JP6633957B2 - Peripheral risk display - Google Patents

Description

  The present invention relates to a peripheral risk display device that displays a risk existing around a vehicle such as an automobile, and more particularly to a device that prevents omission of a risk target.

  In order to prevent accidents in vehicles such as automobiles and improve safety, for example, various risks such as other running vehicles, stopped vehicles, pedestrians, cyclists, buildings, terrain, etc. existing around the own vehicle There is a demand for a technique for sequentially recognizing the relative position, relative speed, and the like of the target object with respect to the own vehicle using various sensors and transmitting the danger to a user such as a driver.

As a related art relating to image display of a risk target object existing around the own vehicle, for example, Japanese Patent Application Laid-Open No. 2003-133873 generates an environment image that three-dimensionally expresses a surrounding environment of a vehicle and expresses an object existing around the vehicle. It describes that an object image to be displayed is synthesized with an environment image and displayed.
Patent Document 2 describes that when the own vehicle approaches an intersection, environmental information of another vehicle or the like obtained by road-to-vehicle communication is displayed according to a brake switch on and a request from a driver. I have.
Patent Literature 3 discloses that images of rear left and right regions of a vehicle are displayed in real time on left and right independent monitors in real time. It is described that a superimposed image that calls attention to the presence of an approaching vehicle is displayed in a partial area of the screen.
Patent Document 4 discloses that an overhead image viewed from a virtual viewpoint above an own vehicle is generated from an image around the own vehicle, and when the detected obstacle is determined to be a moving object, the moving object is positioned at an end of the overhead image. It is described that the scale is changed so as to be displayed in.
Patent Document 5 discloses a line segment figure that detects the presence or absence of an obstacle around a vehicle, a direction to the obstacle, and a distance from the captured image, a sound wave, a radio wave, or a reflected wave of a laser, and indicates a direction to the obstacle and the like. Is superimposed on the captured image and obstacle information around the vehicle is provided to the user.

JP 2007-172541A JP 2011-103080 A JP 2009-214656 A JP 2009-111946 A JP 2008-176566 A

In the above-described related art, it is possible to allow a user such as a driver to recognize, by an image, a danger degree of a risk object that actually exists, which is recognized by an environment recognition unit such as a sensor or a camera.
However, for example, when driving in an area where there is a blind spot where visibility is obstructed by obstacles such as buildings, such as running in an urban area, and where there are many areas where information cannot be obtained in advance, the assumed risks are The operation cannot be continued until after confirming that the operation is correct.
For this reason, it is necessary to appropriately confirm the presence or absence of a real risk that becomes apparent at any time according to the progress of the vehicle, but since the driver needs to confirm not only in the traveling direction but also in various directions and timings, There is a strong demand for appropriate information presentation to prevent omission of checks.
An object of the present invention is to provide a peripheral risk display device for preventing a risk target from being missed.

The present invention solves the above-mentioned problems by the following means.
The invention according to claim 1 is a peripheral risk display device provided on a vehicle for displaying a risk object around the own vehicle, and an unconfirmed risk extracting means for extracting an unconfirmed risk assumed to be present around the own vehicle. Environment recognition means for recognizing an environment around the own vehicle, risk recognition means for recognizing a risk object corresponding to the unconfirmed risk based on a recognition result of the environment recognition means, and recognition by the risk recognition means. And a display unit for displaying a list of unconfirmed risks.
According to this, a list of unconfirmed risks that are assumed to be present around the own vehicle but have not yet been recognized by the risk recognition means is displayed to the user (driver during manual driving) and presented. In addition, it is possible to make the user recognize the existence of an unconfirmed risk that cannot be confirmed unless the own vehicle travels further forward, and to prevent omission of the unconfirmed risk.
As a result, it is possible to prevent a collision with a risk object suddenly appearing from the blind spot, etc., and to improve the safety of the vehicle.

The invention according to claim 2, wherein the display unit changes a display mode of a display related to the unconfirmed risk after the unconfirmed risk is recognized by the risk recognizing unit. A display device.
According to this, it is possible to draw a higher degree of attention to the user by making it possible to distinguish a recognized real risk from other unconfirmed risks after being displayed as an unconfirmed risk.

The invention according to claim 3, wherein the display means changes a display mode of a display relating to the unconfirmed risk after the risk recognizing means confirms that the unconfirmed risk does not exist. A peripheral risk display device according to claim 2.
According to this, after being displayed as an unconfirmed risk, it is possible to narrow down the unconfirmed risks that the user needs to pay attention to by making it possible to distinguish those that have no actual confirmed risks from other unconfirmed risks. Can be aroused.

The invention according to claim 4 is characterized in that the display means stops displaying the unconfirmed risk after the risk recognizing means confirms that the unconfirmed risk does not exist. 2. A peripheral risk display device according to (1).
According to this, the monitoring load on the user can be reduced by stopping the display of the unconfirmed risk for which it is confirmed that there is no risk.

