JP6686552B2 - Deviation reduction information presentation device, deviation reduction information presentation program, and deviation reduction information presentation method - Google Patents

Description

  The present invention relates to a deviation reduction information presentation device, a deviation reduction information presentation program, and a deviation reduction information presentation method.

  Conventionally, various devices have been proposed as follows, which provide assistance in changing an object to a desired state.

  A device for notifying that the steering wheel should be returned when the vehicle is parallel to the planned parking position (see Patent Document 1), and a device for presenting the planned parking position, the route to the position and the turning position on the bird's-eye view image ( Patent Documents 2 and 3), there is a device that prevents the steering wheel from being delayed by superimposing a planned course at the time of maximum steering.

  Further, a device that detects a vehicle stop state, detects a driving operation that is different from the planned start direction, and generates an output that prevents erroneous start (see Patent Document 4), and an operation amount according to the distance to the front obstacle. There is a device (see Patent Document 5) that appropriately determines the pedal reaction force for calling attention in various running situations by adjusting the relationship between the engine torque and the engine torque.

  Further, in a device that uses a monitor image for the skill of a remote-controlled robot in a work process, a device that draws positioning information of a workpiece by superimposing it on an actual image (see Patent Document 6), and presents information to the operator by an image. There is a device (Patent Document 7) in which the presentation time of the image stimulus is shorter than the time to reach the consciousness, and the stimulus intensity is set above the unconscious perception threshold.

  In addition, a device for presenting the driver with a score for each process and presenting it to the driver to train an appropriate driver operation (see Patent Document 8), and in the inter-vehicle distance setting of the auto cruise, it is appropriate by accumulating the driver's setting operation. There is a device (see Patent Document 9) for calculating various set values.

JP 2011-148369 JP JP 2010-034645 JP 2009-298178 JP JP 2010-23769 JP JP 2009-166824 JP Japanese Patent Laid-Open No. 2008-93813 JP 2001-213194 A JP 2001-166677 A Japanese Patent No. 3438279

  However, in the above-mentioned conventional technique, since a large discomfort is provided without considering the driver's operation tendency, the deviation from the desired state of the actual state of the target which is about to be changed to the desired state is reduced. I can't.

  The present invention has been made in view of the above facts, and is a deviation reduction information presenting apparatus capable of reducing the deviation from the desired state of the actual state of an object that is about to be changed to the desired state, the deviation An object is to provide a reduction information presentation program and a deviation reduction information presentation method.

  In order to achieve the above-mentioned object, the deviation reduction information presenting apparatus of the present invention according to claim 1 is a deviation relating to deviation from the desired state of the actual state of the target which is about to be changed to the desired state by a user operation. Based on the storage unit that stores information, the actual information when the target is changed to the desired state by the operation of the user, and the stored deviation information, information obtained by adjusting the actual information is displayed. A creation unit that creates deviation reduction information, which is the adjusted information, that reduces the deviation when the user refers to and changes the target to the desired state; And a presentation unit that presents the deviation reduction information to the user as the actual information.

  The storage unit stores deviation information regarding a deviation from the desired state of an actual state of an object which is about to be changed to a desired state by a user operation.

  The creation unit allows the user to obtain information obtained by adjusting the actual information based on the actual information when the target is changed to the desired state by the operation of the user and the stored deviation information. The deviation reduction information, which is the adjusted information, which reduces the deviation when the target is changed so as to be in the desired state, is created. As described in claim 2, the creating unit creates the deviation reduction information based on the actual information accompanying the change of the object and the stored deviation information while the object is changed. Alternatively, the amount by which the actual information is adjusted may be reduced as the target changes.

  The presenting unit presents the created deviation reduction information as the actual information.

  The deviation information may be individual past deviation information of the user who has changed the target or past deviation information of a plurality of users who have changed the object. Further, as in claim 5, the deviation information is past deviation information of the user who has changed the target, and the deviation reduction information refers to information that adjusts the actual information. The deviation may be reduced when the user changes the object to the desired state according to the tendency of the deviation.

  The desired state may be a final desired state of the object or a desired state in the middle of reaching the final desired state, as in claim 6.

  As in claim 7, the target may be a vehicle, and the desired state may be a stopped state or a running state of the vehicle.

  In this way, when the target is changed to the desired state based on the information obtained by changing the actual information, the deviation of the actual state of the target that was about to be changed to the desired state from the desired state is reduced. Create deviation reduction information that will be done. Then, the created deviation reduction information is presented as actual information. When the person who receives the presentation changes the target to a desired state based on the presented deviation reduction information, the deviation is reduced.

  The deviation reduction information presentation program according to claim 8 is stored in a storage unit that stores deviation information relating to deviation from a desired state of an actual state of an object which is about to be changed to a desired state by a user operation. Based on the stored deviation information and the actual information when the target is changed to the desired state by the operation of the user, the user refers to the information obtained by adjusting the actual information, and the target is referred to. When the deviation is changed to the desired state, the deviation reduction information that is the adjusted information that reduces the deviation is created, and the created deviation reduction information is used as the actual information. A process including presenting to the user is executed.

  The deviation reduction information presenting method of the invention according to claim 9 is characterized in that the storage unit stores deviation information relating to deviation from the desired state of an actual state of an object which is about to be changed to a desired state by a user operation. Based on the stored deviation information and the actual information when the target is changed to the desired state by the operation of the user, the user refers to the information obtained by adjusting the actual information, and the target is referred to. When the deviation is changed to the desired state, the deviation reduction information that is the adjusted information that reduces the deviation is created, and the created deviation reduction information is used as the actual information. Present to the user.

  As described above, the present invention can reduce the deviation from the desired state of the actual state of the object which is about to be changed to the desired state.

It is a block diagram of the deviation reduction information presentation device of a 1st embodiment. It is a flow chart of the deviation reduction information presentation program of the deviation reduction information presentation processing which the deviation reduction information presentation device of a 1st embodiment performs. 3 is a flowchart of a planned parking direction determination process executed by a planned parking direction determination processing unit 14 in step 34 of FIG. 2. 3 is a flowchart of a bias amount initialization process executed by a planned parking direction determination processing unit 14 in step 36 of FIG. 2. It is a flowchart of the future prediction trajectory calculation process of step 40 of FIG. 2 which the future prediction trajectory calculation processing part 22 performs. FIG. 6 is a flowchart of an image synthesizing process executed by the image synthesizing processor 28 in step 46 of FIG. 2. (A) shows a state of backward parking of a vehicle driven by a driver who tends to delay steering during backward parking, (B) assumes a position away from the actual position of the vehicle, and (C) ) Is a diagram showing an image for reducing the tendency. It is the figure which combined the future prediction track with the image for reducing the tendency to delay the steering at the time of backward parking. (A) shows a state of backward parking of a vehicle driven by a driver who tends to steer quickly during backward parking, (B) assumes a position approaching the actual position of the vehicle, and (C) ) Is a diagram showing an image for reducing the tendency. It is a figure which shows the apparatus employ | adopted instead of the display 30 in 2nd Embodiment. It is a figure which shows the position of the vehicle which a driver recognizes when making a left turn in 2nd Embodiment. In the third embodiment, (A) shows a state of a vehicle driven by a driver who tends to depress the brake pedal before the stop line, and (B) shows before the stop line. It is a figure which shows the mode of the vehicle driven by the driver who tends to depress the brake pedal slowly, and (C) is a figure which shows the content of the information presented in order to reduce the tendency of (A) and (B). In the fourth embodiment, (A) shows a state in the vicinity of an intersection that joins the expressway, (B) shows an average acceleration when traveling from before the intersection to the intersection, ( C) is a diagram showing an average yaw rate when traveling from before the intersection to the intersection. In the fourth embodiment, (A) shows a state in the vicinity of an intersection that joins the expressway, and (B) shows that the speed at the time of joining the expressway is smaller or larger than a desired speed. FIG. 6 is a diagram showing the content of the background luminance of the HUD for reducing the tendency to deviate from FIG. It is a figure in a 5th embodiment which shows a mode when a driver inserts an ETC card.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

(First embodiment)
FIG. 1 shows a block diagram of the deviation reduction information presentation device according to the first embodiment. This deviation reduction information presentation device is provided in the vehicle. In the present embodiment, when performing the task of backward parking in a desired parking space while steering, steering is delayed or too early, resulting in parking at a position deviating from the desired parking space. A driver with a tendency will be described as an example.

