JP6757585B2 - Display device - Google Patents

Description

The present invention relates to a display device provided in a vehicle such as an automobile and displaying an image of the environment around the own vehicle, and particularly to a device that reduces the monitoring burden on the user when a plurality of vehicles are traveling around the vehicle.

In vehicles such as automobiles, various display devices have been proposed that recognize the situation in front of the own vehicle by various peripheral recognition means and display information on the lane shape, obstacles, and the like as an image.
By using such a display device, it is possible to obtain more information than the information that the occupant can obtain visually, and as a driving support when the occupant drives as a driver, or in a vehicle that automatically drives, the occupant. Is also useful for monitoring the adequacy of autonomous driving control.

As a conventional technique relating to recognition processing of a situation around a vehicle, for example, Patent Document 1 describes that measurement points having the same relative speed are grouped in front of the own vehicle to determine that the vehicle is a preceding vehicle.
In Patent Document 2, in a device for detecting an interrupting vehicle approaching between a preceding vehicle and the own vehicle, a point cloud plotted on a portion of another vehicle facing the own vehicle by a position detecting means. Is described as being classified and processed as a subgroup.

Japanese Unexamined Patent Publication No. 2005-182137 Japanese Unexamined Patent Publication No. 2008-117073

For example, when the own vehicle travels on a road having a plurality of lanes heading in the same direction and many other vehicles run side by side around the own vehicle, all the users are on the image displaying the environment around the own vehicle. Monitoring each vehicle individually increases the monitoring burden.
The user needs to monitor the surrounding situation regardless of automatic driving or manual driving, but keeping track of all the events in the surrounding vehicle increases the monitoring burden and reduces the load on the user. It will be diminished.
In view of the above-mentioned problems, an object of the present invention is to provide a display device that reduces the monitoring burden on the user when a plurality of vehicles are traveling around.

The present invention solves the above-mentioned problems by the following solutions.
The invention according to claim 1 is an image that generates an image including an environment recognition means that recognizes the environment around the own vehicle and information on the distribution of other vehicles traveling around the own vehicle based on the recognition result of the environment recognition means. A display device including a generation means and an image display means for displaying the image. In the image generation means, the environment recognition means has a relative speed of a predetermined value or less and is adjacent to each other in the same lane. When a plurality of other vehicles traveling are detected, a grouping display indicating that the plurality of other vehicles are grouped is generated, and the vehicles included in the plurality of grouping displays generated in the adjacent lanes are generated. When the relative speed is equal to or less than a predetermined value, the plurality of grouping displays are connected, and the display in which the plurality of grouping displays are connected is displayed with the positions of the front end and the rear end different for each lane. It is a characteristic display device.
According to this, a plurality of vehicles traveling in the same direction at almost constant speed and traveling in close proximity to each other are regarded as an area where there is little information to be transmitted to the user and there are few change points, and they are grouped and displayed as one vehicle group. Therefore, it is possible to intuitively grasp which area around the own vehicle is occupied by another vehicle, and it is possible to reduce the monitoring burden when recognizing and monitoring a plurality of vehicles individually.
Further, by grouping across a plurality of lanes, the number of groups requiring monitoring can be reduced, and the monitoring burden on the user can be further reduced.

Further, by generating the grouping display for a plurality of vehicles traveling within the same lane, it is possible to intuitively grasp the area occupied by the lane units, such as whether the lane change of the vehicle Can be easily and appropriately judged.

The invention according to claim 2, to the extent that the grouping display is generated, a display device according to claim 1, characterized in that the Hide indicating the plurality of other vehicles individually.
According to this, it is possible to suppress the amount of information that the user should recognize and reduce the monitoring burden by not paying attention to each vehicle inside the grouped vehicle group.

The invention according to claim 3 is the display device according to claim 1 or 2 , wherein the grouping display is displayed over the entire lane width in which the plurality of other vehicles travel.
According to this, the user can intuitively understand that it is dangerous to enter the lane in which the grouped vehicle group exists.