The invention according to claim 5 is characterized in that the display means displays a plurality of displays relating to the unconfirmed risks in an order from the shortest time until recognition by the risk recognition means is possible. A peripheral risk display device according to any one of claims 1 to 4.
According to this, by displaying the unconfirmed risks in the order in which the actual presence or absence of the risk can be recognized, the user only has to pay attention to the top of the unconfirmed risks, so that the user can easily monitor.

The invention according to claim 6, wherein the display means displays a plurality of the indications regarding the unconfirmed risk in an order in which the distances from the own vehicle are short, and displays the indications. 2. The peripheral risk display device according to claim 1.
According to this, unconfirmed risks are displayed in the order in which risks such as collisions may occur, thereby preventing a risk omission of a high-risk object that may cause a collision or the like in a short period of time. Can be improved.

In the invention according to claim 7, the display means is arranged such that when the pedestrian is recognized as a risk target by the risk recognition means, the display related to the pedestrian is higher than the display related to the unconfirmed risk. The peripheral risk display device according to any one of claims 1 to 6, wherein the display is performed by displaying the risk information.
In the invention according to claim 8, when the risk recognizing unit recognizes another traveling vehicle as a risk target, the display unit ranks the display relating to the other vehicle higher than the display relating to the unconfirmed risk. The peripheral risk display device according to any one of claims 1 to 7, wherein the peripheral risk display device is arranged and displayed as described above.
According to this, when a relatively high-risk object such as a pedestrian or another running vehicle is recognized, the user is alerted by displaying the object at a higher position, thereby increasing safety. Can be improved.

  As described above, according to the present invention, it is possible to provide a peripheral risk display device that prevents a risk target from being missed.

1 is a block diagram schematically showing a configuration of a vehicle provided with a first embodiment of a peripheral risk display device to which the present invention is applied. FIG. 3 is a schematic diagram illustrating an arrangement of sensors for recognizing the surroundings of the vehicle in the first embodiment. FIG. 2 is a diagram illustrating an example of a user view of a vehicle having the peripheral risk display device according to the first embodiment. 5 is a flowchart illustrating an operation of the peripheral risk display device according to the first embodiment. FIG. 4 is a diagram illustrating an example of image display in the peripheral risk display device according to the first embodiment.

  The present invention solves the problem of providing a peripheral risk display device that prevents omission of a risk target by checking a list of unconfirmed risks that have not been confirmed by a recognition unit such as a camera or a radar.

Hereinafter, Embodiment 1 of the peripheral risk display device to which the present invention is applied will be described.
FIG. 1 is a block diagram schematically showing a configuration of a vehicle provided with a first embodiment of a peripheral risk display device to which the present invention is applied.
The peripheral risk display device according to the first embodiment is provided in, for example, a vehicle 1 that is an automobile such as a passenger car having an automatic driving function, and is provided to a user (eg, a driver at the time of manual driving) or the like, for a user or the like. This is for displaying information on risks and the like as images.
At the time of automatic driving, the user can monitor the peripheral risk and verify the validity of the peripheral risk recognition process in the automatic driving control based on the information presented by the peripheral risk display device.
In addition, even when the user performs manual driving as a driver, it is possible to receive driving support for prompting an appropriate check of the risk target.

As shown in FIG. 1, a vehicle 1 includes an engine control unit 10, a transmission control unit 20, a behavior control unit 30, an electric power steering (EPS) control unit 40, an automatic driving control unit 50, an environment recognition unit 60, and a stereo camera control. A unit 70, a laser scanner control unit 80, a rear side radar control unit 90, a navigation device 100, a road-to-vehicle communication device 110, a vehicle-to-vehicle communication device 120, a peripheral risk recognition unit 200, a display device 210, and the like are provided.
Each of the above-described units is configured as, for example, a unit having information processing means such as a CPU, storage means such as a RAM and a ROM, an input / output interface, and a bus connecting these. These units can communicate with each other via an in-vehicle LAN system such as a CAN communication system.

The engine control unit 10 comprehensively controls an engine that is a power source for traveling of the vehicle 1 and its accessories.
As the engine, for example, a 4-stroke gasoline engine is used.
The engine control unit (ECU) 10 can control the output torque of the engine by controlling the throttle valve opening of the engine, the fuel injection amount and the injection timing, the ignition timing, and the like.
In a state where the vehicle 1 is driven in accordance with the driving operation of the driver, the engine control unit 10 controls the engine so that the actual torque of the engine approaches the driver request torque set based on the operation amount of the accelerator pedal and the like. Control the output.
When the vehicle 1 performs automatic driving, the engine control unit 10 controls the output of the engine according to a command from the automatic driving control unit 50.