  As shown in FIG. 1, the deviation reduction information presentation device includes a shift position sensor 10 that detects the position of a shift lever (not shown) and a direction indicator sensor 12 that detects a direction indication by a direction indicator (not shown). . The deviation reduction information presentation device includes a planned parking direction determination processing unit 14 that executes a planned parking direction determination process and a bias amount initialization process when the vehicle moves backward.

  The deviation reduction information presentation device generates a camera 24 that captures the rear of the vehicle, and a camera image that is an image obtained by subjecting the image captured by the camera 24 that captures the rear of the vehicle to mirror surface conversion (horizontal inversion). The mirror surface conversion processing unit 26 is provided.

  The deviation reduction information presenting apparatus includes an information storage device M that stores an initial bias amount (Δ), a coefficient (ε), and the like, and a bias cutout that calculates a bias cutout angle of view that is a bias amount of a bias applied to a camera image. The angle-of-view calculation processing unit 16 is provided.

  The deviation reduction information presenting apparatus includes a vehicle speed sensor 18 that detects a vehicle speed, a steering angle sensor 20 that detects a steering angle of a steering wheel, and a vehicle based on the detected vehicle speed and the steering angle before a predetermined time. And a future prediction trajectory calculation processing unit 22 that calculates a future prediction trajectory that the vehicle moves.

  The deviation reduction information presenting apparatus includes a future predicted trajectory calculation processing unit 22 in an image of a fixed rectangular region that is cut out from the camera image from the mirror surface conversion processing unit 26 based on the bias amount from the bias cutout angle-of-view calculation processing unit 16. The image synthesis processing unit 28 that synthesizes the future predicted trajectory from The deviation reduction information presentation device includes a display 30 that displays an image of a fixed rectangular area in which the future predicted trajectory is combined.

  Each of the processing units (14, 16, 22, 26, 28) according to the present embodiment or the whole of the processing unit includes a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access). Memory) can be realized by a computer equipped with. As the display 30, a liquid crystal display (LCD), a cathode ray tube (CRT), an organic electroluminescence display (OELD), a plasma display panel (PDP), a field emission display (FED), or the like can be applied. As the information storage device M, any "portable storage medium" such as SSD (Solid State Drive), DVD disc, IC card, magneto-optical disc, CD-ROM, or the like can be adopted.

  The information storage device M is an example of the “storage unit” of the present disclosure. The image composition processing unit 28 is an example of the “creating unit” in the present disclosure. The display 30 is an example of the “presentation unit” of the present disclosure.

  Next, the initial bias amount (Δ) and the coefficient (ε) stored in the information storage device M will be described. The initial bias amount (Δ) and the coefficient (ε) are individual values of the driver as described later. It should be noted that statistics such as average value, mode value, median value, etc. of a plurality of drivers may be used, or fixed values input by the driver in advance may be used, and these values may be selected by the driver.

  The initial bias amount (Δ) will be described. At the time of backward parking, an image of a fixed rectangular area located at a predetermined position in the camera image is cut out and displayed on the display 30. The driver intends to park backward in a desired parking space while steering based on the image displayed on the display 30. The driver reversely parks in the past, and the deviation amount and the deviation direction from the desired parking space to the position deviated from the desired parking space are calculated from images obtained by photographing the rear of the vehicle with the camera 24. If the fixed rectangular area located at the predetermined position is moved and cut out and displayed, the amount of movement of the fixed rectangular area where the deviation is reduced is calculated based on the deviation amount and the deviation direction. .

  More specifically, first, in the case of a driver who does not deviate from the above, an image of a fixed rectangular area whose center in the left-right direction coincides with the center of the camera image in the left-right direction is cut out from the camera image, and is displayed on the display 30. indicate. For the driver who tends to delay the steering as described above, it is necessary to make the steering timing earlier. In order to make the steering timing earlier, it is necessary to move the desired parking space off the display screen of the display 30. This is because the driver who sees the display screen of the display 30 out of the desired parking space starts steering so that the desired parking space is not removed. When parking on the right side based on the backward direction, cut out the image of the constant rectangular area that is the horizontal rectangular area (right direction: bias direction) moved from the center of the camera image by the amount of bias from the camera image. If shown, the desired parking space can be moved off the display screen of the display 30. The direction in which the image of the fixed rectangular area in which the center in the left-right direction coincides with the center in the left-right direction of the camera image is moved is determined by the deviation direction. The amount of deviation determines how much the image in the fixed rectangular area is moved. The larger the deviation amount, the larger the amount by which the desired parking space deviates from the display screen of the display 30. The initial bias amount (Δ) is determined based on the above relationship. This movement amount is the initial bias amount. The initial bias amount (Δ) is stored in the information storage device M.

  The initial bias amount (Δ) may be a fixed value obtained by the above calculation, a value determined by learning the result of execution of deviation reduction information presentation processing described later, or a value determined by the driver. Furthermore, the driver may select these values.

  The initial bias amount (Δ) is obtained by calculating the deviation amount when the backward parking is on the right side with respect to the backward direction of the vehicle and calculating the movement amount. As will be described later, the initial bias amount when parking on the left side uses the initial bias amount (Δ) as −Δ. On the contrary, the initial bias amount (Δ) may be obtained by calculating the deviation amount when the backward parking is parked on the left side with respect to the backward direction of the vehicle and calculating the movement amount. In this case, the initial bias amount (Δ) may be used as −Δ for the initial bias amount when parking on the right side. In addition, when the backward parking is based on the backward direction of the vehicle, the deviation amount is calculated depending on whether the vehicle is parked on the right side or the left side, and the moving amount is averaged. The initial bias amount (Δ) may be used as −Δ for the initial bias amount when the vehicle is parked at. Further, the initial bias amount (Δ) may be individually calculated when the backward parking is performed on the right side and the left side with respect to the backward direction of the vehicle.

  Next, the coefficient (ε) will be described. As will be described later, when a certain process (steps 38 to 48 in FIG. 2) is repeated, if the bias amount does not become small, an image of a certain rectangular area that is moved by the bias amount that does not become small is cut out from the actual image. The divergence of is large. Therefore, it is necessary to reduce the bias amount in order to bring it closer to the actual image. The coefficient (ε) is a coefficient (0 <ε <1) for decreasing the bias amount each time a certain process is executed. Specifically, from the time when the vehicle reaches the parking space, the average predicted future trajectory from the start of the backward parking to the desired parking space, the average vehicle speed at the time of renewal parking, and the execution time of the above-mentioned certain processing are performed. Then, the bias amount is determined to be zero.

