JP7302311B2 - Vehicle display control device, vehicle display control method, vehicle display control program - Google Patents

Description

The present disclosure relates to a vehicle display control device, a vehicle display control method, and a vehicle display control program.

In recent years, the development of vehicles equipped with an automatic driving function is progressing. When the self-vehicle is driven automatically, it is necessary to control the running so as to avoid collisions with targets existing in the vicinity of the self-vehicle, such as other vehicles. Therefore, there is a demand for the development of technology for realizing automatic driving while considering the behavior of targets that exist around the vehicle. As an example of this type of technology, for example, in Patent Document 1, a prediction result of the behavior of a vehicle traveling around the own vehicle and a prediction result of the behavior of a vehicle traveling around another vehicle are used to predict the behavior of the vehicle. Techniques are disclosed for generating a cruise control plan for automatically driving a vehicle.

Japanese Patent No. 4371137

For example, according to the technology disclosed in Japanese Patent Laid-Open No. 2002-200000, the vehicle is capable of predicting not only the behavior of vehicles traveling around the own vehicle but also the behavior of vehicles traveling around other vehicles. It is possible to generate a driving control plan for a vehicle, and it may be possible to realize more accurate automatic driving. However, in the conventional technology, the prediction result of the behavior of the target is used only by the device, and the user of the vehicle, for example, the driver, cannot know the behavior predicted by the device. Therefore, the user cannot know what prediction result of the behavior of the target is based on which the automatic driving of the vehicle is controlled, and depending on the situation, there is concern that the user may feel uneasy.

Therefore, the present disclosure provides a display control device for a vehicle, a display control method for a vehicle, and a display control method for a vehicle, which enable a user to be notified of what kind of behavior is expected with respect to the behavior of a target existing around the vehicle. A vehicle display control program is provided.

The vehicle display control device according to the present disclosure is a vehicle display control device 20 mounted in a vehicle equipped with an automatic driving function, and includes a detection processing unit 53 that detects a target existing around the vehicle, and the detection a prediction processing unit 54 for predicting the behavior of the target detected by the processing unit; and a display processing unit 55 for displaying behavior prediction information indicating the behavior of the target predicted by the prediction processing unit on the display units 7, 8 and 23. and a display control processing unit 57 for controlling display of the behavior prediction information on the display unit. When the user's line of sight is directed toward the target detected by the detection processing unit, the behavior prediction information is displayed on the display unit.

A vehicle display control method according to the present disclosure is a vehicle display control method for controlling a vehicle display control device 20 mounted in a vehicle equipped with an automatic driving function, and detects a target existing around the vehicle. detection processing, prediction processing for predicting the behavior of the target detected by the detection processing, and display processing for displaying behavior prediction information indicating the behavior of the target predicted by the prediction processing on the display units 7, 8, and 23. , a specifying process for specifying a user's line of sight, and a display control process for controlling display of the behavior prediction information by the display process, wherein the display control process includes a user's line of sight specified by the specifying process. When the vehicle is heading toward a target detected by the detection process, the behavior prediction information is displayed by the display process.

The vehicular display control program according to the present disclosure is a vehicular display control program for causing a computer to function as a vehicular display control device 20 mounted in a vehicle equipped with an automatic driving function, and is present around the vehicle. A detection process for detecting a target, a prediction process for predicting the behavior of the target detected by the detection process, and behavior prediction information indicating the behavior of the target predicted by the prediction process are displayed on the display units 7, 8, and 23. The computer is caused to execute a display process for displaying, a specific process for specifying a user's line of sight, and a display control process for controlling display of the behavior prediction information by the display process, and the display control process includes the specific process. When the line of sight of the user specified by is directed toward the target detected by the detection process, the behavior prediction information is displayed by the display process.

According to the present disclosure, the behavior prediction information is displayed on the display unit regarding the behavior of the target existing around the vehicle. Therefore, it is possible to inform the user of the predicted behavior of the target object existing around the vehicle, and to suppress the user from feeling uneasy.

A diagram schematically showing a configuration example of a vehicle system according to the present disclosure FIG. 2 is a diagram schematically showing an example of mounting a head-up display according to the present disclosure on a vehicle; FIG. 2 is a diagram schematically showing an arrangement example of a plurality of display units in a vehicle interior of a vehicle according to the present disclosure; A diagram schematically showing a configuration example of a control system of a vehicle display control device according to the present disclosure A diagram for explaining a selection example of a display unit that displays behavior prediction information according to the present disclosure A diagram schematically showing a display example of behavior prediction information on a head-up display according to the present disclosure FIG. 1 is a diagram (part 1) schematically showing a display example of behavior prediction information on a meter system display unit according to the present disclosure; FIG. 2 is a diagram (part 2) schematically showing a display example of behavior prediction information on a meter system display unit according to the present disclosure; Flowchart schematically showing a control example by the vehicle display control device according to the present disclosure FIG. 11 is a diagram (part 1) schematically showing a configuration example of a control system of a vehicle display control device according to a modification of the present disclosure; A diagram schematically showing an example of a method for notifying behavior prediction information according to the present disclosure FIG. 2 is a diagram (part 2) schematically showing a configuration example of a control system of a vehicle display control device according to a modification of the present disclosure;