The transmission control unit (TCU) 20 controls the transmission and the auxiliary devices (not shown) for switching the forward and backward movements of the vehicle while changing the rotational output of the engine.
When the vehicle 1 performs automatic driving, the transmission control unit 20 performs range switching such as forward / reverse travel and setting of a gear ratio in response to a command from the automatic driving control unit 50.
As the transmission, for example, a CVT of a chain type, a belt type, a toroidal type or the like, or various automatic transmissions such as a step AT, a DCT, and an AMT having a plurality of planetary gear sets can be used.
The transmission is configured to include, in addition to a transmission mechanism such as a variator, a starting device such as a torque converter, a dry clutch, a wet clutch, and a forward / reverse switching mechanism that switches between a forward traveling range and a reverse traveling range. I have.

The transmission control unit 20 is connected with a forward / reverse switching actuator 21, a range detection sensor 22, and the like.
The forward / reverse switching actuator 21 drives a forward / backward switching valve that switches an oil passage for supplying hydraulic pressure to the forward / backward switching mechanism, and switches the vehicle forward or backward.
The forward / reverse switching actuator 21 is, for example, an electric actuator such as a solenoid.
The range detection sensor 22 is a sensor (switch) for determining whether the currently selected range in the transmission is for forward movement or for backward movement.

The behavior control unit 30 controls the wheel cylinder hydraulic pressures of the hydraulic service brakes provided on the left, right, front and rear wheels, respectively, to control vehicle behavior such as understeer and oversteer, and to control wheel lock during braking. The anti-lock brake control for recovering the brake force is performed.
The behavior control unit 30 is connected with a hydraulic control unit (HCU) 31, a vehicle speed sensor 32, and the like.

The HCU 31 includes an electric pump for pressurizing a brake fluid, which is a working fluid of a hydraulic service brake, and a valve for individually adjusting a hydraulic pressure supplied to a wheel cylinder of each wheel.
When the vehicle 1 performs automatic driving, the HCU 31 generates a braking force on the wheel cylinder of each wheel according to a braking command from the automatic driving control unit 50.
The vehicle speed sensor 32 is provided at a hub portion of each wheel, and generates a vehicle speed pulse signal having a frequency proportional to the rotation speed of the wheel.
The traveling speed (vehicle speed) of the vehicle can be calculated by detecting the frequency of the vehicle speed pulse signal and performing predetermined arithmetic processing.

The electric power steering (EPS) control unit 40 comprehensively controls an electric power steering device that assists a driver's steering operation with an electric motor, and its accessories.
A motor 41, a steering angle sensor 42, and the like are connected to the EPS control unit 40.

The motor 41 is an electric actuator that assists a driver's steering operation by applying an assist force to a steering system of the vehicle, or changes a steering angle during automatic driving.
When the vehicle 1 performs automatic driving, the motor 41 applies torque to the steering system in accordance with a steering command from the automatic driving control unit 50 so that the steering angle of the steering system approaches a predetermined target steering angle. To steer.
The steering angle sensor 42 detects a current steering angle in the steering system of the vehicle.
The steering angle sensor 42 includes, for example, a position encoder that detects an angular position of the steering shaft.

  When the automatic driving mode is selected, the automatic driving control unit 50 outputs a control command to the engine control unit 10, the transmission control unit 20, the behavior control unit 30, the EPS control unit 40, and the like to automatically start the vehicle. This is to execute automatic driving control for making the vehicle travel in an optimal manner.

When the automatic driving mode is selected, the automatic driving control unit 50 causes the own vehicle to proceed in accordance with information on the surroundings of the own vehicle provided from the environment recognition unit 60, a command from a driver (not shown), and the like. Set the desired target trajectory, automatically perform acceleration (starting), deceleration (stop), forward / backward switching, steering, etc. of the vehicle, and automatically drive the vehicle to the preset destination. Execute.
In addition, the automatic driving mode is stopped in response to a predetermined release operation from the user when the user desires manual driving or when it is difficult to continue the automatic driving. It is possible to return to the operation mode.

An input / output device 51 is connected to the automatic operation control unit 50.
The input / output device 51 outputs information such as a warning and various messages from the automatic driving control unit 50 to the user, and receives input of various operations from the user.
The input / output device 51 includes, for example, an image display device such as an LCD, a sound output device such as a speaker, an operation input device such as a touch panel, and the like.

The environment recognition unit 60 recognizes information around the own vehicle.
The environment recognition unit 60 is based on information provided from the stereo camera control unit 70, the laser scanner control unit 80, the rear side radar control unit 90, the navigation device 100, the road-to-vehicle communication device 110, the vehicle-to-vehicle communication device 120, and the like. It recognizes parked vehicles, running vehicles, buildings, terrain, obstacles such as pedestrians around the own vehicle, lane shapes of roads on which the own vehicle runs, and the like.

The stereo camera control unit 70 controls a plurality of sets of stereo cameras 71 provided around the vehicle and performs image processing on images transmitted from the stereo cameras 71.
Each of the stereo cameras 71 is configured by, for example, arranging a pair of camera units including an imaging optical system such as a lens, a solid-state imaging device such as a CMOS, a drive circuit, and a signal processing device in parallel.
The stereo camera control unit 70 recognizes the shape of the subject imaged by the stereo camera 71 and the relative position with respect to the own vehicle based on the image processing result using the known stereo image processing technology.
The laser scanner control unit 80 controls the laser scanner 81 and recognizes various objects such as vehicles and obstacles around the vehicle as 3D point cloud data based on the output of the laser scanner 81.

