JP6910254B2 - Driving support display method and driving support display device - Google Patents

Description

The present invention relates to a driving support display method and a driving support display device.

Conventionally, a technique for notifying an occupant of a lane change during automatic driving has been known (Patent Document 1). The invention described in Patent Document 1 displays a symbol image showing a traveling course of a lane change on a display to notify an occupant of the lane change.

Japanese Unexamined Patent Publication No. 2016-182891

When the own vehicle changes lanes to the adjacent lane, there may be an adjacent vehicle traveling in this adjacent lane. At this time, the own vehicle may change lanes in front of the adjacent vehicle or may change lanes behind the adjacent vehicle. However, the invention described in Patent Document 1 does not take this point into consideration. That is, in the invention described in Patent Document 1, the occupant cannot grasp whether the own vehicle changes lanes in front of the adjacent vehicle or the own vehicle changes lanes behind the adjacent vehicle, and feels uncomfortable. May feel.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a driving support display method and a driving support display device capable of suppressing a sense of discomfort felt by an occupant.

The driving support display method according to one aspect of the present invention detects another vehicle traveling around the own vehicle, and predicts the own vehicle trajectory that the own vehicle will travel in the future and the other vehicle trajectory that the other vehicle will travel in the future. .. When the locus of the own vehicle and the locus of another vehicle intersect, the driving support display method displays on the monitor the order in which the own vehicle and the other vehicle pass through the intersection. The other vehicle is an adjacent vehicle traveling in an adjacent lane adjacent to the driving lane of the own vehicle, and when the locus of the own vehicle changing to the adjacent lane and the locus of another vehicle traveling in the adjacent lane intersect, the other vehicle is behind the adjacent vehicle. If it is determined whether or not the own vehicle changes lanes and it is determined that the own vehicle changes lanes behind the adjacent vehicle, the order is to display the trajectory of the adjacent vehicle in the future on the monitor and then the own vehicle is adjacent. Display on the monitor that you are changing lanes behind the vehicle.

According to the present invention, it is possible to suppress the discomfort felt by the occupant.

FIG. 1 is a configuration diagram of a driving support display device according to the first embodiment of the present invention. FIG. 2 is a diagram illustrating a lane change scene according to the first embodiment of the present invention. FIG. 3 is a diagram illustrating a support image according to the first embodiment of the present invention. FIG. 4 is a diagram illustrating another support image according to the first embodiment of the present invention. FIG. 5A is a diagram illustrating still another support image according to the first embodiment of the present invention. FIG. 5B is a diagram illustrating still another support image according to the first embodiment of the present invention. FIG. 6 is a diagram illustrating still another support image according to the first embodiment of the present invention. FIG. 7 is a diagram for explaining the display control of the moving image according to the first embodiment of the present invention. FIG. 8 is a diagram illustrating still another support image according to the first embodiment of the present invention. FIG. 9 is a diagram illustrating still another support image according to the first embodiment of the present invention. FIG. 10 is a diagram illustrating still another support image according to the first embodiment of the present invention. FIG. 11 is a diagram illustrating still another support image according to the first embodiment of the present invention. FIG. 12 is a diagram illustrating still another support image according to the first embodiment of the present invention. FIG. 13 is a diagram illustrating still another support image according to the first embodiment of the present invention. FIG. 14 is a diagram illustrating a locus at an intersection. FIG. 15 is a flowchart illustrating an operation example of the driving support display device according to the first embodiment of the present invention. FIG. 16 is a configuration diagram of a driving support display device according to a second embodiment of the present invention. FIG. 17 is a diagram illustrating a lane change scene according to the second embodiment of the present invention. FIG. 18A is a diagram illustrating still another support image according to the first embodiment of the present invention. FIG. 18B is a diagram illustrating still another support image according to the first embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the description of the drawings, the same parts are designated by the same reference numerals and the description thereof will be omitted. The driving support display device according to the present embodiment is applied to a vehicle capable of switching between automatic driving and manual driving. The automatic driving in the present embodiment refers to a state in which at least one of the actuators such as the brake, the accelerator, and the steering is controlled without the operation of the driver. Therefore, as long as at least one actuator is controlled, the other actuators may be operated by the operation of the driver. Further, the manual operation in the present embodiment refers to a state in which the driver is operating operations necessary for traveling such as braking, accelerator, and steering.