An embodiment according to the present disclosure will be described below with reference to the drawings. A vehicle system 1 illustrated in FIG. 1 is used for a mobile object such as a vehicle traveling on a road, and includes an HMI system 2 (HMI: Human Machine Interface), an ADAS locator 3 (ADAS: Advanced Driver Assistance Systems ), a surrounding monitoring sensor 4, a vehicle control ECU 5 (ECU: Electronic Control Unit), a driving support ECU 6 (ECU: Electronic Control Unit), and the like. The HMI system 2, the ADAS locator 3, the surroundings monitoring sensor 4, the vehicle control ECU 5, and the driving support ECU 6 are each connected to, for example, an in-vehicle LAN (LAN: Local Area Network) mounted on the vehicle.

The ADAS locator 3 includes a GNSS receiver 30 (GNSS: Global Navigation Satellite System), an inertial sensor 31, a map database 32, and the like. The map database 32 is hereinafter referred to as a map DB 32 . The GNSS receiver 30 receives positioning signals from multiple satellites. The inertial sensor 31 includes, for example, a gyro sensor and an acceleration sensor. The ADAS locator 3 combines the positioning signal received by the GNSS receiver 30 and the sensing result of the inertial sensor 31 to sequentially locate the vehicle position of the own vehicle on which the vehicle system 1 is mounted. Then, the ADAS locator 3 outputs the determined vehicle position via the in-vehicle LAN. In this case, the vehicle position is represented by a coordinate system consisting of latitude and longitude. In this coordinate system, for example, the X axis indicates longitude and the Y axis indicates latitude. It should be noted that positioning of the vehicle position can be performed, for example, on the basis of mileage information obtained based on the sensing results of a vehicle speed sensor mounted on the vehicle. configuration can be adopted.

The map DB 32 is composed of, for example, a non-volatile memory, and stores map data including various data such as link data, node data, and road shape data. The link data includes link identification data that identifies links that form roads on the map, link length data that indicates the length of the link, link orientation data that indicates the orientation of the link, and link traveling time data that indicates the time required for traveling the link. , node coordinate data indicating the coordinates of nodes forming the start point and end point of a link, and link attribute data indicating road attributes. The node data includes node identification data that identifies a node existing on the map, node coordinate data that indicates the coordinates of the node, node name data that indicates the name of the node, node type data that indicates the type of node such as an intersection, Contains various data such as connecting link data that identifies connecting links. The road shape data is data indicating the shape of roads existing on the map. The road shape data includes data indicating the altitude of the road, the cross slope of the road, the longitudinal slope of the road, and the like.

Note that the map data may be acquired from outside the own vehicle, for example, via a communication module mounted on the vehicle. As the map data, three-dimensional map data including point groups such as feature points of road shapes and feature points of structures existing on the map may be used. In addition, when using three-dimensional map data, the ADAS locator 3 uses this three-dimensional map data and sensing results such as LIDAR (Light Detection and Ranging/Laser Imaging Detection and Ranging) for detecting point groups. may be configured to identify the vehicle position.

The surroundings monitoring sensor 4 is a sensor that monitors the surrounding environment of the own vehicle, and in this case, is provided as an autonomous sensor that operates autonomously. The surroundings monitoring sensor 4 detects, for example, a human such as a pedestrian, an animal other than a human, a dynamic target moving around the own vehicle such as a vehicle other than the own vehicle, a fallen object existing on a road, a road Detect objects existing around the vehicle, such as guardrails, curbs, trees, and other stationary objects around the vehicle. In addition, the perimeter monitoring sensor 4 can detect road markings such as lane markings, stop lines, pedestrian crossings, and instructional markings such as "stop" provided on the roads surrounding the vehicle. . Then, the periphery monitoring sensor 4 sequentially outputs the obtained sensing data to the in-vehicle LAN. The surroundings monitoring sensor 4 includes, for example, a surroundings monitoring camera that captures a predetermined range around the vehicle, a millimeter-wave radar, sonar, LIDAR, or other detection wave sensor that outputs search waves to a predetermined range around the vehicle. .

The survey wave sensor sequentially outputs scanning results based on received signals obtained by receiving reflected waves reflected by an object to the in-vehicle LAN as sensing data. More specifically, the probe wave sensor measures the distance from the probe wave sensor to the object based on the time from when the probe wave is transmitted to when the reflected wave reflected by the object is received. Also, the probe wave sensor measures the azimuth of the object with respect to the probe wave sensor based on the angle at which the reflected wave is received. The azimuth can be represented, for example, by an azimuth angle. For example, with the front direction of the host vehicle as a reference, clockwise rotation can be expressed as a positive azimuth angle, and counterclockwise rotation can be expressed as a negative azimuth angle.

