JPH1142957A - On-vehicle display device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To have a driver recognize the presently set state with a single glance of controlling target distances between two cars are present in a system for following and running after a preceding car with the distance between two cars controlled. SOLUTION: On detecting a preceding car to be followed, an electronic control unit ECU displays a preceding car display 41d, a following car display 41a and time for a target distance between two cars 41b on an image plane 41. The time for the target distance between two cars 41b is set in three stages like (A), (B), (C). The position of the preceding car display 41d is changed in accordance with each length. The preceding car display 41d may be changed depending on the kind of the preceding car. In starting control, the time for the target distance between two cars 41b is set to the longest side.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an on-vehicle display device, and more particularly to a display device for displaying a state of a vehicle following a preceding vehicle by controlling the distance between the vehicles.

[0002]

2. Description of the Related Art Conventionally, when a preceding vehicle is present, a distance between the vehicle and the preceding vehicle is adjusted so that the vehicle follows the preceding vehicle, and when there is no preceding vehicle, the vehicle travels at a constant speed at a set vehicle speed. Has been developed, and a technique for displaying the state of the following distance control for the preceding vehicle has been proposed.

[0003] For example, Japanese Patent Application Laid-Open No. 8-192666 discloses an image diagram of the preceding vehicle and the own vehicle in order to display the state of the following distance control, and also displays information (vehicle speed and distance between vehicles) for the preceding vehicle by numbers. A technique for displaying is disclosed.

[0004]

However, it is desirable to set a plurality of control target vehicles according to the driver's preference and driving environment, and it is determined by the driver which of the plurality of control target vehicles is currently set. It is desirable to know at a glance. In the above-mentioned conventional technology, such a demand cannot be met, and it is not enough to report various information with a limited display amount.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems of the related art, and provides an in-vehicle display device which allows a driver to recognize a control target inter-vehicle at a glance and more reliably provides a driver with a control state. It is in.

[0006]

According to a first aspect of the present invention, there is provided an on-vehicle display device for displaying a preceding vehicle figure and a control vehicle distance diagram, the display position of the preceding vehicle figure or the control vehicle distance diagram. And display means for changing according to the control target vehicle distance.

According to a second aspect of the present invention, in the first aspect, the display means displays a length between the control vehicles and changes the length according to the target distance.

In a third aspect based on the first and second aspects, the display means further displays an own vehicle figure, and further comprises the control headway figure between the preceding vehicle figure and the own vehicle figure. Is arranged.

In a fourth aspect based on the first to third aspects, the vehicle further comprises a discriminating means for discriminating the type of the preceding vehicle, and the display means is arranged in accordance with the type of car determined by the discriminating means. The preceding vehicle graphic is displayed.

According to a fifth aspect of the present invention, in the first to fourth aspects, the display means further displays a target vehicle speed during constant-speed running control during acceleration.

In a sixth aspect based on the first to fifth aspects, the display means displays the length between the control vehicles by displaying three blocks arranged on a straight line. It is characterized in that the display between the control vehicles is displayed by displaying two blocks, and the short distance between the control vehicles is displayed by displaying one block.

According to a seventh aspect of the present invention, in the first to sixth aspects, the display means hides the preceding vehicle figure when the preceding vehicle is continuously stopped, and displays the preceding vehicle graphic. When the vehicle has shifted from the running state to the stopped state, the preceding vehicle figure is displayed.

In an eighth aspect based on the first to seventh aspects, the display means displays the control headway diagram at the longest side when system control is started.

According to a ninth invention, in the first to eighth inventions, the display means enlarges the control headway diagram when the environment around the vehicle is degraded.

According to a tenth aspect of the present invention, there is provided an in-vehicle display device having display means for switching and displaying a vehicle state for controlling a headway between a preceding vehicle and another vehicle state. Even when the vehicle state is being displayed, when the inter-vehicle control state changes, the vehicle state to be controlled by the inter-vehicle control is switched and displayed.

In an eleventh aspect based on the tenth aspect, the display means switches and displays the cancellation information when a state in which the system should be canceled occurs.

According to a twelfth aspect, in the tenth and eleventh aspects, when the sensor for detecting the preceding vehicle becomes dirty, the display means switches and displays the fact.

In a thirteenth aspect based on the eleventh aspect, the display means switches and displays the cancel information when the ECT mode is set to the snow mode.

According to a fourteenth aspect, in the tenth and eleventh aspects, the display means further displays an adjustment process when adjusting the center axis of the radar.