The rear side radar control unit 90 controls the rear side radars 91 provided on the left and right sides of the vehicle, and detects an object present on the rear side of the vehicle based on the output of the rear side radar 91. Things.
The rear side radar 91 can detect another vehicle approaching from the rear side of the own vehicle, for example.
As the rear side radar 91, for example, a radar such as a laser radar or a millimeter wave radar is used.

FIG. 2 is a schematic diagram illustrating an arrangement of sensors for recognizing the surroundings of the vehicle in the first embodiment.
The stereo cameras 71 are provided at the front, rear, left and right sides of the vehicle 1 respectively.
Among the stereo cameras 71, the one for the front imaging is arranged near the upper end of the windshield in the vehicle interior.
A plurality of laser scanners 81 are provided so as to be substantially distributed around the vehicle 1 so that a blind spot does not occur. The rear-side radars 91 are arranged, for example, on the left and right sides of the vehicle 1 and have a detection range of the vehicle 1. It is arranged rearward and outward in the vehicle width direction.

The navigation device 100 includes, for example, a vehicle position measurement unit such as a GPS receiver, a data storage unit that stores map data prepared in advance, a gyro sensor that detects the front-back direction of the vehicle, and the like.
The map data has road information such as roads, intersections, and interchanges at the lane level.
The road information includes, in addition to the three-dimensional lane shape data, information on whether or not each lane (lane) can make a right / left turn, a stop position, a speed limit, and other information that restricts traveling.
The navigation device 100 has a display 101 incorporated in an instrument panel 340 described later.
The display 101 is an image display device on which various information output from the navigation device 100 to the driver is displayed.
The display 101 includes a touch panel, and also functions as an input unit through which various operation inputs from a driver are performed.

  The road-to-vehicle communication device 110 communicates with a ground station (not shown) by a communication system conforming to a predetermined standard, and transmits information on traffic congestion information, traffic signal lighting state, road construction, accident site, lane regulation, weather, road surface condition, and the like. What you get.

  The vehicle-to-vehicle communication device 120 communicates with another vehicle (not shown) by a communication system conforming to a predetermined standard, and obtains information on a vehicle state such as the position, azimuth, acceleration, and speed of the other vehicle, a vehicle type, a vehicle size, and the like. This is for acquiring information on vehicle attributes.

The peripheral risk recognition unit 200 extracts a risk object having a collision risk with the host vehicle based on the information recognized by the environment recognition unit 60.
Further, the peripheral risk recognition unit 200 has a function as an unconfirmed risk extracting unit that extracts an unconfirmed risk that is assumed to occur in front of the own vehicle.
This will be described in detail later.

FIG. 3 is a diagram illustrating an example of a user (driver during manual driving) view in a vehicle including the peripheral risk display device according to the first embodiment.
As shown in FIG. 3, the vehicle includes a windshield 310, a front door glass 320, a side mirror 330, an instrument panel 340, a steering wheel 350, an A pillar 360, a roof 370, a room mirror 380, and the like.

The windshield 310 is arranged on the front side of the driver.
The windshield 310 is a quadratic curved glass formed substantially in a horizontally long rectangular shape and curved in a direction in which the front becomes convex.
The windshield 310 is disposed so as to be inclined rearward such that the upper end portion is on the vehicle rear side with respect to the lower end portion.

The front door glass 320 is provided above the left and right front doors used for getting on and off the occupant, and is provided on the side of the driver.
The front door glass 320 has a vertically movable main body 321 and a fixed triangular window 322 provided at the front of the main body 321.

The side mirror 330 is for the driver to check the left and right rear view.
The side mirror 330 protrudes outward from the outer panels of the left and right front doors in the vehicle width direction.
In the user's view, the side mirror 330 can be seen, for example, near the front end of the main body 321 of the front door glass 320.

The instrument panel 340 is an interior member provided below the windshield 310 in the vehicle interior.
The instrument panel 340 also functions as a housing in which various instruments, a display device, switches, an air conditioner, a passenger airbag device, a knee protection airbag device, and the like are housed.
The instrument panel 340 includes a combination meter 341, a multifunction display 342, the display 101 of the navigation device 100, and the like.

The combination meter 341 is provided in front of the driver's seat, and is a unit of various instruments such as a speedometer, an engine tachometer, and a distance meter.
The display 210 is built in the combination meter 341.
The multi-function display 342 is an image display device such as an LCD provided at an upper portion of the instrument panel 340 at the center in the vehicle width direction.
The display 101 of the navigation device 100 is provided below the instrument panel 340 at the center in the vehicle width direction.

The steering wheel 350 is an annular operation member to which a driver inputs a steering operation during manual driving.
The steering wheel 350 is provided substantially directly in front of the driver.
The combination meter 341 is visible from the inside diameter of the upper half of the steering wheel 350 in the user's field of view.