In this case, the perimeter monitoring sensor 4 includes at least a front camera 41 whose imaging range is a predetermined range in front of the vehicle, and a millimeter wave radar 42 whose search range is a predetermined range in front of the vehicle. It has become. The front camera 41 may be provided, for example, on the rearview mirror of the vehicle or on the upper surface of the instrument panel. Also, the millimeter wave radar 42 may be provided, for example, on the front grill or the front bumper of the own vehicle. The millimeter wave radar 42 scans and transmits millimeter waves or quasi-millimeter waves to a sensing range in front of the vehicle, and receives reflected waves reflected by the object. Measure distance and bearing. The sensing range of the front camera 41 and the sensing range of the millimeter wave radar 42 may or may not match. Also, the sensing range of the front camera 41 and the sensing range of the millimeter wave radar 42 may or may not overlap at least partially. Also, a plurality of perimeter monitoring sensors 4 may be provided at different locations of the own vehicle.

The vehicle control ECU 5 is, for example, an electronic control unit for controlling acceleration and deceleration of the host vehicle, steering control, braking control, and the like. The vehicle control ECU 5 includes a power unit control ECU that controls acceleration and deceleration of the vehicle, a steering control ECU that controls steering of the vehicle, a brake control ECU that controls braking of the vehicle, and the like. The vehicle control ECU 5 is based on detection signals output from various sensors such as an accelerator position sensor, a brake depression force sensor, a steering angle sensor, and a wheel speed sensor mounted on the own vehicle. It outputs control signals to various driving control system devices such as an EPS motor (EPS: Electric Power Steering). Further, the vehicle control ECU 5 can output detection signals obtained from various sensors to the in-vehicle LAN.

The driving assistance ECU 6, for example, cooperates with the vehicle control ECU 5 to assist the driver's driving operation. The support by the driving support ECU 6 also includes an automatic driving function that automatically controls the running of the own vehicle. The driving support ECU 6 recognizes the driving environment of the own vehicle based on the vehicle position of the own vehicle obtained from the ADAS locator 3, map data stored in the map DB 32, sensing data obtained from the periphery monitoring sensor 4, and the like. More specifically, the driving support ECU 6 recognizes the position, shape, movement state, etc. of objects existing in the vicinity of the own vehicle based on sensing data acquired from the surroundings monitoring sensor 4, for example. It is possible to recognize the position, size, content, etc. of the road markings existing around the road. Then, the driving support ECU 6 combines the information thus recognized with information such as map data and the vehicle position of the own vehicle to create a virtual space in which the actual driving environment around the own vehicle is reproduced in three dimensions. It is possible to generate

Further, the driving support ECU 6 generates a driving plan for automatically driving the own vehicle by the automatic driving function based on the recognized driving environment. As the travel plan, a long-term travel plan and a short-term travel plan can be generated. In the short-term driving plan, the generated virtual space around the vehicle is used to perform acceleration/deceleration control to maintain a target distance from the preceding vehicle, steering control for lane following and lane changes, and collision avoidance. braking control and the like for In the long- and medium-term travel plan, a recommended route and a travel schedule for the vehicle to reach its destination are determined. The driving support ECU 6 may generate either one of the short-term driving plan and the long-term driving plan, for example, only the short-term driving plan.

An example of an automatic driving function executed by the driving support ECU 6 is an ACC function ( ACC: Adaptive Cruise Control). In addition, there is an AEB function (AEB: Autonomous Emergency Braking) that forcibly decelerates the vehicle by generating a braking force based on the result of sensing ahead of the vehicle. Note that the ACC function and the AEB function are merely examples, and the driving assistance ECU 6 may be configured to include other functions.

The HMI system 2 includes an HCU 20 (Human Machine Interface Control Unit), an operation device 21, a DSM 22 (Driver Status Monitor), a display device 23, and the like. The HMI system 2 receives input operations by the driver, who is the user of the vehicle, and presents various types of information to the driver of the vehicle. The operating device 21 includes various switches operated by the driver of the host vehicle. The operation device 21 is used for making various settings. Specifically, the operation device 21 is configured by a steering switch or the like provided on the spoke portion of the steering wheel of the host vehicle.

The DSM 22 includes, for example, a light source that generates near-infrared light, a near-infrared camera that detects near-infrared light, a control unit that controls these, and the like. The DSM 22 is arranged, for example, on the upper surface of the steering column cover or the instrument panel, with the near-infrared camera directed toward the driver's seat of the vehicle. The DSM 22 uses a near-infrared light camera to capture an image of the driver's head irradiated with near-infrared light from a near-infrared light source. An image captured by the near-infrared camera is image-analyzed by a control unit (not shown). This control unit, for example, extracts the eyes of the driver from the captured image, and detects the positions of the eyes of the driver with respect to the reference positions set in the interior of the vehicle as the viewpoint positions. For the reference position, for example, the installation position of the near-infrared camera can be set. Then, the DSM 22 outputs to the HCU 20 information representing the detected viewpoint position of the driver. In addition, the control unit can identify or estimate the driver's line of sight, that is, the direction in which the driver's eyes are directed, by image analysis of the image captured by the near-infrared camera. Then, the DSM 22 outputs to the HCU 20 line-of-sight information representing the specified or presumed line-of-sight direction of the driver.

