JP7051335B2 - Driving support device and driving support method - Google Patents

Description

The present invention relates to a driving assist technique.

The navigation device mounted on the vehicle calculates and guides the traveling route from the current position of the vehicle to the destination. Specifically, the navigation device displays an image in which a guidance route is superimposed on a map image near the current position of the vehicle on the display device, and outputs voice guidance regarding route guidance such as a right turn instruction or a left turn instruction to a speaker. Then, the travel route from the current position of the vehicle to the destination is guided. In addition, there is also a navigation device having a function of displaying an image on which an arrow indicating a right turn or a left turn is superimposed when a right turn or a left turn is required on the display device.

Japanese Unexamined Patent Publication No. 2016-182891

However, the above voice guidance and arrow display may make it difficult to understand how to drive the vehicle, and it may be difficult for the driver to perform appropriate driving. For example, at an intersection where there are multiple roads that are candidates for right or left turns, such as a five-forked road, even if the above voice guidance or arrow display indicates a right or left turn, the driver can intuitively find the appropriate road. It may not be possible to grasp.

In the vehicle image display system disclosed in Patent Document 1, when the automatic driving system attempts to cause the own vehicle to take an unscheduled driving behavior different from the planned driving behavior, the vehicle travels unplanned in advance. An image image that visually represents the action by a virtual vehicle is displayed in advance. Since the image display system for a vehicle disclosed in Patent Document 1 assumes a case where the automatic driving system tries to cause the own vehicle to take an unplanned driving behavior different from the planned driving behavior, it reaches the destination. It cannot be applied to driving support that guides the route of.

In view of the above problems, it is an object of the present invention to provide a driving support technique capable of guiding an own vehicle to a destination while reducing the burden on the driver.

The driving support device according to the present invention includes a generation unit that generates an image representing a virtual vehicle, and a superimposing unit that superimposes an image representing the virtual vehicle on a landscape image representing the scenery around the own vehicle. The image representing the vehicle is superimposed on the region corresponding to the position where the own vehicle should travel in the landscape image, and the position where the own vehicle should travel from now on is the guide route to the destination of the own vehicle. It is a configuration that moves along (first configuration).

In the driving support device of the first configuration, the generation unit further generates an image representing the own vehicle, and the image representing the own vehicle is a region corresponding to the current position of the own vehicle in the landscape image. It may be a configuration (second configuration) superimposed on the.

In the driving support device of the first or second configuration, the image representing the virtual vehicle appears at the current position of the own vehicle in the landscape image, and then moves to the position where the own vehicle should travel from now on. It may be the configuration (third configuration).

In the driving support device having any of the first to third configurations, when the position where the own vehicle should travel reaches the destination, the image representing the virtual vehicle is displayed at the destination in the landscape image. It may be a configuration (fourth configuration) in which the vehicle stops and then disappears from the landscape image when the current position of the own vehicle reaches the destination.

In the driving support device having any of the first to fourth configurations, a determination unit for determining whether or not the current position of the own vehicle is following the image representing the virtual vehicle, and a determination unit for determining whether or not the current position of the own vehicle is following. The configuration may include a mode changing unit that changes the mode of the image representing the virtual vehicle according to the result (fifth configuration).

In the driving support device having any of the first to fifth configurations, when the state in which the current position of the own vehicle does not follow the image representing the virtual vehicle becomes worse than a predetermined level, the virtual vehicle is represented. The image may have a configuration (sixth configuration) that disappears from the landscape image.

In the driving support device having any of the first to sixth configurations, the image representing the virtual vehicle appears in the landscape image when the length of the guide path reaches a predetermined value (seventh). The configuration of) may be used.

The driving support method according to the present invention includes a generation step of generating an image representing a virtual vehicle and a superimposing step of superimposing an image representing the virtual vehicle on a landscape image representing the scenery around the own vehicle. The image representing the vehicle is superimposed on the region corresponding to the position where the own vehicle should travel in the landscape image, and the position where the own vehicle should travel from now on is the guide route to the destination of the own vehicle. It is a configuration that moves along (eighth configuration).