[0020]

Embodiments of the present invention will be described below with reference to the drawings. In the following description,
"Cruise control" or "cruise function" means that when a preceding vehicle is present, the vehicle follows the vehicle while maintaining the distance to the preceding vehicle at the target distance (inter-vehicle control). Means that the vehicle travels at a constant speed set by the vehicle speed.

FIG. 1 is a block diagram showing the overall configuration of the present embodiment. A scanning type laser radar 10 is provided on a front bumper of the vehicle, and sends a laser beam forward, and a distance and a direction from a reflected light to an object ahead,
Detect relative speed. An inter-vehicle control ECU (electronic control unit) 12 is connected to the scan type laser radar 10 to determine a vehicle to follow based on data from the laser radar 10 so that an interval with the following vehicle becomes a target interval. The acceleration (or deceleration) is determined. Vehicle control EC
An engine ECU 14 is connected to U12, and implements a cruise control function based on data from the headway control ECU12. Specifically, this engine EC
U14 has an electronic throttle actuator 24 and EC
A T (electronic control transmission) solenoid 26 is connected to drive an electronic throttle actuator in accordance with a target acceleration supplied from the headway control ECU 12 or in response to a downshift request (deceleration request) supplied from the headway control ECU 12. The shift is changed to a low speed side to cause engine braking.

The engine ECU 14 has an ECT mode switch 16, a cruise control switch 18,
A stop lamp switch 20 and a vehicle speed sensor 22 are connected. The cruise control switch 18 is for performing each operation of ON / OFF of the cruise function of the engine ECU 14, setting of the vehicle speed, acceleration, deceleration, and control cancellation, and details thereof will be described later. EC
The T mode switch 16 is a switch for the driver to set an ECT mode (for example, a power mode or a snow mode). When the driver sets the ECT mode to a snow mode (a mode in which the vehicle can start in a second gear). Means that the engine ECU 14 cancels the cruise function. This is to prevent the cruise control from being performed on slippery roads such as snowy roads and icy roads. The cruise function can be canceled by canceling the cruise function in operation or by turning on the cruise function using the cruise control switch 18. This includes prohibiting the transition to the cruise function even at times. Note that the driver does not operate the ECT mode switch 16 but the engine ECU 14
Detects that the wheel is slipping based on the wheel speed and the output from the G sensor inside the vehicle, determines that the road is a low friction road (low μ road), and automatically switches the engine and transmission to ECT.
It is desirable to cancel the cruise function at the same time as this determination also when performing the same control as the snow mode. The stop lamp switch 20 is for detecting the brake operation by the driver, and when the driver performs the brake operation, the engine ECU 14 cancels the cruise function.

A VSC (vehicle attitude stabilization control) -ECU 28 is connected to the engine ECU 14.
A steering sensor 30 and a warning buzzer 32 are connected to the C-ECU 28. When the VSC-ECU 28 detects that the vehicle has over-steered or under-steered based on the detection from the steering sensor 30, the VSC-ECU 28 lowers the output of the engine and applies a braking force to the front wheels or the rear wheels to stabilize the turning motion of the vehicle. When the system operates, the warning buzzer 32 is driven to alert the driver. However, if the inter-vehicle distance with the following vehicle is too close during the cruise function, the engine ECU 14 sets the VSC-. The alarm buzzer 32 is driven via the ECU 28 to call the driver's attention (for example,
(E.g., an audible alarm sounds). That is, the alarm buzzer 32 has both functions of the VSC operation alarm and the inter-vehicle alarm during the cruise function. However, the sound quality of the approach warning and that of the VSC activation are different from each other, and the approach warning is set so that the driver can hear a stronger warning. The steering angle detected by the steering sensor 30 is used for the VSC and is also supplied to the engine ECU 14 to be used particularly for a cruise function on a curved road.
The engine ECU 14 has a body multiplex communication system 34.
Various devices are connected via the, specifically, a tail lamp switch 36, a wiper switch 38, and a meter 40 are connected. The tail lamp switch 36 is for detecting the lighting of the tail lamp, that is, night driving, and when the tail lamp switch is in the ON state, the engine ECU 14 sets the target inter-vehicle distance to be longer than during the day. A specific setting method will be described later. Further, the wiper switch 38 is for detecting the operating state of the wiper, that is, running in rainy weather. When the wiper switch 38 is in the ON state, the engine ECU 14 cancels the cruise function. The meter display 40 is one of the features of the present embodiment, and displays information specific to the cruise function in addition to the normal speed and the engine speed. The information specific to the cruise function includes detection of a preceding vehicle, an inter-vehicle time representing an inter-vehicle distance, a set vehicle speed, a state of the cruise function, a fail mode, and the like. The inter-vehicle time is a physical quantity expressing the inter-vehicle distance by time, and has a relation of inter-vehicle time = inter-vehicle distance / vehicle speed. Therefore, there is a target inter-vehicle time corresponding to the target inter-vehicle distance that is the target of the follow-up control at a ratio of 1: 1. In this embodiment, the inter-vehicle time switch 44 is provided so that the driver can appropriately adjust the target inter-vehicle time. . The inter-vehicle time switch 44 is connected to the meter display 40, and the inter-vehicle time set by the driver is displayed on the display as it is, and is supplied to the engine ECU 14 via the body multiplex communication system 34 and used for cruise control. As the inter-vehicle time that can be set by the driver, three stages of long, medium and short are prepared as follows.

