JP6920088B2 - Display device for automobiles - Google Patents

Description

The present invention relates to an automobile display device, and more particularly to an automobile display device that displays a traveling image of an automobile to a passenger who is in an automatically driven automobile.

Conventionally, an automobile display device for displaying a running image of an automobile to a passenger who has boarded an automatically driven automobile has been used. For example, the display device for an automobile inputs a target route for driving the automobile by automatic driving, and displays the target route to the passenger so that the passenger can grasp the course of the automobile. Anxiety can be suppressed.
However, if complicated information is displayed to the passenger, the passenger may not be able to understand the displayed contents smoothly.

Therefore, as a technique for smoothly transmitting the displayed contents to the passenger, for example, in Patent Document 1, the traveling behavior that the own vehicle during automatic driving is going to take next is intuitively and instantaneously easy for the passenger to understand. An image display system for vehicles that displays a notice has been proposed. Since this vehicle image display system displays the traveling behavior of the own vehicle as a visual image in advance, the displayed contents can be smoothly transmitted to the passengers.

Japanese Unexamined Patent Publication No. 2016-182891

However, since the vehicle image display system of Patent Document 1 displays the same route as the target route on which the vehicle is driven, the passenger is anxious when the displayed route is different from the driving sensation of the passenger. There was a risk.

The present invention has been made to solve such a conventional problem, and an object of the present invention is to provide a display device for an automobile that suppresses anxiety of a passenger about the running of an automatically driven automobile.

In the automobile display device according to the present invention, the traveling direction changes between a display unit that displays a traveling image of the automobile to a passenger in an automatically driven automobile and a target route in which the traveling route of the automobile is set. In the change section identification unit that specifies the change section to be changed, the display route generation unit that generates the display route in which the target route is changed so as to smooth the change section specified in the change section identification unit, and the display route generation unit. comprising a display control unit for the generated display route displayed on the display unit in place of the target route, and display the route generation section, the target is set to have reached their end position change interval from the start of the change interval position A display route that smoothly extends linearly toward the position is generated, and the change section identification part changes the target route when the target route is changed so as to return the traveling position of the vehicle deviating from the target route. The change section of the above is specified, and the display path generation unit generates a display path so as to smooth the change section of the changed target path .

Also, the change section identifying unit, when deviated from the target path within the lane the vehicle is traveling, to exclude a section which deviates from the target path from the change interval, the display control unit displays the target path on the display unit can do.

Further, it further has a lane shape acquisition unit that acquires the shape of the lane in which the automobile travels, and the display route generation unit is a display route that smoothly extends along the lane based on the lane shape acquired by the lane shape acquisition unit. It is preferable to generate.

According to the present invention, the display route generation unit generates a display route in which the target route is changed so as to smooth the change section, and the display control unit replaces the generated display route with the target route and uses the display unit as the display unit. Since the display is displayed, it is possible to provide an automobile display device that suppresses the anxiety of the passenger regarding the running of the automatically driven automobile.

It is a figure which shows the structure of the automobile provided with the display device for automobiles which concerns on Embodiment 1 of this invention. It is a block diagram which shows the structure of the display device for automobiles. It is a figure which shows the state that a car travels along a target route. It is a figure which shows the state of generating the display path. It is a block diagram which shows the structure of the display device for automobiles which concerns on Embodiment 2. FIG. It is a figure which shows the state of generating the display path in Embodiment 2. FIG. It is a figure which shows the state of generating the display path in Embodiment 3. It is a figure which shows the state which highlighted the display path in Embodiment 4. It is a figure which shows the state of generating the display path in the modification of Embodiments 1 to 4.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.
Embodiment 1
FIG. 1 shows a configuration of an automobile provided with an automobile display device according to a first embodiment of the present invention. This automobile is configured to be able to switch between automatic driving and manual driving, and includes a driver's seat 1, an instrument panel 2 arranged in front of the driver's seat 1, a driver's seat 1 and an instrument panel 2. It has a steering wheel 3 arranged between the two, and an automobile display device 4 arranged on the instrument panel 2.

