JP7019239B2 - Vehicle display method and vehicle display device - Google Patents

Description

The present invention relates to a vehicle display method and a vehicle display device.

Conventionally, there has been known a technique of predicting the color of a traffic light when a vehicle reaches an intersection while approaching an intersection as a arrival signal color and generating a display image in which the predicted arrival signal color information is superimposed on a road image. (See Patent Document 1).

Japanese Unexamined Patent Publication No. 2015-95136

However, in Patent Document 1, although the arrival signal color information is displayed in the displayed image, it is difficult for the occupant to grasp the future stopped state of the own vehicle.

An object of the present invention is to provide a vehicle display method and a vehicle display device that can easily make an occupant grasp the future stop state of the own vehicle at an intersection or the like.

One aspect of the present invention is a vehicle display method and a vehicle display device for displaying the stopped state of the own vehicle having an automatic driving function, which detects the surrounding condition of the own vehicle and surrounds the own vehicle during automatic driving. When the vehicle is stopped in the future in the situation, the display device is characterized by displaying a stop display extending upward from the road surface in the surrounding situation.

According to one aspect of the present invention, it is possible to provide a vehicle display method and a vehicle display device that can easily make an occupant grasp the future stopped state of the own vehicle at an intersection or the like.

It is a block diagram which shows an example of the driving support apparatus which concerns on 1st Embodiment of this invention. It is a block diagram which shows an example of the controller and the like which concerns on 1st Embodiment of this invention. It is a schematic diagram which shows the scene where the own vehicle approaches an intersection. It is a schematic diagram which shows the display example when there is no stop icon of the display device which concerns on 1st Embodiment of this invention. It is a schematic diagram which shows the display example which displays the stop icon of the display device which concerns on 1st Embodiment of this invention. It is a schematic diagram which shows the display example which displays the stop icon of the display device which concerns on 1st Embodiment of this invention. It is a schematic diagram which shows the display example which displays the stop icon of the display device which concerns on 1st Embodiment of this invention. It is a flowchart of an example of the display method for a vehicle which concerns on 1st Embodiment of this invention. It is a block diagram which shows an example of the controller and the like which concerns on 2nd Embodiment of this invention. It is a schematic diagram which shows the display example which displays the "STOP" icon of the display device which concerns on 2nd Embodiment of this invention. It is a schematic diagram which shows the display example which displays the "4-WAY STOP" icon of the display device which concerns on 2nd Embodiment of this invention. It is a schematic diagram which shows the display example which displays the "YIELD" icon of the display device which concerns on 2nd Embodiment of this invention. It is a schematic diagram which shows the display example which displays the "YIELD" icon of the display device which concerns on 2nd Embodiment of this invention. It is a schematic diagram which shows the display example which displays the "YIELD" icon of the display device which concerns on 2nd Embodiment of this invention. It is a schematic diagram which shows the display example which displays the "NO TURN ON RED" icon of the display device which concerns on 2nd Embodiment of this invention. It is a schematic diagram which shows the display example which displays the "NO TURN ON RED" icon of the display device which concerns on 2nd Embodiment of this invention. It is a schematic diagram which shows the display example which displays the "NO TURN ON RED" icon of the display device which concerns on 2nd Embodiment of this invention. It is a flowchart of an example of the display method for a vehicle which concerns on 2nd Embodiment of this invention. It is a flowchart of an example of the display method for a vehicle which concerns on 2nd Embodiment of this invention. It is a schematic diagram which shows the display example which displays the "STOP" icon of the display device which concerns on the modification of 1st and 2nd Embodiment of this invention. It is a schematic diagram which shows the display example which displays the "STOP" icon of the display device which concerns on the modification of 1st and 2nd Embodiment of this invention. It is a schematic diagram which shows the display example which displays the "STOP" icon of the display device which concerns on the modification of 1st and 2nd Embodiment of this invention. It is a schematic diagram which shows the display example which displays the "YIELD" icon of the display device which concerns on the modification of 1st and 2nd Embodiment of this invention. It is a schematic diagram which shows the display example which displays the "YIELD" icon of the display device which concerns on the modification of 1st and 2nd Embodiment of this invention. It is a schematic diagram which shows the display example which displays the "YIELD" icon of the display device which concerns on the modification of 1st and 2nd Embodiment of this invention. It is a schematic diagram which shows the display example which displays the "NO TURN ON RED" icon of the display device which concerns on the modification of 1st and 2nd Embodiment of this invention. It is a schematic diagram which shows the display example which displays the "NO TURN ON RED" icon of the display device which concerns on the modification of 1st and 2nd Embodiment of this invention. It is a schematic diagram which shows the display example which displays the "NO TURN ON RED" icon of the display device which concerns on the modification of 1st and 2nd Embodiment of this invention. It is a schematic diagram which shows the display example which displays the stop icon of the display device which concerns on other embodiment of this invention.

Hereinafter, the first and second embodiments of the present invention will be described with reference to the drawings. The first and second embodiments of the present invention shown below exemplify devices and methods for embodying the technical idea of the present invention, and the technical idea of the present invention is a component component. The configuration, arrangement, etc. of the above are not specified to the following. The technical idea of the present invention may be modified in various ways within the technical scope specified by the claims described in the claims.

As used herein, the term "automatic driving" means a driving state in which at least one of steering, braking, and driving of the own vehicle is automatically controlled by the driving support device 1. That is, the automatic driving in the present specification is a fully automatic driving in which all steering, braking and driving of the own vehicle are automatically controlled without the involvement of an occupant, and at least one of steering, braking and driving of the own vehicle. Includes driving assistance that is automatically controlled. The automatic driving may be preceding vehicle follow-up control, inter-vehicle distance control, lane departure prevention control, or the like. On the other hand, the manual operation in the present specification means an operating state in which steering, braking and driving are all operated by the driver's operation.

(First Embodiment)
As shown in FIG. 1, the vehicle display device according to the first embodiment of the present invention is realized as a part of the driving support device 1. The driving support device 1 automatically controls the driving of the own vehicle based on the driving environment around the vehicle (hereinafter referred to as "own vehicle") on which the driving support device 1 is mounted. The own vehicle can travel by automatic driving control by the driving support device 1 or manual driving by the driver.

The driving support device 1 includes an ambient environment sensor group 10, a positioning device 11, a high-precision map storage unit 12, a vehicle sensor group 20, a controller 30, a display device 31, and a vehicle control actuator group 40. Of these, for example, the ambient environment sensor group 10, the vehicle sensor group 20, the positioning device 11, the high-precision map storage unit 12, the controller 30, and the display device 31 constitute the vehicle display device according to the first embodiment of the present invention. obtain.

The surrounding environment sensor group 10 is a sensor group that detects the surrounding environment (surrounding condition) of the own vehicle, for example, the road surface or an object around the own vehicle. The ambient environment sensor group 10 includes a distance measuring device 13, a camera 14, and a communication device 15. The distance measuring device 13 detects an object such as another vehicle existing around the own vehicle, a relative position between the own vehicle and the object, and information on the surrounding environment of the own vehicle such as a distance between the own vehicle and the object. The rangefinder 13 may be, for example, a laser range finder (LRF) or a radar. The distance measuring device 13 outputs the detected ambient environment information to the controller 30.

The camera 14 has a relative position between the own vehicle and an object existing around the own vehicle, a distance between the own vehicle and the object, a relative position of a vehicle boundary line or a stop line, a relative position of a traffic light, and blue, yellow, and red of the traffic light. Detects the surrounding environment information of the own vehicle such as the lighting color of. The camera 14 may be, for example, a stereo camera. The camera 14 may be a monocular camera, or the same object may be photographed from a plurality of viewpoints by the monocular camera and the distance to the object may be calculated. The camera 14 outputs the detected ambient environment information to the controller 30.

The communication device 15 obtains information on the surrounding environment of the own vehicle, such as the position of the other vehicle and the speed of the other vehicle, by performing vehicle-to-vehicle communication with another vehicle, road-to-vehicle communication with the roadside unit, communication with the traffic information center, and the like. Receive as. By communicating with the traffic lights around the own vehicle, the communication device 15 may receive the position of the traffic light, the lighting color of the traffic light, the lighting time (lighting cycle) of the traffic light, and the like as the surrounding environment information of the own vehicle. The communication device 15 outputs the received ambient environment information to the controller 30.

The positioning device 11 measures the current position of the own vehicle. The positioning device 11 may be, for example, a Global Positioning System (GPS) receiver. The positioning device 11 may measure the current position of the own vehicle based on the satellite signal of another satellite positioning system such as GLONASS (Global Navigation Satellite System). The positioning device 11 may be an inertial navigation system. The positioning device 11 outputs positioning information, which is information on the current position of the own vehicle, to the controller 30.