The A pillar 360 is a columnar vehicle body structural member arranged along the side end of the windshield 310 and the front end of the front door glass 320.
A surface portion of the A pillar 360 on the vehicle interior side is covered with a pillar trim made of resin.

The roof 370 extends rearward from the upper end of the windshield 310.
The surface of the roof 370 on the vehicle interior side is covered with a resin roof trim.
At the front end of the roof 370 at the center in the vehicle width direction, a stereo camera housing portion 371 for housing the stereo camera 71 for front photographing is provided.

The rearview mirror 380 is a rearview mirror provided in the vehicle interior.
The rear-view mirror 380 is provided near an upper end of a center portion of the windshield 310 in the vehicle width direction via a stay (not shown).

The display device 210 is an image display device arranged to face a driver of the vehicle.
As the display device 210, for example, as shown in FIG. 3, an LCD incorporated in the combination meter 341 of the instrument panel 340 can be used.

Next, the operation of the peripheral risk display device according to the first embodiment will be described.
When the vehicle travels, the peripheral risk recognition unit 200 extracts a risk assumed from the traveling environment of the own vehicle, and a stereo camera mounted on the own vehicle if the extracted assumed risk actually exists. The items are listed in the order in which the time until they can be recognized by the laser scanner 71 or the laser scanner 81 is short (in order of entering the detection range early).
For example, the peripheral risk recognition unit 200 holds a list of possible risks in advance for each of various traveling environments such as straight ahead at an intersection, right and left turns, merging at an interchange on an expressway, and traveling on a mountain road. I have.
For example, at an intersection, other vehicles, pedestrians, pedestrians on a pedestrian crossing provided at the intersection, traffic lights, traffic signs, etc., which are traveling on each road connected to the intersection, are listed as assumed risks. It is going to be up.
FIG. 4 is a flowchart illustrating the operation of the peripheral risk display device according to the first embodiment.
The peripheral risk recognition unit 200 performs the processes shown in the following flowcharts in parallel for each of the listed unconfirmed risks.
Hereinafter, a description will be given step by step in FIG.

<Step S01: Unconfirmed risk setting>
The peripheral risk recognition unit 200 is assumed to be able to appear in front of the vehicle, but sets a risk that has not yet been recognized by the stereo camera 71, the laser scanner 81, or the like, as an unconfirmed risk.
The peripheral risk recognition unit 200 regards a risk assumed in a blind spot (a blind spot area) of a sensor such as the stereo camera 71 and the laser scanner 81 mounted on the own vehicle as an unconfirmed risk.
For example, it cannot be detected by a direct environment recognition device driven by a stand-alone vehicle, but is detected by an indirect environment recognition device using a detection result other than the own vehicle such as vehicle-to-vehicle communication or road-to-vehicle communication. Are extracted as unconfirmed risks.
The unconfirmed risk includes, for example, other vehicles, pedestrians, other obstacles, and the like, which are assumed to exist in a blind spot area around the own vehicle and, if present, have a risk of collision with the own vehicle. As the blind spot area, for example, in the case of running in an urban area, an area shielded by a building or a stopped vehicle is assumed, and in the case of running in a mountainous area, an area shielded by terrain (the other side of a blind corner) is assumed.
The peripheral risk recognition unit 200 previously holds information on assumed risks (types of unconfirmed risks, position information of possible locations, and the like) according to the characteristics of the road on which the vehicle is traveling and the environment.
Thereafter, the process proceeds to step S02.

<Step S02: own vehicle position detection>
The surrounding risk recognition unit 200 acquires information on the position of the vehicle detected by the stereo camera 71, the laser scanner 81, the navigation device 100, and the like from the environment recognition unit 60.
Thereafter, the process proceeds to step S03.

<Step S03: Confirmation of reachable area>
The peripheral risk recognition unit 200 determines whether or not the own vehicle position detected in step S02 has reached an area where the unconfirmed risk set in step S01 can be confirmed by the stereo camera 71 and the laser scanner 81 (confirmable area). Judge.
When the positional relationship between the vehicle and the unconfirmed risk is within the recognizable range of the stereo camera 71, the laser scanner 81, and the like, and there is no obstruction, the peripheral risk recognition unit 200 has reached the recognizable region. And judge.
If the host vehicle has reached the checkable area, the process proceeds to step S04, otherwise returns to step S02 and repeats the subsequent processing.

<Step S04: Forward environment recognition>
The environment recognition unit 60 performs environment recognition in front of the vehicle using the stereo camera 71, the laser scanner 81, and the like, and recognizes the types, shapes, positions, speeds, and the like of various objects actually existing around the vehicle.
Thereafter, the process proceeds to step S05.