[First Embodiment]
[Driving support display device configuration]
As shown in FIG. 1, the driving support display device according to the first embodiment includes an object detection device 1, a vehicle position detection device 2, a map acquisition device 3, a sensor group 4, a controller 10, and a vehicle. It is provided with a monitor 5 mounted in the vehicle interior of the vehicle. In the following description, unless otherwise specified, the occupant means the occupant of the own vehicle.

The object detection device 1 includes a plurality of different types of object detection sensors mounted on the own vehicle. A plurality of different types of object detection sensors include laser radars, millimeter wave radars, cameras, laser rangefinders, vehicle-to-vehicle communication, road-to-vehicle communication, and the like. The object detection device 1 detects an object around the own vehicle by using a plurality of object detection sensors. More specifically, the object detection device 1 detects a moving object including another vehicle, a motorcycle, a bicycle, a pedestrian, and a stationary object including a parked vehicle. For example, the object detection device 1 detects the position, posture (yaw angle), size, speed, acceleration, deceleration, and yaw rate of a moving object and a stationary object with respect to the own vehicle. The object detection device 1 outputs the detected information to the controller 10.

The own vehicle position detection device 2 includes a position detection sensor mounted on the own vehicle that measures the absolute position of the own vehicle such as GPS (Global Positioning System) and odometry. The own vehicle position detection device 2 detects the absolute position of the own vehicle, that is, the position and attitude of the own vehicle with respect to a predetermined reference point by using the position detection sensor. The own vehicle position detection device 2 outputs the detected information to the controller 10.

The map acquisition device 3 acquires map information indicating the structure of the road on which the own vehicle travels. The map information acquired by the map acquisition device 3 includes road structure information such as absolute lane positions, lane connection relationships, and relative positional relationships. The map acquisition device 3 may own a map database that stores map information, or may acquire map information from an external map data server by cloud computing. Further, the map acquisition device 3 may acquire map information by using vehicle-to-vehicle communication and road-to-vehicle communication. The map acquisition device 3 outputs the detected information to the controller 10.

The sensor group 4 is composed of a plurality of sensors that detect the state of the own vehicle. The sensor group 4 is, for example, a vehicle speed sensor, a shift sensor, a steering sensor, or the like. The sensor group 4 detects the vehicle speed, shift position, steering angle, etc. of the own vehicle and outputs them to the controller 10.

The controller 10 is a circuit that processes data acquired from various sensors, and is, for example, a general-purpose microcomputer including a CPU (central processing unit), a memory, and an input / output unit. A computer program for operating the microcomputer as the controller 10 is installed and executed on the microcomputer. As a result, the microcomputer functions as the controller 10. Here, an example in which the controller 10 is realized by software is shown, but of course, it is also possible to configure the controller 10 by preparing dedicated hardware for executing each of the following information processing. As a plurality of information processing circuits, the controller 10 includes a surrounding image generation unit 11, another vehicle behavior prediction unit 12, own vehicle behavior determination unit 13, trajectory prediction unit 14, intersection determination unit 15, and passage order calculation unit. A display determination unit 17, an image selection unit 18, and an image composition unit 19 are provided.

The surrounding image generation unit 11 sets a predetermined virtual viewpoint and projection plane based on the image of the surroundings of the own vehicle, and generates the surrounding image as if the surrounding image is viewed from above to below (direction of the vehicle) of the own vehicle. The surrounding image may be a bird's-eye view image, a bird's-eye view image, or the like, and the form of the image does not matter as long as the situation of the own vehicle and its surroundings can be understood. In addition, since the method of generating the bird's-eye view image and the bird's-eye view image is a known technique, detailed description thereof will be omitted. Further, the surrounding image generation unit 11 can set a virtual viewpoint in the sky above the front of the own vehicle or in the sky behind the own vehicle. The peripheral image generation unit 11 outputs the generated peripheral image to the image synthesis unit 19 and the monitor 5.

The other vehicle behavior prediction unit 12 predicts the behavior of the other vehicle based on the information acquired from the object detection device 1. The other vehicle behavior prediction unit 12 outputs the predicted behavior of the other vehicle to the trajectory prediction unit 14.

The own vehicle behavior determination unit 13 determines the behavior of the own vehicle based on the information acquired from the own vehicle position detection device 2, the map acquisition device 3, and the sensor group 4. The own vehicle behavior determination unit 13 outputs the predicted behavior of the own vehicle to the locus prediction unit 14.