The display device 23 is configured as a head-up display 230 (HUD: Head Up Display). Hereinafter, the head-up display 230 is called HUD230. As illustrated in FIG. 2, the HUD 230 is provided, for example, on the instrument panel 12 of the host vehicle. The HUD 230 forms a display image based on image data output from the HCU 20 by a projector 231 such as a liquid crystal type or a scanning type, for example. The display image is, for example, an image representing information related to vehicle route guidance.

The HUD 230 projects a display image formed by the projector 231 onto the front windshield 10, which is an example of a projection unit, via an optical system 232 having, for example, a concave mirror. A projection area R is provided on the front windshield 10, and the display image formed by the projector 231 is projected within this projection area R. As shown in FIG. The projection area R is provided so as to be positioned in front of the driver's seat, particularly in front of the driver seated in the driver's seat. A driver is an example of a user.

The luminous flux of the display image projected onto the front windshield 10 is perceived or visually recognized by the driver seated in the driver's seat. The front windshield 10 is made of, for example, a translucent glass material or the like, and the scenery in front of the vehicle, that is, the light flux in the foreground is also perceived or visually recognized by the driver sitting in the driver's seat. be. As a result, the driver can visually recognize the virtual image of the display image formed in front of the front windshield 10 as the virtual image content 100 superimposed on a part of the foreground. That is, the HUD 230 realizes so-called AR display (AR: Augmented Reality) by superimposing and displaying the virtual image content 100 on the foreground of the host vehicle. The virtual image content 100 is at least content that visually represents information related to driving assistance for the own vehicle, that is, driving assistance related information. Driving support related information includes, for example, route guidance related information that indicates the direction of travel of the vehicle on the guidance route, automatic driving related information that indicates the course when the vehicle is automatically controlled, and lane information that the vehicle is traveling on. lane information that indicates a curve ahead of the vehicle in the direction of travel; pedestrian information that indicates that there is a pedestrian ahead of the vehicle in the direction of travel; Various types of information can be applied as long as it is information that is useful for driving support of the own vehicle, such as stop line information that conveys the existence of the vehicle. Then, for example, as virtual image content 100 representing pedestrian information, the superimposed content is content superimposed on or around a pedestrian present on the intersection or on the road surface in front of the vehicle in the traveling direction, and non-superimposed content. is a content such as an icon that indicates the position of a pedestrian in a bird's-eye view image that indicates the configuration of an intersection and a road surface in front of the vehicle in the traveling direction.

Note that the projection unit on which the HUD 230 projects the virtual image content 100 is not limited to the front windshield 10, and may be configured by, for example, a translucent combiner. Also, the display device 23 may be configured by, for example, a combination meter, a CUD (Center Information Display), or the like.

The HCU 20 is mainly composed of a microcomputer including, for example, a processor, a volatile memory, a nonvolatile memory, an input/output circuit, and a bus connecting these. HCU20 is connected to HUD230 and in-vehicle LAN. The HCU 20 is an example of a vehicle display control device according to the present disclosure, and controls display by a display unit such as the HUD 230 by executing a control program stored in a storage medium such as a nonvolatile memory. . This control program includes a vehicle display control program according to the present disclosure. Further, the HCU 20 executes the control program to perform the vehicle display control method according to the present disclosure. Note that the memory is, for example, a non-transitory tangible storage medium that non-temporarily stores computer-readable programs and data. Also, the non-transitional material storage medium can be realized by, for example, a semiconductor memory, a magnetic disk, or the like.

Further, the vehicle system 1 further includes a meter system display unit 7, as illustrated in FIG. The meter system display unit 7 is an example of a display unit different from the front windshield 10 of the HUD 230, and is a display unit capable of displaying meter system information such as the running speed of the host vehicle and the rotation speed of the engine. Further, as will be described later, the meter system display unit 7 can also display various types of information such as driving assistance related information represented by the virtual image content 100 in a manner different from that of the virtual image content 100, such as liquid crystal display. In addition, the vehicle system 1 further includes a navigation display section 8 . The navigation display unit 8 constitutes a display of a navigation device mounted on the vehicle. The navigation display section 8 is an example of a display section different from the front windshield 10 of the HUD 230 . The navigation display unit 8 can also display various types of information such as driving assistance related information represented by the virtual image content 100 in a manner different from that of the virtual image content 100, such as liquid crystal display.

As illustrated in FIG. 3, the projection area R of the HUD 230 is provided on the front windshield 10 in front of the driver's seat. Further, the meter system display unit 7 is provided on the instrument panel 12 at a position below the projection area R of the HUD 230 in front of the driver's seat. Further, the navigation display unit 8 is provided so as to be positioned substantially in the center of the instrument panel 12 in the left-right direction. It should be noted that the arrangement positions of the various display system components shown in FIG. 3 are merely examples, and the arrangement positions of the respective display system components can be changed as appropriate.

Next, a configuration example of the HCU 20 regarding control of display by the HUD 230 will be described in more detail. As illustrated in FIG. 4, the HCU 20 executes a vehicle display control program to perform a superimposed content projection unit 51, a non-superimposed content projection unit 52, a detection processing unit 53, a prediction processing unit 54, a display processing unit 55, The specific processing unit 56 and the display control processing unit 57 are virtually realized by software. The HCU 20 may configure these processing units with hardware, or may configure them with a combination of software and hardware.