<Step S05: Risk object recognition judgment>
The peripheral risk recognition unit 200 determines whether or not the presence of the risk object corresponding to the unconfirmed risk has been recognized based on the recognition result of the environment recognition unit 60 in step S04.
The comparison between the unconfirmed risk and the risk object is performed, for example, by comparing the assumed position, assumed speed, assumed size, and the like of the unconfirmed risk with the actual position, speed, size, and the like of the risk object. If there is much in common, it is recognized that the risk object corresponds to the unconfirmed risk.
When the risk object corresponding to the unconfirmed risk is actually recognized, the process proceeds to step S06, and when not recognized, the process proceeds to step S08.

<Step S06: Risk Potential Judgment>
The peripheral risk recognition unit 200 calculates a risk potential which is an index indicating a magnitude of a collision risk with the own vehicle included in the risk target object recognized in step S05, and sets the risk potential to a predetermined threshold value set in advance. Compare.
The risk potential is calculated based on, for example, the type of the risk target, the relative position of the risk target relative to the own vehicle, the relative speed, and the like.
For example, when the relative distance to the own vehicle is short or when the relative speed toward the own vehicle is large, the risk potential is corrected in the increasing direction.
On the other hand, when the risk target is a moving object such as a vehicle or a pedestrian, for example, if the vehicle is stopped facing a red light or the like, the risk that the vehicle starts moving in the direction crossing the course of the own vehicle is considered to be small. The potential is corrected for decrease.
In addition, when the risk object is a traffic light, the risk potential is small when the vehicle is allowed to pass, such as a green light, and the risk potential is low when the vehicle is prohibited, such as a red light. Is set large.
For example, when the distance between the risk object and the own vehicle is equal to or greater than a threshold value, when the oncoming vehicle, the following vehicle, and the like have a low relative speed in the direction approaching the own vehicle, when the relative speed in the direction in which the preceding vehicle separates from the own vehicle, Is large, or when it is predicted that such a state may occur in the future, it is considered that the possibility of entering the traveling line of the own vehicle is relatively low and the risk potential is set low. .
When the risk potential calculated as described above is equal to or greater than the threshold, the process proceeds to step S07, and otherwise proceeds to step S08.

<Step S07: Attention risk setting>
The peripheral risk recognition unit 200 sets the risk object as a cautionary risk that needs to be carefully monitored continuously.
After that, a series of processing ends (return).

<Step S08: Confirmed risk setting>
The peripheral risk recognition unit 200 sets the risk object as a confirmed risk that is considered substantially safe.
After that, a series of processing ends (return).

The peripheral risk recognition unit 200 displays information on the various risks described above on the display device 210 as an image.
The peripheral risk recognition unit 200 has an image generation function of generating image data described below.
FIG. 5 is a diagram illustrating an example of image display in the peripheral risk display device according to the first embodiment.
As shown in FIG. 5, in the image display, the environment around the host vehicle is simplified by omitting details and the like, and is displayed as an overhead view generated by computer graphics.
This overhead view shows the field of view from a virtual viewpoint set above and behind the host vehicle.
In addition, in the bird's-eye view, in addition to the own vehicle, symbols indicating various risk objects such as other vehicles, pedestrians, bicycles, and buildings are displayed so as to be superimposed on the position indicating the position of each risk object. .
In the example illustrated in FIG. 5, the host vehicle OV is traveling on a left-handed one-lane road in an urban area.
In front of the host vehicle OV, there is an intersection J at which a road on which the host vehicle is running and a road which is on the left side of one lane and substantially along the width direction of the host vehicle OV intersect.
At the intersection J, a pedestrian crossing along the vehicle width direction of the host vehicle OV is provided on the near side and the back side as viewed from the host vehicle OV, and a crosswalk along the traveling direction of the host vehicle OV is provided on the left and right. ing.
The host vehicle OV plans to make a right turn at the intersection J, as shown by the dashed arrow in FIG.

On a part of the image display (the right side in FIG. 5), the confirmed risk Rc, the caution risk Rn, and the unconfirmed risk Ru are displayed in a list form in order from the top.
The confirmed risk Rc, the caution risk Rn, and the unconfirmed risk Ru are displayed in different display modes.
For example, the caution risk Rn is displayed in red or the like to alert, the confirmed risk Rc is displayed in green or blue or the like indicating safety, and the unconfirmed risk Ru is alerted next to the caution risk Rn. Therefore, it is displayed in yellow or the like.
Further, the display of the confirmed risk Rc may be erased.

The display indicating each risk is provided with a display (for example, a broken arrow in FIG. 5) indicating the association with each risk object displayed in the overhead view.
In addition, in the example shown in FIG. 5, each risk is displayed by a character, but may be displayed by a symbol instead of the character display or in combination with the character display.

In the example shown in FIG. 5, initially, a forward traffic light, an oncoming lane approaching vehicle, a pedestrian on the near crosswalk, a left approaching pedestrian, a left approaching vehicle, a pedestrian on the right pedestrian crossing, a right approaching pedestrian, a right approaching vehicle, etc. Are all displayed as unconfirmed risks Ru.
Thereafter, when the vehicle OV moves forward and places corresponding to the respective unconfirmed risks fall within the detection ranges of the stereo camera 71 and the laser scanner 81, the respective unconfirmed risks Ru, the cautionary risk Rn, or the confirmed risk Rc are transferred. Are sequentially performed.
Normally, such risk type stratification is sequentially performed from the upper side (upper side) of the listed unconfirmed risk display.