The invention according to claim 4 is characterized in that, when the image display means starts displaying the grouping display, the display mode of the grouping display is gradually changed over a predetermined time. The display device according to any one of up to 3 .
According to this, it becomes easy for the user to visually recognize that the display is changing, and it is possible to intuitively understand that the surrounding vehicles are grouped.

The invention according to claim 5 is to release the connection of the plurality of grouping displays when at least one of a confluence point, a branch point, and an intersection point with another road exists in front of the road on which the own vehicle is traveling. The display device according to any one of claims 1 to 4 , wherein the display device is characterized by the above-mentioned one.
According to this, in places where the vehicle speed and traffic volume of each lane are likely to change, the traffic flow of each lane can be easily grasped by disconnecting the grouping display.

As described above, according to the present invention, it is possible to provide a display device that reduces the monitoring burden on the user when a plurality of vehicles are traveling around.

It is a block diagram which shows typically the structure of the vehicle provided with the reference example 1 of the display device to which this invention is applied. It is a schematic diagram which shows the arrangement of the sensors which recognize the surroundings of a vehicle in the vehicle of Reference Example 1 . It is a flowchart which shows the operation of the display device of Reference Example 1. FIG. It is a figure which shows an example of the image display in the display device of Reference Example 1. FIG. It is a figure which shows an example of the image display in the reference example 2 of the display device to which this invention is applied. It is a figure which shows an example of the image display in the reference example 3 of the display device to which this invention is applied. It is a figure which shows an example of the image display in the reference example 4 of the display device to which this invention is applied. It is a figure which shows an example of the image display in the reference example 5 of the display device to which this invention is applied. It is a flowchart which shows the operation of the Example of the display device to which this invention is applied. Is a diagram illustrating an example of a display image in the display device of Example.

The present invention solves the problem of providing a display device that reduces the monitoring burden on the user when a plurality of vehicles are traveling in the vicinity, and is a grouping display that surrounds a plurality of adjacent other vehicles running in parallel at substantially constant speed. It was solved by doing.

Hereinafter, Reference Example 1 of the 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 Reference Example 1 of a display device to which the present invention is applied.
The display device 1 of the embodiment is provided in, for example, a vehicle 1 which is an automobile such as a passenger car having an automatic driving function, and relates to a user (for example, a driver during manual driving) or the like regarding risks around the own vehicle. Information and the like are displayed as images.
The user can monitor the lane shape and obstacles in front of the own vehicle based on the information presented by the display device, and can verify the validity of the automatic driving control when the automatic driving control is executed.

As shown in FIG. 1, the 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. It includes 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, an image generation unit 200, a display 210, and the like.
Each of the above-mentioned units is configured as a unit having, for example, an information processing means such as a CPU, a storage means such as a RAM or a ROM, an input / output interface, and a bus connecting these. Each of 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 the engine and its accessories, which are the power sources for traveling of the vehicle 1.
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 degree 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 according to the driving operation of the driver, the engine control unit 10 of the engine controls the engine so that the actual torque of the engine approaches the driver required torque set based on the operation amount of the accelerator pedal and the like. Control the output.
Further, when the vehicle 1 performs automatic driving, the engine control unit 10 controls the output of the engine in response to a command from the automatic driving control unit 50.

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

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

The behavior control unit 30 individually controls the wheel cylinder hydraulic pressure of the hydraulic service brakes provided on the left, right, front and rear wheels to control the behavior of suppressing vehicle behavior such as understeer and oversteer, and wheel lock during braking. It performs anti-lock brake control to recover.
A hydraulic control unit (HCU) 31, a vehicle speed sensor 32, and the like are connected to the behavior control unit 30.

