JP7100421B2 - Display device - Google Patents

Description

The present invention relates to a display device that displays information about the environment around the own vehicle as an image, and particularly to a display device that can intuitively and easily grasp an area where a risk may exist.

In a vehicle such as an automobile, a display device that recognizes the situation in front of the own vehicle by various peripheral recognition means such as a camera, a laser scanner, and a radar, and displays information on a lane shape, obstacles, etc. as an image based on the recognition result. Have been proposed in various ways.
By using such a display device, it is possible to obtain more information than can be obtained visually by the occupant himself, and as a driving support when the occupant drives as a driver, the occupant automatically operates in a vehicle that automatically drives. It is also useful for monitoring the adequacy of driving control.

As a conventional technique for recognizing the surrounding environment of such a vehicle, for example, Patent Document 1 discloses in a vehicle collision risk avoidance system that controls an own vehicle to avoid a collision when an object is detected by a millimeter wave sensor. It is stated that objects that cannot be detected by light are considered to be more dangerous and strongly warn the driver.
Patent Document 2 describes a vehicle environment estimation device that estimates the existence of another vehicle in a blind spot region that cannot be recognized by the own vehicle based on the behavior of the preceding vehicle.

Japanese Unexamined Patent Publication No. 2013-156793 Japanese Unexamined Patent Publication No. 2010-267211

In recent years, environmental recognition technology using sensors such as cameras and radar has evolved, and it is possible to ensure safety with information based on the environmental recognition result within the detection range of the sensor.
However, if all the information based on the environment recognition result is displayed to the user (driver at the time of manual operation), the recognition load of the driver increases and the monitoring burden becomes heavy.
On the other hand, if the user can recognize the recognizable area and the unrecognizable area by the environment recognition means, he / she can be wary of or recognizing the appearance of the risk object from the unrecognizable area. It becomes easy to determine whether the environmental recognition result is appropriate in the area.
An object of the present invention is to provide a display device that can intuitively and easily grasp an area where a risk may exist.

The present invention solves the above-mentioned problems by the following solution means.
The invention according to claim 1 is an environment recognition means for recognizing the environment around the own vehicle and extracting risk objects in a recognizable area, and a road shape around the own vehicle using map data prepared in advance. A display device including an image generation means for generating an image showing the above and an image display means for displaying the image generated by the image generation means, wherein the image generation means recognizes the image by the environment recognition means. The areas where _ It is a display device characterized in that an area other than the area is drawn by using a plurality of colors, and the risk possibility area and the area other than the risk possibility area are simultaneously displayed on the same screen.
According to this, the area that cannot be recognized by the environmental recognition means and the estimated course of the risk object are unified into a filled display with a predetermined color and a gradation display using a predetermined color, which is different from other areas. However, by displaying the images simultaneously on the same screen, the user can easily recognize the area where safety cannot be confirmed by the environmental recognition means and the estimated course of the risk object.
This makes it possible to recognize in which area there is a concern that a risk may occur and to have the user perform appropriate monitoring.
Further, even within the area that can be recognized by the environment recognition means, the area that is uncertain whether it is safe or not is displayed as a part of the risk possibility area in the same manner as the area that cannot be recognized by the environment recognition means. Can be more appropriately alerted.

The invention according to claim 2 is the display device according to claim 1, wherein the environment recognition means recognizes the environment based on the output of a sensor mounted on the own vehicle.
According to this, it is possible to make a stand-alone configuration that can be established only by the components mounted on the own vehicle, and it is easy to prevent the configuration from becoming complicated and to secure the reliability.

According to the third aspect of the present invention, the environmental recognition means is mounted on another vehicle having an output of a sensor mounted on the own vehicle and an inter-vehicle communication device that travels in the vicinity of the own vehicle and can communicate with the own vehicle. The display device according to claim 1, wherein the environment is recognized based on the output of the sensor.
According to this, by using the information detected by the sensors of other vehicles via the vehicle-to-vehicle communication, the area that can be recognized by the environmental recognition means can be expanded and the risk possibility area can be reduced.