The high-precision map information stored in the high-precision map storage unit 12 is map information with higher accuracy than the conventional navigation map information, and includes information in lane units in more detail than information in road units. For example, the state accuracy map information includes lane node information indicating a reference point such as an intersection on a lane reference line (for example, a central line) and a lane link indicating a lane section mode between lane nodes as lane unit information. Includes information about. The lane node information includes the identification number of the lane node, the position coordinates, the number of connected lane links, and the identification number of the connected lane link. The lane link information includes the lane link identification number, lane type, lane boundary type, lane shape, and lane reference line shape. Furthermore, high-precision map information includes the types and position coordinates of features such as traffic lights, stop lines, signs (traffic regulations), buildings, utility poles, curbs, pedestrian crossings, and walls that exist on or near the lane. Includes feature information such as lane node identification numbers and lane link identification numbers corresponding to the position coordinates of.

The vehicle sensor group 20 includes a sensor for detecting the traveling state of the own vehicle and a sensor for detecting the driving operation by the driver. Sensors for detecting the traveling state of the vehicle include a vehicle speed sensor 21, an acceleration sensor 22, and a gyro sensor 23. Sensors that detect driving operations include a steering angle sensor 24, an accelerator sensor 25, and a brake sensor 26.

The vehicle speed sensor 21 detects the wheel speed of the own vehicle and calculates the speed of the own vehicle based on the wheel speed. The acceleration sensor 22 detects the acceleration in the front-rear direction, the acceleration in the vehicle width direction, and the acceleration in the vertical direction of the own vehicle. The gyro sensor 23 detects the angular velocity of the rotation angle of the own vehicle around three axes including the roll axis, the pitch axis, and the yaw axis.

The steering angle sensor 24 detects the current steering angle, which is the current rotation angle (steering operation amount) of the steering wheel, which is the steering operator. The accelerator sensor 25 detects the accelerator opening degree of the vehicle. For example, the accelerator sensor 25 detects the amount of depression of the accelerator pedal of the vehicle as the accelerator opening degree. The brake sensor 26 detects the amount of brake operation by the driver. For example, the brake sensor 26 detects the amount of depression of the brake pedal of the vehicle as the amount of brake operation. Information on the speed, acceleration, angular velocity, steering angle, accelerator opening, and brake operation amount of the own vehicle detected by each sensor of the vehicle sensor group 20 is collectively referred to as "vehicle information". The vehicle sensor group 20 outputs vehicle information to the controller 30.

The controller 30 is a processing circuit such as an electronic control unit (ECU) that controls the operation of the own vehicle. The controller 30 includes a processor 32 and peripheral components such as a storage device 33. The processor 32 may be, for example, a CPU (Central Processing Unit) or an MPU (Micro-Processing Unit). The storage device 33 may include any of a semiconductor storage device, a magnetic storage device, and an optical storage device. The storage device 33 may include a memory such as a register, a cache memory, a ROM (Read Only Memory) and a RAM (Random Access Memory) used as the main storage device. The controller 30 may be realized by a functional logic circuit set in a general-purpose semiconductor integrated circuit. For example, the controller 30 may have a programmable logic device (PLD) such as a field programmable gate array (FPGA).

The controller 30 can switch between an automatic driving mode in which the automatic driving control of the own vehicle is executed and a manual driving mode in which the driver manually drives the vehicle. In the automatic driving mode, the controller 30 generates a traveling locus for driving the own vehicle based on the surrounding environment information detected by the surrounding environment sensor group 10 and the vehicle information detected by the vehicle sensor group 20. The controller 30 stores the positioning information obtained from the positioning device 11 and the high-precision map storage in addition to the surrounding environment information detected by the surrounding environment sensor group 10 and the vehicle information detected by the vehicle sensor group 20. A traveling locus may be generated based on the high-precision map information read from the unit 12.

The controller 30 drives the vehicle control actuator group 40 so that the own vehicle travels on the generated travel locus, and automatically travels the own vehicle. That is, the controller 30 calculates the control amount of the vehicle control actuator group 40 based on the generated traveling locus, and outputs the calculated control amount to the vehicle control actuator group 40.

When the own vehicle is approaching an intersection during automatic driving, the controller 30 causes the own vehicle to be based on the surrounding environment information detected by the surrounding environment sensor group 10 and the vehicle information detected by the vehicle sensor group 20. It is determined whether or not to stop at the position of the stop line before the intersection. When the controller 30 determines that the vehicle stops at the position of the stop line, the controller 30 controls the vehicle control actuator group 40 so as to decelerate and stop at the position of the stop line. On the other hand, when the controller 30 determines that the vehicle does not stop at the position of the stop line, the controller 30 controls the vehicle control actuator group 40 so as to maintain the current vehicle speed and pass the position of the stop line, for example.

The vehicle control actuator group 40 operates the steering wheel, the accelerator opening degree, and the brake device of the own vehicle in response to the control signal from the controller 30 to generate the vehicle behavior of the own vehicle. The vehicle control actuator group 40 includes a steering actuator 41, an accelerator opening actuator 42, and a brake control actuator 43. The steering actuator 41 controls the steering direction and steering amount of the steering of the own vehicle. The accelerator opening actuator 42 controls the accelerator opening of the own vehicle. The brake control actuator 43 controls the braking operation of the brake device of the own vehicle.

On the other hand, in the manual operation mode, the controller 30 drives the vehicle control actuator group 40 according to, for example, the steering angle, the accelerator opening degree, and the brake operation amount detected by the vehicle sensor group 20, and responds to the driver's operation. Generates vehicle behavior.

The controller 30 is a display image (human-machine interface (HMI) image) for presenting the surrounding environment (surrounding conditions) of the own vehicle to the occupants based on the surrounding environment information detected by the surrounding environment sensor group 10. To generate. For example, as shown in FIG. 3, consider a situation in which the own vehicle 100 is traveling along the travel path R1 during automatic driving, and the own vehicle 100 turns left at an intersection. There is a stop line 101 in front of the intersection, and a traffic light 102 is installed.

The controller 30 generates a display image for displaying (presenting) the surrounding situation of the own vehicle 100 shown in FIG. 3 to the occupants. For example, as shown in FIG. 4A, the display image shows the road surface in front of the own vehicle 100 including the traveling lane and the intersection of the own vehicle 100 shown in FIG. The display image may be a bird's-eye view image of the surroundings of the own vehicle 100 including the front of the own vehicle 100 from the viewpoint position diagonally above the rear of the own vehicle 100 as a virtual viewpoint position. Alternatively, it may be a bird's-eye view image of the surroundings of the own vehicle 100 including the front of the own vehicle 100 from the viewpoint position with the position directly above the own vehicle 100 as a virtual viewpoint position. The display image may be a virtual image such as a computer graphics (CG) image, or may be an captured image captured by the camera 14.

As shown in FIG. 4A, the display image shows the display (own vehicle icon) V1 simulating the own vehicle 100 for showing the position of the own vehicle 100 shown in FIG. 3, and the traffic light 102 at the intersection shown in FIG. A display (traffic light icon) T1 simulating a traffic light 102 for indicating a lighting color is included. Further, the travel path R1 of the own vehicle 100 shown in FIG. 3 may be displayed by superimposing a color on the road surface in the displayed image. Further, although not shown, when there is a preceding vehicle in front of the own vehicle 100 shown in FIG. 3, a preceding vehicle icon simulating the preceding vehicle for indicating the position of the preceding vehicle is displayed in the display image. You may.

The controller 30 shown in FIG. 1 displays the generated display image on the display device 31. Further, the controller 30 presents a stop display (stop icon) extending (extending) upward from the road surface of the surrounding condition in the displayed image according to the surrounding condition (details of the stop icon will be described later).

The display device 31 may be, for example, a display device of a navigation device mounted on the own vehicle, a display device arranged on the meter panel of the own vehicle, or a head-up display (HUD) device.

As shown in FIG. 2, the controller 30 has its own vehicle speed acquisition unit 50, signal information acquisition unit 51, preceding vehicle speed acquisition unit 52, intersection detection unit 53, own vehicle position calculation unit 54, intersection approach determination unit 55, and can be stopped. It includes a sex calculation unit 56, an HMI drawing unit 57, an icon storage unit 58, an icon drawing unit 59, and an image composition unit 60. Vehicle speed acquisition unit 50, signal information acquisition unit 51, preceding vehicle speed acquisition unit 52, intersection detection unit 53, vehicle position calculation unit 54, intersection approach determination unit 55, stop possibility calculation unit 56, HMI drawing unit 57, icon The functions of the storage unit 58, the icon drawing unit 59, and the image composition unit 60 may be realized by the processor 32 of the controller 30 executing a computer program stored in the storage device 33.