The HCU 31 includes an electric pump that pressurizes the brake fluid, which is the working fluid of the hydraulic service brake, and a valve that individually adjusts the hydraulic pressure supplied to the wheel cylinders of each wheel.
When the vehicle 1 automatically drives, the HCU 31 generates a braking force in the wheel cylinders of each wheel in response to a braking command from the automatic driving control unit 50.
The vehicle speed sensor 32 is provided on the hub portion of each wheel and generates a vehicle speed pulse signal having a frequency proportional to the rotation speed of the wheels.
It is possible to calculate the traveling speed (vehicle speed) of the vehicle 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 steering operation by a driver 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 applies an assist force to the steering system of the vehicle to assist the steering operation by the driver, or changes the steering angle during automatic driving.
When the vehicle 1 performs automatic driving, the motor 41 applies torque to the steering system so that the steering angle of the steering system approaches a predetermined target steering angle in response to a steering command from the automatic driving control unit 50. To steer.
The steering angle sensor 42 detects the 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 described above to automatically drive the vehicle. It executes automatic driving control to drive the vehicle.

When the automatic driving mode is selected, the automatic driving control unit 50 advances the own vehicle in response to information on the situation around the own vehicle provided by the environment recognition unit 60, a command from a driver (not shown), and the like. Autonomous driving that sets the target driving trajectory to be to be set, automatically accelerates (starts), decelerates (stops), switches forward and backward, steers, etc., and automatically drives the vehicle to a preset destination. Execute.
In addition, the automatic operation mode is stopped in response to a predetermined release operation from the user when the user desires manual operation or when it is difficult to continue the automatic operation, and the manual operation is performed by the driver. 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 alarms and various messages to the user from the automatic operation control unit 50, and receives inputs of various operations from the user.
The input / output device 51 includes, for example, an image display device such as an LCD, an audio 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 by 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 obstacles such as parked vehicles, traveling vehicles, buildings, terrain, pedestrians, and cyclists around the own vehicle, and the lane shape of the road on which the own vehicle travels.
The environment recognition unit 60 functions as the environment recognition means referred to in the present invention in cooperation with each of these devices, sensors, units and the like.

The stereo camera control unit 70 controls a plurality of sets of stereo cameras 71 provided around the vehicle, and processes images transmitted from the stereo cameras 71.
Each stereo camera 71 is configured by, for example, arranging a pair of camera units in parallel, for example, an optical system for imaging such as a lens, a solid-state image sensor such as CMOS, a drive circuit, and a signal processing device. ..
The stereo camera control unit 70 recognizes the shape of the subject captured 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 technique.
The stereo camera control unit 70 can, for example, detect white lines at both ends of the lane in front of the own vehicle and recognize the lane shape.
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 group data based on the output of the laser scanner 81.

The rear side radar control unit 90 controls the rear side radar 91 provided on each of the left and right sides of the vehicle, and detects an object existing on the rear side of the own vehicle based on the output of the rear side radar 91. It is a thing.
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 view showing the arrangement of sensors that recognize the surroundings of the vehicle in the vehicle of Reference Example 1 .
The stereo cameras 71 are provided on the front portion, the rear portion, and the left and right side portions of the vehicle 1, respectively.
A plurality of laser scanners 81 are distributed so as not to generate a blind spot around the vehicle 1, and a plurality of rear side radars 91 are arranged, for example, on the left and right sides of the vehicle body of the vehicle 1, and the detection range is set to the vehicle. It is arranged on the rear side and toward the outside in the vehicle width direction.

The navigation device 100 includes, for example, a vehicle positioning means such as a GPS receiver, a data storage unit that stores map data prepared in advance, a gyro sensor that detects the direction of the vehicle in the front-rear direction, and the like.
Map data has road information such as roads, intersections, and interchanges at the lane level.
In addition to three-dimensional lane shape data, road information also includes information that imposes driving restrictions such as whether or not each lane (lane) can be turned left or right, a stop position, and a speed limit.
The navigation device 100 has a display 101 built into the instrument panel.
The display 101 is an image display device that displays various information output by the navigation device 100 to the driver.
The display 101 is configured to have a touch panel, and also functions as an input unit for performing various operation inputs from the driver.