According to the present invention, since it is possible to drive following the virtual vehicle, it is possible to guide the own vehicle to the destination while reducing the burden on the driver.

The figure which shows the configuration example of the driving support device The figure which illustrates the position where four in-vehicle cameras are arranged in a vehicle Diagram showing an example of a virtual projection plane Flow chart showing an operation example of the driving support device A diagram showing an example of an output image A diagram showing an example of an output image A diagram showing an example of an output image A diagram showing an example of an output image A diagram showing an example of an output image A diagram showing an example of an output image A diagram showing an example of an output image Flow chart showing other operation examples of the driving support device A diagram showing an example of the relationship between the vehicle speed of the own vehicle and a predetermined value. A diagram showing an example of the relationship between the vehicle speed of the own vehicle and a predetermined value.

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

<1. Configuration example of driving support device>
FIG. 1 is a diagram showing a configuration example of a driving support device. The driving support device 201 shown in FIG. 1 is mounted on a vehicle such as an automobile. Hereinafter, the vehicle on which the driving support device 201 is mounted is referred to as "own vehicle". In addition, the direction in which the vehicle travels straight from the driver's seat to the steering is called "forward". In addition, the direction in which the vehicle travels straight from the steering wheel to the driver's seat is called "rear". Further, the direction from the right side to the left side of the driver facing forward, which is the direction perpendicular to the straight line and the vertical line of the own vehicle, is referred to as "left direction". Further, the direction from the left side to the right side of the driver facing forward, which is the direction perpendicular to the straight line and the vertical direction of the own vehicle, is referred to as "right direction".

The front camera 11, the back camera 12, the left side camera 13, the right side camera 14, the navigation device 15, the vehicle control ECU 16, the driving support device 201, the display device 31, and the speaker 32 shown in FIG. 1 are mounted on the own vehicle.

FIG. 2 is a diagram illustrating positions where four in-vehicle cameras (front camera 11, back camera 12, left side camera 13, and right side camera 14) are arranged in the own vehicle V1.

The front camera 11 is provided at the front end of the own vehicle V1. The optical axis 11a of the front camera 11 is along the front-rear direction of the own vehicle V1 in a plan view from above. The front camera 11 photographs the front direction of the own vehicle V1. The back camera 12 is provided at the rear end of the own vehicle V1. The optical axis 12a of the back camera 12 is along the front-rear direction of the own vehicle V1 in a plan view from above. The back camera 12 photographs the rear direction of the own vehicle V1. The mounting positions of the front camera 11 and the back camera 12 are preferably at the center of the left and right of the own vehicle V1, but may be slightly deviated from the center of the left and right in the left-right direction.

The left side camera 13 is provided on the left door mirror M1 of the own vehicle V1. The optical axis 13a of the left side camera 13 is along the left-right direction of the own vehicle V1 in a plan view from above. The left side camera 13 photographs the left direction of the own vehicle V1. The right side camera 14 is provided on the right door mirror M2 of the own vehicle V1. The optical axis 14a of the right side camera 14 is along the left-right direction of the own vehicle V1 in a plan view from above. The right side camera 14 captures the right direction of the own vehicle V1. When the own vehicle V1 is a so-called door mirrorless vehicle, the left side camera 13 is attached around the rotation axis (hinge portion) of the left side door without passing through the door mirror, and the right side camera 14 is the right side door. It can be attached around the rotating shaft (hinge part) of the door without going through the door mirror.

The horizontal angle of view θ of each vehicle-mounted camera is 180 degrees or more. Therefore, four in-vehicle cameras (front camera 11, back camera 12, left side camera 13, and right side camera 14) can photograph the entire circumference of the own vehicle V1 in the horizontal direction. In the present embodiment, the number of in-vehicle cameras is four, but the number of in-vehicle cameras required to create a bird's-eye view image described later using the images taken by the in-vehicle cameras is not limited to four. , It may be multiple cameras. As an example, when the horizontal angle of view θ of each vehicle-mounted camera is relatively wide, a bird's-eye view image may be generated based on three captured images acquired from three cameras, which are less than four. Further, as another example, when the horizontal angle of view θ of each vehicle-mounted camera is relatively narrow, a bird's-eye view image may be generated based on five captured images obtained from five cameras, which is more than four.