  At this time, when the risk object recognized as the caution risk Rn is, for example, a pedestrian or another traveling vehicle, the risk object is more dangerous than a stationary risk object such as a stopped vehicle or a building. In order to draw the user's attention more strongly, the display order in the list may be arranged higher in the list than other unconfirmed risks.

In the example illustrated in FIG. 5, it is confirmed that the traffic light S ahead is blue (an intersection can be entered), and the traffic light S is a confirmed risk Rc.
It has been confirmed that the vehicle approaching the oncoming lane does not exist at least within the detection range of the stereo camera 71, the laser scanner 81, and the like, and thus has a confirmed risk Rc.
It has been confirmed that there is no pedestrian on the pedestrian crossing in the front, and the pedestrian has a confirmed risk Rc.

It has been confirmed that the left approaching pedestrian PE1 approaching the traveling lane side of the own vehicle from the left side of the own vehicle actually exists, and has a caution risk Rn.
It is confirmed that the left approaching vehicle V1 approaching the intersection J from the left side of the intersection J actually exists and has a cautionary risk Rn. However, if this vehicle stops at a red light, it is safe. It may be regarded as a confirmed risk Rc.
The pedestrian PE2 on the right pedestrian crossing on the right pedestrian crossing on the right side of the intersection J has been confirmed to actually exist and is assumed to cross the path of the own vehicle, and thus has the risk of caution Rn. .

The right approaching pedestrian PE3 and the right approaching vehicle V2 existing in the blind spot blocked by the building B on the right side of the own vehicle OV have not yet entered the detection ranges of various sensors such as the stereo camera 71 and the laser scanner 81, and are detected. Since it is impossible to recognize and it is unknown whether or not a risk actually exists, the risk is unconfirmed risk Ru.
The unconfirmed risk Ru is stratified into a cautionary risk Rn or a confirmed risk Rc when the own vehicle OV advances to within a detectable range of the stereo camera 71 or the like by traveling.

According to the first embodiment described above, the following effects can be obtained.
(1) By presenting a list of unconfirmed risks Ru, which are assumed to be present around the own vehicle but are not recognized by the environment recognition unit 60, to the user (driver during manual driving) by presenting the list. In addition, it is possible to make the user recognize the existence of the unconfirmed risk Ru that cannot be confirmed unless the position of the own vehicle OV advances further forward, and it is possible to prevent the unconfirmed risk Ru from being omitted.
For example, when turning right at an intersection as shown in FIG. 5, the user can be notified that there is an unconfirmed risk Ru that cannot be confirmed until the user enters the intersection J, and can be alerted.
(2) After being displayed as an unconfirmed risk Ru, a risk object that is actually confirmed to have a risk is displayed as a cautionary risk Rn, so that the user is alerted to a higher degree of attention than the unconfirmed risk Ru. can do.
(3) After being displayed as the unconfirmed risk Ru, the user should be careful by displaying the risk object for which it is confirmed that no risk actually exists as the confirmed risk Rc or stopping the display. The unconfirmed risk Ru can be narrowed down and alerted.
(4) By displaying the unconfirmed risks Ru in a short time until the stereo camera 71 or the like can recognize them, the stratification from the unconfirmed risk Ru to the confirmed risk Rc to the cautionary risk Rn is from the top of the list. Since the operations are sequentially performed, the user only has to pay attention mainly to the higher rank of the unconfirmed risk Ru, so that the monitoring by the user becomes easy.
Such a configuration is particularly effective for a vehicle that performs automatic driving, because the monitoring burden can be reduced when the user monitors the validity of the risk object recognition processing in the automatic driving control.
(5) When a relatively high-risk object, such as a pedestrian or another running vehicle, is recognized, this is displayed at the top to alert the user and further improve safety. can do.

Next, a second embodiment of the peripheral risk display device to which the present invention is applied will be described.
In the embodiments described below, portions substantially common to the above-described first embodiment are denoted by the same reference numerals, description thereof will be omitted, and differences will be mainly described.
In the second embodiment, when the unconfirmed risks Ru are displayed in a list on the display device 210, the unconfirmed risks Ru are arranged in ascending order of the distance from the host vehicle.
According to the second embodiment described above, in addition to the effects substantially the same as those of the first embodiment described above, the unconfirmed risks are listed in the order in which risks such as collisions may occur, so that the risks can be reduced in a short time. It is possible to prevent an omission of a check of a high-risk object that may cause a collision or the like, thereby improving safety.