The road-to-vehicle communication device 110 communicates with a ground station (not shown) by a communication system conforming to a predetermined standard, and provides information on traffic congestion information, traffic signal lighting status, road construction, accident site, lane regulation, weather, road surface condition, and the like. It is 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 provides information on the vehicle state such as the position, azimuth, acceleration, speed, etc. of the other vehicle, vehicle type, vehicle size, and the like. It acquires information on vehicle attributes.

The image generation unit 200 is an image generation unit that generates an image (environmental image) including information about the environment around the own vehicle displayed by the display 210 based on the environment recognition result transmitted from the environment recognition unit 60.

The display 210 is an image display means arranged so as to face the occupant of the vehicle.
The display 210 has, for example, an LCD incorporated in an interior member such as an instrument panel.

Next, an operation at the time of image display in the display device of Reference Example 1 and an example of screen display will be described.
FIG. 3 is a flowchart showing the operation of the display device of Reference Example 1 .
Hereinafter, each step will be described step by step.

<Step S01: Lane shape recognition>
The environment recognition unit 60 recognizes the lane shape of the own vehicle traveling lane and the lane adjacent thereto on the road around the own vehicle.
The lane shape is recognized, for example, by detecting the position and shape of white lines provided along both ends of each lane by stereo image processing using the image captured by the stereo camera 71.
Then, the process proceeds to step S02.

<Step S02: Detection of relative position / relative speed of other vehicles>
The environment recognition unit 60 recognizes other vehicles traveling around the own vehicle, and also detects the relative position and relative speed of each of the recognized other vehicles with respect to the own vehicle.
After that, the process proceeds to step S03.

<Step S03: Lane shape / other vehicle distribution image generation>
The image generation unit 200 generates an image (environmental image) showing the environment around the own vehicle based on the information (recognition result) provided by the environment recognition unit 60.
The image includes information on the lane shape of each lane around the own vehicle and the distribution of other vehicles on each lane.
After that, the process proceeds to step S04.

<Step S04: Judgment of grouping availability>
Among the plurality of other vehicles detected in step S02, the environment recognition unit 60 has substantially the same relative speed between the other vehicles (below a predetermined threshold value), and the relative distance between the other vehicles is the same. It is determined whether there is a vehicle that is close (below a predetermined threshold value) and is traveling in the same lane adjacently.
Here, the relative speed and relative distance between the other vehicles can be calculated from the relative speed and relative distance of each other vehicle recognized by the environment recognition unit 60 with respect to the own vehicle.
Here, the groupable vehicle group may be three or more vehicles.
When such a plurality of vehicles exist, they are extracted as a groupable vehicle group and proceed to step S05, and in other cases, the process proceeds to step S06.

<Step S05: Grouping display generation>
The image generation unit 200 generates a grouping display indicating that these are grouped by surrounding a plurality of other vehicles extracted as a groupable vehicle group in step S04.
The grouping display is superimposed on the image generated in step S03.
Then, the process proceeds to step S06.

<Step S06: Image display output>
The image generation unit 200 outputs the generated image data, displays it on the display 210, and presents it to the user.
After that, a series of processing is completed (returned).

Hereinafter, the image display in the display device of Reference Example 1 will be described.
FIG. 4 is a diagram showing an example of image display in the display device of Reference Example 1 .
In FIG. 4, the display image 211 displayed on the display 210 shows a state of traveling on a high-standard automobile-only road such as an expressway having three lanes on each side.
The road on which the own vehicle 1 is traveling is, for example, a straight road having an overtaking lane LP, a first traveling lane L1, and a second traveling lane L2 in order from the right side.
Between each lane, a white line extending along the end of the lane is provided.
The own vehicle 1 is traveling in the first traveling lane L1.