  Next, the operation of the deviation reduction information presentation device will be described. FIG. 2 shows a flowchart of the deviation reduction information presentation program of the deviation reduction information presentation processing executed by the deviation reduction information presentation device according to the first embodiment. The deviation reduction information presentation program is stored in the information storage device M included in the deviation reduction information presentation device. The CPU reads the deviation reduction information presentation program from the information storage device M, expands it in the RAM, and executes the process included in the deviation reduction information presentation program.

  As shown in FIG. 2, in step 32, the planned parking direction determination processing unit 14 determines whether or not the shift position of the shift lever detected by the shift position sensor 10 is in the R range. If it is determined that the shift position is not in the R range (F), the process of step 32 is repeated until it is determined that the shift position is in the R range.

  On the other hand, when it is determined in step 32 that the shift position is in the R range (T), the planned parking direction determination processing unit 14 executes planned parking direction determination processing in step 34, and At 36, the planned parking direction determination processing unit 14 executes bias amount initialization processing.

  FIG. 3 shows a flowchart of the planned parking direction determination process executed by the planned parking direction determination processing unit 14 in step 34 of FIG. In step 50 of FIG. 3, the planned parking direction determination processing unit 14 determines, based on the signal from the direction indicating sensor 12, whether the direction indicated by the direction indicator is the right direction. When it is determined that the direction indicated by the direction indicator is right, in step 52, the planned parking direction determination processing unit 14 sets that the planned parking direction is right when the backward direction is the reference. To do. Thereafter, the process proceeds to step 36 in FIG.

  When it is not determined in step 50 that the direction indicated by the direction indicator is the right direction, the planned parking direction determination processing unit 14 determines the direction based on the signal from the direction instruction sensor 12 in step 54. Determine if the vessel is pointing to the left. When it is determined that the direction indicated by the direction indicator is left, in step 56, the planned parking direction determination processing unit 14 sets that the planned parking direction is left when the backward direction is the reference. To do. Thereafter, the process proceeds to step 36 in FIG.

  If it is not determined in step 54 that the direction indicated by the direction indicator is left, it means that the direction indicator does not indicate either right or left. Therefore, in step 58, the planned parking direction determination processing unit 14 is executed. Sets that the planned parking direction is neutral. Thereafter, the process proceeds to step 36 in FIG.

  FIG. 4 shows a flowchart of the bias amount initialization processing executed by the planned parking direction determination processing unit 14 in step 36 of FIG. In step 60 of FIG. 4, the planned parking direction determination processing unit 14 determines whether the planned parking direction is set to the right. When it is determined that the planned parking direction is set to the right, the planned parking direction determination processing unit 14 reads the initial bias amount Δ and the coefficient ε from the information storage device M in step 62, and determines the bias amount as the bias amount. Set + Δ and ε to the coefficient. Thereafter, the processing proceeds to step 38 in FIG.

  If it is not determined in step 60 that the planned parking direction is set to the right, in step 64 the planned parking direction determination processing unit 14 determines whether the planned parking direction is set to the left. To judge. When it is determined that the planned parking direction is set to the left, the planned parking direction determination processing unit 14 reads the initial bias amount Δ and the coefficient ε from the information storage device M in step 62, and determines the bias amount as the bias amount. -Set Δ and set ε to the coefficient. Thereafter, the processing proceeds to step 38 in FIG.

  If it is not determined in step 64 that the planned parking direction is set to the left, the planned parking direction is neutral, there is no need to steer, and the vehicle deviates to the left or right of the parking space during backward parking. Therefore, the bias amount and the coefficient are set to 0. Thereafter, the processing proceeds to step 38 in FIG.

  Note that, as described above, the initial bias amount (Δ) may be individually calculated when the backward parking is performed on the right side and the left side with respect to the backward direction of the vehicle. In this case, in step 62, the initial bias amount when the backward parking is parked on the right side with respect to the backward direction of the vehicle is used, and at step 66, the initial bias amount when the backward parking is parked on the left side with respect to the backward direction of the vehicle is used. The bias amount may be used.

  In step 38 of FIG. 2, the camera image acquisition process is executed. Specifically, the camera 24 photographs the rear of the vehicle and outputs the obtained image to the mirror surface conversion processing unit 26. The mirror surface conversion processing unit 26 generates a camera image which is an image obtained by performing mirror surface conversion (horizontal inversion) processing on the image from the camera 24. The mirror surface conversion processing unit 26 outputs the generated camera image to the image synthesis processing unit 28. Thereafter, the process proceeds to step 40 in FIG.

  In step 40, the future predicted trajectory calculation processing unit 22 executes future predicted trajectory calculation processing.

  FIG. 5 shows a flowchart of the future predicted trajectory calculation processing executed by the future predicted trajectory calculation processing unit 22 in step 40 of FIG. In step 70 of FIG. 5, the future prediction trajectory calculation processing unit 22 calculates the distance per pixel in the camera image. In step 72, the future prediction trajectory calculation processing unit 22 uses the distance per pixel to match the current steering angle from the steering angle sensor 20 and the current vehicle speed from the vehicle speed sensor 18 to the two-wheel model. . As a result, the vehicle travels within a predetermined time in the bird's-eye view image stored in the information storage device M, which is predetermined when the area on the vehicle rear side including the vehicle and a typical parking space is viewed from above, and the vehicle runs. A future predicted trajectory, which is a trajectory, is calculated.

  In step 74, the future predicted trajectory calculation processing section 22 converts the calculated future predicted trajectory into a trajectory in the shooting direction of the camera 24, and in step 76, the future predicted trajectory calculation processing section 22 converts the converted future. The predicted trajectory is output to the image synthesis processing unit 28. Thereafter, the process proceeds to step 42 of FIG.

  In step 42, the bias cut-out view angle calculation processing unit 16 determines whether or not the vehicle is stopped based on the signal from the vehicle speed sensor 18. When the bias cut-out view angle calculation processing unit 16 determines that the vehicle is not stopped, the process returns to step 38. When it is determined that the vehicle is stopped, in step 44, the bias cut-out view angle calculation processing unit 16 sets a value obtained by multiplying the bias amount by the coefficient (ε) as the bias amount. Thereafter, the process proceeds to step 46.

  In step 46, the image composition processing unit 28 executes image composition processing. FIG. 6 shows a flowchart of the image synthesizing process executed by the image synthesizing processing unit 28 in step 46 of FIG.

  FIG. 7 (A) shows a state of backward parking of a vehicle driven by a driver who tends to delay steering during backward parking, and FIG. 7 (B) assumes a position away from the actual position of the vehicle. , (C) show images showing images for reducing the tendency.

  At the time of backward parking, a real image of the rear of the vehicle is displayed on the display 30, and the driver parks the vehicle backward based on the real image. However, for a driver who has a certain tendency (faster or slower steering) during backward parking, even if the vehicle is moved to a desired position (in the parking space) based on the actual image, May park in a position deviating from the desired position. When the steering timing is late, the vehicle is parked at a position deviating from the desired parking space. On the other hand, when the steering timing is early, the vehicle is parked at a position deviating to the front side of the desired parking space.