The superimposed content projection unit 51 executes superimposed content projection processing. The superimposed content projection process is a process of projecting the superimposed content 101, which is an example of the virtual image content 100, in the projection area R of the front windshield 10 so as to be superimposed on an object included in the foreground of the own vehicle. Note that the superimposed content 101 is a virtual image content 100 that is projected so as to be positively attached to an object included in the foreground of the own vehicle. It is different from the virtual image content 100 that is not projected, for example, the non-superimposed content 102 that is accidentally projected at a position where the non-superimposed content 102 is superimposed on the object included in the foreground of the vehicle. Specifically, the superimposed content 101 is an object included in the foreground of the vehicle, for example, a virtual image content 100 projected along the road, the depth direction of the front windshield 10 as seen from the driver, that is, the vehicle. virtual image content 100 extending forward in the direction of travel of the vehicle, and an object included in the foreground of the vehicle, for example, a stop line that actually exists in front of the vehicle in the direction of travel. a virtual image content 100 that maintains a predetermined positional relationship between the driver's viewpoint position, the actual scene in front of the host vehicle, and the projection position within the projection area R; is.

The non-superimposed content projection unit 52 executes non-superimposed content projection processing. The non-superimposed content projection process is a process of projecting the non-superimposed content 102, which is an example of the virtual image content 100, onto the projection area R of the front windshield 10 so as not to be superimposed on the object included in the foreground of the own vehicle. Note that the non-superimposed content 102 is the virtual image content 100 that is not projected by actively sticking to the object included in the foreground of the own vehicle, but is accidentally superimposed on the object included in the foreground of the own vehicle. It is the virtual image content 100 that can be projected at .

The detection processing unit 53 executes detection processing. The detection process is a process of detecting targets existing around the vehicle. In this case, the detection processing unit 53 can detect a target existing around the vehicle, such as another vehicle, mainly by the surroundings monitoring sensor 4 .

The prediction processing unit 54 executes prediction processing. The prediction processing is processing for predicting the behavior of the target detected by the detection processing unit 53 . In this case, the prediction processing unit 54 mainly identifies the actual behavior of the target using the front camera 41 of the perimeter monitoring sensor 4 and the millimeter wave data 42, and analyzes the identified behavior to determine the subsequent behavior of the target. Predict behavior. Further, the prediction processing unit 54 stores the behavior history of the target detected by the detection processing unit 53, and can predict the future behavior of the target by analyzing this behavior history.

The display processing unit 55 executes display processing. In the display processing, the behavior prediction information indicating the behavior of the target predicted by the prediction processing unit 54 is displayed on a plurality of display units arranged at different positions in the vehicle interior, in this case, the projection area R of the HUD 230, the meter This is processing for displaying on at least one of the system display unit 7 and the navigation display unit 8 .

The specific processing unit 56 executes specific processing. The specifying process is a process of specifying the line of sight of the user, in this case, the driver sitting in the driver's seat. In this case, the identification processing unit 56 can identify the line of sight of the driver mainly by the DSM 22 .

The display control processing unit 57 executes display control processing. The display control process is a process of controlling display of behavior prediction information on a plurality of display units mounted on the vehicle. In this case, the display control processing unit 57 outputs the behavior prediction information to one of the plurality of display units when the user's line of sight identified by the identification processing unit 56 is directed toward the target detected by the detection processing unit 53. It is possible to display Specifically, the display control processing unit 57 can display the behavior prediction information on the display unit closest to the eye line of the user identified by the identification processing unit 56 .

That is, as illustrated by point P1 in FIG. 5, for example, when the driver's line of sight is directed forward in the traveling direction of the vehicle, in other words, when the driver's line of sight is directed toward the front portion of the front windshield 10 in front of the driver's seat when the vehicle is traveling straight ahead. , the display control processing unit 57 displays the behavior prediction information on the display unit closest to the point P1 indicating the line of sight, in this case, within the projection area R of the HUD 230 . Further, as exemplified by point P2 in FIG. 5, for example, when the driver's line of sight is directed toward the front front portion of the driver's seat in the instrument panel 12 when the vehicle is stopped, in other words, the steering wheel, meter, etc. The display control processing unit 57 displays the behavior prediction information on the display unit closest to the point P2 indicating the line of sight, in this case, on the meter system display unit 7 . Further, as exemplified by point P3 in FIG. 5, when the driver's line of sight is toward the front left portion of the driver's seat on the front windshield 10 when turning left, for example, the display control processing unit 57 The behavior prediction information is displayed on the display unit closest to the point P3 indicating the line of sight, in this case, on the navigation display unit 8. FIG.

In addition, the display control processing unit 57 displays the behavior on the display unit when the line of sight of the driver identified by the identification processing unit 56 continues for a predetermined time or longer toward the target detected by the detection processing unit 53. It is possible to display forecast information. In this case, it is preferable to set at least one second or more as the predetermined time. In other words, the display control processing unit 57 may be configured to present the behavior prediction information of a target that the driver gazes at to some extent, that is, a target that can be determined to be of interest to the driver.

