. FIG. 6 is a diagram illustrating an example of display on a monitor according to the first embodiment.

Example 1
[Control block]
In the first embodiment, a vehicle travel guidance apparatus mounted on a vehicle that performs automatic driving will be described. FIG. 1 is a control block diagram of the vehicle travel guide apparatus. The vehicle travel guidance device includes a host vehicle position measurement unit 1, a map information holding unit 2, a distance measurement sensor 3, a vehicle speed sensor 4, a camera 5, a travel device drive unit 6, a travel device 7, and a monitor. 8 and a control unit 9.

  The own vehicle position measuring unit 1 includes a Global Positioning System (GPS) receiving antenna and a processing unit that analyzes a received signal from the GPS and measures the position of the own vehicle. In addition to the received signal from the GPS, the vehicle position may be measured using a gyro.

  The map information holding unit 2 holds at least map information around the current position of the host vehicle. Even if the map information holding unit 2 does not hold the map information as a database, the map information holding unit 2 may acquire map information in a necessary range from the server at any time by communication or the like.

  Ranging sensor 3 consists of a transmitter that transmits signals such as ultrasonic waves and lasers in front of the vehicle and a receiver that receives signals reflected by objects in front of the vehicle, such as the time difference from when the signal is transmitted until it is received. Measure the distance between the vehicle and the object ahead.

The vehicle speed sensor 4 detects the vehicle speed of the host vehicle from the wheel speed of each wheel of the host vehicle.
The camera 5 captures an image in front of the host vehicle.
The travel device drive unit 6 drives a travel device 7 to be described later.

The traveling device 7 includes a steering device 7a, a driving device 7b, and a braking device 7c. The steering device 7a controls the steering amount of the steered wheels. The driving device 7b controls the driving force by the engine and the driving motor. The braking device 7c controls the braking force by the friction brake and the regenerative brake.
The monitor 8 displays a route image to be described later. Specific display contents will be described in detail later.

The control unit 9 includes a planned travel route setting unit 9a, a planned travel installation unit 9b, and a route image generation unit 9c.
The scheduled travel route setting unit 9a acquires the host vehicle position information from the host vehicle position measurement unit 1 and the map information from the map information holding unit 2. The planned travel route setting unit 9a sets what route the host vehicle travels to the destination.

  The planned traveling state setting unit 9b is configured to receive the vehicle position information from the vehicle position measurement unit 1, the map information from the map information holding unit 2, the distance information from the distance sensor 3 to the object ahead, and the vehicle speed sensor 4 to the vehicle body. The speed information and the front image of the host vehicle are acquired from the camera 5. In the planned traveling state setting unit 9b, road speed limit information included in the map information, the type information of the forward object from the video of the camera 5 (vehicle, pedestrian, obstacle, etc.), the distance to the forward object, the camera 5 The planned driving state of the vehicle is set by extracting information such as signs and signals from the video. The planned traveling state of the vehicle indicates the speed (scheduled traveling speed) of the host vehicle at each point ahead, the steering amount (scheduled steering amount), and the like.

The travel device drive unit 6 controls each device so that the host vehicle travels on the planned travel route set by the planned travel route setting unit 9a in the travel state set by the planned travel state setting unit 9b.
The route image generation unit 9c generates a route image or the like based on the planned traveling route set by the planned traveling route setting unit 9b for the host vehicle based on the traveling state set by the planned traveling state setting unit 9b.

[Route image generation processing]
FIG. 2 is a flowchart showing a route image generation process.
In step S1, the planned travel route is read and the process proceeds to step S2.
In step S2, the planned running state is read and the process proceeds to step S3.
In step S3, the front video is read and the process proceeds to step S4.

In step S4, map information is read and the process proceeds to step S5.
In step S5, acceleration / deceleration information is extracted from the planned traveling state information, and the process proceeds to step S6. The acceleration / deceleration information extracts a section where the host vehicle decelerates, a section where the vehicle travels at a constant speed, and a section where the vehicle accelerates from the vehicle speed information in the planned traveling state.