  In the present embodiment, based on an image obtained by adjusting an actual image obtained by photographing the rear of the vehicle, when the driver with the above tendency parks the vehicle backward, To create.

  In the case of a driver who does not have the above tendency, the vehicle enters the desired final state from the current position 84 via a desired intermediate state (desired position 86), as shown in FIG. 7 (A). (Park in desired parking space).

  However, for example, in the case of a driver who tends to delay steering, if the vehicle is parked backwards based on an actual image, the timing of steering is delayed, and the vehicle moves backward along the route 90 that leaves the parking space, and the vehicle deviates to a deviated position. To park.

  In this case, in order to reduce the deviation, it is necessary to change the steering timing to a timing earlier than the steering timing for backward parking based on the actual image. Specifically, as shown in FIG. 7B, the display 30 displays an image of the rear of the vehicle taken by the camera 24 from a position 92 that is closer to the horizontal position than the current position 84. The reason is as follows. If the camera 24 displays on the display 30 an image of the rear of the vehicle taken from the position 92 that is closer to the horizontal direction than the current position 84, the driver who sees this display will find that the desired parking space is the display screen of the display 30. The illusion is that it is out of the range, and that the steering timing is delayed. Therefore, the driver starts steering so that the desired parking space is displayed on the display screen of the display 30. As a result, the steering timing can be advanced.

  More specifically, first, in the case of driving without deviation, an image of a fixed rectangular area 96A whose center in the left-right direction matches the center of the camera image 94 in the left-right direction is cut out from the camera image 94 and displayed. Display on 30. In the case of the driver who tends to delay the steering as described above, when the planned parking direction is right, as shown in FIG. 7C, the fixed rectangular area 96A is horizontally aligned from the center of the camera image. If the image 96B1 of the fixed rectangular area moved by the bias amount in the right direction of the paper: the bias direction F1 is cut out from the camera image 94 and displayed, the desired parking space can be removed from the display screen of the display 30. .

  Therefore, in step 78 of FIG. 6, the image synthesis processing unit 28 cuts out the image 96B1 of the fixed rectangular area which is moved from the center of the camera image 94 in the horizontal direction (bias direction) by the bias amount.

  FIG. 8 shows a diagram in which the future predicted trajectory L2 is combined with the image 96B1 for reducing the deviation due to the tendency of delaying steering during reverse parking.

  In step 80, the image composition processing unit 28 sets the future predicted trajectory L2 output in step 76 of FIG. 5 (the future predicted trajectory converted in step 74 of step 5) in step 78 as shown in FIG. It is combined with the image 96B1 of the cut-out fixed rectangular area. The future predicted trajectory L1 is a future predicted trajectory when the image is combined with an image of a fixed rectangular area that is cut out without biasing the image.

  In step 82, the image compositing processing unit 28 outputs the image 96B1 of the fixed rectangular area in which the future predicted trajectory L2 is composited to the display 30. As a result, on the display 30, as shown in FIG. 8, the image 96B1 of the fixed rectangular area in which the future predicted trajectory L2 is combined is displayed. As described above, the driver, who tends to delay the steering, sees the display content of the display 30 and illusions that “the steering should be turned off earlier than expected”, and operates the steering wheel based on this illusion. . Therefore, the deviation is reduced. Thereafter, the process proceeds to step 48 in FIG.

  FIG. 9 (A) shows a state of backward parking of a vehicle driven by a driver who tends to steer quickly during backward parking, and FIG. 9 (B) assumes a position approaching the actual position of the vehicle. , (C) show images showing images for reducing the tendency.

  In the case of a driver who does not have the above tendency, the vehicle enters the desired final state 88 from the current position 84 via the desired intermediate position 86 as shown in FIG. Park in a space).

  However, unlike the above example, for a driver who tends to steer quickly, if the vehicle is parked backwards based on the actual image, the timing of steering will be earlier, and the vehicle will move backward along the route 98 approaching the parking space and steer. It will have to be fixed.

  In this case, in order to reduce the deviation, it is necessary to change the steering timing to a timing that is later than the steering timing at the time of backward parking based on the actual image. As shown in FIG. 9B, if the actual image is captured by the camera 24 from the position 100, which is further away from the current position 84 in the horizontal direction, the rear side of the vehicle is displayed on the display 30, the steering timing is changed. Can be delayed. The reason is as follows. If the display 24 displays an image of the rear of the vehicle taken by the camera 24 from the position 100 that is further away from the current position 84 in the horizontal direction, the driver can enter the desired parking space in the display screen of the display 30. Recognize the condition Therefore, the driver has an illusion that the steering has already advanced to some extent. Therefore, it is an illusion that a desired parking space must be prevented from entering the display screen of the display 30, that is, steering must be delayed. Therefore, the timing to start steering can be delayed.

  In this case, in step 78 of FIG. 6, the image synthesizing processing unit 28 determines, from the camera image 94, a fixed rectangular area 99A whose horizontal center is located at the horizontal center of the camera image in the horizontal direction from the center of the camera image 94. The image 96B2 of the fixed rectangular area which is moved in the (left direction) by the bias amount is cut out.

  The above has described the case where the driver tends to delay or prematurely steer when the planned parking direction is right.

  On the other hand, in the case where the driver tends to delay the steering when the planned parking direction is left, in step 78 of FIG. 6, the image composition processing unit 28 determines that the camera image is in the horizontal direction (left side) from the center of the camera image. The image of the fixed rectangular area moved by the bias amount in the Further, in the case where the driver tends to steer too quickly when the planned parking direction is left, in step 78 of FIG. 6, the image synthesis processing unit 28 determines that the image synthesis processing unit 28 moves horizontally from the center of the camera image ( The image of a fixed rectangular area moved by the bias amount in the left direction) is cut out.

  In step 48 of FIG. 2, the planned parking direction determination processing unit 14 determines whether the shift position of the shift lever detected by the shift position sensor 10 is not in the R range. When it is not determined that the shift position is not in the R range (when the shift position is in the R range), it can be determined that the reverse parking is not yet finished, that is, the vehicle is in reverse. Therefore, the process returns to step 38 and the above processing (steps 38 to 48) is repeated.

  If the bias amount does not become small if the above processing (steps 38 to 48) is repeated in this way, each time the above processing (steps 38 to 48) is repeated in step 46 (particularly step 78 in FIG. 6). The image of a fixed rectangular area horizontally moved by the amount of the bias that does not decrease is cut out, and the deviation from the actual image increases. Therefore, in the present embodiment, in step 44 of FIG. 2, the bias amount is reduced by a coefficient in order to bring it closer to the actual image.

  When it is determined in step 42 of FIG. 2 that the vehicle is stopped, the processes of steps 44 to 48 are skipped and the process returns to step 38. This is because if the process of steps 44 to 48 is not skipped, the image moved in the horizontal direction is displayed on the display 30, that is, the vehicle is moving even if the vehicle is actually stopped. Is displayed on the display, and the driver feels uncomfortable. Therefore, when it is determined that the vehicle is stopped, the processes of steps 44 to 48 are skipped and the same image is displayed on the display 30.

  On the other hand, when it is determined that the shift position is not in the R range, it is determined that the shift lever is in the R range, the above processing (steps 34 to 48) is executed, and then the shift lever is set in the R range. Since the vehicle is no longer located at, it can be determined that the backward parking has been completed, and this processing ends.