In the invention according to claim 4 , the risk object is another vehicle or a pedestrian, and the environmental recognition means sets a region where the risk object can proceed when the risk object complies with traffic regulations. The display device according to any one of claims 1 to 3 , wherein the display device is set as an estimated course.
According to this, by considering the case where the risk object does not comply with the traffic regulations (for example, ignoring the red light), the risk potential area becomes excessively large, and the risk that is extremely unlikely to occur in reality is extremely low. It is possible to prevent the burden on the user from increasing due to the complicated monitoring of the user.

As described above, according to the present invention, it is possible to provide a display device that can intuitively and easily grasp the area where a risk may exist.

It is a block diagram schematically showing the structure of the vehicle provided with the embodiment of the display device to which this invention is applied. It is a schematic diagram which shows the arrangement of the sensor which recognizes the surroundings of a vehicle in the vehicle of an Example. It is a flowchart which shows the operation of the display device of an Example. It is a figure which shows an example of the screen display in the display device of an Example schematically.

The present invention has a problem of providing a display device that can intuitively and easily grasp an area where a risk may exist, an area that cannot be directly recognized by an environmental recognition means using a sensor mounted on a vehicle, and others. The problem was solved by displaying the area where the vehicle or the like could enter the course of the own vehicle with a similar color indicating the risk potential area.

Hereinafter, examples of the display device to which the present invention is applied will be described.
FIG. 1 is a block diagram schematically showing a configuration of a vehicle provided with an embodiment of a display device to which the present invention is applied.
The display device of the embodiment is provided in, for example, a vehicle 1 which is an automobile such as a passenger car having an automatic driving function, and the road shape around the own vehicle (for example, a driver at the time of manual driving) is referred to a user or the like (for example, a driver during manual driving). Information about obstacles such as lane shape), other vehicles, pedestrians, and buildings is displayed as an image.
Based on the information presented by the display device, the user can monitor the lane shape and obstacles in front of the own vehicle and verify the validity of the automatic driving control when the automatic driving control is executed.

As shown in FIG. 1, the vehicle 1 includes an engine control unit 10, a transmission control unit 20, a behavior control unit 30, an electric power steering (EPS) control unit 40, an automatic driving control unit 50, an environment recognition unit 60, and a stereo camera control. It includes a unit 70, a laser scanner control unit 80, a rear side radar control unit 90, a navigation device 100, a road-to-vehicle communication device 110, a vehicle-to-vehicle communication device 120, an image generation unit 200, a display 210, and the like.
Each of the above-mentioned units is configured as a unit having, for example, an information processing means such as a CPU, a storage means such as a RAM or a ROM, an input / output interface, and a bus connecting these. Each of these units can communicate with each other via an in-vehicle LAN system such as a CAN communication system.

The engine control unit 10 comprehensively controls the engine and its accessories, which are the power sources for traveling of the vehicle 1.
As the engine, for example, a 4-stroke gasoline engine is used.
The engine control unit (ECU) 10 can control the output torque of the engine by controlling the throttle valve opening degree of the engine, the fuel injection amount and the injection timing, the ignition timing, and the like.
In a state where the vehicle 1 is operated according to the driving operation of the driver, the engine control unit 10 of the engine controls the engine so that the actual torque of the engine approaches the driver required torque set based on the operation amount of the accelerator pedal and the like. Control the output.
Further, when the vehicle 1 performs automatic driving, the engine control unit 10 controls the output of the engine in response to a command from the automatic driving control unit 50.

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

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

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

The HCU 31 includes an electric pump that pressurizes the brake fluid, which is the working fluid of the hydraulic service brake, and a valve that individually adjusts the hydraulic pressure supplied to the wheel cylinders of each wheel.
When the vehicle 1 performs automatic driving, the HCU 31 generates a braking force in the wheel cylinders of each wheel in response to a braking command from the automatic driving control unit 50.
The vehicle speed sensor 32 is provided on the hub portion of each wheel and generates a vehicle speed pulse signal having a frequency proportional to the rotation speed of the wheels.
By detecting the frequency of the vehicle speed pulse signal and performing predetermined arithmetic processing, it is possible to calculate the traveling speed (vehicle speed) of the vehicle.

The electric power steering (EPS) control unit 40 comprehensively controls the electric power steering device that assists the steering operation by the driver by the electric motor and its auxiliary machines.
A motor 41, a steering angle sensor 42, and the like are connected to the EPS control unit 40.