In the example shown in FIG. 4, other vehicles V1, V2, and V3 are traveling in the overtaking lane LP in order from the front side.
Other vehicles V4 and V5 are traveling in order from the front side in front of the own vehicle 1 in the first traveling lane L1.
Other vehicles V6 and V7 are traveling in the second traveling lane L2 in order from the front side.
Here, the other vehicles V1, V2, and V3 are extracted as a groupable vehicle group in step S05, and are surrounded by a grouping display G1 indicating that they are in the same group.
Similarly, the other vehicles V4 and V5 are also extracted as a groupable vehicle group in step S05 and surrounded by the grouping display G2 indicating that they are in the same group.
The grouping displays G1 and G2 are displayed so as to surround other vehicles in the same group by, for example, a circular line.
At this time, the display mode such as color and brightness inside the grouping display may be different from that outside.

When starting the display of such a grouping display, the display mode is gradually changed over a predetermined time.
For example, the brightness may be initially displayed at low brightness, and then the brightness may be gradually changed to the final display brightness over a predetermined time.
Further, the display color and the shape may be changed.

According to Reference Example 1 described above, the following effects can be obtained.
(1) A plurality of other vehicles V1 to V3 and V4 to V5 traveling in close proximity to each other at almost constant speed are regarded as regions where there is little information to be transmitted to the user and there are few change points, and each is regarded as one vehicle group. By grouping and displaying the grouping displays G1 and G2, it is possible to intuitively grasp which area around the own vehicle 1 is occupied by another vehicle, and when recognizing and monitoring a plurality of vehicles individually. However, the monitoring burden can be reduced.
(2) By grouping other vehicles for each lane, it is possible to intuitively grasp the area occupied by each lane, and it is possible to easily and appropriately judge whether or not the lane of the own vehicle can be changed. Can be done.
(3) By changing the display mode of the grouping display over a predetermined time at the start of the grouping display, it becomes easier for the user to visually recognize that the display is changing, and the surrounding vehicles are grouped. You can understand that intuitively.

Next, Reference Example 2 of the display device to which the present invention is applied will be described.
In each of the embodiments described below, the parts substantially in common with the previous embodiments are designated by the same reference numerals, the description thereof will be omitted, and the differences will be mainly described.
Display devices in Reference Example 2, and the host vehicle, the relative speed of the other vehicle traveling the same lane, when the relative distance is equal to or less than the respective predetermined values, reference is also the vehicle in that the grouping display of the target examples Different from 1 .
FIG. 5 is a diagram showing an example of image display in Reference Example 2 of a display device to which the present invention is applied.
In the example shown in FIG. 5, the own vehicle 1 is included in the group display G3.
According to the reference example 2 described above, in addition to the effect substantially similar to the effect of the above-mentioned reference example 1 , the monitoring burden of the user is further increased by recognizing the vehicle group including the own vehicle as an integrated group. It can be mitigated.

Next, Reference Example 3 of the display device to which the present invention is applied will be described.
The display device of Reference Example 3 differs from Reference Example 1 in that individual vehicles are hidden inside the grouping display.
FIG. 6 is a diagram showing an example of image display in the display device of Reference Example 3 .
In FIG. 6, the other vehicles V1 to V5 are actually hidden, but are shown by broken lines for ease of understanding. (Same as in FIG. 8)
According to the reference example 3 described above, in addition to the effect substantially the same as the effect of the above-mentioned reference example 1 , the user recognizes by not paying attention to each vehicle inside the grouped vehicle group. The amount of information to be required can be suppressed and the monitoring burden can be reduced.

Next, Reference Example 4 of the display device to which the present invention is applied will be described.
FIG. 7 is a diagram showing an example of image display in the display device of Reference Example 4 .
In the display device of Reference Example 4 , the grouping displays G4 and G5 are displayed instead of the grouping displays G1 and G2 of Reference Example 1 .
The grouping displays G4 and G5 have a bar shape that connects the other vehicles V1 to V3 and the other vehicles V4 and V5, respectively.
In Reference Example 4 described above, substantially the same effect as that of Reference Example 1 described above can be obtained.