  As described above, in the present embodiment, an image of a fixed rectangular area that is moved by the bias amount in the horizontal direction (bias direction) from the center of the camera image is cut out and displayed. Therefore, the present embodiment can display an image that makes a driver who tends to delay or accelerate steering feel an illusion that it is necessary to accelerate or delay steering. Therefore, the driver who sees the illusionary image illusions that it is necessary to accelerate or delay the steering, and accelerates or delays the steering according to the illusion. Therefore, the deviation is reduced.

  That is, in the present embodiment, an image for changing the steering timing for a driver who tends to park at a position deviating from a desired parking space because the steering timing is not appropriate is displayed so that the deviation is reduced. Can be presented.

  As described above, the driver sees the illusionary image and illusions that it is necessary to accelerate or delay the steering, and according to the illusion, the driver accelerates or delays the steering. Therefore, the driver can park the vehicle in a desired parking space by driving as he or she desires, and can reduce discomfort.

  Further, in the present embodiment, each time the above-described constant processing (steps 38 to 48) is repeated, the bias amount is reduced to reduce the deviation between the illusionary image and the real image, and the real image is obtained. Is approaching. Therefore, the final parking position can be brought closer to the position displayed on the display 30, and the discomfort can be reduced.

  By the way, conventionally, there is a technique of informing the vehicle to return the steering wheel when the vehicle becomes parallel to a desired parking space. Comparing the present embodiment with the related art, in the related art, when the vehicle is not parallel, the vehicle does not operate, which is cumbersome, but in the present embodiment, the shift lever position is in the R range. It doesn't bother you, because it works with.

  Further, when compared with the technique of presenting the position where parking is expected to be actually provided to the driver, in the present technique, the assistance is mainly and the driver has a subordinate relationship, whereas in the present embodiment, The driver is different in that the driver can drive as he / she desires to reduce the deviation, and the driver is the main and the support is the subordinate relationship. Therefore, in the present embodiment, the feeling of strangeness can be made smaller than that of the related art.

  Further, in comparison with a support device that utilizes unconscious stimulation, which is an innate bias of a person, in the present technology, since unconscious stimulation is different for each individual, adaptation is difficult, whereas in the present embodiment, , It is easier to fit because it displays an image that is not unconsciously stimulated.

  Furthermore, compared with the technology that presents the planned parking position, the route to the position, and the turning position to the position on the bird's-eye view image, the technology requires automatic or manual identification of the planned parking position. The form is different in that it is not necessary to specify the planned parking position automatically or manually.

  In the first embodiment described above, the desired state is a state in which the vehicle stops in the desired parking space, but the desired state is a desired state in the middle until the vehicle stops in the desired parking space. (For example, the state 86 in FIG. 7A) may be used.

  Further, in the first embodiment, the above-mentioned constant processing (steps 38 to 48) is repeated, but the present invention is not limited to this, and the above-mentioned constant processing (steps 38 to 48) is performed first. After the execution, the display 30 may display an actual image of the rear of the vehicle. This is because it is possible to give the illusion to the driver as described above even if the above process (steps 38 to 48) is executed only once. Further, when the difference between the future predicted trajectory and the actual trajectory increases by a predetermined amount, the above process may be executed at least once or until the difference becomes equal to or less than the process amount.

(Second embodiment)
Next, a second embodiment of the present invention will be described. The configuration of this embodiment is substantially the same as that of the first embodiment, and therefore the different points will be described. The deviation reduction information presentation device according to the present embodiment includes a control unit described later. FIG. 10 shows a diagram showing an apparatus adopted in place of the display 30. Specifically, in the present embodiment, an audible sound speaker 110 for stimulating the hearing is adopted instead of the display 30. Instead of an audible sound speaker, an ultrasonic speaker for stimulating the sense of touch, a vibration motor, an electromagnetic motor for stimulating with heat, or the like may be adopted. The audible speaker 110, the ultrasonic speaker, the vibration motor, the electromagnetic motor, and the like are examples of the “presentation unit” in the present disclosure, and the information storage device M is an example of the “storage unit” in the present disclosure, and the control is performed. The section is an example of the “creation section” of the present disclosure.

  In the first embodiment described above, steering is delayed or too early when attempting to park backward in the desired parking space while steering, and as a result, the vehicle is parked at a position deviating from the desired parking space. The explanation is given by taking a driver with a tendency as an example.

  On the other hand, the second embodiment will be described by taking as an example a driver who tends to delay or prematurely steer when executing a task of making a left turn, and as a result, tends to be too far away or too close to the roadside belt. To do.

  In the present embodiment, the distance between the vehicle and the roadside belt is measured using an optical sensor or GPS device. When the distance between the vehicle and the roadside belt is a desired distance, the control unit causes the audible sound speaker 110 to emit a predetermined amount, and the distance between the vehicle and the roadside belt becomes shorter than the desired distance. Or, the audible sound speaker 110 is controlled so as to become larger or smaller than a predetermined size as it becomes longer.

  When the vehicle turns to the left, the information storage device M stores the information about the vehicle when the tip of the vehicle is located at the boundary line between the road on which the vehicle is currently traveling and the road on which the vehicle is about to enter by turning left. The value of the individual deviation amount of the driver whose distance from the roadside belt deviates from the desired distance and the value indicating the direction of the deviation (whether the distance is larger or smaller than the desired distance) are stored. Has been done. Instead of individual values of the driver, statistics such as average value, mode value, and median value of a plurality of drivers may be used, and the driver may select individual values and statistics. Further, these values may be fixed values calculated from past history, values determined by learning a result of executing processing described later, or values determined by the driver. Furthermore, the driver may select these values.

  Then, when the direction indicating sensor 12 detects that the direction indicator is pointing to the left, the control unit controls the volume of the sound according to the current distance between the vehicle and the roadside belt, and the information storage device M. Based on the deviation amounts and the respective values of the directions stored in the above, when the sound volume is adjusted according to the current distance between the vehicle and the roadside belt and the sound is emitted from the audible sound speaker 110, the above deviation occurs. Determines the volume of the sound that will be reduced. Then, the control unit controls the audible sound speaker 110 so that the sound of the determined volume is emitted.

  FIG. 11 shows a diagram showing the position 84 of the vehicle recognized by the driver when making a left turn. For example, it is assumed that the driver tends to deviate from the desired distance so that the distance between the vehicle and the roadside belt when turning left. Therefore, when turning left, the current distance between the vehicle and the roadside belt tends to be closer to the roadside belt than the position of the desired distance. Therefore, if the sound level is made louder than the current distance between the vehicle and the roadside belt, the driver feels that the current position of the vehicle is closer than it is. Therefore, the driver turns left so that the distance between the vehicle and the roadside belt becomes longer, and the deviation amount of the distance between the vehicle and the roadside belt from the desired distance becomes smaller.

  The difference between the volume of the sound according to the current distance between the vehicle and the roadside belt and the volume of the sound determined based on the values of the deviation amount and the direction is reduced as the left turn progresses. .

  In the example described above, when the distance between the vehicle and the roadside belt is the desired distance, a predetermined amount is emitted from the audible sound speaker 110, and the distance between the vehicle and the roadside belt is smaller than the desired distance. It becomes larger or smaller than a predetermined size as it becomes shorter or longer. Alternatively, or in addition to this, when the distance between the vehicle and the roadside belt is a desired distance, a sound of a predetermined frequency is emitted from the audible sound speaker 110, and the vehicle and the roadside are connected to each other. The frequency may be higher or lower than the predetermined frequency as the distance to the side band becomes shorter or longer than the desired distance. When turning left, the frequency is adjusted to reduce the deviation.