The motor 41 is an electric actuator that applies an assist force to the steering system of the vehicle to assist the steering operation by the driver, or changes the steering angle during automatic driving.
When the vehicle 1 automatically operates, the motor 41 applies torque to the steering system so that the steering angle of the steering system approaches a predetermined target steering angle in response to a steering command from the automatic operation control unit 50. To steer.
The steering angle sensor 42 detects the current steering angle in the steering system of the vehicle.
The steering angle sensor 42 includes, for example, a position encoder that detects an angular position of the steering shaft.

When the automatic driving mode is selected, the automatic driving control unit 50 outputs a control command to the engine control unit 10, the transmission control unit 20, the behavior control unit 30, the EPS control unit 40, etc. described above, and automatically automates the vehicle. It executes automatic driving control to drive the vehicle.

When the automatic driving mode is selected, the automatic driving control unit 50 advances the own vehicle in response to information on the situation around the own vehicle provided by the environment recognition unit 60, a command from a driver (not shown), and the like. Automatic driving that sets the target driving locus to be driven, automatically accelerates (starts), decelerates (stops), switches forward and backward, steers, etc., and automatically drives the vehicle to a preset destination. Run.
In addition, the automatic operation mode is canceled according to a predetermined release operation from the user when the user desires manual operation or when it is difficult to continue the automatic operation, and the manual operation is performed by the driver. It is possible to return to the operation mode.
The automatic driving control unit acquires information on the environment around the own vehicle from the environment recognition unit 60, sets a target traveling line that can avoid risk objects such as other vehicles, and sets the actual traveling line of the own vehicle 1. The vehicle is controlled to run along the target driving line.

An input / output device 51 is connected to the automatic operation control unit 50.
The input / output device 51 outputs information such as alarms and various messages to the user from the automatic operation control unit 50, and also receives inputs of various operations from the user.
The input / output device 51 includes, for example, an image display device such as an LCD, an audio output device such as a speaker, an operation input device such as a touch panel, and the like.

The environment recognition unit 60 recognizes information around the own vehicle.
The environment recognition unit 60 is based on information provided by the stereo camera control unit 70, the laser scanner control unit 80, the rear side radar control unit 90, the navigation device 100, the road-to-vehicle communication device 110, the vehicle-to-vehicle communication device 120, and the like. It recognizes obstacles such as parked vehicles, traveling vehicles, buildings, terrain, pedestrians, and cyclists around the own vehicle, and the lane shape of the road on which the own vehicle travels.
Further, the environment recognition unit 60 constitutes the display device of the present invention in cooperation with the image generation unit 200, the display 210, etc., which will be described later.

The stereo camera control unit 70 controls a plurality of sets of stereo cameras 71 provided around the vehicle, and processes images transmitted from the stereo cameras 71.
Each stereo camera 71 is configured by, for example, arranging a pair of camera units in parallel, for example, an optical system for imaging such as a lens, a solid-state imaging element such as CMOS, a drive circuit, and a signal processing device. ..
The stereo camera control unit 70 recognizes the shape of the subject captured by the stereo camera 71 and the relative position with respect to the own vehicle based on the image processing result using the known stereo image processing technique.
The stereo camera control unit 70 can detect, for example, white lines at both ends of the lane in front of the own vehicle and recognize the lane shape.
The laser scanner control unit 80 controls the laser scanner 81 and recognizes various objects such as vehicles and obstacles around the vehicle as 3D point group data based on the output of the laser scanner 81.

The rear side radar control unit 90 controls the rear side radar 91 provided on each of the left and right sides of the vehicle, and detects an object existing on the rear side of the own vehicle based on the output of the rear side radar 91. It is a thing.
The rear side radar 91 can detect, for example, another vehicle approaching from the rear side of the own vehicle.
As the rear side radar 91, for example, a radar such as a laser radar or a millimeter wave radar is used.

FIG. 2 is a schematic diagram showing the arrangement of sensors that recognize the surroundings of the vehicle in the vehicle of the embodiment.
The stereo camera 71 is provided on the front portion, the rear portion, and the left and right side portions of the vehicle 1, respectively.
A plurality of laser scanners 81 are distributed so as not to generate a blind spot around the vehicle 1, and a plurality of rear side radars 91 are arranged, for example, on the left and right sides of the vehicle body of the vehicle 1, and the detection range is set by the vehicle. It is arranged on the rear side and toward the outside in the vehicle width direction.