Returning to FIG. 1, the four vehicle-mounted cameras (front camera 11, back camera 12, left side camera 13, and right side camera 14) output captured images to the driving support device 201. The navigation device 15 outputs the current position information and the map information of the own vehicle to the driving support device 201. The vehicle control ECU 16 outputs the vehicle speed information of the own vehicle to the driving support device 201. Instead of the vehicle control ECU 16, the vehicle speed sensor may directly output the vehicle speed information of the own vehicle to the driving support device 201.

The driving support device 201 processes the captured images output from the four in-vehicle cameras (front camera 11, back camera 12, left side camera 13, and right side camera 14), and outputs the processed images to the display device 31. do. Further, the driving support device 201 controls to output the sound from the speaker 32.

The display device 31 is provided at a position where the driver of the own vehicle can visually recognize the display screen of the display device 31, and displays an image output from the driving support device 201. Examples of the display device 31 include a display installed on the center console, a meter display installed at a position facing the driver's seat, a head-up display that projects an image on the windshield, and the like.

The speaker 32 outputs sound according to the control of the driving support device 201.

The driving support device 201 can be configured by hardware such as an ASIC (application specific integrated circuit) or FPGA (field-programmable gate array), or a combination of hardware and software. When the operation support device 201 is configured by using software, the block diagram of the part realized by the software represents the functional block diagram of the part. A function realized by using software may be described as a program, and the function may be realized by executing the program on a program execution device. Examples of the program execution device include a computer equipped with a CPU (Central Processing Unit), a RAM (Random Access Memory), and a ROM (Read Only Memory).

The driving support device 201 includes a captured image acquisition unit 21, an image generation unit 22, and a voice control unit 23.

The captured image acquisition unit 21 captures analog or digital captured images from four in-vehicle cameras (front camera 11, back camera 12, left side camera 13, and right side camera 14) in a predetermined cycle (for example, 1/30 second cycle). ) To get continuously in time. When the acquired captured image is analog, the captured image acquisition unit 21 converts the analog captured image into a digital captured image (A / D conversion). The captured image acquisition unit 21 outputs the acquired captured image or the acquired and converted captured image to the image generation unit 22.

The image generation unit 22 includes a bird's-eye view image generation unit 22a, a virtual vehicle generation unit 22b, a guide path acquisition unit 22c, a superimposition unit 22d, a determination unit 22e, and a mode change unit 22f.

The bird's-eye view image generation unit 22a projects the captured image acquired by the captured image acquisition unit 21 onto a virtual projection surface and converts it into a projected image. Specifically, the bird's-eye view image generation unit 22a projects the captured image of the front camera 11 onto the first region R1 of the virtual projection surface 100 in the virtual three-dimensional space shown in FIG. 3, and the captured image of the front camera 11. Is converted into the first projected image. Similarly, the bird's-eye view image generation unit 22a has a captured image of the back camera 12, a captured image of the left side camera 13, and a captured image of the right side camera 14 in the second to fourth regions R2 to R4 of the virtual projection surface 100 shown in FIG. The captured image of the above is projected, and the captured image of the back camera 12, the captured image of the left side camera 13, and the captured image of the right side camera 14 are each converted into the second to fourth projected images.

The virtual projection surface 100 shown in FIG. 3 has, for example, a substantially hemispherical shape (bowl shape). The central portion (bottom portion of the bowl) of the virtual projection surface 100 is defined as the position where the own vehicle V1 exists. By including the curved surface in the virtual projection surface 100 in this way, it is possible to reduce the distortion of the image of the object existing at the position away from the own vehicle V1. Further, each of the first to fourth regions R1 to R4 has a portion overlapping with other adjacent regions. By providing such an overlapping portion, it is possible to prevent the image of the object projected on the boundary portion of the region from disappearing from the projected image.