In step S6, a route image is generated and the process proceeds to step S7. The route image is generated so that a display form indicating a section in which the host vehicle decelerates, a section in which the host vehicle travels at a constant speed, and a section in which the host vehicle accelerates is superimposed and displayed on the image in front of the host vehicle captured by the camera 5.
In step S7, a planned running state graph is generated and the process proceeds to step S8. The planned travel state graph shows the vehicle speed in the time series in the planned travel state.

In step S8, a map screen is generated and the process proceeds to step S9. The map screen is generated so as to superimpose and display a display form indicating a section where the host vehicle decelerates, a section where the host vehicle travels at a constant speed, a section where the host vehicle is accelerated, and a position where the host vehicle is located on the map information.
In step S9, the command value is output to the monitor 8 so as to display the generated route image, the planned traveling state graph, and the map screen side by side at a predetermined position, and the process is terminated.

[Route image generation processing operation]
FIG. 3 is a diagram showing an example of display on the monitor 8. On the monitor 8, a route image 8a, a planned traveling state graph 8b, and a map screen 8c are displayed side by side. FIG. 3 shows a state in which the vehicle is about to stop behind a preceding vehicle waiting for a signal by automatic driving.

  The process proceeds from step S1, step S2, step S3, step S4, step S5, and step S6 in FIG. 2 to generate a route image 8a. The route image 8a is shown by superimposing a planned route display unit 10 indicating a planned traveling route on a video obtained by photographing the front of the host vehicle. The planned route display unit 10 is represented by bars shown at both ends of the host vehicle travel lane in the example of FIG. The planned route display unit 10 is color-coded according to a section where the host vehicle decelerates, a section where the vehicle travels at a constant speed, and a section where the vehicle travels at an accelerated speed. In FIG. 3, the section in which the vehicle travels at a constant speed is indicated by a “blue” constant speed travel display portion 10a, and the section in which the vehicle decelerates is indicated by a “red” deceleration display portion 10b.

  In step S7, the planned traveling state graph 8b is generated. The planned running state graph 8b is a graph in which the vertical axis represents the vehicle speed and the horizontal axis represents the elapsed time from the current time. For example, a line 11 indicating a change in vehicle speed indicates a section in which the vehicle travels at a constant speed by a “blue” constant speed travel line 11a and a section in which the vehicle decelerates by a “red” deceleration line 11b. The acceleration may be taken on the vertical axis. Further, the distance from the current position of the host vehicle may be taken on the horizontal axis. Further, the scale of the horizontal axis may be made variable according to the speed of the host vehicle.

In step S8, a map screen 8c is generated. The map screen 8c shows the map information with the planned route display unit 12 indicating the planned travel route and the host vehicle display unit 13 indicating the position of the host vehicle superimposed on each other. The planned route display unit 12 is represented by a bar shown in front of the host vehicle display unit 13 in the example of FIG. The planned route display unit 12 is color-coded according to a section where the host vehicle decelerates, a section where the vehicle travels at a constant speed, and a section where the vehicle travels at an accelerated speed. In FIG. 3, the section in which the vehicle travels at a constant speed is indicated by a “blue” constant speed traveling display portion 12a, and the section in which the vehicle decelerates is indicated by a “red” deceleration display portion 12b.
In step S9, the command value is output to the monitor 8 so that the route image 8a, the planned traveling state graph 8b, and the map screen 8c are displayed side by side as shown in FIG.

[Action]
Conventionally, there has been a display of a planned traveling route or the like in an image in front of the host vehicle or in the driver's field of view. However, the display of the planned travel route alone may cause anxiety because, for example, in an autonomous driving vehicle, the driver cannot obtain information on whether the host vehicle will accelerate, travel at a constant speed, or decelerate. there were.