The locus prediction unit 14 predicts the locus that the other vehicle will travel in the future based on the information acquired from the other vehicle behavior prediction unit 12. Further, the locus prediction unit 14 predicts the locus on which the own vehicle will travel in the future based on the information acquired from the own vehicle action determination unit 13. In the following, the locus on which the own vehicle will travel in the future may be simply referred to as the own vehicle locus. In addition, the locus on which another vehicle will travel in the future may be simply referred to as the locus of another vehicle. The locus prediction unit 14 outputs the predicted own vehicle locus and the other vehicle locus to the intersection determination unit 15.

The intersection determination unit 15 determines whether or not the locus of the own vehicle predicted by the locus prediction unit 14 intersects with the locus of another vehicle. In the present embodiment, the intersection of the own vehicle locus and the other vehicle locus includes the case where the own vehicle locus and the other vehicle locus overlap. Further, when the own vehicle locus and the other vehicle locus intersect, the case where the own vehicle and the other vehicle pass through the place where the own vehicle locus and the other vehicle locus intersect within a predetermined time is included, but they intersect. It is not included when the own vehicle and another vehicle pass the place more than a predetermined time. The intersection determination unit 15 outputs the determination result to the passage order calculation unit 16.

When the intersection determination unit 15 determines that the locus of the own vehicle and the locus of another vehicle intersect, the passing order calculation unit 16 determines the order of which of the own vehicle and the other vehicle passes first. calculate. The passing order calculation unit 16 calculates, for example, which one passes first based on the position, speed, acceleration, etc. of the own vehicle and another vehicle. The passing order calculation unit 16 outputs the calculated order to the image selection unit 18.

The image selection unit 18 selects an image indicating the order calculated by the passage order calculation unit 16. The image selected by the image selection unit 18 is stored in the controller 10 in advance, but is not limited thereto. For example, the image selection unit 18 may create an image showing the order calculated by the passage order calculation unit 16. The image selection unit 18 outputs the selected image to the image composition unit 19.

The image synthesizing unit 19 synthesizes the image selected by the image selection unit 18 with the surrounding image. Then, the image synthesizing unit 19 outputs the combined image to the monitor 5.

(Operation example of driving support display device)
Next, an operation example of the driving support display device will be described with reference to FIGS. 2 and 3.

The driving scene shown in FIG. 2 is a scene in which the own vehicle 30 changes lanes to an adjacent lane. In FIG. 2, another vehicle 31 exists in an adjacent lane adjacent to the traveling lane of the own vehicle 30. The other vehicle 31 is an adjacent vehicle. The own vehicle locus 40 of the own vehicle 30 and the other vehicle locus 41 of the other vehicle 31 intersect at the place 80. The passing order calculation unit 16 calculates the order of which of the own vehicle 30 and the other vehicle 31 passes through the place 80 first. In the scenes shown in FIGS. 2 and 3, the other vehicle 31 will be described as passing through the location 80 first.

The surrounding image 50 shown at time T1 in FIG. 3 is an image of the scene in FIG. 2 viewed from above the rear of the own vehicle 30. The description of the location 80 is omitted in FIG. The own vehicle 30 shown in FIG. 3 is an image (icon) imitating the own vehicle. Similarly, the other vehicle 31 shown in FIG. 3 is an image imitating another vehicle. The same applies to the following drawings. As shown in the surrounding image 50 at time T1 in FIG. 3, the image synthesizing unit 19 displays the support image 60 and the support image 61 indicating that the other vehicle 31 first passes through the place 80. The support image 61 is an image with an arrow indicating the direction in which the other vehicle 31 is heading. In other words, the support image 61 is an image showing the locus of another vehicle. The support image 60 is an image extending in an S shape from the front of the own vehicle 30 toward the rear of the other vehicle 31. The support image 60 enables the occupant to know that the own vehicle 30 changes lanes behind the other vehicle 31 before changing lanes. That is, the occupant can know that the order of passing through the place 80 is that the other vehicle 31 comes first and the own vehicle 30 comes later before changing lanes. As a result, the discomfort felt by the occupant when changing lanes is suppressed.