The own vehicle speed acquisition unit 50 acquires the vehicle speed of the own vehicle detected by the vehicle speed sensor 21. The signal information acquisition unit 51 acquires signal information including the lighting color and lighting time of the traffic light in front of the own vehicle detected by the camera 14. The signal information acquisition unit 51 may acquire signal information from a traffic light, a roadside unit, or the like in front of the own vehicle via a communication device 15. The preceding vehicle speed acquisition unit 52 acquires information on the preceding vehicle such as the presence / absence of the preceding vehicle detected by the distance measuring device 13 and the vehicle speed of the preceding vehicle.

The intersection detection unit 53 detects the position of an intersection existing around the own vehicle from the high-precision map information stored in the high-precision map storage unit 12. When the travel route from the current position of the own vehicle to the destination is determined, the intersection detection unit 53 may detect the position of the intersection existing on the travel route. The own vehicle position calculation unit 54 detects the current position of the own vehicle on the high-precision map based on the positioning information obtained by the positioning device 11 and the high-precision map information stored in the high-precision map storage unit 12. ..

The intersection approach determination unit 55 determines whether or not the own vehicle is approaching the intersection based on the position of the intersection detected by the intersection detection unit 53 and the current position of the own vehicle detected by the own vehicle position calculation unit 54. Is determined. For example, the intersection approach determination unit 55 calculates the distance between the position of the intersection detected by the intersection detection unit 53 and the current position of the own vehicle detected by the own vehicle position calculation unit 54, and the calculated distance is predetermined. If it is less than the threshold value, it is determined that the own vehicle is approaching the intersection.

When it is determined by the intersection approach determination unit 55 that the own vehicle is approaching the intersection, the stop probability calculation unit 56 is determined by the vehicle speed and signal information acquisition unit 51 of the own vehicle acquired by the own vehicle speed acquisition unit 50. Based on the acquired signal information, the preceding vehicle information acquired by the preceding vehicle speed acquisition unit 52, etc., the possibility (probability) of the own vehicle stopping at the position of the stop line in front of the intersection where the own vehicle is approaching is calculated. (Predict. The information on the position of the stop line can be acquired from, for example, the high-precision map information stored in the high-precision map storage unit 12, the detection result of the camera 14, the surrounding conditions received by the communication device 15, and the like.

For example, the stop possibility calculation unit 56 assumes that the vehicle speed of the own vehicle acquired by the own vehicle speed acquisition unit 50 is maintained, and the traffic light at the timing when the own vehicle reaches the position of the stop line in front of the intersection is red. When it is predicted that the vehicle will stop, the possibility of the vehicle stopping is calculated. The stop possibility calculation unit 56 may determine whether or not the own vehicle is stopped at the position of the stop line in front of the intersection based on the surrounding environment information or the like detected by the surrounding environment sensor group 10. .. For example, the stop possibility calculation unit 56 determines that the own vehicle will be stopped at the position of the stop line in front of the intersection because the stop sign is always required when there is a stop sign at the intersection. Further, when the automatic driving function of the controller 30 has already determined whether or not the vehicle is in the stopped state, the stop possibility calculation unit 56 determines whether the own vehicle is stopped at the position of the stop line in front of the intersection. It may be determined whether or not.

The HMI drawing unit 57 draws a display image (base image) displaying the surrounding situation of the own vehicle including the situation in front of the own vehicle based on the surrounding situation of the own vehicle detected by the camera 14 and the distance measuring device 13 (base image). Generate). As shown in FIG. 4A, for example, the display image shows the road surface in the surrounding conditions of the own vehicle including the traveling lane of the own vehicle, the own vehicle icon V1 indicating the position of the own vehicle, and the lighting color of the traffic light in front of the own vehicle. Includes the indicated traffic light icon T1. The HMI drawing unit 57 sequentially updates the displayed image as the own vehicle moves.

The icon storage unit 58 stores a stop display (stop icon) indicating the current or future stop state of the own vehicle to be combined with the display image generated by the HMI drawing unit 57. The icon drawing unit 59 reads out the stop icon stored in the icon storage unit 58 and draws (generates) it. The image composition unit 60 synthesizes a stop icon drawn by the icon drawing unit 59 with the display image generated by the HMI drawing unit 57, and outputs the combined display image (composite image) to the display device 31.

For example, the icon drawing unit 59 draws a stop icon based on the possibility that the own vehicle is stopped, which is calculated by the stop possibility calculation unit 56. When the icon drawing unit 59 has no possibility of stopping the own vehicle (the possibility of stopping is zero) calculated by the stop possibility calculation unit 56, or when the possibility of stopping of the own vehicle is less than a predetermined threshold value, the icon drawing unit 59 has a possibility of stopping. Do not draw the stop icon. In this case, the image composition unit 60 outputs, for example, the display image generated by the HMI drawing unit 57 to the display device 31 as it is.

The icon drawing unit 59 draws a stop icon when there is a possibility that the own vehicle is stopped, which is calculated by the stop possibility calculation unit 56, or when the possibility that the own vehicle is stopped is equal to or higher than a predetermined threshold value. Further, the icon drawing unit 59 may draw a stop icon when the own vehicle switches from the traveling state to the stopped state.

As shown in FIG. 4B, the stop icon S1 drawn by the icon drawing unit 59 has a wall-shaped rectangular pattern and includes the character “STOP” in the central portion in the height direction. The color of the rectangular pattern of the stop icon S1 is, for example, red, and the character of "STOP" is white, but the color is not particularly limited. The width of the stop icon S1 substantially matches the width of the traveling lane of the own vehicle. The stop icon S1 does not have to include the character "STOP", and the occupant recognizes that the vehicle is in a stopped state such as "stop" or "pause" instead of the character "STOP". It may contain characters that are easy to understand. Further, the shape of the stop icon S1 is not limited to a rectangle, and may be a pattern such as a trapezoid, a triangle, or a circle. Further, the width of the stop icon S1 may be wider than the width of the traveling lane of the own vehicle, or may be narrower than the width of the traveling lane of the own vehicle.

The icon drawing unit 59 displays the heights H1 to H3 of the stop icon S1 by changing the heights H1 to H3 as shown in FIGS. 4B to 4D based on the possibility that the own vehicle is stopped calculated by the stop possibility calculation unit 56. You may. For example, the icon drawing unit 59 may increase the heights H1 to H3 of the stop icon S1 so that the possibility that the own vehicle calculated by the stop possibility calculation unit 56 is likely to stop is high. The heights H1 to H3 of the stop icon S1 are not limited to three steps, and may be two steps or multiple steps of four or more steps.

For example, when the possibility that the own vehicle stops is equal to or higher than the first threshold value, the icon drawing unit 59 draws the entire stop icon S1 at a height H1 as shown in FIG. 4B. Further, when the possibility that the own vehicle stops is less than the first threshold value and is equal to or more than the second threshold value which is a value less than the first threshold value, the icon drawing unit 59 has a stop icon as shown in FIG. 4C. The upper part of S1 is drawn at a height of H2. Further, when the possibility that the own vehicle stops is less than the second threshold value and is equal to or more than the third threshold value which is a value less than the second threshold value, the icon drawing unit 59 has a stop icon as shown in FIG. 4D. The upper part of S1 is drawn at a height H3 lower than the height H2. Further, when the possibility that the own vehicle stops is less than the third threshold value, the icon drawing unit 59 may hide the stop icon as shown in FIG. 4A. Instead of drawing the upper part of the stop icon S1 at heights H2 and H3 as shown in FIGS. 4C and 4D, the entire stop icon S1 is compressed in the height direction so as to have heights H2 and H3. You may draw.

Further, the icon drawing unit 59 may sequentially change the heights H1 to H3 of the stop icon S1 based on the change in the possibility that the own vehicle is stopped, which is sequentially calculated by the stop possibility calculation unit 56. When there is no possibility that the own vehicle will stop, the icon drawing unit 59 may end drawing the stop icon S1 as shown in FIG. 4A. The icon drawing unit 59 may end drawing the stop icon S1 when the own vehicle switches from the stopped state to the starting state, such as when the own vehicle starts from the position of the stop line.