Next, some examples of display forms of behavior prediction information by the vehicle display control device 20 according to the present disclosure will be described.

The display mode illustrated in FIG. 6 is a display mode of the behavior prediction information Y1 when another vehicle Vb traveling in a meandering manner exists on the front left side of the host vehicle that is traveling in automatic operation. In this case, within the projection area R of the HUD 230, behavior prediction information Y1 is displayed that indicates that there is a possibility that the other vehicle Vb will approach the own vehicle. In this case, the behavior prediction information Y1 is icon information composed of a plurality of arrow marks pointing toward the own vehicle. Note that the behavior prediction information Y1 may be displayed as superimposed content or may be displayed as non-superimposed content.

Similarly, the display mode illustrated in FIG. 7 is a display mode of the behavior prediction information Y1 in the case where another vehicle Vb traveling in a meandering manner exists on the front left side of the host vehicle that is traveling in automatic operation. . In this case, the meter system display unit 7 displays behavior prediction information Y1 indicating that the other vehicle Vb may approach the own vehicle Va. In this case, the behavior prediction information Y1 is icon information composed of a plurality of arrow marks pointing toward the own vehicle. In this case, the meter system display unit 7 displays not only the icon indicating the own vehicle Va but also the icon indicating the other vehicle Vc other than the other vehicle Vb.

Similarly, the display mode illustrated in FIG. 8 is a display mode of the behavior prediction information Y1 in the case where another vehicle Vb traveling in a meandering manner exists on the front left side of the host vehicle that is traveling in automatic operation. . In this case, the meter system display unit 7 displays behavior prediction information Y1 indicating that the other vehicle Vb may approach the own vehicle Va. Further, the meter system display unit 7 displays running locus information Y2 indicating the running locus of the other vehicle Vb so far. The travel locus information Y2 is meandering icon information indicating that the other vehicle Vb has meandered in the past as well as at present. This travel locus information Y2 can be generated, for example, by analyzing past history data obtained by the surroundings monitoring sensor 4 for the other vehicle Vb.

Next, the vehicle display control device according to the present disclosure, in this case, an example of control by the HCU 20 will be described. As illustrated in FIG. 9 , the HCU 20 uses the detection processing unit 53 to detect a target, such as another vehicle, existing around the vehicle. When the HCU 20 detects a target existing around the vehicle (S1: YES), the HCU 20 stores the behavior of the target (S2). The behavior of the target can be specified by analyzing various data obtained by the perimeter monitoring sensor 4, for example. , running speed, etc. can be specified. Behavior information indicating the specified behavior is stored in a storage unit (not shown) provided in the HCU 20 . Note that the storage unit is configured by a storage medium such as a memory, for example.

In this case, the HCU 20 dynamically stores the behavior information indicating the behavior of the detected target in the storage unit in real time. However, the HCU 20 may collectively store the behavior information accumulated during each predetermined period in the storage unit, for example.

Then, the HCU 20 predicts the future behavior of the target based on the stored behavior information of the target (S3). The HCU 20 then determines whether the predicted behavior of the target is unstable (S4). That is, the HCU 20 determines whether or not the expected behavior is unstable based on the behavior such as the travel locus, travel mode, and travel speed indicated by the target behavior prediction information. Specifically, the HCU 20 determines the predicted behavior of the target when the target is meandering, deviates significantly from the lane, or exceeds the legal speed limit. is determined to be unstable.

When the HCU 20 determines that the predicted behavior of the target is not unstable (S4: NO), it ends this control. However, when the HCU 20 determines that the predicted behavior of the target is unstable (S4: YES), the user, in this case, the driver's line of sight is directed toward the target. is gazing at the target (S5).

When the line of sight of the driver is directed toward the target (S5: YES), the HCU 20 displays behavior prediction information related to the target on the display unit closest to the line of sight (S6), and performs this control. finish. In this case, the HCU 20 may display the behavior prediction information on condition that the driver gazes at the target for a predetermined period of time or more, or the driver gazes at the target. The behavior prediction information may be displayed even if the time that the user is on does not continue for a predetermined time or more.

On the other hand, when the driver's line of sight is not directed toward the target (S5: NO), the HCU 20 executes the guidance process (S7) and terminates this control. Guidance processing is processing for guiding the driver's line of sight toward the target. Processing such as displaying an arrow mark, outputting audio information indicating the direction in which the target exists from a speaker (not shown), or vibrating the driver's seat or steering wheel, for example, can be considered. When the guidance process is implemented by vibration, for example, it is conceivable to vibrate the part of the driver's seat or the steering wheel on the side where the target exists.

According to the present embodiment, the behavior prediction information about the behavior of a target such as another vehicle existing around the own vehicle is displayed as visual information on the display unit. Therefore, it is possible to inform the driver of the expected behavior of the target objects existing around the vehicle, and to prevent the driver from feeling uneasy. Further, according to the present embodiment, the behavior prediction information can be displayed on the display unit on condition that the driver's line of sight is directed toward the target. Therefore, it is possible to provide the driver with behavior prediction information about the target that the driver is paying attention to, and behavior prediction information about the target that the driver is not paying attention to, that is, information that may be unnecessary for the driver. can be avoided from being provided.