The instrument panel 2 is arranged so as to extend the front portion of the vehicle interior in the vehicle width direction, and is provided with various in-vehicle devices such as a switch for switching between automatic driving and manual driving. It should be noted that the automatic driving includes not only a system that completely controls the driving of the automobile but also a driving support system that partially supports the driving of the passenger D.
The steering 3 is for the passenger D to steer the automobile during manual driving, and is formed so as to be retractable during automatic driving.

The automobile display device 4 displays the safety in driving of the automobile to the passenger D sitting in the driver's seat 1, and is arranged at a position recognizable in front of the passenger D.

Next, the configuration of the automobile display device 4 will be described in detail.
As shown in FIG. 2, the automobile display device 4 has a change section identification unit 5, and a display route generation unit 6, a display control unit 7, and a display unit 8 are sequentially connected to the change section identification unit 5. Further, a traveling image generation unit 9 is connected to the display control unit 7, and an image generation unit 10 is composed of a display path generation unit 6 and a traveling image generation unit 9. Further, the device control unit 11 is connected to the change section specifying unit 5, the image generation unit 10, and the display control unit 7, and the operation control unit 12 is connected to the device control unit 11.

The driving control unit 12 controls the driving of the automobile according to the switching between the automatic driving and the manual driving by the passenger D. The driving control unit 12 has a storage unit and a position acquisition unit (not shown), and at the time of automatic driving, the vehicle is based on the map data stored in advance in the storage unit and the current position of the vehicle obtained from the position acquisition unit. A target route is set that indicates the route to the destination on which the vehicle travels. Then, the driving control unit 12 controls the traveling of the automobile so that the automobile travels along the calculated target route. On the other hand, the driving control unit 12 controls the driving of the automobile according to the amount of operation such as the steering 3 by the passenger D during the manual driving.

The change section specifying unit 5 specifies a change section in which the traveling direction of the vehicle changes in the target route calculated by the driving control unit 12.
The display route generation unit 6 generates a display route in which the target route is changed so that the change section specified by the change section identification unit 5 becomes smooth.
The traveling image generation unit 9 generates a traveling image showing the peripheral information of the position where the automobile is currently traveling based on the map data in the driving control unit 12 and the position information of the automobile.

The display control unit 7 causes the display unit 8 to display the display route generated by the display route generation unit 6 on the travel image of the automobile generated by the travel image generation unit 9 instead of the target route.
The display unit 8 is arranged at a position visible to the passenger D on the instrument panel 2, and under the control of the display control unit 7, displays the traveling image and the display route of the vehicle to the passenger D.

The device control unit 11 controls each part in the automobile display device 4 based on the driving information of the automatic driving and the manual driving input from the driving control unit 12.
The image generation unit 10, the display control unit 7, the device control unit 11, and the operation control unit 12 are composed of a CPU and an operation program for causing the CPU to perform various processes, which are composed of digital circuits. You may.

Next, the operation of this embodiment will be described.
First, as shown in FIG. 1, the passenger D sitting in the driver's seat 1 steers the steering wheel 3 to drive the vehicle. Here, when the automobile is automatically driven, as shown in FIG. 2, the driving control unit 12 calculates a target route based on the map data and the current position of the automobile, and based on the target route. Control the driving of the car.

At this time, the operation control unit 12 outputs the information of the target route to the change section specifying unit 5 via the device control unit 11. Further, the driving control unit 12 outputs map data and vehicle position information to the traveling image generation unit 9 of the image generation unit 10 via the device control unit 11.

As shown in FIG. 3, the traveling image generation unit 9 shows the peripheral information of the automobile M traveling in the lane R (traveling lane) based on the map data input from the driving control unit 12 and the position information of the automobile M. Generate a running image. The generated running image is output from the running image generation unit 9 to the display control unit 7.
On the other hand, when the target route T1 is input from the driving control unit 12, the change section specifying unit 5 specifies a change in the traveling direction of the automobile M along the target route T1. At this time, if the change in the traveling direction specified in the target route T1 is smaller than a predetermined value, the information of the target route T1 is output to the display control unit 7 as it is via the image generation unit 10.

When the traveling image of the automobile M is input from the traveling image generation unit 9 and the target route T1 is input from the change section specifying unit 5, the display control unit 7 superimposes the target route T1 on the traveling image of the automobile M and displays it. Displayed in part 8.
As a result, the passenger D boarding the automobile M can clearly grasp the course of the automobile M by visually recognizing the target route T1 displayed on the display unit 8, and the automatically driven automobile M can feel at ease. You can board.