Therefore, in the first embodiment, a route image indicating the planned travel route is displayed on the monitor 8 in a display form corresponding to the planned travel speed, and a planned travel state graph indicating the value corresponding to the planned travel speed is displayed in the route image. I did it.
Thereby, the driver can obtain information on the planned traveling speed.

Further, in the first embodiment, the map screen around the host vehicle is displayed on the monitor 8 in a display form corresponding to the planned travel speed, along with the route image and the planned travel graph.
Thereby, the driver can obtain speed information from information viewed from different viewpoints.

In the first embodiment, the route image display form is visually different.
As a result, the driver can easily obtain information on the planned traveling speed.
In the first embodiment, the color of the display form of the route image is made different.
As a result, the driver can easily obtain information on the planned traveling speed.

In Example 1, the planned running state graph is such that the vertical axis represents a value corresponding to the planned traveling speed, and the horizontal axis represents the elapsed time from the current time.
As a result, the driver can easily acquire the amount of time change of the value according to the planned traveling speed.

Further, in Example 1, the planned traveling state graph has a value corresponding to the planned traveling speed on the vertical axis and the distance from the current position of the host vehicle on the horizontal axis.
Thereby, the driver can easily obtain the amount of change with respect to the position of the value according to the planned traveling speed.

In Example 1, the scale of the horizontal axis of the planned running state graph is made variable according to the vehicle speed of the host vehicle.
When the vehicle speed of the host vehicle is high, there is little change in the planned traveling state. In other words, at high speeds, the time and distance for constant speed travel are long, and the change in speed is small. On the other hand, at low speeds, the frequency of repeated stop and acceleration is high, and the speed changes frequently. By increasing the scale on the horizontal axis at high speeds, the driver can obtain changes in information related to the planned driving speed ahead, and at low speeds, the driver can acquire the planned driving speed by reducing the scale on the horizontal axis. More detailed changes in information about

In the first embodiment, the planned travel speed graph shows the change in the planned travel speed.
Thereby, the driver can easily acquire a change in the planned traveling speed.

In the first embodiment, the planned travel state graph shows changes in the planned travel acceleration.
As a result, the driver can easily acquire a change in the planned traveling acceleration.

[effect]
(1) A planned travel route setting unit 9a for setting the planned travel route of the host vehicle, a planned travel state setting unit 9b for setting the planned travel speed on the planned travel route of the host vehicle, and the planned travel of the set own vehicle A monitor 8 (display unit) that displays a route image corresponding to the route, and displays the route image on the monitor 8 in a display form corresponding to the planned traveling speed. The planned running state graph showing the change of the value according to the running speed was displayed.
Therefore, the driver can obtain information on the planned traveling speed, and anxiety can be suppressed.

(2) The monitor 8 displays the map screen around the host vehicle in a display form corresponding to the planned traveling speed, along with the route image and the planned traveling graph.
Therefore, the driver can obtain information on the planned traveling speed from information viewed from different viewpoints.

(3) The route image is displayed visually differently.
Therefore, the driver can easily acquire information on the planned traveling speed.

(4) The route image is made to have a different display color.
Therefore, the driver can easily obtain information on the planned traveling speed.

(5) In the planned running state graph, the vertical axis shows the value according to the planned running speed, and the horizontal axis shows the elapsed time from the current time.
Therefore, the driver can easily acquire the amount of time change of the value corresponding to the planned traveling speed.

(6) In the planned driving state graph, the vertical axis shows the value according to the planned driving speed, and the horizontal axis shows the distance from the current position of the host vehicle.
Therefore, the driver can easily acquire the amount of change with respect to the position of the value corresponding to the planned traveling speed.

(7) In the planned driving condition graph, the horizontal axis scale is made variable according to the vehicle speed.
Therefore, the driver can obtain information suitable for the current traveling state of the host vehicle.