Long: 2.4 (sec) Medium: 2.0 (sec) Short: 1.8 (sec) When the vehicle is traveling at a speed of 80 km / h, each inter-vehicle time is represented by a distance. Length is about 55m, inside is about 45
m and short are about 40 m. These inter-vehicle times are
It is displayed on the display 40 so that it is possible to see at a glance which inter-vehicle time is currently set. In the above description, when the tail lamp switch 36 is in the ON state, the inter-vehicle distance is set to be longer than during the day. Specifically, the inter-vehicle time is set to be longer, and α1, α2, α3
Is changed to 2.4 + α1 (sec) in the daytime at 2.4 (sec) as a constant, and 2.0 (sec)
c) is changed to 2.0 + α2 (sec), and 1.8 (α) is changed to 1.8 + α3 (sec) in a short time of 1.8 (sec).
To change. It is preferable to change them so that α1>α2> α3 according to the length, middle and short. Further, these α1, α2, and α3 may be selected in advance by the driver.

FIG. 2 shows the configuration of the laser radar 10. The light emitting circuit 10b pulse-drives the laser diode LD10c based on a command from the CPU 10a. The pulse laser light from the laser diode LD10c is shaped by the lens 10d, reflected by the mirror 10e, and enters the polygon mirror 16f. 6 polygon mirrors
The polygon mirror 10 f rotates around a rotation axis, and scans a pulse laser beam in a horizontal plane (in the left-right direction with respect to the traveling direction) by the rotation of the polygon mirror 10 f. Also,
Each surface of the polygon mirror 10f sequentially has a different inclination angle, and scans the pulse laser light in the vertical direction with respect to the traveling direction each time the incident surface of the pulse laser light changes.

On the other hand, when there is a preceding vehicle, the pulse laser beam reflected by the preceding vehicle is incident on the photodiode 10h via the light receiving lens 10g, converted into an electric signal, and supplied to the light receiving circuit 10i. The received light pulse signal is further supplied to a time measurement IC 10j, and the time from when the pulse laser light is transmitted to the time when it is reflected and received by the preceding vehicle is measured, and supplied to the CPU 10a to detect the distance to the preceding vehicle. And a relative speed as a time change is detected. The detected inter-vehicle distance and relative speed are supplied to the CPU 10k, and the CPU 10k supplies these detection data to the inter-vehicle control ECU 12.

FIG. 3 schematically shows a scan range 100 of the laser radar 10. Polygon mirror 10
The pulsed laser light scans in a horizontal plane in a horizontal direction with respect to the traveling direction by being reflected on one of the six reflecting surfaces f. Also, the polygon mirror 10
By scanning off the other reflecting surface of f, scanning is performed in the horizontal direction in a different horizontal plane. The pulsed laser light in the vertical direction has a total of 6 corresponding to each of the reflection surfaces of the polygon mirror.
There are a total of 105 books in the left-right direction corresponding to the rotation angle in one reflection surface. The reach of the laser beam is about 100 m in fine weather. Therefore, if there is a preceding vehicle within 100 m, there is a preceding vehicle, and if it is more than 100 m, there is no preceding vehicle.

FIG. 4 is a layout diagram of the vicinity of the steering wheel 50 in the vehicle interior. A lever-shaped cruise control switch 18 is provided on the right side of the steering shaft, and an inter-vehicle time switch 44 is provided on the steering wheel 50. As described above, the cruise control switch 18 has a function to set ON / OFF of the cruise function, a vehicle speed at the time of constant speed running (when no preceding vehicle is present) and an upper limit vehicle speed at the time of following running, and acceleration / deceleration without using the accelerator pedal. The inter-vehicle time changeover switch has a function of switching the target inter-vehicle time during follow-up running (in this embodiment, three stages of long, medium, and short).