Here, when the automobile M suddenly deviates from the target route T1 due to a change in the external environment, for example, a disturbance such as a crosswind or a rut, the driving control unit 12 newly calculates the target route T1 of the automobile M. For example, as shown in FIG. 4, it is assumed that the automobile M deviates to the left side from the target route T1 due to a strong crosswind from the right side. When the driving control unit 12 detects that the traveling position of the automobile M deviates from the target route T1 based on the position information of the automobile M, the driving control unit 12 returns the traveling position of the automobile M deviating from the target route T1 onto the target route T1. Therefore, a new target route T2 is calculated, and the course of the automobile M is changed from the target route T1 to the target route T2.

Then, the operation control unit 12 outputs the calculated target route T2 to the change section specifying unit 5. When the target route T2 is input from the operation control unit 12, the change section specifying unit 5 searches for a change in the traveling direction of the automobile M along the target route T2 in the same manner as the target route T1. Then, when the change in the traveling direction on the target route T2 is equal to or greater than a predetermined value, the section is specified as the change section P1 on the target route T2.
For example, when the driving control unit 12 sets the target route T2 for returning the traveling position of the automobile M to the original target route T1 at an early stage, a change section P1 in which the traveling direction changes significantly may be formed. The change section specifying unit 5 can specify the change section P1 based on the angle at which the target path T2 changes, the rate of change of the angle, and the like. The specified change section P1 is output from the change section identification unit 5 to the display path generation unit 6.

When the change section P1 of the target route T2 is input from the change section identification unit 5 to the display route generation unit 6, the display route generation unit 6 changes the target route T2 so that the change section P1 becomes smooth as a whole. The display path S is generated.
For example, when the target route T1 is changed so as to return the traveling position of the vehicle deviating from the target route T1 as described above, the display route generation unit 6 starts from the start position P2 of the change section P1 in the target route T2. The target position P3 is set at a position past the end position of the change section P1. The target position P3 can be set to, for example, a position where it is estimated that when the vehicle M travels along the target route T2, the traveling position of the vehicle M completely returns to the original target route T1. When the target position P3 is set in this way, the display path generation unit 6 generates a display path S that smoothly extends linearly from the start position P2 of the change section P1 toward the target position P3. That is, the display path generation unit 6 generates a display path S that extends smoothly without locally changing. The generated display path S is output from the display path generation unit 6 to the display control unit 7.

On the other hand, the traveling image generation unit 9 generates a traveling image of the automobile M based on the map data input from the driving control unit 12 and the position information of the automobile M in the same manner as described above, and the traveling image is displayed by the display control unit 7. Is output to.
When the display route S is input from the display route generation unit 6 and the travel image of the automobile M is input from the travel image generation unit 9, the display control unit 7 uses the display route S as the travel image instead of the target route T2. It is displayed on the display unit 8 in an overlapping manner.

As a result, the passenger D who has boarded the automobile M can safely board the automobile M which is automatically driven by visually recognizing the display path S displayed on the display unit 8. Here, the target path T2 on which the automobile M travels has a change section P1 in which the traveling direction changes significantly. Therefore, if the target route T2 is displayed on the display unit 8 as it is, the passenger D may be anxious about the automatic driving in which the traveling direction of the automobile M changes significantly in the change section P1.

Therefore, while the automobile M travels along the target route T2, the display unit 8 displays a display route S different from the target route T2 of the automobile M. This display route S is formed so as to extend smoothly in a straight line from the start position P2 of the change section P1 in the target route T2 toward the target position P3, and roughly guides the traveling direction of the automobile M with respect to the passenger D. By telling the above, it is possible to suppress the anxiety of the passenger D regarding the running of the automatically driven automobile M.

According to the present embodiment, when the target route T1 is changed so as to return the traveling position of the vehicle M deviating from the target route T1, the change section specifying unit 5 is changed to the change section P1 of the target route T2. Is specified, and the display path generation unit 6 generates a display path S that smoothly extends linearly from the start position P2 of the change section P1 in the target path T2 toward the target position P3. It is possible to suppress the anxiety of the passenger D with respect to.
In addition, when the change section specifying unit 5 deviates from the target route T1 in the lane R in which the vehicle M travels, the section deviated from the target route T1 is regarded as a small change in the traveling direction of the vehicle M from the change section P1. It is preferable to exclude it. Therefore, the display path generation unit 6 does not generate the display path S, and the display control unit 7 causes the display unit 8 to display the target route T1.