The bird's-eye view image generation unit 22a generates a virtual viewpoint image viewed from a virtual viewpoint based on a plurality of projected images. Specifically, the bird's-eye view image generation unit 22a virtually pastes the first to fourth projected images on the first to fourth regions R1 to R4 of the virtual projection surface 100.

Further, the bird's-eye view image generation unit 22a virtually configures a polygon model showing the three-dimensional shape of the own vehicle V1. The model of the own vehicle V1 has a first region R1 at a position (central portion of the virtual projection surface 100) defined as a position where the own vehicle V1 exists in a virtual three-dimensional space in which the virtual projection surface 100 is set. Is arranged so that is on the front side and the fourth region R4 is on the rear side.

Further, the bird's-eye view image generation unit 22a sets a virtual viewpoint in a virtual three-dimensional space in which the virtual projection surface 100 is set. The virtual viewpoint is defined by the viewpoint position and the viewing direction. As long as at least a part of the virtual projection surface 100 is in the field of view, the viewpoint position and the viewing direction of the virtual viewpoint can be set to an arbitrary viewpoint position and an arbitrary viewing direction. In the present embodiment, the viewpoint position of the virtual viewpoint is set to be rearward and above the own vehicle, and the viewing direction of the virtual viewpoint is set to be forward and downward of the own vehicle. As a result, the virtual viewpoint image generated by the bird's-eye view image generation unit 22a becomes the bird's-eye view image. Further, by setting the viewpoint position of the virtual viewpoint to be rearward and above the own vehicle and the viewing direction of the virtual viewpoint to be forward and downward of the own vehicle, the driver can more accurately determine the positional relationship between the own vehicle and the virtual vehicle described later. Can be confirmed in. In addition, unlike the present embodiment, for example, the viewpoint position may be the standard driver's eye position, and the viewing direction may be the front of the own vehicle.

The bird's-eye view image generation unit 22a virtually cuts out an image of a necessary region (a region seen from the virtual viewpoint) on the virtual projection surface 100 according to the set virtual viewpoint. Further, the bird's-eye view image generation unit 22a renders the polygon model according to the set virtual viewpoint, and generates a rendered image of the own vehicle V1. Then, the bird's-eye view image generation unit 22a generates a bird's-eye view image in which the rendered image of the own vehicle V1 is superimposed on the cut out image. That is, the bird's-eye view image generation unit 22a generates an image representing the own vehicle. Further, the rendered image of the own vehicle V1 (the image representing the own vehicle) is superimposed on the region corresponding to the current position of the own vehicle in the bird's-eye view image.

The virtual vehicle generation unit 22b uses CG (Computer Graphics) to generate an image representing a virtual vehicle.

The guidance route acquisition unit 22c acquires information (guidance route information) regarding the guidance route from the current position of the own vehicle to the destination. For example, the guide route acquisition unit 22c may acquire the guide route information by generating the guide route information by the guide route acquisition unit 22c itself from the current position of the own vehicle and the map information, and the destination is the navigation device 15. If it matches the set destination, the guide route information may be acquired from the navigation device 15.

The superimposing unit 22d superimposes an image representing a virtual vehicle on the bird's-eye view image. The image representing the virtual vehicle is superimposed on the area corresponding to the position where the own vehicle should travel in the bird's-eye view image. As the own vehicle travels, the current position of the own vehicle and the position where the own vehicle should travel from now on change. Therefore, the position where the own vehicle should travel from now on moves along the guide route to the destination of the own vehicle.

The determination unit 22e determines whether or not the current position of the own vehicle follows the image representing the virtual vehicle.

The aspect changing unit 22f changes the aspect of the image representing the virtual vehicle according to the determination result of the determination unit 22e.

The voice control unit 23 generates, for example, a notification sound for notifying the appearance or disappearance of the image representing the virtual vehicle at the time of appearance or disappearance of the image representing the virtual vehicle in the speaker 32.

<2. Operation example of driving support device>
FIG. 4 is a flowchart showing an operation example of the driving support device 201. The operation support device 201 starts the flow operation shown in FIG. 4 after the activation is completed.