As time advances, at time T2, the image synthesizing unit 19 continues to display the support image 60 and the support image 61. As a result, the occupant can know that the own vehicle 30 changes lanes behind the other vehicle 31 before changing lanes. Further time advances, and at time T3, the image synthesizing unit 19 continues to display the support image 60 and the support image 61. As a result, the occupant can know that the own vehicle 30 changes lanes behind the other vehicle 31 before changing lanes. The support image 60 shown at time T3 in FIG. 3 is an image showing that the own vehicle 30 changes lanes behind the other vehicle 31, and is an image different from the own vehicle locus of the own vehicle 30. The support image 60 shown at time T3 in FIG. 3 may be an image showing a trajectory on which the own vehicle 30 will travel in the future.

In the example shown in FIG. 3, the area of the support image 60 is larger than the area of the support image 61, but the area is not limited to this. The support image 61, which shows that the order of passing through the place 80 is first, may be emphasized. For example, the area of the support image 61 may be larger than the area of the support image 60. The color of the support image 61 is preferably red. This is because red is a prominent color. The color of the support image 60 is not particularly limited, but may be blue, for example. Further, the image selection unit 18 may increase the density of the support image 61 and decrease the density of the support image 60. Further, the image selection unit 18 may change the line type of the support image 60 and the support image 61. By emphasizing the support image 61 in this way, the occupant can know that the order of passing through the place 80 is that the other vehicle 31 is first and the own vehicle 30 is later before changing lanes. ..

Further, as in the surrounding image 50 shown at time T1 in FIG. 3, when the other vehicle 31 travels behind the own vehicle 30, the image synthesizing unit 19 changes the lane of the own vehicle 30 behind the other vehicle 31. The support image 60 indicating that may be displayed on the monitor 5. In the present embodiment, the term "rear of the own vehicle 30" means that the head of the own vehicle 30 is in front of the tail of the other vehicle 31.

In the examples shown at time T1 and time T2 in FIG. 3, the image synthesizing unit 19 displays the support image 60 so as to extend from the front of the own vehicle 30, but the present invention is not limited to this. For example, the image synthesizing unit 19 may display the support image 60 so as to extend from the side of the own vehicle 30 as shown at the time T1 and the time T2 in FIG.

Further, as shown in FIGS. 5A and 5B, the support image 60 may be an arrow. In this case, the support image 60 is preferably smaller than the support image 61. As a result, the occupant can know that the own vehicle 30 changes lanes behind the other vehicle 31 before changing lanes.

In the above-mentioned example, the support images 60 and 61 have been described as still images, but the present invention is not limited to this. The image synthesizing unit 19 may display the support images 60 and 61 as moving images. The display by moving image will be described with reference to FIG.

As shown in FIG. 6, the image synthesizing unit 19 displays the support images 60 and 61 in the order of frame 1 to frame 6. After the frame 6, the process returns to the frame 1. In frame 1, a part of the support image 61 is displayed. Next, in the frame 2, a part of the support image 61 is displayed as in the frame 1. Next, in the frame 3, the support image 61 is displayed. Next, in frame 4, a part of the support image 60 is displayed. Next, in the frame 5, a part of the support image 60 is displayed as in the frame 4. Finally, in frame 6, the support image 60 is displayed above the support image 61. In this way, the support image 61 is displayed first, and then the support image 60 is displayed, so that the occupant passes through the place 80 in the order of passing the other vehicle 31 first and the own vehicle 30 later. You will be able to know that before changing lanes.

Further, in the frames 1 to 6, the support image 61 is displayed longer than the support image 60. Since it is easier to imagine passing through the place 80 first if it is displayed longer, the occupant tells that the order of passing through the place 80 is that the other vehicle 31 is first and the own vehicle 30 is later. You will be able to know.

The video cycle is not particularly limited, but for example, the image synthesizing unit 19 can set the video cycle as shown in FIG. 7. In FIG. 7, the time t1 is the time from the frame 1 to the frame 3 shown in FIG. The time t2 is the time from frame 4 to frame 6 shown in FIG. After the time t1 and the time t2 have elapsed, the support image 60 and the support image 61 are displayed at the same time during the time t3. After the time t3 elapses, the support image 60 and the support image 61 disappear at the same time. Then, after the time t4 has elapsed, the frame 1 is displayed again. In this way, the image synthesizing unit 19 can set the cycle of the moving image with the time t1 to the time t4 as one cycle. Note that the image synthesizing unit 19 may shorten the rise time required for displaying the frames 4 to 6 at time t2, as shown by the dotted line.