As shown in FIGS. 4B to 4D, the image synthesizing unit 60 synthesizes the display image generated by the HMI drawing unit 57 and the stop icon S1 drawn by the icon drawing unit 59. The image composition unit 60 aligns the lower end of the stop icon S1 with the position of the stop line L1 in front of the intersection in the displayed image, and displays the stop icon S1 so as to extend upward from the position of the stop line L1. The stop icon S1 does not necessarily have to be displayed so as to extend from the position of the stop line L1 strictly, and may be displaced before and after the position of the stop line L1 (above and below the display image), and the stop line L1 may be displayed. It may be displayed so as to extend from the road surface near the position of.

For example, when the image synthesizing unit 60 starts displaying the stop icon S1, the entire stop icon S1 appears at once so that the lower end of the stop icon S1 is located at the position of the stop line L1 in the display image. May be good. Alternatively, the image synthesizing unit 60 may display the stop icon S1 so as to extend upward from the position of the stop line L1 on the road surface in the displayed image. That is, the upper end of the stop icon S1 is first made to appear from the position of the stop line L1, the upper end of the stop icon S1 is gradually made to appear upward from the position of the stop line L1, and finally the lower end of the stop icon S1 is made to appear. By making it appear at the position of L1, the whole stop icon S1 may appear. Alternatively, the image synthesizing unit 60 causes the lower end of the stop icon S1 to appear from the upper end of the displayed image, causes the entire stop icon S1 to appear so as to move (descend) to the position of the stop line L1, and causes the stop icon S1 to appear. The lower end of S1 may be stopped at the position of the stop line L1.

The image synthesizing unit 60 moves the stop icon S1 and changes the size of the stop icon S1 according to the change in the surrounding condition of the own vehicle in the displayed image due to the movement of the own vehicle. For example, as the position of the stop line L1 in the display image moves to the front (below the display image), the stop icon S1 is set so that the lower end of the stop icon S1 continuously corresponds to the position of the stop line L1. Move it. Further, the size of the stop icon S1 is also expanded in accordance with the expansion of the width of the stop line L1 in the displayed image.

When the image composition unit 60 ends the display of the stop icon S1, for example, the entire stop icon S1 may be erased at once. Alternatively, the image synthesizing unit 60 may erase the stop icon S1 so as to be buried in the position of the stop line L1, as opposed to the case where the stop icon S1 gradually appears from the position of the stop line L1.

<Display method for vehicles>
Next, an example of the display method for a vehicle according to the first embodiment of the present invention will be described with reference to the flowchart of FIG.

In step S1, the controller 30 determines whether or not the own vehicle is in automatic driving. The determination process is repeated at a predetermined cycle until it is determined that the vehicle is in automatic operation, and when it is determined that the vehicle is in automatic operation, the process proceeds to step S2.

In step S2, the surrounding environment sensor group 10 detects the surrounding environment of the own vehicle. Further, the vehicle sensor group 20 detects the traveling state of the own vehicle. The signal information acquisition unit 51 acquires the signal information of the traffic light at the intersection where the own vehicle is approaching, which is included in the ambient environment information detected by the ambient environment sensor group 10. The preceding vehicle speed acquisition unit 52 acquires the preceding vehicle information such as the vehicle speed and the relative position of the preceding vehicle traveling on the traveling lane of the own vehicle, which is included in the surrounding environment information detected by the surrounding environment sensor group 10. The own vehicle speed acquisition unit 50 acquires the vehicle speed of the own vehicle detected by the vehicle speed sensor 21.

In step S3, the intersection detection unit 53 detects the position of the intersection from the high-precision map information stored in the high-precision map storage unit 12. The own vehicle position calculation unit 54 detects the current position of the own vehicle on the high-precision map based on the positioning information obtained by the positioning device 11 and the high-precision map information stored in the high-precision map storage unit 12. .. Whether or not the own vehicle is approaching the intersection based on the position of the intersection detected by the intersection detection unit 53 and the current position of the own vehicle calculated by the own vehicle position calculation unit 54. Is determined. If it is determined that the own vehicle is not approaching the intersection, the process returns to step S2. On the other hand, if it is determined in step S3 that the own vehicle is approaching the intersection, the process proceeds to step S4.

In step S4, the stop possibility calculation unit 56 determines the vehicle speed of the own vehicle acquired by the own vehicle speed acquisition unit 50, the signal information acquired by the signal information acquisition unit 51, and the preceding vehicle acquired by the preceding vehicle speed acquisition unit 52. Based on the information, calculate the possibility that the own vehicle will stop at the position of the stop line in front of the intersection in the future.

In step S5, the icon drawing unit 59 sets the possibility of stopping of the own vehicle calculated by the stop possibility calculation unit 56 to be relatively high "high" above the first threshold value, below the first threshold value, and first. Judgment is made in three stages of "medium", which is relatively medium above the threshold value of 2, and "low", which is relatively low below the second threshold value. The determination in three stages is an example, and the possibility that the own vehicle may stop may be determined in two stages, or may be determined in four or more stages. Further, the icon drawing unit 59 may selectively determine whether or not the own vehicle may stop, or may selectively determine whether or not the own vehicle is in the stopped state.

If it is determined in step S5 that the possibility that the own vehicle will stop is "high", the process proceeds to step S6, and as shown in FIG. 4B, the entire stop icon S1 is displayed at the height H1. If it is determined in step S5 that the possibility that the own vehicle will stop is "medium", the process proceeds to step S7, and the stop icon S1 is displayed low at a height H2 or H3 as shown in FIG. 4C or FIG. 4D. .. If it is determined in step S5 that the possibility that the own vehicle will stop is "low", the process proceeds to step S8 and the stop icon S1 is hidden.

In step S9, it is determined whether or not the own vehicle has passed the position of the stop line in front of the intersection. When it is determined that the own vehicle has passed the intersection, the process proceeds to step S10, the display of the stop icon S1 started to be displayed in step S6 or step S7 is ended, and the stop icon S1 is hidden. On the other hand, if it is determined in step S9 that the own vehicle has not passed the position of the stop line in front of the intersection, the process returns to step S4. That is, the possibility that the own vehicle will stop is sequentially calculated until the own vehicle passes through the intersection, and the display of the stop icon S1 is changed based on the calculated change in the possibility that the own vehicle will stop. It should be noted that the accuracy of calculating the possibility that the own vehicle may stop may decrease depending on the vehicle speed of the preceding vehicle, and the display of the stop icon S1 may be frequently switched.

In step S11, the controller 30 determines whether or not the automatic operation has ended. If it is determined that the automatic operation has ended, the process is completed. On the other hand, if it is determined that the automatic driving has not been completed, the process returns to step S2, and the intersection approach determination unit 55 determines whether or not the own vehicle is approaching the next intersection.

(Effect of the first embodiment)
According to the first embodiment of the present invention, when displaying the stopped state of the own vehicle having the automatic driving function, if the own vehicle will be stopped in the surrounding situation in the future during automatic driving, the surroundings of the own vehicle According to the situation, as shown in FIG. 4B, the display device 31 displays the stop icon S1 extending upward from the road surface in the surrounding situation in the displayed image. As a result, it is possible to easily make the occupants of the own vehicle know that the own vehicle will be stopped in the future, and it is possible to give the occupants a sense of security regarding the future behavior of the own vehicle. In addition, if the occupant feels uncomfortable with the future stopped state of the own vehicle due to automatic driving, the occupant can intervene in the automatic driving control and switch to manual driving before the own vehicle is stopped. .. Further, by displaying the stop icon S1 so as to extend upward from the road surface, when the occupant visually recognizes the displayed image, the stop icon S1 gives an impression of blocking the progress of the own vehicle and an impression that the own vehicle is stuck. It becomes easy to intuitively understand that the own vehicle is in a stopped state.

Further, as shown in FIG. 4B, since the stop icon S1 is displayed so as to extend upward from the position of the stop line L1, the occupant can easily grasp the future stop position of the own vehicle. .. Further, since the stop icon S1 is displayed so as to extend from the position of the stop line L1 in the display image, the area occupied by the stop icon S1 in the display image is relatively small, which attracts the attention of the occupant excessively. It can be suppressed.

Furthermore, by turning off the stop icon S1 at the timing when the own vehicle switches from the stopped state to the started state, the occupant can easily grasp the switching from the stopped state to the started state during the automatic operation of the own vehicle. It is possible to give a sense of security to the occupants when the vehicle starts.

Furthermore, by displaying the stop icon S1 at the timing when the own vehicle switches from the running state to the stopped state, the occupant can easily grasp the switching from the running state during the automatic driving of the own vehicle to the stopped state. , It is possible to give a sense of security when decelerating and stopping the own vehicle.