Further, according to the present embodiment, it is possible to display the behavior prediction information on the display unit closest to the line of sight of the driver. Therefore, the driver can confirm the behavior prediction information without changing the line of sight significantly or at all, and a more user-friendly information providing system can be realized. If there are a plurality of display units that are closest to the line of sight of the driver, the behavior prediction information may be displayed on the plurality of display units, or one of the display units may be appropriately selected to display the behavior prediction information. You may make it display. Further, when there are a plurality of display units that are closest to the line of sight of the driver, when selecting one of the display units, for example, the display unit that has displayed the behavior prediction information many times in the past is selected. The display part can be selected by the method of

Further, in the present embodiment, it is preferable that the behavior prediction information is displayed on the display unit when the driver's line of sight is directed toward the target for a predetermined time or longer. According to this, the behavior prediction information is presented for a target that the driver gazes at to some extent, that is, a target that the driver is likely to be interested in. Therefore, it is possible to avoid presenting information about targets that the driver may think is unnecessary. In other words, it is possible to efficiently present useful information to the driver.

The present disclosure is not limited to the above-described embodiment, and various modifications and extensions can be made without departing from the scope of the present disclosure. For example, the HCU 20 first displays the behavior prediction information in the projection area R of the HUD 230, and if the driver's line of sight is out of the projection area R of the HUD 230, or if the driver's line of sight is out of the projection area R of the HUD 230 Alternatively, the behavior prediction information may be displayed on another display unit. Also, when displaying the behavior prediction information on another display section, it is preferable to display the behavior prediction information on the display section closest to the line of sight of the driver at that time. That is, while the vehicle is running, it is assumed that the driver's line of sight is directed forward in the direction of travel in most cases. By displaying the information, the information can be efficiently conveyed to the driver. Then, when the line of sight of the driver is out of the projection area R of the HUD 230, or when it is out of the line of sight, the behavior prediction information can be displayed on the display unit closest to the line of sight so as to follow the line of sight, Even if the line of sight of the driver changes from the front in the traveling direction of the vehicle, it is possible to easily transmit the behavior prediction information to the driver.

Further, the HCU 20 may further include a determination processing unit 58, as illustrated in FIG. 10, for example. The HCU 20 can virtually realize the determination processing unit 58 by software by executing the vehicle display control program. Note that the HCU 20 may configure the determination processing unit 58 with hardware, or may configure it with a combination of software and hardware.

The determination processing unit 58 determines the degree of risk of behavior of the target predicted by the prediction processing unit 54 . That is, as exemplified in FIG. 11, the determination processing unit 58 sets the risk of the behavior of the target predicted by the prediction processing unit 54 to a plurality of levels. is configured to be determined in three steps. Then, the display control processing unit 57 is configured to display the behavior prediction information again on the display unit each time the degree of risk determined by the determination processing unit 58 increases. Further, the display control processing unit 57 is configured not to display behavior prediction information on the display unit again when the degree of risk determined by the determination processing unit 58 remains unchanged or decreases.

According to this configuration, the behavior prediction information can be notified to the driver only when the risk of the behavior expected of the target object increases, and the behavior prediction information is sent unnecessarily many times. It is possible to avoid notifying the driver. Note that the determination processing unit 58 may determine the degree of risk by dividing it into two stages, or may determine it by dividing it into multiple stages of four stages or more. The display control processing unit 57 may redisplay the behavior prediction information when the risk level rises by even one level, or may redisplay the behavior prediction information when the risk level rises by a plurality of levels, for example, by two levels. good too.

Moreover, as illustrated in FIG. 12, the HCU 20 may be configured to further include an evaluation result input processing unit 59 . The HCU 20 can virtually realize the evaluation result input processing unit 59 by software by executing the vehicle display control program. Note that the HCU 20 may configure the evaluation result input processing unit 59 by hardware, or may be configured by a combination of software and hardware.

The evaluation result input processing unit 59 executes evaluation result input processing. The evaluation result input process is a process for inputting to the HCU 20 the result of evaluating the behavior of the target indicated by the behavior prediction information displayed on the display unit. That is, the driver evaluates whether or not the behavior prediction information displayed on the display unit is satisfactory to him/herself in terms of display content, display timing, and the like. Then, the driver inputs the evaluation result to the evaluation result input processing unit 59 and, by extension, the HCU 20 via an input unit configured by the operation device 21 or the like. Then, the HCU 20 preferably adjusts the display mode of the behavior prediction information, such as display content and display timing, based on the input evaluation result. That is, the HCU 20 has a learning function based on the input evaluation result, so that the behavior prediction information can be displayed in a manner that better meets the driver's request.

As the input unit, in addition to the operation device 21, for example, touch buttons formed on the display of the display unit, mechanical buttons provided within reach from the driver's seat, and the like can be considered. Further, the input unit may include a match button for inputting that the behavior prediction information matches the content predicted by the driver, and a non-match button for inputting that the behavior prediction information does not match. It may be composed of a group of buttons that can be evaluated in a plurality of levels, for example, three levels of "excellent", "good", and "acceptable". That is, the input section can apply various configurations as long as the behavior prediction information can be evaluated in some way.