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

The road-to-vehicle communication device 110 communicates with a ground station (not shown) by a communication system conforming to a predetermined standard, and obtains information on traffic congestion information, traffic signal lighting status, road construction, accident site, lane regulation, weather, road surface condition, and the like. It is what you get.

The vehicle-to-vehicle communication device 120 communicates with another vehicle (not shown) by a communication system conforming to a predetermined standard, and provides information on the vehicle state such as the position, azimuth angle, acceleration, speed, etc. of the other vehicle, vehicle type, vehicle size, and the like. It acquires information on vehicle attributes.

In the various environmental recognition means described above, the lane shape and obstacles are directly observed by the sensors mounted on the vehicle such as the stereo camera 71, the laser scanner 81, and the rear side radar 91 that recognize the environment by the sensor mounted on the vehicle 1 itself. It is the environment recognition means (direct environment recognition means) referred to in the present invention that detects such things.

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

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

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

<Step S01: Map data acquisition>
The environment recognition unit 60 acquires map data including information on the road shape, lane shape, terrain, buildings, etc. in the vicinity of the point where the own vehicle 1 is traveling from the navigation device 100.
Then, the process proceeds to step S02.

<Step S02: Acquisition of target driving line information>
The environment recognition unit 60 acquires information about a target travel line, which is a planned travel route of the own vehicle 1, from the automatic driving control unit 50.
After that, the process proceeds to step S03.

<Step S03: Recognition of the environment around the vehicle>
The environment recognition unit 60 recognizes the environment around the own vehicle 1.
The environment recognition unit 60 detects, for example, lane shape and terrain, and various objects such as other vehicles, pedestrians, and buildings.
Information about these objects includes, for example, their type, relative position from their own vehicle, size, shape, and, if moving, relative speed to their own vehicle.
After that, the process proceeds to step S04.

<Step S04: Environment recognition unrecognizable area determination>
The environment recognition unit 60 determines an area (environment recognition impossible area) in which environment recognition by sensors such as a stereo camera 71 and a laser scanner 81 is impossible.
The area where the environment cannot be recognized includes an area beyond the detection limit distance of each sensor and an area which is shielded by a shield such as a building or another vehicle and becomes a blind spot.
After that, the process proceeds to step S05.

<Step S05: Extraction of risk objects>
The environment recognition unit 60 extracts an object that is expected to have a collision risk with its own vehicle from the objects detected in step S03, and sets it as a risk object.
Risk objects include objects adjacent to the target travel line of the own vehicle 1 and moving objects that may approach or enter the target travel line of the own vehicle 1.
Then, the process proceeds to step S06.

<Step S06: Determination of presence / absence of risk target>
If the environment recognition unit 60 has extracted at least one risk object in step S05, the process proceeds to step S07.
If the risk target is not extracted, the process proceeds to step S09.

<Step S07: Risk target movement / movement possibility judgment>
In the environment recognition unit 60, the risk object extracted in step S05 is a moving object that is currently moving, or an object that is currently stopped but may start moving, or an object that does not move. Determine if it exists.
For example, another stopped vehicle is recognized as an object that may start moving.
If the risk object is a moving object or an object that may start moving, the process proceeds to step S08, and if not, the process proceeds to step S09.

<Step S08: Risk target course estimation>
The environment recognition unit 60 estimates the course that the risk object may take in the future.
If the risk object is a moving object, the course is estimated based on the current speed and direction of travel.
If the risk object is an object that may start moving, the estimated course is the path that the risk object can take if it complies with traffic regulations (traffic lights, signs, lane classification, etc.).
For example, other vehicles that are stopped at a red light or a stop sign may move forward in the future. If the stereo camera 71 detects that the turn signal lamp is blinking, it is expected that the vehicle will turn left or right in that direction, change lanes, or the like.
After completing the course estimation of the risk object, the process proceeds to step S09.

<Step S09: Risk potential area setting>
The environment recognition unit 60 sets the environment recognition unrecognizable area determined in step 04 and the estimated course of the extracted risk object as the risk possibility area where the possibility of collision risk exists.
After that, the process proceeds to step S10.