Next, Reference Example 5 of the display device to which the present invention is applied will be described.
FIG. 7 is a diagram showing an example of image display in the display device of Reference Example 5 .
In the display device of Reference Example 5 , the grouping displays G6 and G7 are displayed instead of the grouping displays G1 and G2 of Reference Example 1 .
The grouping displays G6 and G7 are specific displays such as painting the entire lane width of the overtaking lane LP and the first traveling lane L1 with a predetermined color in the area where the other vehicles V1 to V3 and the other vehicles V4 and V5 exist. It is displayed according to the mode.
According to the reference example 5 described above, in addition to the effect substantially similar to the effect of the above-mentioned reference example 1 , the user intuitively understands that it is dangerous to enter the lane in which the grouped vehicle group exists. Can be grasped.

Next, an example of a display device to which the present invention is applied will be described.
The display device of the embodiment is different from the reference example 1 in that the grouping displays provided in the adjacent lanes are connected and displayed when a predetermined condition is satisfied.
That is, in the embodiment , a grouping display that spans a plurality of lanes can be generated.
FIG. 9 is a flowchart showing the operation of the display device of the embodiment .
Hereinafter, each step will be described step by step.

<Step S11: Lane shape recognition>
The environment recognition unit 60 recognizes the lane shape of the own vehicle traveling lane and the lane adjacent thereto on the road around the own vehicle.
Then, the process proceeds to step S12.

<Step S12: Detection of relative position / relative speed of other vehicles>
The environment recognition unit 60 recognizes other vehicles traveling around the own vehicle, and also detects the relative position and relative speed of each of the recognized other vehicles with respect to the own vehicle.
After that, the process proceeds to step S13.

<Step S13: Lane shape / other vehicle distribution image generation>
The image generation unit 200 generates an image (environmental image) showing the environment around the own vehicle based on the information (recognition result) provided by the environment recognition unit 60.
After that, the process proceeds to step S14.

<Step S14: Judgment of grouping availability>
Among the plurality of other vehicles detected in step S02, the environment recognition unit 60 has substantially the same relative speed between the other vehicles (below a predetermined threshold value), and the relative distance between the other vehicles is the same. It is determined whether there are any vehicles traveling in the same lane adjacent to each other in the vicinity (below a predetermined threshold value).
When such a plurality of vehicles exist, they are extracted as a groupable vehicle group and proceed to step S15, and in other cases, the process proceeds to step S16.

<Step S15: Grouping display generation>
The image generation unit 200 generates a grouping display indicating that they are grouped by surrounding a plurality of other vehicles extracted as a groupable vehicle group in step S14.
The grouping display is superimposed on the image generated in step S13 and displayed.
After that, the process proceeds to step S16.

<Step S16: Judgment of road conditions ahead>
Based on information from, for example, a navigation device 100 or the like, the environment recognition unit 60 has a junction, an interchange, where the road on which the vehicle travels and another road merge, branch, or intersect within a predetermined distance in front of the vehicle. Determine if there are any intersections.
If there is such a junction or the like, the process proceeds to step S19, and in other cases, the process proceeds to step S17.

<Step S17: Judgment as to whether group connection is possible>
When a plurality of grouping displays are generated in step S15, the image generation unit 200 has a relative speed of a predetermined value or less (substantially constant speed) and is close to an adjacent lane (for example, in the traveling direction of each group). (When the positions along the line are wrapped, etc.) Determine the presence or absence of the arranged grouping display.
If such a grouping display exists, the process proceeds to step S18 assuming that the connection is possible, and in other cases, the process proceeds to step S19.

<Step S18: Grouping display connection>
The image generation unit 200 sets the grouping display determined to be connectable in step S17 as a display that is integrally connected across lanes.
After that, the process proceeds to step S19.

<Step S19: Image display output>
The image generation unit 200 outputs the generated image data, displays it on the display 210, and presents it to the user.
After that, a series of processing is completed (returned).