When the flow operation shown in FIG. 4 is started, the captured image acquisition unit 21 first acquires captured images from four in-vehicle cameras (front camera 11, back camera 12, left side camera 13, and right side camera 14). Step S10).

Next, the bird's-eye view image generation unit 22a generates a bird's-eye view image using the photographed image acquired by the photographed image acquisition unit 21 (step S20).

Next, the image generation unit 22 determines the presence or absence of a destination (step S30). The destination may be set by providing an operation unit in the driving support device 201 by an input operation using the operation unit, or may be automatically set in conjunction with the guidance by the navigation device 15.

For example, when the navigation device 15 instructs a left turn at an intersection, a position slightly advanced after the completion of the left turn at the intersection may be set as the destination of the driving support device 201. For example, when the destination of guidance by the navigation device 15 is a predetermined parking lot, the driving support device 201 sets the position adjacent to the ticketing machine installed at the entrance of the predetermined parking lot or the parking position in the predetermined parking lot. It may be set as the destination of.

It is desirable that the destination of the driving support device 201 is automatically changed according to the surrounding conditions of the own vehicle. For example, when the driving support device 201 detects an obstacle such as a two-wheeled vehicle approaching from the left rear of the own vehicle when turning left, the destination of the driving support device 201 is set a little after the left turn at the intersection is completed. The position may be changed from the advanced position to the position in front of the intersection, and after confirming the passage of the obstacle, the destination of the driving support device 201 may be returned to the slightly advanced position after the left turn at the intersection is completed. For obstacle detection, for example, information taken by an in-vehicle camera, information output from a radar device mounted on the own vehicle, communication with a cloud center, vehicle-to-vehicle communication, road-to-vehicle communication, etc. can be obtained. Etc. can be used.

If there is no destination, the process returns to step S10, and if there is a destination, the process proceeds to step S40. In the following description, the destination of the driving support device 201 is a position adjacent to the ticket issuing machine installed at the entrance of a predetermined parking lot.

In step S40, the virtual vehicle generation unit 22b generates an image representing the virtual vehicle.

In step S50 following step S40, the superimposing unit 22d superimposes an image representing the virtual vehicle on the bird's-eye view image.

In the present embodiment, an image representing the virtual vehicle appears in the bird's-eye view image at the current position of the own vehicle, and then the superimposing portion 22d represents the virtual vehicle so that the own vehicle moves to the position where the own vehicle should travel from now on. Is superimposed on the bird's-eye view image.

Specifically, when the process of step S50 is performed in a state where the image representing the virtual vehicle is not superimposed on the bird's-eye view image, the image representing the virtual vehicle corresponds to the current position of the own vehicle in the bird's-eye view image. Overlaid on the area. Therefore, the bird's-eye view image output from the driving support device 201 to the display device 31 by the process of step S50 changes from, for example, the bird's-eye view image shown in FIG. 5 to the bird's-eye view image shown in FIG. The rendered image VR1 of the own vehicle is superimposed on the bird's-eye view image shown in FIG. 5, and the rendered image VR1 of the own vehicle and the image V2 representing the virtual vehicle are superimposed on the bird's-eye view image shown in FIG. The image V2 representing the virtual vehicle is a transparent image.

On the other hand, when the process of step S50 is performed in a state where the image representing the virtual vehicle is already superimposed on the bird's-eye view image, the image representing the virtual vehicle is the position (guidance) from which the own vehicle should travel in the bird's-eye view image. It is superimposed on the area corresponding to the position (position ahead of the current position of the own vehicle on the route). Therefore, by repeating the process of step S50, the bird's-eye view image output from the driving support device 201 to the display device 31 changes from, for example, the bird's-eye view image shown in FIG. 6 to the bird's-eye view image shown in FIG. 7. After that, when the image representing the virtual vehicle reaches the destination in the bird's-eye view image, the image representing the virtual vehicle stops at the position of the destination (see FIGS. 8 to 10 described later).