Embodiment 2
In the first embodiment, the display path generation unit 6 generates the display path S that smoothly extends linearly from the start position P2 of the change section P1 in the target path T2 toward the target position P3, but the change section P1 It suffices if the display path S in which the target path is changed so as to be smooth can be generated, and the method is not limited to this generation method.

For example, as shown in FIG. 5, the lane shape acquisition unit 21 can be newly connected to the display path generation unit 6 in the first embodiment. The lane shape acquisition unit 21 acquires the shape of the lane in which the automobile M travels. The lane shape acquisition unit 21 can be composed of, for example, a camera or the like. Further, the lane shape acquisition unit 21 can also acquire map data from the operation control unit 12 and calculate the lane shape based on the map data.
The display route generation unit 6 generates a display route S that smoothly extends along the lane based on the shape of the lane acquired by the lane shape acquisition unit 21.

For example, as shown in FIG. 6, when the automobile M travels in the lane R that gently turns with a substantially constant width, the driving control unit 12 continuously applies pressure to the passenger D, so that the automobile M Is not driven along the lane R, but the vehicle M is driven linearly along the target route T.
First, the change section specifying unit 5 identifies the change section P1 in which the traveling direction of the automobile M changes on the target route T based on the target route T input from the driving control unit 12. Further, the lane shape acquisition unit 21 acquires the shape of the lane R in which the automobile M travels. The shape of the change section P1 specified by the change section specifying unit 5 and the shape of the lane R acquired by the lane shape acquisition unit 21 are output to the display route generation unit 6.

When the change section P1 is specified by the change section identification unit 5, the display route generation unit 6 targets from the start position P1 of the change section P1 based on the shape of the lane R acquired by the lane shape acquisition unit 21. A display path S that smoothly extends along the lane R toward the position P3 is generated. At this time, when the shape of the lane R acquired by the lane shape acquisition unit 21 bends with a certain width, the display path generation unit 6 preferably generates a display path S that smoothly extends along the lane R. .. In this way, the display path generation unit 6 can easily generate the display path S that smoothly extends the central portion of the lane R.

As a result, the automobile M travels linearly along the target route T, while the display unit 8 displays the display route S extending along the lane R. In this way, by roughly informing the passenger D of the traveling direction of the automobile M, it is possible to suppress the anxiety of the passenger D regarding the automatic driving of the automobile M.
According to the present embodiment, since the display path generation unit 6 generates the display path S that smoothly extends along the lane R based on the shape of the lane R, the anxiety of the passenger D regarding the automatic driving of the automobile M is suppressed. can do.

Embodiment 3
In the above-described first embodiment, the display route generation unit 6 generates the display route S when the target route T1 is changed so as to return the traveling position of the automobile M deviating from the target route T1, but the display route S is generated. It suffices if a display path S extending linearly from the start position P2 of the change section P1 to the target position P3 set at a position past the end position of the change section P1 can be generated, and only when the target path T1 is changed. It is not something that can be done.

For example, as shown in FIG. 7, the display route generation unit 6 can generate the display route S even when the target route T is not changed.
Here, the lane R in which the automobile M travels is formed so as to widen, and the driving control unit 12 changes the traveling position of the automobile M to the central portion of the widened lane R at an early stage. Generate T. As a result, a change section P1 is generated in the target path T, and this change section P1 is specified by the change section identification unit 5.

The display path generation unit 6 sets the target position P3 at a position past the end position of the change section P1 from the start position P2 of the change section P1 in the target path T. Then, the display path generation unit 6 generates a display path S that smoothly extends linearly from the start position P2 of the change section P1 toward the target position P3.

According to the present embodiment, the display path generation unit 6 is automatically operated to generate a display path S that smoothly extends linearly from the start position P2 of the change section P1 in the target path T toward the target position P3. It is possible to suppress the anxiety of the passenger D regarding the running of the vehicle M.