Further, the possibility that the own vehicle will stop in the future is calculated based on the surrounding condition of the own vehicle and the running state of the own vehicle, and based on the calculated possibility, the stop icon S1 is as shown in FIGS. 4B to 4D. By controlling the heights H1 to H3 of, the degree of emphasis of the stop icon S1 is controlled. This makes it possible for the occupant to easily understand the possibility that the own vehicle will stop in the future according to the heights H1 to H3 of the stop icon S1.

(Second Embodiment)
In the first embodiment of the present invention, the case where the stop icon S1 indicating the stopped state of the own vehicle is displayed without considering the type of the intersection was illustrated, but in the second embodiment of the present invention, the own vehicle is stopped. A case of displaying a stop display (stop reason icon) indicating the reason for stopping the own vehicle according to the type of the intersection will be described together with the state.

The vehicle display device according to the second embodiment of the present invention is realized as a part of the driving support device 1 shown in FIG. 1, similarly to the vehicle display device according to the first embodiment of the present invention. The driving support device 1 includes an ambient environment sensor group 10, a positioning device 11, a high-precision map storage unit 12, a vehicle sensor group 20, a controller 30, a display device 31, and a vehicle control actuator group 40. Of these, for example, the ambient environment sensor group 10, the vehicle sensor group 20, the positioning device 11, the high-precision map storage unit 12, the controller 30, and the display device 31 constitute the vehicle display device according to the second embodiment of the present invention. obtain.

As shown in FIG. 6, the controller 30 according to the second embodiment of the present invention has a vehicle speed acquisition unit 50, a signal information acquisition unit 51, a preceding vehicle speed acquisition unit 52, an intersection detection unit 53, and a vehicle position calculation unit 54. The same as the controller 30 shown in FIG. 2, that the intersection approach determination unit 55, the stop possibility calculation unit 56, the HMI drawing unit 57, the icon storage unit 58, the icon drawing unit 59, and the image composition unit 60 are provided. The controller 30 shown in FIG. 6 further includes a traffic condition acquisition unit 61, a route determination unit 62, an intersection regulation detection unit 63, and an icon selection unit 64.

The traffic condition acquisition unit 61 detects the traffic condition of the crossed road (priority road) at the intersection in front of the own vehicle based on the surrounding condition detected by the distance measuring device 13. For example, the traffic condition acquisition unit 61 acquires the relative position of another vehicle traveling on the intersection road in front of the own vehicle with respect to the own vehicle, the relative speed of the other vehicle, and the like as the traffic condition.

The route determination unit 62 is on a high-precision map stored in the high-precision map storage unit 12 based on the current position of the own vehicle calculated by the own vehicle position calculation unit 54 and the destination set by the operation of the occupant or the like. Alternatively, determine the travel route of the own vehicle on the navigation map (navigation map). Based on the travel route determined by the route determination unit 62, the direction of travel such as going straight or turning left or right during automatic driving of the own vehicle is controlled.

The intersection regulation detection unit 63 detects traffic regulations (rules) at an intersection where the own vehicle is approaching from the high-precision map information stored in the high-precision map storage unit 12. The intersection regulation detection unit 63 may detect traffic regulations at an intersection where the own vehicle is approaching, based on the presence / absence of a traffic light detected by the camera 14, a traffic sign, and the like. Alternatively, the traffic regulation at the intersection where the own vehicle is approaching may be detected from the information obtained by the communication device 15.

The intersection regulation detection unit 63, for example, indicates the presence or absence of a traffic light at an intersection, "STOP" which is a temporary stop sign used in the United States, "4-WAY STOP" or "ALL WAY STOP" which is a temporary stop sign for all vehicles, and is handed over. Detects the types of road signs such as "YIELD", which indicates that the lane that intersects with the lane on which the own vehicle is traveling is a priority road, and "NO TURN ON RED", which is a red light right turn prohibition sign, as traffic regulations. ..

"STOP" is installed at intersections where there are no traffic lights, and a stop is absolutely necessary. "4-WAY STOP" or "ALL WAY STOP" is installed at an intersection without a traffic light, and a stop is absolutely necessary, and the vehicle starts in order from the vehicle that has stopped first. "YIELD" is installed at an intersection without a traffic light, does not necessarily require a stop sign, and a crossroad road is a priority road. "NO TURN ON RED" is installed at an intersection with a traffic light, and turning right is prohibited at a red light.

The icon storage unit 58 indicates the current or future stop state of the own vehicle, and the own vehicle according to the type of intersection such as "STOP", "4-WAY STOP", "YIELD", "NO TURN ON RED", etc. Memorize multiple stop reason icons that indicate the stop reason for. The icon selection unit 64 is based on the traffic regulation of the intersection detected by the intersection regulation detection unit 63 and the travel route determined by the route determination unit 62, and is based on the plurality of stop reason icons stored in the icon storage unit 58. Select the stop reason icon that indicates the reason for stopping the vehicle at the intersection where the vehicle is approaching.

The stop possibility calculation unit 56 includes the vehicle speed of the own vehicle acquired by the own vehicle speed acquisition unit 50, the signal information acquired by the signal information acquisition unit 51, the preceding vehicle information acquired by the preceding vehicle speed acquisition unit 52, and the preceding vehicle information. Based on the traffic condition detected by the traffic condition acquisition unit 61, the possibility that the own vehicle will stop is calculated at the position of the stop line in front of the intersection. For example, in the case of the intersection of "YIELD", the stop possibility calculation unit 56 assumes that the own vehicle maintains the current vehicle speed, and another vehicle travels on the intersection road at the timing when the own vehicle reaches the intersection. If it is predicted that the vehicle will stop, the possibility that the vehicle will stop is calculated.

Further, since the stop possibility calculation unit 56 must stop temporarily at the intersection of "STOP" or "4-WAY STOP", the own vehicle will stop in the future at the position of the stop line in front of the intersection. It is determined that the state will be reached. Further, the stop possibility calculation unit 56 assumes that the own vehicle maintains the current vehicle speed when the intersection is the intersection of "NO TURN ON RED" and the traveling route determined by the route determination unit 62 turns right at the intersection. If the traffic light is predicted to be red at the timing when the own vehicle reaches the intersection, the possibility that the own vehicle will stop is calculated with high probability.

The icon drawing unit 59 draws the stop reason icon selected by the icon selection unit 64 based on the possibility that the own vehicle is stopped, which is calculated by the stop possibility calculation unit 56. The image composition unit 60 synthesizes a stop reason icon drawn by the icon drawing unit 59 with the display image generated by the HMI drawing unit 57, and outputs the combined display image (composite image) to the display device 31.

For example, in the case of an intersection of "STOP", the icon selection unit 64 selects the "STOP" icon S2 as shown in FIG. 7A. The "STOP" icon S2 exemplifies a case where a mark simulating a US road sign is displayed in the center of a rectangular pattern, but it is a display that allows the occupant to grasp that the reason for stopping is "STOP". All you need is. Since the icon drawing unit 59 must be paused at the intersection of "STOP", the icon drawing unit 59 draws the entire "STOP" icon S2 in the display image.

The display image shown in FIG. 7A illustrates a case where the own vehicle travels in the right lane according to the traffic regulations as in the United States. The display image includes a road surface including a traveling lane of the own vehicle and an intersection in front of the own vehicle, a stop line L2 on the road surface, an own vehicle icon V1, and a traveling route R2. Similar to the stop icon S1 shown in FIG. 4B, the "STOP" icon S2 is displayed so that the lower end of the "STOP" icon S2 is aligned with the position of the stop line L2 and extends upward from the position of the stop line L2. Will be done.

Further, in the case of an intersection of "4-WAY STOP", the icon selection unit 64 selects the "4-WAY STOP" icon S3 as shown in FIG. 7B. The "4-WAY STOP" icon S3 exemplifies a case where a mark simulating a US road sign is displayed in the center of a rectangular pattern, but the reason for stopping is "4-WAY STOP" when the occupant visually recognizes it. Any display that can be understood is sufficient. Since it is absolutely necessary to pause even at the intersection of "4-WAY STOP", the icon drawing unit 59 draws the entire "4-WAY STOP" icon S3 at once.

Further, in the case of an intersection of "YIELD", the icon selection unit 64 selects the "YIELD" icon S4 as shown in FIGS. 8A to 8C. The "YIELD" icon S4 exemplifies a case where a mark simulating a road sign in the United States is displayed in the center of a rectangular pattern, but it is a display that allows the occupant to grasp that the reason for stopping is "YIELD". All you need is. It is not always necessary to stop at the intersection of "YIELD", and the possibility that the vehicle will stop changes depending on the traffic conditions on the crossroads. Specifically, the more the own vehicle reaches the intersection before the other vehicle and can run without hindering the running of the other vehicle, the lower the possibility that the own vehicle will stop. Therefore, the icon drawing unit 59 draws the heights H4 to H6 of the "YIELD" icon S4 higher as the possibility of the own vehicle stopping is higher, as shown in FIGS. 8A to 8C in order.