At the beginning of the appearance of the image representing the virtual vehicle, the vehicle speed of the virtual vehicle is made faster than the vehicle speed of the own vehicle, and the image representing the virtual vehicle is moved from the current position of the own vehicle to the position where the own vehicle should travel from now on. Then, when the virtual vehicle precedes the own vehicle by a predetermined distance on the guide path, the vehicle speed of the virtual vehicle is matched with the vehicle speed of the own vehicle to prevent the virtual vehicle from being too far from the own vehicle.

Since the virtual vehicle exists at the position where the own vehicle should travel as described above, the virtual vehicle becomes the leading vehicle for the own vehicle. Therefore, it is possible to drive following the virtual vehicle, and it is possible to guide the own vehicle to the destination while reducing the burden on the driver.

Further, since the own vehicle and the virtual vehicle are included in the bird's-eye view image as described above, the driver can intuitively grasp the positional relationship between the own vehicle and the virtual vehicle. Therefore, the driving following the virtual vehicle becomes easy.

In addition, as described above, an image representing the virtual vehicle appears at the current position of the own vehicle, and then the own vehicle moves to the position where it should travel, so that the virtual vehicle is separated from the own vehicle and precedes. Since it is visible, the driver can intuitively grasp that the travel route of the virtual vehicle is the route that the own vehicle should travel.

In step S60 following step S50, the determination unit 22e determines whether or not the current position of the own vehicle follows the image representing the virtual vehicle. Specifically, the determination unit 22e represents a virtual vehicle when the own vehicle is separated from the travel route of the virtual vehicle, that is, the guidance route acquired by the guidance route acquisition unit 22c, by the first threshold value or more in the vehicle width direction. It is determined that the current position of the own vehicle does not follow the image. The driving support device 201 non-volatilely stores the first threshold value.

If the current position of the own vehicle follows the image representing the virtual vehicle, the process proceeds to step S70. In step S70, the image generation unit 22 determines whether or not the current position of the own vehicle has arrived at the destination based on the current position of the own vehicle.

If the current position of the own vehicle has not arrived at the destination, the process immediately returns to step S10. On the other hand, if the current position of the own vehicle has arrived at the destination, the image representing the virtual vehicle and the image representing the own vehicle overlap, and immediately after the overlapping, the superimposing unit 22 displays the image representing the virtual vehicle from the bird's-eye view image. It disappears (step S80), the image generation unit 22 resets the destination setting, and then returns to step S10. The next destination may be set immediately after the destination setting is reset, or the next destination may not be set. Therefore, the bird's-eye view image output from the driving support device 201 to the display device 31 immediately after the own vehicle arrives at the destination from immediately before the own vehicle arrives at the destination by the process of step S80 is shown in FIG. 8, for example. The bird's-eye view image, the bird's-eye view image shown in FIG. 9, the bird's-eye view image shown in FIG. 10, and the bird's-eye view image shown in FIG. 11 change in this order. The position adjacent to the ticket issuing machine A1 in the bird's-eye view images shown in FIGS. 8 to 11 is the position of the destination.

As described above, the image represented by the virtual vehicle does not disappear until the own vehicle reaches the destination even if it reaches the destination. This makes it easier for the driver to accurately stop the vehicle at the destination position. For example, when the adjacent position of the ticket issuing machine A1 is the position of the destination as in this example, it is difficult for the driver to take the parking ticket even if the position is deviated by several tens of centimeters from the position of the destination. , Especially useful.

Further, as described above, the image representing the virtual vehicle disappears from the bird's-eye view image immediately after the image representing the virtual vehicle and the image representing the own vehicle overlap, so that the driver can see the own vehicle at the destination position. It is possible to intuitively grasp that the vehicle has stopped accurately.

If it is determined in the determination process of step S60 that the current position of the own vehicle does not follow the image representing the virtual vehicle, the process proceeds to step S90.

In step S90, the image generation unit 22 changes the image representing the virtual vehicle into a warning mode. This warning aspect is maintained until the current position of the own vehicle is restored to follow the image representing the virtual vehicle. Examples of combinations of the non-warning mode and the warning mode include a combination in which the non-warning mode is a transparent yellow display and the warning mode is a transparent red display, and a non-warning mode. Can be mentioned as a combination in which is a non-blinking display and the warning mode is a blinking display.