FIG. 10 is a diagram showing an example of image display in the display device of the embodiment .
In the example shown in FIG. 10 , the traveling conditions of the surrounding vehicles are the same as those in FIG. 4, but the average speeds of the vehicle groups (other vehicles V1 to V3) included in the grouping display G1 in Reference Example 1 and the grouping display G2. The relative speed with respect to the average speed of the vehicle group (other vehicles V4, V5) included in is not more than a predetermined value, and the relative distance of the grouping displays G1 and G2 is not more than a predetermined value.
The image generation unit 200 generates a grouping display G8 in which the grouping displays G1 and G2 in Reference Example 1 are connected, and displays the grouping display G8 on the display 210.

According to the embodiment described above, in addition to the effect substantially similar to the effect of Reference Example 1 described above, the number of groups requiring monitoring is reduced by grouping across a plurality of lanes. The burden of monitoring the user can be further reduced.
In addition, if there is a junction or the like having a road confluence or branch in front of the own vehicle 1, by disconnecting the grouping display, traffic for each lane is likely to change in a place where the vehicle speed, traffic volume, etc. are likely to change. You can easily grasp the flow of.

(Modification example)
The present invention is not limited to the examples described above, and various modifications and modifications are possible, and these are also within the technical scope of the present invention.
(1) The configuration of the display device and the configuration of the vehicle are not limited to the above-described embodiment, and can be appropriately changed. Further, although the vehicle is a passenger car in the embodiment, the present invention can be applied to commercial vehicles such as freight vehicles, trucks, buses, motorcycles, and various other special vehicles.
(2) In the embodiment, the vehicle uses an engine as a power source for traveling, but the present invention is not limited to this, and an electric motor or a hybrid system combining an engine and an electric motor is used as a power source for traveling. It can also be used as.
(3) The type and arrangement of the sensors that recognize the environment around the own vehicle are not limited to 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 examples.
In addition, environment recognition is performed using information obtained by road-to-vehicle communication or vehicle-to-vehicle communication, and map data possessed by positioning means such as GPS and navigation devices, etc., in combination with or in place of sensors mounted on the vehicle itself. May be done.
(4) In the embodiment, the display image is a plan view, but the display image is not limited to this, and for example, a bird's-eye view (bird's-eye view) or a driver's view viewed from a virtual driver's viewpoint is also possible. Further, a 3D display may be performed using a display capable of 3D display. Further, the display is not limited to the display provided on the instrument panel, and may be displayed by, for example, a head-up display that projects an image on the windshield.

1 Vehicle 10 Engine control unit 20 Transmission control unit 21 Forward / backward 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 operation 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 Image generation unit 210 Display 211 Display image LP Overtaking lane L1 First driving lane L2 Second driving lane V1 to V7 etc. Vehicle G1 to G8 grouping display

Claims (5)

An environment recognition means that recognizes the environment around the vehicle and
An image generation means that generates an image including information on the distribution of other vehicles traveling around the own vehicle based on the recognition result of the environment recognition means.
A display device including an image display means for displaying the image.
In the image generation means, when the environment recognition means detects a plurality of other vehicles having a relative speed of a predetermined value or less and traveling adjacent to each other in the same lane, the plurality of other vehicles are grouped. In addition to generating a grouping display indicating that the vehicle is present, when the relative speed of the vehicle included in each of the plurality of grouping displays generated in the adjacent lanes is equal to or less than a predetermined value, the plurality of grouping displays are connected.
The display in which the plurality of grouping displays are connected is a display device characterized in that the positions of the front end portion and the rear end portion are displayed differently for each lane . In the range where the grouping display is generated, the display device according to claim 1, characterized in that the Hide indicating the plurality of other vehicles individually. The display device according to claim 1 or 2 , wherein the grouping display is displayed over the entire lane width in which the plurality of other vehicles travel. The image display means according to any one of claims 1 to 3 , wherein when the display of the grouping display is started, the display mode of the grouping display is gradually changed over a predetermined time. The display device described. Merging portion with another road in front of the road vehicle is traveling, bifurcation, if at least one of intersections that exist, claim 1, characterized in that to release the connection of said plurality of groupings display The display device according to any one of claims 4 .

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