  In addition, the desired state is a state in which the tip of the vehicle is located at a desired distance from the roadside belt of the vehicle when it is located at the boundary line between the road that is currently traveling and the road that is about to enter by turning left. However, the following conditions are also possible. First, the vehicle may be in a state of being located at a desired distance from the roadside belt when the tip of the vehicle is located a certain distance before the boundary line. Second, a state where the vehicle is located at a desired distance from the roadside belt of the vehicle when turning left and entering the road trying to enter, and turning 45 ° leftward from the traveling direction of the road on which the vehicle is traveling. May be Thirdly, the vehicle may be in a state of turning left and entering a road that is about to enter, and being located at a position at a desired distance from the roadside belt of the vehicle when it becomes parallel to the entering road.

  Further, instead of the audible sound speaker 110, or together with the audible sound speaker 110, an ultrasonic speaker, a vibration motor, an electromagnetic motor, or the like may be adopted.

(Third Embodiment)
Next, a third embodiment of the present invention will be described. The configuration of this embodiment is the same as that of the second embodiment, and therefore its explanation is omitted.

  The second embodiment has been described by taking as an example a driver who tends to delay or prematurely steer when turning left, and as a result, tends to move too far or too close to the roadside belt. On the other hand, in the third embodiment, when the task of stopping at the stop line is executed, the brake pedal is delayed or prematurely pushed, and as a result, the tip of the vehicle is located before or at the stop line. A driver who tends to pass by will be described as an example.

  The control unit of the present embodiment controls the audible sound speaker 110 to determine whether the vehicle is located at a predetermined distance before the stop line by using the GPS device, and outputs a steady sound of a predetermined volume. Begins to sound. The volume of the stationary sound is increased as the vehicle further advances from the position and approaches the position of the specific distance before the stop line, and the volume of the stationary sound is decreased until the vehicle passes the position of the specific distance and reaches the stop line. Then, the stationary sound is stopped when the stop line is reached.

  FIG. 12 (A) shows a state of a vehicle driven by a driver who tends to depress the brake pedal in front of the stop line, and FIG. 12 (B) shows the state of the brake pedal in front of the stop line. FIG. 12 (C) is a diagram showing the contents of information presented to reduce the tendency of FIGS. 12 (A) and 12 (B), showing a state of a vehicle driven by a driver who tends to slow down. It is shown.

  As shown in FIGS. 12A and 12B, it is ideal that the leading end of the vehicle is located at the stop line and the vehicle is in a desired state 106 in which the vehicle stops.

  However, when a driver who tends to depress the brake pedal early in front of the stop line drives the vehicle, the tip of the vehicle is located in front of the stop line as shown in a locus 104 shown in FIG. And stop. Further, when a driver who tends to delay the brake pedal in front of the stop line drives the vehicle, the locus 108 shown in FIG. The vehicle is approaching the stop line, and the tip of the vehicle stops beyond the stop line.

  In the information storage device M, when stopping at the stop line, the value of the distance between the tip of the vehicle and the stop line and a value indicating whether the vehicle has stopped before the stop line or has passed the stop line. And are remembered. These values may be individual values of the driver, or statistics such as average value, mode value, median value, etc. of multiple drivers, so that the driver can select individual values and statistics. Good. Further, these values may be fixed values calculated from past history, values determined by learning a result of executing processing described later, or values determined by the driver. Furthermore, the driver may select these values.

  In the present embodiment, the driver recognizes the position of the vehicle by listening to the steady sound having the volume corresponding to the actual position with respect to the stop line of the vehicle as described above. In this state, due to the above tendency, the front end of the vehicle stops before or past the stop line and stops. However, the control unit of the present embodiment, based on the value stored in the information storage device M and the volume corresponding to the value of the actual distance between the tip of the vehicle and the stop line, the volume of the stationary sound. Is adjusted, the audible speaker 110 is controlled so that the sound volume at which the above-mentioned deviation is reduced is determined and a steady sound of the determined sound volume is emitted.

  For example, a driver who tends to depress the brake pedal early in front of the stop line is made to depress the brake pedal at a later timing. Specifically, in accordance with the above tendency, the audible speaker 110 emits a steady sound having a volume corresponding to a position where the distance from the stop line is longer than the actual position. Therefore, the driver has the illusion that the vehicle is located in front of the actual position. Therefore, the brake pedal is depressed at a later timing, which reduces the deviation. For example, as shown by the dotted line in FIG. 12 (C), the position of the vehicle corresponding to the peak of the sound volume is closer to the stop line side than the specific position P.

  In addition, the driver who tends to depress the brake pedal before the stop line is made to depress the brake pedal at an earlier timing. Specifically, according to the above tendency, the audible sound speaker 110 emits a steady sound having a volume corresponding to a position where the distance from the stop line is shorter than the actual position. Therefore, the driver has the illusion that the vehicle is located closer to the stop line than the actual position. Therefore, the brake pedal is depressed at an earlier timing, and the above deviation is reduced. For example, as shown by the alternate long and short dash line in FIG. 12C, the position of the vehicle corresponding to the peak of the volume is a position farther to the front than the specific position P.

  It should be noted that the difference between the loudness of the sound corresponding to the actual position of the vehicle and the loudness of the sound determined based on the respective values of the deviation amount and the direction is reduced as the vehicle approaches the stop line.

  In the example described above, the volume of the stationary sound from the audible sound speaker 110 is controlled. The present invention is not limited to this, and instead of or in addition to this, the frequency of the stationary sound may be controlled. For example, for a driver who tends to depress the brake pedal early in front of the stop line, the position of the vehicle corresponding to the peak of the frequency is set closer to the stop line side than the specific position. Further, for the driver who tends to delay the brake pedal in front of the stop line, the position of the vehicle corresponding to the peak of the frequency is set to a position farther to the stop line side than the specific position.

  The state in which the tip of the vehicle stops at the stop line is the desired state, but the desired state is not limited to this, and when the tip of the vehicle is located within a predetermined distance from the stop line and at a predetermined speed. The state in which the vehicle is traveling may be set as the desired state.

  Further, instead of the audible sound speaker 110, or together with the audible sound speaker 110, an ultrasonic speaker, a vibration motor, an electromagnetic motor, or the like may be adopted.

(Fourth Embodiment)
Next, a fourth embodiment of the present invention will be described. The configuration of this embodiment is substantially the same as that of the first embodiment, and therefore the different points will be described. In the present embodiment, a control unit and a head-up display (Head-Up Display (HUD)) are provided. Further, in this embodiment, an acceleration sensor is provided. The HUD is an example of the “presentation unit” of the present disclosure.

  In the first embodiment described above, steering is delayed or too early when attempting to park backward in the desired parking space while steering, and as a result, the vehicle is parked at a position deviating from the desired parking space. The explanation is given by taking a driver with a tendency as an example. On the other hand, in the fourth embodiment, when the task to join the expressway is executed, the timing of acceleration is delayed or too early, and as a result, the speed to join the expressway is smaller than the desired speed. Alternatively, a driver who tends to deviate to a larger size will be described as an example.