FIG. 5 is an enlarged view of the cruise control switch 18. The cruise control switch 18 is in the form of a lever and can be operated up and down. A main switch 18a which can be pushed (in the direction of arrow a in the figure) is provided on the side. By depressing the main switch 18a, the engine ECU 14
Cruise power is turned on. The power ON state is a standby state of the cruise function, and the driver shifts to the actual cruise function when the driver sets the cruise function after the set vehicle speed and the inter-vehicle time are set. The setting of the cruise function (SET) is executed by lowering the cruise control switch 18. As described above, even when the main switch 18a is pressed, the cruise power is not turned on but remains off during the ECT snow mode or the wiper operation. Further, when it is desired to increase the set vehicle speed, the cruise control switch is kept up, and when it is desired to decrease the set vehicle speed, the cruise control switch is kept down.
These data are supplied to U14.

FIG. 6 is an enlarged view of the inter-vehicle time changeover switch 44. The inter-vehicle time switch 44 is composed of three switches, a mode (MODE) switch 44a for switching the inter-vehicle time in three stages, and a display 4
Function switch 44 for switching 0 (FUNCTION)
b and a reset switch. The inter-vehicle time is always set to be long in the initial state of the engine ON, and is switched from long to middle and further short by operating the mode switch 44a. When the vehicle becomes shorter and further operations are performed, the inter-vehicle time returns to a longer time. The reason why the inter-vehicle time is uniformly initialized in the initial state when the engine is ON is to ensure the safety when the vehicle shifts to the following running.
The function switch 44b is for switching between a cruise state display and other displays (for example, an alarm display) on the display 40, and the engine E is turned on during cruise control.
The CU 14 displays the control state (presence / absence of a preceding vehicle and a set vehicle speed). When the driver operates the switch 44b, the display changes to a warning display screen or a drive monitor screen. However, if any change occurs in the cruise state (for example, whether the preceding vehicle is detected or the set vehicle speed changes) while the warning display screen is displayed, the display is automatically switched from the warning screen to the cruise state screen. Switch to If the cruise system is canceled, the inter-vehicle time set at that time (long, medium, short)
May be temporarily stored, and when the control of the cruise system is restarted again, the headway control may be performed based on the stored value.

FIG. 7 shows a display example of the meter display 40. The speed is displayed on the center left side, the engine speed is displayed on the center right side, and the cruise state screen 41 is displayed on the lower part. This screen 41 can be composed of, for example, liquid crystal. An alarm lamp 42 is provided on the left side of the cruise status screen 41, and a cruise power lamp 43 is further provided on the right side.
Is provided. On the cruise state screen 41, the detected preceding vehicle, target inter-vehicle time, own vehicle, and set vehicle speed are displayed. As described above, when the driver operates the function switch 44b of the inter-vehicle time changeover switch 44, this screen is switched to another screen (warning screen or drive monitor screen). In addition, in order to adjust so that the inter-vehicle time is increased when the tail lamp is lit, it is also preferable that when the tail lamp is lit, the screen 41 has a screen color different from the daytime to notify the driver that the inter-vehicle time is adjusted to be increased. is there. If the vehicle approaches the preceding vehicle abnormally while following the preceding vehicle, a warning is given to the driver using the warning buzzer 32 of the VSC. At this time, the engine ECU 4 displays the screen 41 so as to repeat the inversion of light and dark. It is also preferred to control and visually alert the driver.

The alarm lamp 42 is lit when an abnormality occurs in the cruise function. In this case, the engine ECU 14 cancels the cruise function and displays the details of the abnormality on the screen 41. Of course, the alarm buzzer 32
A warning sound can be used to notify the driver. As the warning sound, for example, a "pawn" or the like can be considered to distinguish it from the warning sound "pipipipi" at the time of following the preceding vehicle.

The configuration of the present embodiment is as described above, and the operation will be described in more detail below.