Further, the configuration example of the control system illustrated in FIG. 10 and the configuration example of the control system illustrated in FIG. 12 may be combined. That is, the HCU 20 may be configured to include both the determination processing section 58 and the evaluation result input processing section 59 . In addition, the present disclosure can be applied to a vehicle in a situation where the vehicle is automatically driven by the automatic driving function, and can also be applied to a vehicle in a situation where the vehicle is driven based on the operation by the driver instead of the automatic driving function. can be done. Moreover, as the display unit, various display units can be applied as long as they are display units that can be mounted on a vehicle. Also, the arrangement positions of the plurality of display units can be changed as appropriate.

Although the present disclosure has been described with reference to examples, it is understood that the present disclosure is not limited to such examples or structures. The present disclosure also includes various modifications and modifications within the equivalent range. In addition, various combinations and configurations, as well as other combinations and configurations, including single elements, more, or less, are within the scope and spirit of this disclosure.

Also, the controller and techniques described in this disclosure may be implemented by a dedicated computer provided by configuring a processor and memory programmed to perform one or more functions embodied by the computer program. , may be implemented. Alternatively, the controls and techniques described in this disclosure may be implemented by a dedicated computer provided by configuring the processor with one or more dedicated hardware logic circuits. Alternatively, the control units and techniques described in this disclosure can be implemented by a combination of a processor and memory programmed to perform one or more functions and a processor configured by one or more hardware logic circuits. It may also be implemented by one or more dedicated computers configured. The computer program may also be stored as computer-executable instructions on a computer-readable non-transitional tangible recording medium.

In the drawing, 7 is a meter system display unit (display unit), 8 is a navigation display unit (display unit), 20 is an HCU (vehicle display control unit), 23 is a display device (display unit), 53 is a detection processing unit, 54 is a prediction processing unit, 55 is a display processing unit, 56 is a specific processing unit, 57 is a display control processing unit, 58 is a determination processing unit, and 59 is an evaluation result input processing unit.

Claims (6)

A vehicle display control device (20) mounted in a vehicle equipped with an automatic driving function,
a detection processing unit (53) for detecting targets existing around the vehicle;
a prediction processing unit (54) for predicting the behavior of the target detected by the detection processing unit;
a display processing unit (55) for displaying behavior prediction information indicating behavior of a target predicted by the prediction processing unit on a display unit (7, 8, 23);
a specific processing unit (56) that identifies the line of sight of the user;
a display control processing unit (57) for controlling display of the behavior prediction information on the display unit;
with
A plurality of display units (7, 8, 23) are provided at different positions,
When the line of sight of the user identified by the identification processing unit is directed toward the target detected by the detection processing unit, the display control processing unit controls the display closest to the line of sight of the user identified by the identification processing unit. A display control device for a vehicle that displays the behavior prediction information on the part. The display control processing unit displays the behavior on the display unit when the line of sight of the user identified by the identification processing unit continues toward the target detected by the detection processing unit for a predetermined time or longer. 2. The vehicle display control device according to claim 1, wherein the prediction information is displayed. further comprising a determination processing unit (58) for determining the degree of risk of behavior of the target predicted by the prediction processing unit;
The vehicle display control device according to claim 1 or 2, wherein the display control processing unit displays the behavior prediction information on the display unit each time the degree of risk determined by the determination processing unit increases. 4. The vehicle according to any one of claims 1 to 3, further comprising an evaluation result input processing unit (59) for inputting an evaluation result of the behavior of the target indicated by the behavior prediction information displayed on the display unit. Display controller. A vehicle display control method for controlling a vehicle display control device (20) mounted in a vehicle equipped with an automatic driving function,
a detection process for detecting targets existing around the vehicle;
a prediction process for predicting the behavior of the target detected by the detection process;
Display processing for displaying behavior prediction information indicating the behavior of the target predicted by the prediction processing on a display unit (7, 8, 23);
a specific process for identifying the line of sight of the user;
a display control process for controlling display of the behavior prediction information by the display process;
including
A plurality of display units (7, 8, 23) are provided at different positions,
In the display control processing, when the line of sight of the user identified by the identification processing is directed toward the target detected by the detection processing, the display is performed on the display unit closest to the line of sight of the user identified by the identification processing. A vehicle display control method for displaying the behavior prediction information by processing. the computer,
A vehicle display control program for functioning as a vehicle display control device (20) mounted in a vehicle having a plurality of display units (7, 8, 23) at different positions and having an automatic driving function,
a detection process for detecting targets existing around the vehicle;
a prediction process for predicting the behavior of the target detected by the detection process;
a display process for displaying behavior prediction information indicating the behavior of the target predicted by the prediction process on the display unit ;
a specific process for identifying the line of sight of the user;
a display control process for controlling display of the behavior prediction information by the display process;
causing said computer to execute
In the display control processing, when the line of sight of the user identified by the identification processing is directed toward the target detected by the detection processing, the A vehicle display control program for displaying the behavior prediction information by display processing.

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