Embodiment 4
In the above-described first to third embodiments, the display route generation unit 6 emphasizes the display route when the vicinity of the start position P2 of the change section P1 extends in substantially the same direction as the traveling direction of the automobile M in the target route. It can be displayed on the display unit 8.
For example, as shown in FIG. 8, the traveling position of the automobile M is changed at a late stage, that is, in the vicinity of the intermediate position between the start position P2 and the target position P3. At this time, the change section P1 of the target route T is formed so that the vicinity of the start position P2 extends in substantially the same direction as the current traveling direction of the automobile M.

In this way, when the vicinity of the start position P2 of the change section P1 extends in substantially the same direction as the current traveling direction of the automobile M on the target route T, the traveling direction of the automobile M is gradually changed from the starting position P2. There is a risk of giving anxiety to the passenger D who is boarding the automobile M. Therefore, the display route generation unit 6 emphasizes the display route S and displays it on the display unit 8, clearly communicating that the traveling direction of the automobile M is changed, and with respect to the traveling of the automatically driven automobile M. The anxiety of passenger D can be suppressed.

According to the present embodiment, the display route generation unit 6 emphasizes the display route S when the vicinity of the start position P2 of the change section P1 in the target route T extends in substantially the same direction as the traveling direction of the automobile M. Since the display is displayed on the display unit 8, it is possible to suppress the anxiety of the passenger D regarding the traveling of the automatically driven automobile M.

In the above-described first to fourth embodiments, the display path generation unit 6 generates the display path S in which the target path is changed so that the change section P1 is completely eliminated, but the change section P1 is smooth, that is, the change. It suffices if the local change in the section P1 is reduced to the extent that the passenger is not anxious, and the change section P1 is not limited to the one that completely eliminates the change section P1.
For example, as shown in FIG. 9, in the first embodiment, the display path is such that the angle at which the change section P1 changes is reduced to the extent that the passenger D is not anxious, for example, the change in the change section P1 is reduced by half or more. S can be generated.

Further, in the above-described first to fourth embodiments, the traveling image generation unit 9 can modify the display of the automobile M based on the position of the display path S so that the automobile M travels along the display path S. .. That is, the traveling image generation unit 9 does not display the automobile M at the actual traveling position along the target route, but corrects the display of the automobile M at the position along the display route S. As a result, since the automobile M moving along the traveling route S is displayed on the display unit 8, it is possible to suppress giving unnecessary anxiety to the passenger D who visually recognizes the display unit 8.

1 Driver's seat, 2 Instrument panel, 3 Steering, 4 Automotive display device, 5 Change section identification unit, 6 Display route generation unit, 7 Display control unit, 8 Display unit, 9 Driving image generation unit, 10 Image generation unit, 11 Device control unit, 12 Driving control unit, 21 Lane shape acquisition unit, D passenger, M car, R lane, T, T1, T2 target route, P1 change section, P2 start position, P3 target position, S display route.

Claims (3)

A display unit that displays a driving image of the vehicle to a passenger who has boarded an automatically driven vehicle,
A change section specifying unit that specifies a change section in which the traveling direction changes in a target route in which the traveling route of the automobile is set, and a change section specifying unit.
A display route generation unit that generates a display route in which the target route is changed so as to smooth the change section specified by the change section identification unit, and a display route generation unit.
A display control unit that replaces the display route generated by the display route generation unit with the target route and displays the display route on the display unit .
Equipped with a,
The display path generation unit generates the display path that smoothly extends linearly from the start position of the change section to the target position set at a position past the end position of the change section.
When the target route is changed so as to return the traveling position of the automobile deviating from the target route, the change section specifying unit identifies the change section of the changed target route.
The display path generation unit generates the display path so as to smooth the change section of the changed target path.
Display device for automobiles. When the vehicle deviates from the target route in the lane in which the vehicle travels, the change section specifying unit excludes the section deviated from the target route from the change section.
The automobile display device according to claim 1 , wherein the display control unit displays the target route on the display unit. Further having a lane shape acquisition unit for acquiring the shape of the lane in which the automobile travels,
The automobile display device according to claim 1 or 2 , wherein the display path generation unit generates the display path that smoothly extends along the lane based on the shape of the lane acquired by the lane shape acquisition unit.

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