FIG. 8 shows a flowchart of the cruise control process executed by the headway control ECU 12 and the engine ECU 14. When the driver sets the cruise function using the cruise control switch 18 (turns the main switch ON and sets the switch 18 down), the engine ECU 14 determines whether or not the cruise function has been canceled (S101). If the vehicle has not been cancelled, the following control ECU 12 determines whether or not a preceding vehicle has been detected, and if there is a preceding vehicle, the following control ECU 12 and the engine ECU 14 execute the following cruise control (S103). ). If there is no preceding vehicle, the engine ECU 14 compares the current vehicle speed Vn with the set vehicle speed Vm (S104) and determines that Vn <
If it is Vm, acceleration control is performed to set the vehicle speed (S10
5) If the current vehicle speed Vn is substantially equal to the set vehicle speed Vm, a constant speed cruise control for maintaining the current vehicle speed is executed (S106). If the wiper is activated in rainy weather or EC
When shifting to the snow mode of T, when the driver operates the cruise control switch 18 to cancel, when the driver operates the brake, when the vehicle speed falls below a predetermined value (for example, 40 km / h), the cruise function is activated. If an abnormality occurs, for example, YES is determined in S101, and the engine ECU 14 cancels the cruise function (S107).

FIG. 9 shows a detailed flowchart of the inter-vehicle cruise executed in S103. First, the laser radar 10 detects the inter-vehicle distance and the relative speed with the preceding vehicle (S201), and the inter-vehicle control ECU 12 calculates the inter-vehicle deviation between the target inter-vehicle time and the current inter-vehicle time (S202).
Then, the control acceleration (target acceleration) required to reduce the inter-vehicle deviation to zero is calculated (S203), and the engine E
Supply to CU14. The engine ECU 14 controls the electronic throttle actuator 24 to obtain this control acceleration.
Is driven to control the engine output (S204). If the calculated control acceleration is a large negative value, that is, a large deceleration side, the engine ECU 14 cuts overdrive, shifts down, and decelerates with engine brake.

FIG. 10 schematically shows the above processing contents. (A) shows a case where there is no preceding vehicle (100
m, and the vehicle runs at a constant speed at the vehicle speed set by the driver (S106 in FIG. 8).
Constant speed cruise in). (B) is a case where a preceding vehicle that is slower than the set vehicle speed is detected during traveling at a constant speed, and deceleration control is performed so as not to abnormally approach the preceding vehicle (inter-vehicle cruise in S103 in FIG. 8). (C) is a case where the vehicle follows the preceding vehicle, and acceleration / deceleration control is performed such that the inter-vehicle time with the preceding vehicle becomes the target inter-vehicle time with the set vehicle speed as an upper limit (S103 in FIG. 8).
Cruise between vehicles in). (D) is a case where the preceding vehicle has entered the interchange or the service area and is no longer present. In this case, the vehicle gradually accelerates to the set vehicle speed (constant speed cruise in S106 in FIG. 8).

As described above, in the present embodiment, the control content is changed according to the presence or absence of the preceding vehicle, and the driver can freely adjust the inter-vehicle time and the set vehicle speed during the inter-vehicle control. Therefore, it is extremely important to accurately inform the driver of the current control content. In the present embodiment, this is realized by the engine ECU 14 changing the cruise state screen 41 of the meter display 40 in various ways.

Hereinafter, the display contents of the cruise state screen 41 will be described.

FIG. 11 is a screen display when the driver operates the main switch 18a of the cruise control switch 18, and indicates "CRU" indicating a standby state.
"ISE READY" is displayed. With this display,
The driver can clearly see that the main power is on but not under control. When the driver lowers the cruise control switch 18 in this state, the driver enters the set state, and the cruise function is executed.
By operating the inter-vehicle time changeover switch 44 by the driver in the “CRUISE READY” state, the target inter-vehicle time can be set to a desired value (long, medium, or short).

FIG. 12 shows a screen display when a cruise is set, in which there is no preceding vehicle. (A)
Then, the own vehicle display 41a, the set target inter-vehicle time display 41
b, a set vehicle speed display 41c is shown, in which the target inter-vehicle time (control target inter-vehicle time) is set to be long. (B)
Is a case where the target inter-vehicle time is medium, and the length is shorter than the case where it is long. (C) is a case where the target inter-vehicle time is set to be short, and the length is further shorter than that in the middle case. In this way, by displaying the target inter-vehicle time by the length, the driver can easily grasp the current setting of the target inter-vehicle time. The target inter-vehicle time can be set at any stage, but preferably has three stages of long, medium and short as described above. Specifically, the driver's choice is made based on the average value determined from the actual vehicle flow in the market and the inter-vehicle time before and after the average value. As a result, differences among drivers can be absorbed to some extent, and differences due to differences in traffic flow, road environment, fatigue, and the like can be absorbed by the same driver.