Further, when the icon selection unit 64 is an intersection of "NO TURN ON RED" and the traveling route determined by the route determination unit 62 turns right at the intersection, "NO TURN ON" as shown in FIGS. 9A to 9C is used. Select the "RED" icon S5. The "NO TURN ON RED" icon S5 exemplifies a case where a mark simulating a US road sign is displayed in the center of a rectangular pattern, but the reason for stopping is "NO TURN ON RED" when the occupant visually recognizes it. Any display that can be understood is sufficient. At the intersection of "NO TURN ON RED", it is not always necessary to stop temporarily, and the possibility that the own vehicle will stop changes depending on the lighting state of the traffic light. Therefore, the icon drawing unit 59 draws the heights H4 to H6 of the "NO TURN ON RED" icon S5 higher as the possibility of the own vehicle stopping is higher, as shown in FIGS. 9A to 9C.

<Display method for vehicles>
Next, an example of the display method for a vehicle according to the second embodiment of the present invention will be described with reference to the flowcharts of FIGS. 10 and 11.

In step S21, the controller 30 determines whether or not the own vehicle is in automatic driving. The determination process is repeated at a predetermined cycle until it is determined that the vehicle is in automatic operation, and when it is determined that the vehicle is in automatic operation, the process proceeds to step S22.

In step S22, the ambient environment sensor group 10 detects the ambient environment of the own vehicle. Further, the vehicle sensor group 20 detects the traveling state of the own vehicle. The signal information acquisition unit 51 acquires the signal information of the traffic light at the intersection where the own vehicle is approaching, which is included in the ambient environment information detected by the ambient environment sensor group 10. The preceding vehicle speed acquisition unit 52 acquires the preceding vehicle information such as the vehicle speed and the relative position of the preceding vehicle traveling on the traveling lane of the own vehicle, which is included in the surrounding environment information detected by the surrounding environment sensor group 10. The own vehicle speed acquisition unit 50 acquires the vehicle speed of the own vehicle detected by the vehicle speed sensor 21.

In step S23, the intersection detection unit 53 detects the position of the intersection from the high-precision map information stored in the high-precision map storage unit 12. The own vehicle position calculation unit 54 detects the current position of the own vehicle on the high-precision map based on the positioning information obtained by the positioning device 11 and the high-precision map information stored in the high-precision map storage unit 12. .. Whether or not the own vehicle is approaching the intersection based on the position of the intersection detected by the intersection detection unit 53 and the current position of the own vehicle calculated by the own vehicle position calculation unit 54. Is determined. If it is determined that the own vehicle is not approaching the intersection, the process returns to step S22. On the other hand, if it is determined in step S23 that the own vehicle is approaching the intersection, the process proceeds to step S24.

In step S24, the intersection regulation detection unit 63 has the presence or absence of a traffic light at the intersection where the own vehicle is approaching, based on the determination result of the intersection approach determination unit 55 and the high-precision map information stored in the high-precision map storage unit 12. , Detects traffic regulation information such as road signs.

In step S25, the icon selection unit 64 determines whether or not there is a traffic light at the intersection based on the traffic regulation information detected by the intersection regulation detection unit 63. If it is determined that there is a traffic light, the process proceeds to step S26. In step S26, the icon selection unit 64 determines whether or not the intersection is "NO TURN ON RED" based on the traffic regulation information detected by the intersection regulation detection unit 63. If it is determined that the intersection is "NO TURN ON RED", the process proceeds to step S27. In step S27, the icon selection unit 64 detects the travel route determined by the route determination unit 62. Then, in step S28, the icon selection unit 64 determines whether or not the traveling path of the own vehicle at the intersection is a right turn. When it is determined that the turn is right, the process proceeds to step S29, and the icon selection unit 64 selects the "NO TURN ON RED" icon S5 shown in FIGS. 9A to 9C as the stop reason icon.

Returning to the description of step S26, if it is determined that the intersection is not "NO TURN ON RED", the process proceeds to step S30. Similarly, if it is determined in step S28 that the intersection is "NO TURN ON RED" but the vehicle does not turn right, the process proceeds to step S30. In step S30, the icon selection unit 64 selects the “STOP” icon S2 shown in FIG. 7A as the stop reason icon. The icon selection unit 64 may select the stop icon S1 and the traffic light icon T1 shown in FIG. 4B as the stop reason icons instead of the "STOP" icon S2.

Returning to the description of step S25, if it is determined that there is no traffic light, the process proceeds to step S31. In step S31, the icon selection unit 64 determines whether the intersection is "4-WAY STOP" or "YIELD" based on the traffic regulation information detected by the intersection regulation detection unit 63. When the intersection is determined to be "4-WAY STOP", the process proceeds to step S32, and the icon selection unit 64 selects the "4-WAY STOP" icon S3 shown in FIG. 7B. On the other hand, when the intersection is determined to be "YIELD" in step S31, the process proceeds to step S33, and the icon selection unit 64 selects the "YIELD" icon S4 shown in FIGS. 8A to 8C as the stop reason icon. After that, in step S34, the traffic condition acquisition unit 61 detects the traffic condition of the crossed road at the intersection.

Following steps S29, S30, and S34, in step S35 of FIG. 11, the stop possibility calculation unit 56 is the signal acquired by the vehicle speed and signal information acquisition unit 51 of the own vehicle acquired by the own vehicle speed acquisition unit 50. Based on the information and the preceding vehicle information acquired by the preceding vehicle speed acquisition unit 52, the possibility that the own vehicle will stop at the position of the stop line in front of the intersection in the future is calculated. When passing through step S34, in step S35, the stop possibility calculation unit 56 calculates the possibility that the own vehicle will stop in consideration of the traffic condition detected by the traffic condition acquisition unit 61 in step S34.

In step S36, the icon drawing unit 59 has a relatively high possibility of stopping the own vehicle calculated by the stop possibility calculation unit 56, and has a relatively medium possibility of stopping. Judgment is made in three stages: "medium" and "low", which is relatively unlikely. If it is determined that the possibility that the own vehicle will stop is "high", the process proceeds to step S37, and the selected icon among the stop reason icons S2, S4, and S5 is displayed high. If it is determined in step S36 that the possibility that the own vehicle will stop is "medium", the process proceeds to step S38, and the selected icon among the stop reason icons S2, S4, and S5 is displayed high. If it is determined in step S36 that the possibility that the vehicle will stop is "low", the process proceeds to step S39, and the selected icon among the stop reason icons S2, S4, and S5 is hidden.

In step S40, it is determined whether or not the own vehicle has passed the position of the stop line in front of the intersection. When it is determined that the position of the stop line has been passed, the process proceeds to step S44, and the display of the selected icon among the stop reason icons S2, S4, and S5 which started the display in step S37 or step S38 ends. , The stop icon S1 is hidden. On the other hand, if it is determined in step S40 that the position of the stop line has not been passed, the process returns to step S35. That is, the possibility of stopping of the own vehicle is sequentially calculated until the position of the stop line is passed, and the stop reason icons S2, S4, and S5 are selected according to the calculated change of the possibility of stopping of the own vehicle. Dynamically change the display of the icon.

In step S45, the controller 30 determines whether or not the automatic driving of the own vehicle has ended. If it is determined that the automatic operation has ended, the process is completed. On the other hand, if it is determined that the automatic operation has not been completed, the process returns to step S22, and the process is executed for the next approaching intersection.

On the other hand, following step S32 in FIG. 10, in step S42 in FIG. 11, the stop reason icon S3 is displayed at the maximum height. In step S43, it is determined whether or not the own vehicle has passed the position of the stop line in front of the intersection. When it is determined that the position of the stop line has been passed, the process proceeds to step S44, and the stop reason icon S3 is hidden.