(8) The value corresponding to the planned travel speed was taken as the planned travel speed.
Therefore, the driver can easily acquire a change in the planned traveling speed.

(9) The value corresponding to the planned travel speed was taken as the planned travel acceleration.
Therefore, the driver can easily acquire a change in the planned traveling acceleration.

(10) Set the planned travel route of the host vehicle, set the planned travel speed on the planned travel route of the host vehicle,
A route image corresponding to the set planned travel route of the host vehicle is displayed, and the route image is displayed on the monitor 8 in a display form corresponding to the planned travel speed, and the monitor 8 is arranged on the route image to display the planned travel speed. The planned running state graph showing the change of the corresponding value was displayed.
Therefore, the driver can obtain information on the planned traveling speed, and anxiety can be suppressed.

[Other Examples]
As described above, the present invention is not limited to the configuration of the above embodiment, and may have other configurations.
For example, in Example 1, the planned route display unit 10 of the route image 8a is represented by bars shown at both ends of the host vehicle travel lane. This may be represented by a bar that covers the host vehicle lane in the width direction.
In the first embodiment, the planned route display unit 10 is color-coded according to the section where the host vehicle decelerates, the section where the vehicle travels at a constant speed, and the section where the vehicle travels at an accelerated speed. This may be color-coded according to the planned vehicle speed.
The camera 5 of the first embodiment may be a laser range finder or the like.
Further, the planned running state graph of the first embodiment is not limited to the two axes of the vertical axis and the horizontal axis, but may be in a form in which the time series change of speed or acceleration or the change with respect to the distance can be known.
In the first embodiment, the route image, the planned traveling state graph, and the map screen are displayed side by side on the monitor 8, but two of the route image and the planned traveling state graph or two of the planned traveling state graph and the map screen are displayed. May be displayed side by side.

8 Display
9a Scheduled route setting part
9b Scheduled driving state setting section
9c Route image generator

Claims (9)

A planned travel route setting unit for setting the planned travel route of the host vehicle;
A planned traveling state setting unit for setting a planned traveling speed on the planned traveling route;
A display unit for displaying a route image corresponding to the planned traveling route in a display form corresponding to the planned traveling speed;
Have
The vehicle travel guide device, wherein the display unit displays a graph that is arranged on the route image and indicates a change in value according to the planned travel speed. In the vehicle travel guidance device according to claim 1,
The display section displays the map screen around the host vehicle in a display form corresponding to the planned traveling speed, arranged in the route image and the graph. In the vehicle travel guidance device according to claim 1 or claim 2,
The travel guidance device for a vehicle, wherein the route image visually changes the display form. In the vehicle travel guidance device according to claim 3,
The travel guidance device for a vehicle, wherein the route image has different colors of the display form. In the vehicle travel guidance device according to any one of claims 1 to 4,
In the graph, the vehicle travel guide device is characterized in that the vertical axis represents a value corresponding to the planned travel speed, and the horizontal axis represents the elapsed time from the current time. In the vehicle travel guidance device according to any one of claims 1 to 4,
In the graph, the vertical axis takes a value corresponding to the planned traveling speed, and the horizontal axis shows a distance from the current position of the host vehicle. In the vehicle travel guidance device according to claim 5 to claim 6,
In the graph, the scale of the horizontal axis is made variable according to the vehicle speed of the host vehicle. In the vehicle travel guidance device according to any one of claims 1 to 7,
The vehicle travel guidance apparatus according to claim 1, wherein the value corresponding to the planned travel speed is a planned travel acceleration. Set the planned travel route for your vehicle,
Set a planned traveling speed on the planned traveling route of the host vehicle,
The set the route image corresponding to the planned travel route of the vehicle, and displayed in the table radical 113 in the display form corresponding to the predetermined traveling speed,
The vehicle travel guidance method, wherein the display unit displays a graph showing a change in a value according to the planned travel speed, arranged in the route image.

Images