In FIG. 12, when the driver continues to raise the cruise control switch 18, the number on the set vehicle speed display 41c increases and the own vehicle speed also increases.
If the operation of keeping the cruise control switch down continues, the number of the set vehicle speed display 41c decreases and the own vehicle speed also decreases. However, since the set vehicle speed has a strong meaning to inform the driver of the acceleration limit, while the own vehicle is accelerating. It is also preferable to perform the set vehicle speed display 41c only. Specifically, the set vehicle speed display 41c is performed only when the engine ECU 14 detects the acceleration state of the own vehicle. Thereby, the display amount can be reduced to avoid confusion with the speed display of the meter.

FIG. 13 shows an example of display when the preceding vehicle is detected from the state shown in FIG. 12 to perform inter-vehicle cruise (follow-up running). (A) is a case where the target inter-vehicle time is “long”, and the detected preceding vehicle display 41d is newly displayed. By displaying the target inter-vehicle time display 41b between the preceding vehicle display 41d and the own vehicle display 41a, the driver can easily recognize that the vehicle is following the preceding vehicle while controlling the inter-vehicle distance.
(B) corresponds to the case where the inter-vehicle time is “medium”, which corresponds to the target inter-vehicle time being shorter than the case of “long”, and the display position of the detected preceding vehicle is closer to the host vehicle display 41a. Position. (C) is a case where the target inter-vehicle time is "short", and the position of the preceding vehicle display 41d is set closer to the own vehicle display 41a in response to the further reduction of the target inter-vehicle time. doing. In (A) to (C), it should be noted that the position of the preceding vehicle display 41d has changed. Needless to say, the driver can operate the inter-vehicle time switch 44 to switch the inter-vehicle time (from long to medium, or from medium to short, or from short to long) even during inter-vehicle cruise (follow-up traveling). Each time the driver switches the inter-vehicle time, the target inter-vehicle time display 41b also changes.

In FIG. 13, the preceding vehicle display 41b
Can be changed according to the type of the preceding vehicle to be detected. The type of the preceding vehicle may be determined by calculating the horizontal width and vertical width of the object from the scan data obtained by the laser radar 10 and comparing the shape previously stored inside the sensor with the obtained data. . FIG. 14 shows an example in which the preceding vehicle display 41d is changed according to the type of the preceding vehicle. (A) is for a large truck, (B) is for a motorcycle, and (C) is light. It is the case of a car. Since the inter-vehicle time at which the driver feels comfortable may differ depending on the type of the preceding vehicle, it is also preferable to change the target inter-vehicle time according to the type of the preceding vehicle.

Further, in FIG. 13, when the detected preceding vehicle is continuously stopped (for example, a parked vehicle), the preceding vehicle display 41d is not displayed because it is not regarded as the preceding vehicle to be followed first. However, when the vehicle that has been continuously detected as the preceding vehicle stops, it is preferable that this vehicle is also continuously displayed as the preceding vehicle. In order to newly determine a vehicle that has been continuously detected as a preceding vehicle as a stopped vehicle,
For example, assuming that Vn is the vehicle speed and β is a constant (0 ≦ β <1),

It is preferable that a threshold vehicle speed Vth is defined by Vth = Vn · β, and when the vehicle speed falls below the threshold vehicle speed, it is determined that the vehicle is stopped and an approach warning is given.

FIG. 15 is a display example when the preceding vehicle does not exist and the vehicle shifts to the constant speed running from the state shown in FIG. 13. The preceding vehicle display 41d disappears and the own vehicle display 41a and the target inter-vehicle time display 41b are set. A vehicle speed display 41 is shown. As described above, the engine ECU 18 gradually accelerates the own vehicle until the vehicle speed reaches the set vehicle speed. If the preceding vehicle is detected during that time, the process shifts to inter-vehicle cruise (follow-up running) again.

FIG. 16 shows a display when it is difficult to detect the preceding vehicle because the front of the laser radar 10 is dirty.
The message "Laser dirt: radiant dirt" is displayed. Dirt on the front surface of the laser radar 10 can be detected by providing a photodetector for detecting the reflected laser light from the front surface and detecting whether or not the reflected light has exceeded a predetermined value. In this case, the laser radar 10 outputs a laser dirt signal to the engine ECU 14. Upon receiving this signal, the engine ECU 14 outputs an alarm sound “pawn” from the alarm buzzer 32, turns on the alarm lamp 42, cancels the cruise function, and displays the above message on the display 41. When this message is displayed, the driver turns off the main switch 18 of the cruise control switch 18.
Then, after cleaning the front surface of the laser, the laser may be set again.