As shown in FIG. 7, the time when the support image 60 or the support image 61 is displayed is time t1 + time t2 + time t3. The time when the support image 60 or the support image 61 is not displayed is the time t4. The time during which the support image 60 or the support image 61 is displayed is preferably longer than the time during which the support image 60 or the support image 61 is not displayed, but is not limited thereto. The time during which the support image 60 or the support image 61 is displayed may be shorter than the time during which the support image 60 or the support image 61 is not displayed. Further, the time during which the support image 60 or the support image 61 is displayed may be the same as the time during which the support image 60 or the support image 61 is not displayed.

In the example shown in FIG. 6, the support image 60 and the support image 61 are displayed in stages, but the present invention is not limited to this. For example, the support image 60 and the support image 61 may be displayed as shown in FIG. As shown in FIG. 8, in the frame 2, the support image 61 is displayed so as to overlap the other vehicle 31. Next, in the frame 3, the support image 61 is moved to the front of the other vehicle 31 and displayed. Next, the support image 60 is displayed so as to overlap the own vehicle 30. Next, in the frame 5, the support image 60 is moved to the front of the own vehicle 30 and displayed. Next, in the frame 6, the density and color of the support image 60 and the support image 61 are reset. Finally, in the frame 7, the image synthesizing unit 19 simultaneously erases the support image 60 and the support image 61. In this way, the support image 61 is displayed first, and then the support image 60 is displayed, so that the occupant passes through the place 80 in the order of passing the other vehicle 31 first and the own vehicle 30 later. You will be able to know that before changing lanes. Further, since the support image 61 is displayed on the monitor 5 longer than the support image 60, the occupant can know that the other vehicle 31 is preferentially advanced. In other words, the support image 60 displayed after the support image 61 allows the occupant to know that the own vehicle 30 changes lanes behind the other vehicle 31 before changing lanes.

Further, the image selection unit 18 may add a shadow to the support image 60 as shown in FIG. This shadow allows the occupant to know that the order of passing through the place 80 is that the other vehicle 31 is first and the own vehicle 30 is later before changing lanes.

Further, as shown in FIG. 10, the image synthesizing unit 19 may display an icon 32 indicating another vehicle 31. As a result, the occupant can know that the own vehicle 30 changes lanes behind the other vehicle 31 before changing lanes.

In the above-mentioned example, the case where the other vehicle 31 passes through the place 80 first has been described. Next, a case where the own vehicle 30 passes through the place 80 first will be described with reference to FIGS. 11 to 13.

As shown in FIG. 11, the image synthesizing unit 19 displays the support image 60 larger than the support image 61. Further, the image synthesizing unit 19 displays the support image 60 in front of the support image 61. As a result, the occupant can know that the own vehicle 30 changes lanes in front of the other vehicle 31 before changing lanes. Further, the image selection unit 18 may add a shadow to the support image 61. This shadow allows the occupant to know that the order of passing through the place 80 is that the own vehicle 30 comes first and the other vehicle 31 comes later before changing lanes.

Further, as shown in FIG. 12, the image synthesizing unit 19 does not have to display the support image 61. As a result, the occupant can know that the own vehicle 30 changes lanes in front of the other vehicle 31 before changing lanes.

Further, as shown in FIG. 13, the image synthesizing unit 19 may display the support image 62 that emphasizes the other vehicle 31. The support image 62 is an image that emphasizes the contours of other vehicles. From this support image 62, the occupant can know that the own vehicle 30 is grasping the other vehicle 31. As a result, the discomfort felt by the occupant when changing lanes is suppressed.

Next, an operation example of the driving support display device at the intersection will be described with reference to FIG.

As shown in FIG. 14, the own vehicle locus of the own vehicle 30 is the locus 42, 43, 44. Similarly, the locus of the other vehicle 33 is the locus 45, 46, 47. There are a plurality of patterns in which the locus of the own vehicle and the locus of another vehicle intersect. For example, when the locus 42 and the locus 46 intersect, the passing order calculation unit 16 calculates the order of which one passes the place where the locus intersects first. do. Then, the image synthesizing unit 19 displays a support image indicating the passing order. This allows the occupant to know in advance which one will pass the first intersection.

Next, an operation example of the driving support display device will be described with reference to the flowchart of FIG.