As described above, the mode of the image representing the virtual vehicle is changed according to the determination result in the determination process of step S60, so that the driver intuitively understands that the own vehicle is traveling off the guidance route. It is possible to guide the driver's driving operation to the correct driving operation.

In step S100 following step S90, the determination unit 22e determines whether or not the state in which the current position of the own vehicle does not follow the image representing the virtual vehicle is worse than a predetermined level. For example, if the current position of the own vehicle does not follow for a predetermined period of time, it may be determined that the level has deteriorated from the predetermined level, and the own vehicle is separated from the guide path by the second threshold value or more in the vehicle width direction. If so, it may be determined that the level has deteriorated from a predetermined level. The second threshold value is larger than the first threshold value.

If the state in which the current position of the own vehicle does not follow the image representing the virtual vehicle is not worse than the predetermined level, the process proceeds to step S70. On the other hand, if the state in which the current position of the own vehicle does not follow the image representing the virtual vehicle is worse than a predetermined level, the superimposing unit 22 eliminates the image representing the virtual vehicle from the bird's-eye view image (step). S110), the driving support device 201 changes at least one of the guide route and the destination (step S120), and then returns to step S10. The change in step S120 also includes the case of deleting the guide route and the destination.

When the state in which the current position of the own vehicle does not follow the image representing the virtual vehicle becomes worse than a predetermined level as described above, the image representing the virtual vehicle disappears from the bird's-eye view image of the virtual vehicle. It is possible to prevent the occurrence of unnecessary guidance due to.

<3. Others>
The various technical features disclosed herein can be modified in addition to the above embodiments without departing from the gist of the technical creation. In addition, the plurality of modifications shown in the present specification may be combined and implemented to the extent possible.

For example, the operation support device 201 may perform the flow operation shown in FIG. 12 instead of the flow operation shown in FIG. The flowchart shown in FIG. 12 is obtained by adding step S31 to the flowchart shown in FIG. Step S31 is provided between step S30 and step S40.

In step S31, the image generation unit 22 determines whether or not the length of the guide path is equal to or less than a predetermined value. If the length of the guide path is not a predetermined value or less, the process returns to step S10, and if the length of the guide path is not a predetermined value or less, the process proceeds to step S40. As a result, an image representing the virtual vehicle can be made to appear at an appropriate timing (timing when guidance by the virtual vehicle is required).

It is desirable that the predetermined value used in step S31 is variable according to the vehicle speed of the own vehicle. For example, the image generation unit 22 non-volatilely stores the relationship between the vehicle speed of the own vehicle and the predetermined value shown in FIG. 13 in the form of a data table or a relational expression, and acquires the vehicle speed information of the own vehicle from the vehicle control ECU 16. , Change the predetermined value based on the acquired information. The relationship between the vehicle speed of the own vehicle and the predetermined value is not limited to the relationship in which the predetermined value continuously changes with respect to the vehicle speed of the own vehicle as shown in FIG. 13, for example, as shown in FIG. The relationship may be such that the predetermined value does not continuously change with respect to the vehicle speed.

Further, in the above-described embodiment, the appearance position of the image representing the virtual vehicle is the current position of the own vehicle, but the appearance position of the image representing the virtual vehicle is the position where the own vehicle should travel from the beginning of appearance. May be good.

Further, in the above-described embodiment, the captured image is used to generate the image (output image) output from the driving support device 201 to the display device 31, but the CG (CG) representing the scenery around the own vehicle without using the captured image. Computer Graphics) may be used to generate the output image. When the output image is generated using the CG representing the scenery around the own vehicle, the driving support device 201 may acquire the CG representing the scenery around the own vehicle from, for example, the navigation device 15.

Further, in the above-described embodiment, the traveling direction of the own vehicle is forward, but the present invention can be applied even when the traveling direction of the own vehicle is backward.

Further, the output image output from the driving support device 201 to the display device 31 may include vehicle speed information of the own vehicle, range information of the shift lever of the own vehicle, and the like.