FIG. 17 shows a display when the wiper is activated during rainy weather, when the ECT is set to the snow mode, or when strong light such as sunlight is received from the front to make it difficult to detect the preceding vehicle. A message is displayed. Also in this case, the engine ECU 14 outputs an alarm sound and outputs an alarm short
Turn on 2 to cancel the cruise function. Even when this message is displayed, the driver may turn off the main switch 18a, wait for the weather and the like to recover, and then set it again.

FIG. 18 shows a display in the case of a cruise system abnormality other than those shown in FIGS. 16 and 17 (for example, a failure of the inter-vehicle control ECU 12) or in the case where the optical axis deviation of the laser sensor is automatically detected. Is displayed. Also in this case, the engine ECU 14
Outputs an alarm sound and turns on the alarm lamp 42 to cancel the cruise function.

FIG. 19 shows that the main switch 18a is turned off.
Is displayed immediately after the cruise function is cancelled, and a message "CRUISE OFF" is displayed to surely inform the driver that the cruise function has been cancelled. Note that this message display disappears after a predetermined time (for example, 6 seconds), and is switched to another screen display other than the cruise state.

FIG. 20 is a flowchart showing the above-described fail display process. First, engine EC
U14 determines whether the main switch (cruise control switch) is ON (S301).
If the answer is N, it is determined whether or not the above-mentioned various failures exist (S302). If no failure exists, control is executed (S303), and it is determined again whether a failure has occurred (S304). When a failure occurs, the system is canceled (S305) and a fail display is performed (S306). When it is determined in S302 that there is a failure, a fail display is performed similarly. Then, fail display is continued until the main switch is turned off (S307, S308).

FIG. 21 shows a display when the driver operates the function switch 44b of the inter-vehicle time switch 44 when the cruise state is displayed. When the function switch 44b is operated, the screen is switched from the cruise state display to another screen (a warning screen, a drive monitor for fuel efficiency, etc.). In the figure, the screen showing the fuel economy state “Heykin 10km
/ L "is displayed. Then, when a change occurs in the cruise state in this screen state, the screen automatically switches again to the cruise state screen as described above.

FIG. 22 shows screen switching. 12A shows a control start state, in which the target inter-vehicle time, the own vehicle display, and the set vehicle speed display are shown as in FIG. When the driver operates the function switch 44b in this state, the screen is switched to a drive monitor screen for displaying fuel efficiency as shown in FIG. The fuel efficiency here is based on engine EC
This is calculated in U14. Then, when a change occurs in the cruise state, that is, the inter-vehicle control state in this screen state (here, it is assumed that the preceding vehicle is newly detected), the engine ECU 14 switches to the screen of (C). (C)
Is a display similar to that shown in FIG. As a result, it is possible to reliably notify the driver that the preceding vehicle has changed from none to yes.

FIG. 23 shows a display when the optical axis of the laser radar is adjusted at the time of shipment from the factory. The deviation of the optical axis from the center is displayed as “L2.0 ° D1.0 °”, etc.
The operator can surely recognize that the optical axis is being adjusted.

As described above, the preceding vehicle figure and the control vehicle-to-vehicle diagram are displayed on the display 40 so that the driver can know at a glance the state of the vehicle-to-vehicle control, and even if other states are being displayed. When the inter-vehicle control state changes, the screen is automatically switched to the original screen, so that the driver can reliably recognize the current control state and run smoothly.
In the present embodiment, the target inter-vehicle time is increased (increased) and the color of the screen is changed at night, but the form of the inter-vehicle time display can be changed as shown in FIG. (The figure is hollowed out).

[0055]

As described above, according to the present invention,
Let the driver know the control target distance at a glance,
The control state can be more reliably provided to the driver.

[Brief description of the drawings]

FIG. 1 is an overall configuration block diagram of an embodiment of the present invention.

FIG. 2 is a configuration block diagram of a laser radar according to the present embodiment.

FIG. 3 is an explanatory diagram illustrating a scan range of the laser radar according to the embodiment.

FIG. 4 is a layout view of the vicinity of a steering wheel according to the embodiment.

FIG. 5 is an enlarged view of a cruise control switch.

FIG. 6 is an enlarged view of an inter-vehicle time switch.

FIG. 7 is an enlarged view of a display.

FIG. 8 is an overall processing flowchart of the present embodiment.

FIG. 9 is a processing flowchart of an inter-vehicle cruise according to the present embodiment.

FIG. 10 is an explanatory diagram illustrating a control state according to the present embodiment.