Next, a third embodiment of the peripheral risk display device to which the present invention is applied will be described.
In the third embodiment, when various risks are displayed in a list (list), the unconfirmed risk Ru is displayed at the top of the list to encourage the driver to confirm.
According to the third embodiment, in addition to the effects substantially the same as the effects of the first and second embodiments, the visual confirmation of the unconfirmed risk Ru not recognized by the environment recognition unit 60, the peripheral risk recognition unit 200, and the like is performed. The driver can be strongly encouraged, so that especially when the driver performs manual driving and the peripheral risk display device provides driving assistance, it is possible to reliably prevent the driver from missing unconfirmed risks and improve safety. Can be.

(Modification)
The present invention is not limited to the embodiments described above, and various modifications and changes are possible, and these are also within the technical scope of the present invention.
(1) The configuration of the peripheral risk display device and the configuration of the vehicle are not limited to the above-described embodiment, and can be appropriately changed. Further, in the embodiments, the vehicle is a passenger vehicle, but the present invention can be applied to commercial vehicles such as freight vehicles, trucks, buses, motorcycles, and various other special vehicles.
(2) In the first embodiment, the vehicle uses the engine as the driving power source. However, the present invention is not limited to this. It can also be used as a source.
(3) The types and arrangements of sensors for recognizing the environment around the host vehicle are not limited to those in the above-described embodiment, and can be changed as appropriate. For example, various sensors such as a millimeter-wave laser, a laser radar, a monocular camera, and an ultrasonic sonar can be used in combination with or in place of the sensors in the embodiment.
(4) In the above-described embodiment, the case of traveling in an urban area has been described as an example. However, the present invention relates to a mountain road, a curved road having a blind corner (a curved road having a blind spot in front of the own vehicle traveling lane), for example. It is also possible to use it in other situations.
(5) In the embodiment, the list of unconfirmed risks and the like is arranged and displayed in the vertical direction. However, the present invention is not limited to this. For example, the list may be arranged in the horizontal direction or another direction.
(6) In the embodiment, the LCD incorporated in the instrument panel is used as the display means, but the present invention is not limited to this, and another type of display device may be used.
For example, a head-up display (HUD) that projects a virtual image of an image on a windshield so as to be superimposed on a real image may be used.

DESCRIPTION OF SYMBOLS 1 Vehicle 10 Engine control unit 20 Transmission control unit 21 Forward / reverse switching actuator 22 Range detection sensor 30 Behavior control unit 31 Hydraulic control unit (HCU)
32 vehicle speed sensor 40 electric power steering (EPS) control unit 41 motor 42 steering angle sensor 50 automatic driving control unit 51 input / output device 60 environment recognition unit 70 camera control unit 71 stereo camera 80 laser scanner control unit 81 laser scanner 90 rear side Radar control unit 91 rear side radar 100 navigation device 101 display 110 road-to-vehicle communication device 120 vehicle-to-vehicle communication device 200 peripheral risk recognition unit 210 display device 310 windshield 320 front door glass 321 main body 322 triangular window 330 door mirror 340 instrument Panel 341 Combination meter 342 Multi-function display 350 Steering wheel 360 A-pillar 370 -Safe 371 stereo camera accommodating unit 380 rearview mirror OV vehicle J intersection V1, V2 other vehicles PE1 ~ PE3 pedestrian S traffic B building

Claims (8)

A peripheral risk display device provided in the vehicle and displaying a risk object around the own vehicle,
Unconfirmed risk extracting means for extracting an unconfirmed risk assumed to be present around the vehicle,
Environment recognition means for recognizing the environment around the vehicle;
Risk recognition means for recognizing a risk object corresponding to the unconfirmed risk based on the recognition result of the environment recognition means,
Display means for displaying a list of unconfirmed risks not recognized by the risk recognition means. 2. The peripheral risk display device according to claim 1, wherein the display unit changes a display mode of a display on the unconfirmed risk after the unconfirmed risk is recognized by the risk recognition unit. 3. 3. The peripheral risk according to claim 1, wherein the display unit changes a display mode of a display regarding the unconfirmed risk after the risk recognition unit confirms that the unconfirmed risk does not exist. Display device. 3. The peripheral risk display device according to claim 1, wherein the display unit stops displaying the unconfirmed risk after the risk recognition unit confirms that the unconfirmed risk does not exist. 4. 5. The display device according to claim 1, wherein the display unit displays a plurality of displays relating to the unconfirmed risks in an order of a short time until the risk recognition unit can recognize the risk. 5. 2. The peripheral risk display device according to claim 1. The peripheral risk according to any one of claims 1 to 4, wherein the display unit displays a plurality of displays related to the unconfirmed risk in an order in which the distances from the own vehicle are short. Display device. When the pedestrian is recognized as a risk target by the risk recognition means, the display means displays the display related to the pedestrian in a higher order than the display related to the unconfirmed risk. The peripheral risk display device according to any one of claims 1 to 6, wherein The display means, when the risk recognition means recognizes another traveling vehicle as a risk target, arranges and displays a display related to the other vehicle higher than a display related to the unconfirmed risk. The peripheral risk display device according to any one of claims 1 to 7, characterized in that:

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