Further, in the above-described embodiment, not only the image representing the virtual vehicle but also the image representing the own vehicle is superimposed on the bird's-eye view image so that the driver can intuitively grasp the positional relationship between the own vehicle and the virtual vehicle. The image representing the own vehicle may not be superimposed on the bird's-eye view image.

Further, in the above-described embodiment, the output image output by the driving support device is a bird's-eye view image, but the output image output by the driving support device is not limited to the bird's-eye view image. An image representing a virtual vehicle may be superimposed on the image.

21 Camera image acquisition unit 22 Image generation unit 23 Voice control unit 201 Driving support device

Claims (7)

A generator that generates an image representing a virtual vehicle and an image representing the own vehicle,
A driving support device including a superimposing portion for superimposing an image representing the virtual vehicle and an image representing the own vehicle on a landscape image representing the scenery around the own vehicle.
The image representing the own vehicle is superimposed on the region corresponding to the current position of the own vehicle in the landscape image.
The image representing the virtual vehicle is superimposed on the region corresponding to the position corresponding to the position ahead of the current position of the own vehicle on the guide path by a predetermined distance in the landscape image.
A position that precedes the current position of the own vehicle on the guide path by a predetermined distance moves along the guide path to the destination of the driving support device of the own vehicle.
The destination in the driving support device is automatically set in conjunction with the guidance of the traveling route from the current position of the own vehicle to the destination in the navigation device by the navigation device.
The landscape image is either a captured image of a camera provided in the own vehicle, a bird's-eye view image generated based on the captured image, or CG (Computer Graphics) acquired from the navigation device. Device. The generation unit determines the presence or absence of a destination in the driving support device, and determines whether or not there is a destination.
The image representing the virtual vehicle is displayed at the current position of the own vehicle when the generation unit determines that there is a destination in the driving support device in the landscape image, and then, with the passage of time, the image is displayed. The driving support device according to claim 1, wherein the display position of the image representing the virtual vehicle moves to a position ahead of the current position of the own vehicle on the guide path by a predetermined distance. When a position on the guide path ahead of the current position of the own vehicle by a predetermined distance reaches the destination in the driving support device, the image representing the virtual vehicle is the object in the driving support device in the landscape image. The driving support device according to claim 1 or 2, wherein the vehicle stops at the ground and then disappears from the landscape image when the current position of the own vehicle reaches the destination in the driving support device. .. A determination unit that determines whether or not the current position of the own vehicle follows the image representing the virtual vehicle based on the degree of deviation of the own vehicle from the guide path.
The driving support device according to any one of claims 1 to 3, further comprising an aspect changing unit that changes the aspect of an image representing the virtual vehicle according to a determination result of the determination unit. Claims 1 to 4 that the image representing the virtual vehicle disappears from the landscape image when the state in which the current position of the own vehicle does not follow the image representing the virtual vehicle becomes worse than a predetermined level. The driving support device according to any one of the above. The destination in the driving support device is automatically changed so as to avoid a collision between the own vehicle and the obstacle according to an obstacle moving around the current position of the own vehicle. The driving support device according to any one of claims 1 to 5. A generation process that generates an image representing a virtual vehicle and an image representing an own vehicle,
A driving support method comprising a superimposing step of superimposing an image representing the virtual vehicle and an image representing the own vehicle on a landscape image representing the scenery around the own vehicle.
The image representing the own vehicle is superimposed on the region corresponding to the current position of the own vehicle in the landscape image.
The image representing the virtual vehicle is superimposed on the region corresponding to the position corresponding to the position ahead of the current position of the own vehicle on the guide path by a predetermined distance in the landscape image.
A position that precedes the current position of the own vehicle on the guide path by a predetermined distance moves along the guide path to the destination in the driving support method of the own vehicle.
The destination in the driving support method is automatically set in conjunction with the guidance of the traveling route from the current position of the own vehicle to the destination by the navigation device by the navigation device.
The landscape image is either a captured image of a camera provided in the own vehicle, a bird's-eye view image generated based on the captured image, or CG (Computer Graphics) acquired from the navigation device. Method.

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