FIG. 11 is a display explanatory diagram of a standby state.

FIG. 12 is an explanatory diagram of an inter-vehicle time display when there is no preceding vehicle.

FIG. 13 is an explanatory diagram of an inter-vehicle time display when there is a preceding vehicle.

FIG. 14 is an explanatory diagram of an inter-vehicle time display according to the type of preceding vehicle.

FIG. 15 is an explanatory diagram of a display in the case where there is a change in the presence or absence of a preceding vehicle.

FIG. 16 is an explanatory diagram of display in the case of laser radar contamination.

FIG. 17 is a display explanatory diagram in the case of bad weather.

FIG. 18 is a display explanatory diagram in the case of a system abnormality.

FIG. 19 is an explanatory diagram of display when a main switch is off.

FIG. 20 is a processing flowchart of fail display.

FIG. 21 is an explanatory diagram of a warning screen display at the time of screen switching.

FIG. 22 is an explanatory diagram of screen switching when the inter-vehicle control state changes while another vehicle state is being displayed.

FIG. 23 is an explanatory diagram of a display when the optical axis of the laser radar is adjusted.

FIG. 24 is an explanatory diagram of display at night.

[Explanation of symbols]

10 laser radar, 12 vehicle control ECU, 14 engine ECU, 16 ECT mode switch, 18 cruise control switch, 20 stop lamp switch, 22 vehicle speed sensor, 24 electronic throttle actuator, 26 ECT solenoid, 28 VSC-E
CU, 30 steering sensor, 32 alarm buzzer,
34 body multiplex communication, 36 tail lamp switch,
38 wiper switch, 40 display, 44 inter-vehicle time switch.

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁶ Identification code FI G08G 1/16 G08G 1/16 A

Claims (14)

[Claims] 1. An on-vehicle display device for displaying a preceding vehicle graphic and a control headway diagram, comprising: display means for changing a display position of the preceding vehicle graphic or a control headway diagram in accordance with a control target headway. apparatus. 2. The in-vehicle display device according to claim 1, wherein the display means displays the length between the control vehicles and changes the length in accordance with the target vehicle distance. 3. The vehicle control system according to claim 1, wherein the display means further displays the own vehicle graphic and arranges the control headway diagram between the preceding vehicle graphic and the own vehicle graphic.
The in-vehicle display device according to any one of the above. 4. The vehicle according to claim 1, further comprising a determination unit configured to determine a vehicle type of the preceding vehicle, wherein the display unit displays the preceding vehicle graphic according to the vehicle type determined by the determination unit. 4. The in-vehicle display device according to any one of 2, 3 and 4. 5. The on-vehicle display device according to claim 1, wherein said display means further displays a target vehicle speed during constant-speed running control during acceleration. 6. The display device according to claim 3, wherein the display means is a three-dimensional display device.
By displaying the blocks, the length between the control vehicles is displayed,
The display according to claim 1, wherein the two blocks are displayed to display the inside of the controlled vehicle, and the one block is displayed to display a short distance between the controlled vehicles. An in-vehicle display device according to any one of the above. 7. The display means hides the preceding vehicle figure when the preceding vehicle is continuously stopped, and displays the preceding vehicle when the preceding vehicle shifts from the running state to the stopped state. 2. The method according to claim 1, wherein a graphic is displayed.
The vehicle-mounted display device according to any one of 2, 3, 4, 5, and 6. 8. The system according to claim 1, wherein the display means displays the control headway diagram on the longest side at the start of system control. In-vehicle display device. 9. The control means according to claim 1, wherein said display means enlarges said control headway diagram when the environment around the vehicle deteriorates. In-vehicle display device. 10. An in-vehicle display device having display means for switching and displaying a vehicle state for controlling a headway between a preceding vehicle and another vehicle state, wherein the display means is displaying the other vehicle state. Even if there is a change in the inter-vehicle control state, the on-vehicle display device switches and displays the vehicle state to be controlled by the inter-vehicle control. 11. The in-vehicle display device according to claim 10, wherein said display means switches and displays the cancellation information when a state to be canceled occurs. 12. The in-vehicle display device according to claim 10, wherein the display means switches and displays a dirt on a sensor for detecting a preceding vehicle when the dirt occurs. 13. The in-vehicle display device according to claim 11, wherein the display unit switches and displays the cancel information when the ECT mode is set to the snow mode. 14. The in-vehicle display device according to claim 10, wherein said display means further displays an adjustment process when adjusting the center axis of the radar.