<Step S10: Display image data generation>
The image generation unit 200 generates image data of a display image displayed on the display 210 based on the information provided by the environment recognition unit 60.
The display image will be described in detail later.
After that, the process proceeds to step S11.

<Step S11: Display image output>
The image generation unit 210 transmits the image data generated in step S10 to the display 210 to display the displayed image.
After that, a series of processing is completed (returned).

Hereinafter, the display image in the display device of the embodiment will be described.
FIG. 4 is a diagram showing an example of a display image in the display device of the embodiment.
As shown in FIG. 4, the display image simplifies the environment around the own vehicle by omitting details and the like, and displays it as a bird's-eye view generated by computer graphics.
This bird's-eye view shows the field of view from a virtual viewpoint set above and behind the own vehicle.
In addition, in the bird's-eye view, in addition to the own vehicle, symbols showing various risk objects such as other vehicles, pedestrians, bicycles, buildings, etc. are superimposed and displayed on the place indicating the position of each risk object. ..

In the example shown in FIG. 4, the own vehicle 1 is traveling on a road traveling on the left side of one lane on each side in the city area.
In front of the own vehicle 1, there is an intersection J where the road on which the own vehicle is traveling intersects with the road on the left side of one lane substantially along the vehicle width direction of the own vehicle 1.
At the intersection J, a pedestrian crossing along the vehicle width direction of the own vehicle 1 is provided on the front side and the back side when viewed from the own vehicle 1, and a pedestrian crossing along the traveling direction of the own vehicle 1 is provided on the left and right sides. ing.
The own vehicle 1 is scheduled to turn left at the intersection J as shown by the target traveling line L shown by the broken line arrow in FIG.

Buildings B1 to B4, which are buildings, are displayed in the display image.
Building B1 is located on the left front side of the intersection J.
Building B2 is located on the right front side of the intersection J.
Building B3 is located on the far left side of the intersection J.
Building B4 is located on the far right side of the intersection J.
A sidewalk is formed between each building B1 to B4 and the roadway of each road.

Other vehicles V1, pedestrian PE1, and PE2 are displayed in the display image.
The other vehicle V1 is traveling in the oncoming lane behind the intersection J toward the own vehicle 1, and the stereo camera 71 detects that the turn signal lamp (not shown) blinks in the right turn direction.
The pedestrian PE1 is on the sidewalk near the building B1 and is about to walk on the pedestrian crossing and move to the sidewalk on the building B2 side.
The pedestrian PE2 is walking on the pedestrian crossing from the building B4 side to the building B2 side.
The cyclist CY is running in parallel on the sidewalk on the building B1 side in the same direction as the own vehicle 1.

On the road ahead of the right turn of the own vehicle 1, the blind spots blocked by the buildings B1 and B2 are areas where the environment cannot be recognized by the stereo camera 71 or the like, so the risk potential areas R1 and R2 are on the road surface. It has become.
For example, other vehicles V2, V3, pedestrian PE3, and the like may exist in such risk potential regions R1 and R2.
Since the risk object in such a blind spot cannot be directly recognized by the environmental recognition means from at least the current position of the own vehicle 1, it is possible to determine that the risk potential areas R1 and R2 are safe. It is in an unconfirmed state of safety.
However, in the example shown in FIG. 4, since the signal on the front side of the own vehicle 1 permits the progress, the other vehicles V2, V3, and the pedestrian PE3 signal as long as they comply with the traffic regulations. Since the vehicle is stopped in the waiting state, the risk of interfering with the target traveling line L of the own vehicle 1 is relatively low.
Further, the pedestrian PE1 is also stopped in the signal waiting state, and the risk is relatively low.
The pedestrian PE2 is walking on the pedestrian crossing, but is recognized as safe because it does not interfere with the target traveling line L of the own vehicle 1.

On the other hand, the other vehicle V1 which is an oncoming vehicle makes a right turn just before the own vehicle 1, and there is a concern that the estimated course of the other vehicle V1 and the target traveling line L of the own vehicle 1 are close to each other and further intersect. To.
Therefore, the risk possibility region R3 is set in the estimated course that the other vehicle V1 passes when turning right.

Further, it can be estimated that the cyclist CY running in parallel with the own vehicle 1 goes straight and travels in the intersection J from the building B1 side to the building B3 side.
In this case, since the vehicle crosses the target traveling line L of the own vehicle 1, the risk possibility region R4 is also set in front of the cyclist CY.