  The control of the present embodiment controls the HUD to start lighting the background when it is determined using the GPS device that the vehicle is located at a predetermined distance before the intersection where the vehicle joins the highway. The background brightness of the HUD is increased as the vehicle further advances from the position and approaches the position of the specific distance before the intersection, and the background brightness of the HUD is decreased until the vehicle passes the position of the specific distance and reaches the intersection. However, the background brightness of the HUD is set to 0 when the intersection is reached.

  FIG. 13 (A) shows a state in the vicinity of an intersection KP that joins the expressway, and FIG. 13 (B) shows an average acceleration when traveling from before the intersection KP to the intersection KP. FIG. 13C shows a diagram showing the average yaw rate when traveling from before the intersection KP to the intersection KP.

  FIG. 14 (A) shows a state in the vicinity of an intersection KP that joins the expressway, and FIG. 14 (B) shows that the speed at the time of joining the expressway is smaller or larger than the desired speed. FIG. 14C shows the content of the background luminance of the HUD for reducing the tendency to deviate, and FIG. 14C shows the content of the frequency of the stationary sound for reducing the tendency.

  The information storage device M stores the integrated value of the average acceleration of the vehicle when the vehicle joins a highway, which is individual to the driver, that is, from a position a predetermined distance before the intersection KP to the intersection KP.

  As shown in FIG. 13 (A), when the vehicle joins the expressway at an appropriate acceleration timing, and when the vehicle joins the expressway at a desired speed, a certain distance before the intersection KP is reached. The integrated value of the acceleration of the vehicle from the position to the intersection KP becomes a predetermined value. As shown in FIG. 13 (B), the vehicle starts to accelerate before the intersection. Therefore, the average acceleration of the vehicle also gradually increases, and when the vehicle approaches the intersection, the acceleration becomes smaller and the vehicle decelerates, and the acceleration becomes negative. When the vehicle joins the expressway, the vehicle runs at a constant speed, and the acceleration becomes 0. .

  However, if the acceleration timing is delayed when the vehicle joins the expressway, the integrated value of the acceleration of the vehicle becomes smaller than the predetermined value. On the contrary, if the acceleration timing is early, the integrated value of the acceleration of the vehicle becomes larger than the predetermined value. In the present embodiment, as described above, the integrated value of the average acceleration of the vehicle when the vehicle joins the expressway is stored individually for each driver.

  In addition, the integrated value of the average acceleration of the vehicle may not be the individual value of the driver, but may be the integrated value of the average of a plurality of drivers, so that the driver selects the individual integrated value and the integrated value of the average. Good. Further, the integrated value may be a fixed value calculated from past history, a value determined by learning a result of executing a process described later, or a value determined by the driver. Furthermore, the driver may select these values.

  In the present embodiment, the driver recognizes the position of the vehicle by recognizing the light having the brightness of the HUD according to the actual position with respect to the intersection of the vehicle as described above. In this state, due to the above tendency, the speed at which the vehicle joins the expressway deviates so as to be smaller or larger than the desired speed.

  The control unit according to the present embodiment adjusts the background brightness of the HUD based on the value stored in the information storage device M and the background brightness of the HUD according to the value of the actual distance to the intersection of the vehicle. In this case, the background brightness that reduces the deviation is determined, and the HUD is controlled so that the background light of the HUD emits at the determined background brightness.

  For example, in the case of a driver who tends to accelerate faster before the intersection, the driver may tend to accelerate at a later timing so that the background brightness of a position farther than the actual position is adjusted according to the above tendency. Allow the light to come from the HUD. Therefore, the driver has the illusion that the vehicle is located at a position farther than the actual position. Therefore, the vehicle is accelerated at a later timing, and the deviation is reduced. For example, as shown in FIG. 14B, the position of the vehicle corresponding to the peak of the background brightness is a position closer to the intersection point (behind) than the specific position.

  In addition, for drivers who tend to accelerate the acceleration timing before the intersection, in order to accelerate at an earlier timing, according to the above tendency, the background brightness steady state corresponding to a position closer to the actual position is maintained. Let the sound come from the HUD. Therefore, the driver has the illusion that the vehicle is located closer to the actual position. Therefore, the acceleration starts at an earlier timing, and the deviation is reduced. For example, as shown in FIG. 14 (B), the position of the vehicle corresponding to the peak of the background brightness is a position farther from the intersection than the specific position (starting point).

In addition, for drivers who tend to accelerate the acceleration timing before the intersection, in order to accelerate at an earlier timing, according to the above tendency, the light of the background brightness corresponding to the position closer to the actual position is used. To originate from HUD. Therefore, the driver has the illusion that the vehicle is located closer to the actual position. Therefore, the acceleration starts at an earlier timing, and the deviation is reduced. For example, as shown in FIG. 14 (B), the position of the vehicle corresponding to the peak of the background brightness is a position farther from the intersection than the specific position (starting point).

  In the example described above, the background brightness of the HUD is controlled based on the integrated value of the vehicle acceleration. It is not limited to this. A yaw rate sensor may be provided, and the integrated value of the yaw rate may be stored instead of or together with the acceleration of the vehicle. Instead of or in addition to the acceleration, the yaw rate may be used to similarly control the background brightness of the HUD.

 In the example described above, the desired speed is set as the desired speed at the intersection KP that joins the highway, but the desired condition is not limited to this, and the vehicle is located at a position a predetermined distance before the intersection KP. It may be in a state of a predetermined speed.

  Further, instead of the HUD, at least one of the volume and frequency of the stationary sound from the audible sound speaker 110 may be controlled. Note that an ultrasonic speaker, a vibration motor, an electromagnetic motor, or the like may be adopted instead of the audible sound speaker 110 or together with the audible sound speaker 110. The audible sound speaker 110, the ultrasonic speaker, the vibration motor, the electromagnetic motor, and the like are examples of the “presentation unit” in the present disclosure.

(Fifth Embodiment)
Next, a fifth embodiment of the present invention will be described. The deviation reduction information presentation device having the configuration of the present embodiment is provided in the vehicle. This deviation reduction information presenting apparatus captures an image of the inside of an electronic toll collection system (Electronic Toll Collection System (ETC)) including an ETC vehicle-mounted device into which an ETC card is inserted and a portion where the ETC card of the ETC vehicle-mounted device is inserted It is equipped with a camera. Further, the deviation reduction information presentation device includes an information storage device M, an audible sound speaker 110, and a control unit that controls the audible sound speaker 110.

  The information storage device M is an example of the “storage unit” of the present disclosure. The control unit is an example of the “creating unit” in the present disclosure. The audible sound speaker 110 is an example of the “presentation unit” of the present disclosure.

  FIG. 15 shows a state where the driver inserts the ETC card into the insertion portion of the ETC vehicle-mounted device.

  In the present embodiment, a driver who tends to deviate a predetermined amount from the ETC card in a predetermined direction when performing the task of inserting the ETC card into the insertion unit of the ETC vehicle-mounted device will be described as an example. . The driver tries to insert the ETC card into the insertion portion of the ETC vehicle-mounted device without looking at the insertion portion of the ETC card or the ETC vehicle-mounted device.

  The deviation reduction information presentation device of the present embodiment determines that the ETC card is about to be inserted into the insertion section of the ETC vehicle-mounted device, based on the image captured by the camera. When it is recognized that the ETC card is about to be inserted into the insertion part of the ETC on-board device, the volume increases as the distance decreases depending on the distance between the insertion part of the ETC on-board device and the position of the ETC card. Sound is emitted from the audible sound speaker 110. Therefore, the driver can grasp the distance between the ETC card and the insertion portion of the ETC vehicle-mounted device based on the sound emitted from the audible sound speaker 110.