In step S101, the object detection device 1 detects another vehicle 31 traveling around the own vehicle 30. The process proceeds to step S102, and the own vehicle position detecting device 2 detects the position of the own vehicle 30.

The process proceeds to step S103, and the locus prediction unit 14 predicts the locus on which the own vehicle 30 will travel in the future using the information acquired in step S102 and the like. The process proceeds to step S104, and the locus prediction unit 14 predicts the locus on which the other vehicle 31 will travel in the future using the information acquired in step S101 and the like.

The process proceeds to step S105, and the intersection determination unit 15 determines whether or not the own vehicle locus predicted in steps S103 and S104 intersects with the other vehicle locus. When the locus of the own vehicle and the locus of another vehicle intersect (Yes in step S105), the process proceeds to step S106. If the locus of the own vehicle and the locus of another vehicle do not intersect, the series of processes ends.

In step S106, the intersection determination unit 15 sets a place where the own vehicle locus and the other vehicle locus intersect. The process proceeds to step S107, and the passing order calculation unit 16 calculates the order in which the own vehicle 30 or the other vehicle 31 passes through the intersecting place set in step S106 first.

When the own vehicle 30 passes first (Yes in step S108), the process proceeds to step S109, and the image selection unit 18 selects the support image 60 indicating that the own vehicle 30 passes first. On the other hand, when the other vehicle 31 passes first (No in step S108), the process proceeds to step S110, and the image selection unit 18 selects the support image 61 indicating that the other vehicle 31 passes first.

The process proceeds to step S111, and the image synthesizing unit 19 synthesizes the image selected in step S109 or step S110 with the surrounding image. The process proceeds to step S112, and the image synthesizing unit 19 outputs the combined image to the monitor 5.

When the own vehicle 30 passes through the intersection (Yes in step S113), the process proceeds to step S114, and the image synthesizing unit 19 erases the support images 60 and 61. On the other hand, when the own vehicle 30 has not passed the intersection (No in step S113, the process returns to step S111.

[Action effect]
As described above, according to the driving support display device according to the first embodiment, the following effects can be obtained.

The driving support display device according to the first embodiment detects another vehicle 31 traveling around the own vehicle 30. The driving support display device predicts the locus of the own vehicle on which the own vehicle 30 will travel in the future and the locus of the other vehicle on which the other vehicle 31 will travel in the future. When the own vehicle locus and the other vehicle locus intersect, the driving support display device sets the order in which the own vehicle 30 and the other vehicle 31 pass through the place where the own vehicle locus and the other vehicle locus intersect. It is displayed on the monitor 5 mounted in the room. As a result, the occupant can grasp the order of which of the own vehicle 30 and the other vehicle 31 passes through the place where the vehicle first intersects. In this way, the driving support display device can suppress the discomfort felt by the occupants. In particular, for an occupant traveling in automatic driving, when changing lanes, the occupant may feel uneasy simply by indicating that the lane is changed to join another lane or the lane is changed. In other words, even if only the merging position or lane change is shown, the occupants cannot understand whether to go ahead of other vehicles or after other vehicles, leading to anxiety about autonomous driving. Therefore, even in the control contents of lane change, by giving priority to the order of passing, it leads to a sense of security for the occupants. In addition, if automatic driving control for changing lanes can be executed, the order of passage is prioritized and displayed, and if automatic driving control for changing lanes cannot be executed, the position for changing lanes in the adjacent lane is displayed. May be good. As a result, it becomes possible to provide appropriate information according to the occupant's riding situation, and it becomes possible to suppress the discomfort given to the occupant. Whether or not automatic driving control for changing lanes can be executed may be determined based on the presence or absence of a high-precision map, the number of surrounding vehicles, and the situation. If there is a high-precision map, the number of surrounding vehicles is small, or the vehicle is traveling on a highway, it may be determined that automatic driving control for changing lanes can be executed.

Further, in the scene where the own vehicle 30 changes lanes to the adjacent lane as shown in FIG. 2, when the own vehicle locus and the other vehicle locus of the other vehicle 31 traveling in the adjacent lane intersect, the driving support display device is different. Behind the vehicle 31, it is determined whether or not the own vehicle 30 changes lanes. When the driving support display device determines that the own vehicle 30 changes lanes behind the other vehicle 31, the monitor 5 monitors that the own vehicle 30 changes lanes behind the other vehicle 31 in the order of passing through the intersecting places. Display on. As a result, the occupant can know that the other vehicle 31 is first and the own vehicle 30 is later in the order of passing through the intersecting place before changing lanes. In this way, the driving support display device can suppress the discomfort felt by the occupants.