The above-mentioned risk possibility regions R1 to R4 are displayed on the display image in a common display mode different from other regions.
For example, the risk possibility areas R1 to R4 can be displayed in a gradation using, for example, a predetermined color (gray or the like as an example), or can be displayed filled with a predetermined color.
On the other hand, the area other than the risk possibility area is configured to be drawn using a plurality of colors, so that a visual difference from the risk possibility areas R1 to R4 is provided so that the area can be clearly distinguished at a glance. Can be done.

According to the above-described embodiment, the following effects can be obtained.
(1) Safety cannot be confirmed by the in-vehicle sensor by uniformly displaying the areas R1 and R2 that cannot be recognized by the in-vehicle sensor such as the stereo camera 71 and the laser scanner 81 in a display mode different from other areas. The area can be easily recognized by the user.
This makes it possible to recognize which areas are concerned about risks and to have the user perform appropriate monitoring.
(2) By using an in-vehicle sensor such as a stereo camera 71 and a laser scanner 81 mounted on the own vehicle 1 as an environment recognition means, a stand-alone configuration that can be established only by the components mounted on the own vehicle shall be obtained. This makes it easier to prevent the configuration from becoming complicated and to ensure reliability.
(3) By making the risk possibility areas R1 to R4 a fill display using a predetermined color and a gradation display using a predetermined color , the above-mentioned effect can be surely obtained by a simple configuration.
(4) By setting the estimated course of the extracted risk object as the risk possibility areas R3 and R4, even within the area that can be recognized by the in-vehicle sensor, the area that is uncertain whether it is safe is the risk possibility area R1. By displaying the area as a part of R4 in the same manner as the non-recognizable area, the user can appropriately call attention.
(5) By setting the risk possibility areas R3 and R4 in the area where the other vehicle V1 or the cyclist CY can enter when the instruction of the traffic light is obeyed, the case where the risk object does not obey the traffic regulations is considered. As a result, the risk potential area becomes excessively large, monitoring for risks that rarely occur in reality becomes complicated, and it is possible to prevent the burden on the user from increasing.

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

1 Vehicle 10 Engine control unit 20 Transmission control unit 21 Forward / backward switching actuator 22 Range detection sensor 30 Behavior control unit 31 Hydraulic control unit (HCU)
32 Vehicle speed sensor 40 Electric power steering (EPS) control unit 41 Motor 42 Steering angle sensor 50 Automatic operation control unit 51 Input / output device 60 Environment recognition unit 70 Camera control unit 71 Stereo camera 80 Laser scanner control unit 81 Laser scanner 90 Rear side Radar control unit 91 Rear side radar 100 Navigation device 101 Display 110 Road-to-vehicle communication device 120 Vehicle-to-vehicle communication device 200 Image generation unit 210 Display J intersection S signal V1 to V3 Other vehicles PE1 to PE3 Pedestrian CY cyclist B1 to B4 Building R1 ~ R4 Risk potential area L Target driving line

Claims (4)

An environment recognition means that recognizes the environment around the vehicle and extracts risk objects within the recognizable area.
An image generation means that generates an image showing the shape of the road around the vehicle using map data prepared in advance, and an image generation means.
A display device including an image display means for displaying the image generated by the image generation means.
The image generation means fills the area in the image that cannot be recognized by the environment recognition means and the risk possibility area including the estimated course of the risk object with a predetermined color or a predetermined color. Unify the gradation display using one color, draw the area other than the risk possibility area using multiple colors, and display the risk possibility area and the area other than the risk possibility area at the same time on the same screen. A display device characterized by doing. The display device according to claim 1, wherein the environment recognition means recognizes the environment based on the output of a sensor mounted on the own vehicle. The environment recognition means is based on the output of a sensor mounted on the own vehicle and the output of a sensor mounted on another vehicle having an inter-vehicle communication device capable of traveling in the vicinity of the own vehicle and communicating with the own vehicle. The display device according to claim 1, wherein the display device is characterized by recognizing an environment. The risk object is another vehicle or pedestrian,
Any of claims 1 to 3, wherein the environmental recognition means sets an area where the risk object can proceed when the risk object complies with the traffic regulations as an estimated course of the risk object. The display device according to item 1.

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