(Effect of the second embodiment)
According to the second embodiment of the present invention, when the stopped state of the own vehicle having the automatic driving function is displayed, if the own vehicle will be stopped in the surrounding situation in the future during the automatic driving, the surroundings of the own vehicle. According to the situation, the display device 31 displays the stop display (stop reason icon) S2 to S5 extending upward from the road surface in the surrounding situation in the display image. As a result, it is possible to easily make the occupants of the own vehicle know that the own vehicle will be stopped in the future, and it is possible to give the occupants a sense of security regarding the future behavior of the own vehicle. In addition, if the occupant feels uncomfortable with the future stopped state of the own vehicle due to automatic driving, the occupant can intervene in the automatic driving control and switch to manual driving before the own vehicle is stopped. .. Furthermore, by displaying the stop reason icons S2 to S5 so as to extend upward from the road surface, when the occupant visually recognizes the displayed image, the stop reason icons S2 to S5 give the impression that the own vehicle is stuck, and the vehicle is in a stopped state. It will be easier to intuitively understand what will happen.

Further, since the stop reason icons S2 to S5 are displayed so as to extend upward from the position of the stop line L2 in the display image, the occupant can easily grasp the future stop position of the own vehicle. .. Further, since the stop reason icons S2 to S5 are displayed so as to extend from the position of the stop line L2 in the displayed image, the area occupied by the stop reason icons S2 to S5 in the displayed image is relatively small, and the occupant's attention should be paid. It is possible to suppress excessive attraction.

Furthermore, by turning off the stop reason icons S2 to S5 at the timing when the own vehicle switches from the stopped state to the starting state, the occupant can easily understand the switching from the stopped state to the starting state of the own vehicle during automatic driving. It is possible to give a sense of security to the occupants when the vehicle starts.

Furthermore, by displaying the stop reason icons S2 to S5 at the timing when the own vehicle switches from the running state to the stopped state, the occupant can easily understand the switching from the running state of the own vehicle to the stopped state during automatic driving. It is possible to give a sense of security when the vehicle decelerates and stops.

Furthermore, the possibility that the own vehicle will stop in the future is calculated based on the surrounding conditions of the own vehicle and the running state of the own vehicle, and based on the calculated possibility, the heights H4 to H6 of the stop reason icons S2 to S5 are set. By controlling, the degree of emphasis of the stop reason icons S2 to S5 is controlled. This makes it possible for the occupant to easily understand the possibility that the own vehicle will stop in the future according to the heights H4 to H6 of the stop reason icons S2 to S5.

Furthermore, the stop reason icons S2 to indicate the current or future stop state of the own vehicle and the reason for stopping the own vehicle such as "STOP", "4-WAY STOP", "YIELD", and "NO TURN ON RED". By displaying S5, in addition to the current or future stop state of the own vehicle, the reason for the stop of the own vehicle can be easily grasped by the occupant, and the occupant can be relieved.

Further, when the reason for stopping the own vehicle is "STOP" or "4-WAY STOP" which is a stop sign, the whole "STOP" icon S2 or "4-WAY STOP" icon S3 appears at once. It is possible to easily make the occupants know that the stop of the own vehicle is absolutely necessary.

Further, when the reason for stopping the own vehicle is "YIELD" which is a hand-over sign at the intersection, the degree of emphasis is increased by controlling the heights H4 to H6 of the "YIELD" icon S4 based on the traffic condition of the intersection road at the intersection. Control. As a result, the occupant can easily grasp the possibility that the own vehicle will stop from the degree of emphasis of the "YIELD" icon S4.

Further, when the reason for stopping the own vehicle is "NO TURN ON RED" which is a red light right turn prohibition sign at the intersection and the own vehicle turns right at the intersection, the "NO TURN ON RED" icon S5 is displayed and the own vehicle is displayed. Displays that the reason for stopping the vehicle is "NO TURN ON RED". This makes it possible for the occupants to easily understand that the reason for stopping the own vehicle is "NO TURN ON RED" and that the own vehicle may stop.

(Modification example)
In the first and second embodiments of the present invention, a case where the degree of emphasis is controlled by changing the heights H1 to H3 of the stop icon S1 or the heights H4 to H6 of the stop reason icons S2 to S5 has been exemplified. .. As a modification of the first and second embodiments of the present invention, an example of a method for controlling the degree of emphasis other than changing the heights H1 to H3 of the stop icon S1 or the heights H4 to H6 of the stop icon S2 to S5. To explain.

For example, the icon drawing unit 59 may control the blurring of the stop icon S1 or the stop reason icons S2 to S6 by performing Gaussian blur processing or the like using a Gaussian function based on the possibility that the own vehicle stops. .. For example, as shown in FIGS. 12A to 12C in order, the higher the possibility that the own vehicle will stop, the more clearly the stop icon S1 is displayed to increase the degree of emphasis. On the other hand, the lower the possibility that the own vehicle will stop, the smaller the degree of emphasis will be by displaying the stop icon S1 in a blurred manner.

Further, the icon drawing unit 59 may change the resolution (mosaic) of the stop icon S1 or the stop reason icons S2 to S6 based on the possibility that the own vehicle stops. For example, as shown in FIGS. 13A to 13C in order, the higher the possibility that the own vehicle will stop, the higher the resolution of the stop reason icon S4 and the clearer display of the stop reason icon S4, thereby increasing the degree of emphasis. Enlarge. On the other hand, as the possibility that the own vehicle stops is low, the resolution of the stop reason icon S4 is lowered and the stop reason icon S4 is displayed so as to be blurred, so that the degree of emphasis is reduced.

Further, the icon drawing unit 59 may change the transparency of the stop icon S1 or the stop reason icons S2 to S6 based on the possibility that the own vehicle stops. For example, as shown in FIGS. 14A to 14C in order, the higher the possibility that the own vehicle will stop, the lower the transparency of the stop reason icon S5, and the clearer the stop reason icon S5, thereby increasing the degree of emphasis. To increase. On the other hand, the lower the possibility that the own vehicle will stop, the higher the transparency of the stop reason icon S5 and the semi-transparent display of the stop reason icon S4, thereby reducing the degree of emphasis.

Further, the icon drawing unit 59 may change the brightness (contrast) of the stop icon S1 or the stop reason icons S2 to S6 based on the possibility that the own vehicle stops. For example, the lower the possibility that the own vehicle stops, the lower the brightness of the stop icon S1 or the stop reason icons S2 to S6 is displayed, so that the degree of emphasis is reduced. On the other hand, the higher the possibility that the own vehicle will stop, the higher the brightness of the stop icon S1 or the stop reason icons S2 to S6 will be displayed to increase the degree of emphasis. Further, the icon drawing unit 59 may change the color and size of the stop icon S1 or the stop reason icons S2 to S6 based on the possibility that the own vehicle stops.

Further, the icon drawing unit 59 causes the stop icon S1 or the stop reason icons S2 to S6 to blink based on the possibility that the own vehicle stops, and the blinking cycle (time frequency) of the stop icon S1 or the stop reason icons S2 to S6. ) May be changed. For example, the lower the possibility that the own vehicle will stop, the slower the blinking cycle of the stop icon S1 or the stop reason icons S2 to S6 (lower the time frequency) is displayed, so that the degree of emphasis is reduced. On the other hand, the higher the possibility that the own vehicle will stop, the higher the degree of emphasis is increased by displaying the blinking cycle of the stop icon S1 or the stop reason icons S2 to S6 higher (higher time frequency).

According to the modified examples of the first and second embodiments of the present invention, the heights H1 to H3 of the stop icon S1 or the heights H4 to H6 of the stop reason icons S2 to S5 may be changed by various methods. , The degree of emphasis of the stop icon S1 or the stop reason icons S2 to S5 can be controlled. As a result, the possibility that the occupant will stop the own vehicle can be easily grasped from the degree of emphasis of the stop icon S1 or the stop reason icons S2 to S5.

Although the case of controlling the degree of emphasis of the stop icon S1 or the stop reason icons S2 to S5 based on the possibility that the own vehicle stops is illustrated, the stop icon S1 or the stop reason icon is based on the degree of alerting to the occupants. The degree of emphasis of S2 to S5 may be controlled. The degree of alerting to the occupants means the degree to which the occupants want to be alerted (whether they want to pay attention).

For example, the icon drawing unit 59 calculates the degree of attention to the occupants based on the surrounding environment information detected by the surrounding environment sensor group 10 and the vehicle information (driving state) detected by the vehicle sensor group 20, and cautions the driver. The degree of emphasis of the stop display may be controlled based on the degree of arousal. For example, the icon drawing unit 59 may calculate the degree of alerting to the occupant as the vehicle speed of the own vehicle increases. Further, the icon drawing unit 59 may calculate the degree of alerting to the occupants higher as the time until the own vehicle starts is shorter while the own vehicle is stopped. Further, the icon drawing unit 59 may calculate the degree of alerting based on the type of the road sign at the intersection. By controlling the degree of emphasis of the stop icon S1 or the stop reason icons S2 to S5 based on the degree of attention to the occupant, the occupant can be appropriately alerted using the stop icon S1 or the stop reason icons S2 to S5. It can be carried out.