Further, when the other vehicle 31 travels behind the own vehicle 30, the driving support display device may display on the monitor 5 that the own vehicle 30 changes lanes behind the other vehicle 31. As a result, the occupant can know that the own vehicle 30 changes lanes behind the other vehicle 31 before changing lanes.

Further, the driving support display device may display the order on the monitor 5 in an emphasized display form as the order of passing through the intersecting places is earlier. For example, the driving support display device may show the support image 61 shown in FIG. 3 in red and the support image 60 in blue. Further, the driving support display device may increase the density of the support image 61 shown in FIG. 3 and decrease the density of the support image 60. In this way, the driving support display device emphasizes the support image 61 showing the other vehicle 31 that passes earlier, so that the occupant can know the order of passing before changing lanes.

Further, the driving support display device may display the trajectory of the own vehicle 30 in the future on the monitor 5 as an indication that the own vehicle 30 changes lanes behind the other vehicle 31. As a result, the occupant can know that the own vehicle 30 changes lanes behind the other vehicle 31 before changing lanes.

Further, as shown in FIG. 6, the driving support display device displays on the monitor 5 the trajectory on which the other vehicle 31 will travel in the future, and then displays on the monitor 5 that the own vehicle 30 changes lanes behind the other vehicle 31. You may. As a result, the occupant can know that the own vehicle 30 changes lanes behind the other vehicle 31 before changing lanes.

Further, as shown in FIG. 8, the driving support display device displays on the monitor 5 that the own vehicle 30 changes lanes behind the other vehicle 31, and then the trajectory on which the other vehicle 31 will travel in the future and the own vehicle 30. The display of changing lanes behind the other vehicle 31 may be erased from the monitor 5 at the same time. In this way, the support image 61 is displayed first, and then the support image 60 is displayed, so that the occupant can know that the other vehicle 31 is first and the own vehicle 30 is later in the passing order. You will be able to know before the change. Further, since the support image 61 is displayed on the monitor 5 longer than the support image 60, the occupant can know that the other vehicle 31 is preferentially advanced. In other words, the support image 60 displayed after the support image 61 allows the occupant to know that the own vehicle 30 changes lanes behind the other vehicle 31 before changing lanes.

[Second Embodiment]
[Driving support display device configuration]
Next, the driving support display device according to the second embodiment will be described with reference to FIG. The second embodiment is different from the first embodiment in that the second embodiment includes the target intersection location determination unit 20. Reference numerals will be given to reference to the configuration overlapping with the first embodiment, and the description thereof will be omitted. Hereinafter, the differences will be mainly described.

The target intersection location determination unit 20 determines the target intersection location when there are a plurality of locations where the own vehicle locus and the other vehicle locus intersect. Specifically, it will be described with reference to FIG. As shown in FIG. 17, a plurality of other vehicles 34 to 37 exist in the adjacent lane adjacent to the traveling lane of the own vehicle 30. In FIG. 17, the own vehicle locus 70 of the own vehicle 30 intersects with the other vehicle locus 73 of the other vehicle 35 at the place 82. Further, the own vehicle locus 71 of the own vehicle 30 intersects with the other vehicle locus 74 of the other vehicle 36 at the place 81.

As shown in FIG. 17, when there are a plurality of intersecting locations 81 and 82, the target intersection location determining unit 20 determines a preferred location for changing lanes among the plurality of intersecting locations 81 and 82. In the example shown in FIG. 17, the inter-vehicle distance between the other vehicle 36 and the other vehicle 37 is larger than the inter-vehicle distance between the other vehicle 35 and the other vehicle 36. Therefore, it is preferable to change lanes between the other vehicle 36 and the other vehicle 37 rather than changing the lane between the other vehicle 35 and the other vehicle 36. Therefore, the target intersection location determination unit 20 determines the location 81 as the target intersection location.

Next, the passing order calculation unit 16 calculates that the own vehicle 30 passes through the place 81 before the other vehicle 36. Next, the image selection unit 18 selects an image indicating the order calculated by the passage order calculation unit 16. Then, the image synthesizing unit 19 synthesizes the image selected by the image selection unit 18 with the surrounding image. As a result, the occupant can know that the order of passing through the place 81 is that the own vehicle 30 comes first and the other vehicle 36 comes later before changing lanes.