  The information storage device M stores values indicating the deviation amount and the deviation direction of the actual position of the ETC card which is about to be inserted into the insertion portion of the ETC vehicle-mounted device from the position (desired state) of the insertion portion. ing. Although these values are individual values of the driver, they are not individual values but may be statistics such as average value, mode value, median value, etc. of multiple drivers. May be selected by the driver. Further, the above value may be a fixed value calculated from past history, a value determined by learning a result of executing a process described later, or a value determined by the driver. Furthermore, the driver may select these values.

  Next, the processing of this embodiment will be described. The deviation reduction information presentation device of the present embodiment determines whether or not an ETC card is about to be inserted into the insertion section of the ETC vehicle-mounted device, based on an image obtained by the camera capturing the inside of the place including the insertion section of the ETC vehicle-mounted device. . When it is not determined that the ETC card is about to be inserted into the insertion section of the ETC vehicle-mounted device, the determination is repeated until the determination is positive.

  When it is possible to recognize that the ETC card is about to be inserted into the insertion part of the ETC vehicle-mounted device, when the volume according to the actual distance between the insertion part of the ETC vehicle-mounted device and the position of the ETC card is adjusted, Determine the volume at which the deviation will be reduced. Specifically, based on the values indicating the deviation amount and the deviation direction, which are stored in the information storage device M, and the volume according to the actual distance between the insertion portion of the ETC vehicle-mounted device and the position of the ETC card. , Determine the volume at which the deviation will be reduced. Then, the audible sound speaker 110 is controlled so that the sound of the determined volume is emitted.

  For example, a driver who is consciously aware that the insertion part of the ETC on-board device is closer to the driver than the actual position when inserting the ETC card into the insertion part of the ETC on-board device is There is a tendency to move the vehicle so that it deviates from the actual position to a position closer to the driver. Therefore, for the driver, the volume corresponding to the position where the ETC card is closer to the driver than the actual position is determined as the volume at which the above deviation is reduced, and is generated from the audible speaker 110. As a result, the driver has the illusion that the ETC card is located closer to the driver than the actual position. Therefore, the driver tries to move the ETC card away from the driver, that is, to bring the ETC card closer to the insertion portion of the ETC vehicle-mounted device. Therefore, the above deviation is reduced.

  The difference between the actual position of the ETC card and the position of the ETC card, which is illusion to the driver, is reduced as the ETC card approaches the insertion portion of the ETC vehicle-mounted device.

  In the example described above, the state in which the ETC card is located in the insertion portion of the ETC vehicle-mounted device is the desired state. However, the desired state is not limited to this, and the position at a certain distance from the insertion portion of the ETC vehicle-mounted device is set. The position of the ETC card may be set in a desired state.

  Instead of the audible sound speaker 110, or together with the audible sound speaker 110, an ultrasonic speaker, a vibration motor, an electromagnetic motor, or the like may be adopted. These are examples of the “presentation unit” of the present disclosure.

  Further, instead of the audible sound speaker 110 or together with the audible sound speaker 110, a display 30 may be provided so that the ETC card may be displayed on the display 30 so as to be located closer or farther to the driver than the actual position. . As a result, the driver has the illusion that the ETC card is located closer or farther to the driver than the actual position. Therefore, the driver tries to move the ETC card away from or near the driver, that is, to move the ETC card closer to the insertion portion of the ETC vehicle-mounted device. Therefore, the above deviation is reduced. Instead of the display 30, a HUD or a head mounted display (head mounted display, Head Mounted Display, (HMD)) may be used to display as described above.

  Further, the present invention is not limited to the case where the ETC card is inserted into the insertion portion of the ETC vehicle-mounted device. For example, the same may be applied when the ignition key is inserted into the ignition key insertion portion. Furthermore, the present invention is not related to a vehicle, and can be similarly applied to the case of inserting a key into a keyhole of a door of a house, for example.

  In each of the above-described embodiments, the case where the deviation reduction information presentation program is read from the information storage device M is illustrated, but it is not always necessary to store the deviation reduction information presentation program in the information storage device M from the beginning. For example, the deviation reduction information presentation program may be stored in the ROM or may be stored in a storage unit such as another computer or a server device connected to the deviation reduction information presentation via a communication line. When the deviation reduction information presentation program is stored in the storage unit of another computer or server device, the deviation reduction information presentation device acquires and executes the deviation reduction information presentation program from another computer or server device.

  All documents, patent applications and technical standards mentioned in this specification are to the same extent as if each individual document, patent application and technical standard was specifically and individually noted to be incorporated by reference. Incorporated by reference in the book.

10 shift position sensor 12 direction indicator sensor 14 planned parking direction determination processing unit 16 bias cut-out angle-of-view calculation processing unit 18 vehicle speed sensor 20 steering angle sensor 22 future predicted trajectory calculation processing unit 24 camera 26 mirror surface conversion processing unit 28 image synthesis processing unit 30 display

Claims (9)

A storage unit that stores deviation information regarding a deviation from the desired state of the actual state of the target that is about to be changed to the desired state by a user operation,
The object is referred to by the user with reference to information obtained by adjusting the actual information based on the actual information when the target is changed to the desired state by the operation of the user and the stored deviation information. A changing unit that changes the deviation to the desired state, the deviation reducing information that is the adjusted information that reduces the deviation, and
A presentation unit that presents the created deviation reduction information to the user as the actual information;
Deviance reduction information presenting device equipped with.   It is characterized in that the creating unit creates the deviation reduction information based on the actual information accompanying the change of the target and the stored deviation information while the target is changed. The deviation reduction information presentation device according to claim 1.   The deviation reduction information presentation device according to claim 2, wherein the creation unit reduces the amount of adjustment of the actual information as the target is changed.   4. The deviation information is past deviation information of the user who changed the target or past deviation information of a plurality of users who changed the object. The deviation reduction information presenting apparatus according to item 1. The deviation information is past deviation information of the user who has changed the target,
The deviation reduction information reduces the deviation when the user changes the object to the desired state according to the tendency of the deviation with reference to information obtained by adjusting the actual information. The deviation reduction information presentation device according to claim 4, which is different information.   6. The desired state is a final desired state of the object or a desired state in the middle of reaching the final desired state. The deviation reduction information presenting apparatus described in. The target is a vehicle,
The deviation reduction information presentation device according to any one of claims 1 to 6, wherein the desired state is a stopped state or a running state of the vehicle. On the computer,
The deviation information stored in a storage unit that stores deviation information relating to deviation of the actual state of the target that is about to be changed to a desired state by a user operation, and the target by the user operation. Based on the actual information when changing to the desired state, when the user refers to the information adjusted the actual information and changes the target to the desired state, Creating deviation reduction information that is the adjusted information that will reduce the deviation,
A deviation reduction information presentation program for executing a process including presenting the created deviation reduction information to the user as the actual information. The deviation information stored in a storage unit that stores deviation information relating to deviation of the actual state of the target that is about to be changed to a desired state by a user operation, and the target by the user operation. Based on the actual information when changing to the desired state, when the user refers to the information adjusted the actual information and changes the target to the desired state, Creating deviation reduction information that is the adjusted information that will reduce the deviation,
A deviation reduction information presentation method of presenting the created deviation reduction information to the user as the actual information.