Further, even if the emphasis degree of the stop icon S1 or the stop reason icons S2 to S5 is controlled by a plurality of control methods while distinguishing between the possibility of stopping the own vehicle and the degree of alerting to the occupants. good. For example, the higher the possibility that the own vehicle will stop, the higher the heights H1 to H3 of the stop icons S1 or the heights H4 to H6 of the stop reason icons S2 to S5. At the same time, the higher the degree of alerting to the occupant, the clearer the stop icon S1 or the stop reason icons S2 to S6 may be displayed by Gaussian blur processing or the like. As a result, both the degree of alerting to the occupants and the possibility of the own vehicle stopping can be distinguished and reflected in the display of the stop icon S1 or the stop reason icons S2 to S6.

(Other embodiments)
As mentioned above, the invention has been described by the first and second embodiments, but the statements and drawings that form part of this disclosure should not be understood as limiting the invention. This disclosure will reveal to those skilled in the art various alternative embodiments, examples and operational techniques.

In the first and second embodiments of the present invention, the case where the stop icon S1 or the stop reason icons S2 to S5 appear from the positions of the stop lines L1 and L2 and extend upward is mainly exemplified, but the stop icon S1 Alternatively, the method of appearance of the stop reason icons S2 to S5 is not particularly limited. For example, as shown in FIGS. 12A to 12C in order, the stop icon S1 or the stop reason icons S2 to S5 may appear so as to gradually become clear from a blurred state. Alternatively, as shown in FIGS. 13A to 13C in order, the stop icon S1 or the stop reason icons S2 to S5 may appear so as to gradually increase in resolution from a low resolution state. Alternatively, as shown in FIGS. 14A to 14C in order, the stop icon S1 or the stop reason icons S2 to S5 may appear from a state in which the transparency is high to a gradual decrease in transparency. Further, although not shown, the stop icon S1 or the stop reason icons S2 to S5 may appear so that the brightness gradually increases from the low brightness state.

Further, in the first and second embodiments of the present invention, the case where the own vehicle icon V1 is displayed in the display image is illustrated, but the own vehicle icon V1 does not necessarily have to be displayed. Further, in the first embodiment of the present invention, the case where the traffic light icon T1 is displayed in the display image is illustrated, but the traffic light icon T1 does not necessarily have to be displayed. Further, in the first embodiment of the present invention, the case where the horizontal traffic light icon T1 is displayed is illustrated, but the vertical traffic light icon used in a heavy snowfall area, the United States, or the like may be displayed. The type of the traffic light icon is not particularly limited as long as the lighting color of the traffic light can be recognized.

Further, in the first and second embodiments of the present invention, the case where the own vehicle approaches the intersection has been exemplified, but the present invention is not limited to this. That is, even at a place other than the intersection, the stop icon S1 or the stop reason icons S2 to S5 can be presented when the own vehicle will be stopped in the future or the own vehicle may stop. For example, when the own vehicle is traveling on a straight road and there is an obstacle in front of the own vehicle, the stop icon S1 may be displayed to indicate that the vehicle will be stopped in front of the obstacle. In this case, the stop icon S1 may be extended from a position in front of the obstacle. Further, when the obstacle is a moving object and the possibility that the own vehicle stops changes with the movement of the obstacle, the position and the degree of emphasis of the stop icon S1 may be changed.

Further, in the first and second embodiments of the present invention, a case where a display image is displayed with a virtual viewpoint position diagonally above the rear of the own vehicle is illustrated, but the display image is virtually directly above the own vehicle. A bird's-eye view image with a specific viewpoint position may be displayed. In this case, for example, as shown in FIG. 15, the width of the upper end of the stop icon S1 is a trapezoid wider than the width of the lower end, and the lower end of the stop icon S1 is on the position of the stop line L1. This makes it possible for the occupant to recognize that the stop icon S1 in the displayed image extends upward from the road surface.

Further, when the display device 31 is a HUD device, the stop icon S1 or the stop reason icons S2 to S5 are superimposed on the actual surrounding situation when the occupant visually recognizes the actual surrounding situation through the front window of the own vehicle. The stop icon S1 or the stop reason icons S2 to S5 are projected from the viewpoint of the occupant through the front window so as to be visually recognized as extending upward from the position of the stop line in front of the actual intersection. The position of the viewpoint of the occupant can be calculated by a camera or the like in the vehicle interior, and the position of the stop line of the intersection visually recognized on the front window can be calculated based on the position of the viewpoint of the occupant.

It goes without saying that the present invention includes various embodiments not described here. Therefore, the technical scope of the present invention is defined only by the matters specifying the invention relating to the reasonable claims from the above description.

1 ... Driving support device 10 ... Ambient environment sensor group 11 ... Positioning device 12 ... High-precision map storage unit 13 ... Distance measuring device 14 ... Camera 15 ... Communication device 20 ... Vehicle sensor group 21 ... Vehicle speed sensor 22 ... Acceleration sensor 23 ... Gyro Sensor 24 ... Steering angle sensor 25 ... Accelerator sensor 26 ... Brake sensor 30 ... Controller 31 ... Display device 32 ... Processor 33 ... Storage device 40 ... Vehicle control actuator group 41 ... Steering actuator 42 ... Accelerator opening actuator 43 ... Brake control actuator 50 ... Vehicle speed acquisition unit 51 ... Signal information acquisition unit 52 ... Preceding vehicle speed acquisition unit 53 ... Intersection detection unit 54 ... Vehicle position calculation unit 55 ... Intersection approach determination unit 56 ... Stop possibility calculation unit 57 ... HMI drawing unit 58 ... Icon storage unit 59 ... Icon drawing unit 60 ... Image composition unit 61 ... Traffic status acquisition unit 62 ... Route determination unit 63 ... Crossing regulation detection unit 64 ... Icon selection unit 100 ... Own vehicle 101 ... Stop line 102 ... Signal

Claims (11)

It is a display method for vehicles that displays the stopped state of the own vehicle having an automatic driving function.
Detecting the surrounding conditions of the own vehicle,
If the own vehicle will be stopped in the surrounding conditions in the future during automatic driving, a stop display extending upward from the road surface in the surrounding conditions is displayed on the display device.
The possibility that the own vehicle will stop is calculated based on the surrounding conditions and the running state of the own vehicle, and the higher the possibility, the greater the degree of emphasis of the stop display.
A display method for vehicles characterized by that. The vehicle display method according to claim 1, wherein the stop display extending upward from the position of the stop line at which the own vehicle is stopped in the surrounding condition is displayed. The vehicle display method according to claim 1 or 2, wherein the stop display is turned off when the own vehicle switches from a stopped state to a started state. The vehicle display method according to any one of claims 1 to 3, wherein the stop display appears when the own vehicle will be stopped in the future under the surrounding conditions during automatic driving. The vehicle display method according to any one of claims 1 to 4 , wherein the height of the stop display is controlled based on the possibility. Based on the surrounding conditions and the running condition of the own vehicle, the degree of alerting to the occupants is calculated.
The vehicle display method according to any one of claims 1 to 5 , wherein the emphasis level of the stop display is controlled based on the degree of alerting. The vehicle display method according to any one of claims 1 to 6 , wherein the stop display is displayed together with the reason for stopping the own vehicle. The vehicle display method according to any one of claims 1 to 7 , wherein when the reason for stopping the own vehicle is a stop sign at an intersection or a stop sign for all vehicles, the entire stop display appears. .. In any one of claims 1 to 8 , when the reason for stopping the own vehicle is a hand-over sign at an intersection, the degree of emphasis of the stop display is controlled based on the traffic condition of the intersection road at the intersection. The described vehicle display method. When the reason for stopping the own vehicle is a red light right turn prohibition sign at an intersection and the own vehicle turns right at the intersection, it is indicated that the reason for stopping the own vehicle is the red light right turn prohibition sign. The vehicle display method according to any one of claims 1 to 9 , wherein the display method is characterized. A display device that displays the stopped status of the own vehicle with an automatic driving function,
The sensor that detects the surrounding conditions of the own vehicle and
When the own vehicle will be stopped in the surrounding situation in the future during automatic driving, the display device is displayed with a stop display extending from the road surface of the surrounding situation, and the surrounding situation and the running state of the own vehicle are displayed. Based on the above, the possibility that the own vehicle will stop is calculated, and the higher the possibility, the greater the emphasis of the stop display, and the controller.
A display device for a vehicle, which comprises.

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