[Other Embodiments]
Although embodiments of the invention have been described above, the statements and drawings that form part of this disclosure should not be understood to limit the invention. Various alternative embodiments, examples and operational techniques will be apparent to those skilled in the art from this disclosure.

For example, as shown in FIGS. 18A and 18B, the image synthesizing unit 19 displays the support image 60 and the support image 61, and displays the support image 63 and the support image 64 indicating the order of passing through the intersecting places. May be good. Since the support image 63 and the support image 64 are images whose order can be visually recognized, the occupant indicates that the order of passing through the intersecting place is that the other vehicle 31 is first and the own vehicle 30 is later. You will be able to know before changing lanes.

The driving support display device according to the present embodiment can be applied not only at lane changes and intersections, but also at confluences.

1 Object detection device 2 Own vehicle position detection device 3 Map acquisition device 4 Sensor group 5 Monitor 10 Controller 11 Surrounding image generation unit 12 Other vehicle behavior prediction unit 13 Own vehicle behavior determination unit 14 Trajectory prediction unit 15 Crossing judgment unit 16 Passing order calculation Unit 17 Display determination unit 18 Image selection unit 19 Image composition unit 20 Target intersection location determination unit

Claims (6)

Detects other vehicles running around your vehicle and
Predicting the locus of the own vehicle on which the own vehicle will travel in the future and the locus of the other vehicle on which the other vehicle will travel in the future,
When the own vehicle locus and the other vehicle locus intersect, the order in which the own vehicle and the other vehicle pass through the place where the own vehicle locus and the other vehicle locus intersect is in the passenger compartment of the own vehicle. Including displaying on the on-board monitor
The other vehicle is an adjacent vehicle traveling in an adjacent lane adjacent to the traveling lane of the own vehicle.
When the locus of the own vehicle that changes lanes to the adjacent lane intersects with the locus of another vehicle traveling in the adjacent lane, it is determined whether or not the own vehicle changes lanes behind the adjacent vehicle.
When it is determined that the own vehicle changes lanes behind the adjacent vehicle, the own vehicle changes lanes behind the adjacent vehicle after displaying the trajectory on which the adjacent vehicle will travel in the future on the monitor in the above order. A driving support display method, characterized in that the fact is displayed on the monitor. The driving support display method according to claim 1 , wherein when the adjacent vehicle travels behind the own vehicle, the monitor displays that the own vehicle changes lanes behind the adjacent vehicle. .. The driving support display method according to claim 1 or 2 , wherein the earlier the order is, the more the order is displayed on the monitor in a emphasized display form. The invention according to any one of claims 1 to 3 , wherein the monitor displays the trajectory on which the own vehicle will travel in the future as an indication that the own vehicle changes lanes behind the adjacent vehicle. Driving support display method. After displaying on the monitor that the own vehicle changes lanes behind the adjacent vehicle, a locus on which the adjacent vehicle will travel in the future and an indication that the own vehicle changes lanes behind the adjacent vehicle are displayed. The driving support display method according to claim 1 , wherein the vehicle is erased from the monitor at the same time. An object detection device that detects other vehicles traveling around the own vehicle,
And the own vehicle and the vehicle trajectory running future locus prediction unit the other vehicle detected by said object detection device to predict the other vehicle trajectory running in the future,
Wherein the vehicle trajectory which the vehicle is traveling in the future, the case where another vehicle is crossing with another vehicle trajectory traveling future ordinal calculations the vehicle and the other vehicle calculates the order of passing through the location of the intersection Department and
A monitor for displaying an order to the passage to the passenger compartment of the vehicle,
With a controller ,
The other vehicle is an adjacent vehicle traveling in an adjacent lane adjacent to the traveling lane of the own vehicle.
The controller
When the locus of the own vehicle that changes lanes to the adjacent lane intersects with the locus of another vehicle traveling in the adjacent lane, it is determined whether or not the own vehicle changes lanes behind the adjacent vehicle.
When it is determined that the own vehicle changes lanes behind the adjacent vehicle, the own vehicle changes lanes behind the adjacent vehicle after displaying the trajectory on which the adjacent vehicle will travel in the future on the monitor in the above order. A driving support display device characterized in that the fact is displayed on the monitor.

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