WO2015045112A1

WO2015045112A1 - Driving-assistance apparatus, control method, program, and storage medium

Info

Publication number: WO2015045112A1
Application number: PCT/JP2013/076321
Authority: WO
Inventors: 淳大杉; 佳▲其▼ 陳; 宮坂　峰輝
Original assignee: パイオニア株式会社
Priority date: 2013-09-27
Filing date: 2013-09-27
Publication date: 2015-04-02

Abstract

A driving-assistance apparatus (10) has a navigation device (1), a heads-up display (2) for displaying a guide vehicle image (Ivc) overlaid on on the landscape forward of the vehicle (Ve), and a beacon receiver (3). A system controller (20) of the navigation device (1) acquires the travel speed of the vehicle (Ve) from a distance sensor (16), and receives driving assistance information (Ia) from a beacon transmitter (11) provided on the exterior of the vehicle (Ve) via the beacon receiver (3). The system controller (20) varies the size and position of the guide vehicle image (Ivc) on the basis of the acquired driving speed and the received driving assistance information (Ia).

Description

Driving support device, control method, program, and storage medium

The present invention relates to a display technology for driving support.

Conventionally, for the purpose of driving assistance, a technology for displaying an image of a virtual vehicle ahead for guidance on a real landscape is known. For example, in Patent Document 1, when guiding a vehicle to a set destination, a virtual guidance vehicle that travels ahead of the vehicle and guides the vehicle to the destination by taking a predetermined inter-vehicle distance according to the vehicle speed, There is known a route guidance device that superimposes and displays on a real landscape visually recognized by a driver of a vehicle and changes the display position of a virtual guidance vehicle so that the inter-vehicle distance increases as the vehicle speed increases. Patent Document 2 discloses a technique for extracting speed limit information from a front landscape photographed by a video camera and performing route guidance using a virtual guided vehicle displayed on the front window while complying with the speed limit. Yes.

Japanese Patent Laid-Open No. 2005-127995 JP 2001-141495 A

In

Patent Documents

1 and 2, there is no disclosure or suggestion about performing guidance in consideration of fuel consumption when driving assistance is performed by displaying a virtual guidance vehicle. Accordingly, the main object of the present invention is to provide a driving support device capable of suitably displaying a virtual guided vehicle according to the traveling state.

The invention described in claim is a driving support device, wherein display means for displaying an image of a virtual leading vehicle superimposed on a front landscape of the vehicle, acquisition means for acquiring a traveling speed of the vehicle, A receiving means for receiving information relating to driving assistance from the outside of the vehicle, a traveling speed obtained by the obtaining means, and a size of the image of the leading vehicle based on the information relating to driving assistance received by the receiving means, and And a display control means for changing the position.

The invention described in the claims is executed by a driving support device that performs driving support for a driver of a vehicle and controls display means for displaying an image of a virtual leading vehicle superimposed on a landscape in front of the vehicle. An acquisition step of acquiring the travel speed of the vehicle, a reception step of receiving information relating to driving assistance from the outside of the vehicle, a travel speed acquired by the acquisition means, and the reception step And a display control step of changing the size and position of the image of the leading vehicle based on the information related to driving assistance received by the vehicle.

The invention described in the claims is a program executed by a computer that provides driving assistance to a driver of a vehicle and controls display means for displaying an image of a virtual leading vehicle on the scenery ahead of the vehicle. Acquisition means for acquiring the traveling speed of the vehicle, receiving means for receiving information relating to driving assistance from outside the vehicle, traveling speed acquired by the acquiring means, and driving received by the receiving means The computer is caused to function as display control means for changing the size and position of the image of the leading vehicle based on information relating to support.

1 shows a schematic configuration of a driving support system. 1 shows a schematic configuration of a navigation device. 1 shows a schematic configuration of a head-up display. The relationship between the position of each traffic light A to D and the time zone of the red signal of each traffic light A to D and the travel distance from the current position when traveling at the recommended speed and time are shown. A front landscape viewed through a combiner when the speed difference between the traveling speed and the recommended speed is within a predetermined value is shown. It shows the forward scenery visually recognized through the combiner when the traveling speed is lower than the predetermined value with respect to the recommended speed. It shows a forward scenery visually recognized through a combiner when the traveling speed is higher than a predetermined value with respect to the recommended speed. When the vehicle is guided to the recommended lane, the forward scenery visually recognized through the combiner is shown. The front scenery visually recognized via a combiner when a front vehicle exists in the position which should display a guidance vehicle image is shown.

In one preferred embodiment of the present invention, a driving support device that provides driving support to a driver of a vehicle includes a display unit that displays an image of a virtual leading vehicle on the front landscape of the vehicle, Acquisition means for acquiring the traveling speed of the vehicle, receiving means for receiving information relating to driving assistance from outside the vehicle, traveling speed obtained by the obtaining means, and information relating to driving assistance received by the receiving means And display control means for changing the size and position of the image of the leading vehicle.

The driving support apparatus includes a display unit, an acquisition unit, a reception unit, and a display control unit. The display means displays a virtual leading vehicle image superimposed on the front landscape of the vehicle. The acquisition means acquires the traveling speed of the vehicle. The receiving means receives information related to driving support from the outside of the vehicle. The display control means changes the size and position of the image of the leading vehicle based on the travel speed acquired by the acquisition means and the information related to driving assistance received by the reception means. According to this aspect, the driving support device can favorably support driving of the vehicle so as to reduce energy loss as much as possible.

In one aspect of the driving support apparatus, the receiving unit relates to the information related to the driving support, the distance to the traffic signal existing in front of the vehicle and the information related to the time when the traffic signal shows a green light, or the recommended traveling speed. Receive information. According to this aspect, the driving support device can appropriately recognize the recommended traveling speed and assist the driving of the vehicle so that the traveling speed becomes the recommended traveling speed.

In another aspect of the driving support apparatus, the display control unit is configured to control the leading vehicle according to a speed difference between the traveling speed acquired by the acquiring unit and a recommended traveling speed based on the information related to the driving support. Change the size and position of the image. According to this aspect, the driving support device can appropriately display the image of the leading vehicle so that the difference between the traveling speed and the recommended traveling speed is reduced.

In another mode of the driving support device, the display control unit displays the image of the mode in which the brake lamp of the leading vehicle is turned on when the travel speed is higher than the recommended travel speed by a predetermined value or more. Display on the means. According to this aspect, the driving support device can make the driver appropriately recognize that it is necessary to reduce the traveling speed.

In another aspect of the driving support apparatus, the receiving unit receives information on a recommended travel lane of a road on which the vehicle is traveling as information on the driving support.

In another aspect of the driving support device, the display control unit may be configured such that when the recommended travel lane of the road on which the vehicle is traveling and the lane on which the vehicle is traveling are different from each other when the vehicle is traveling. The position of the image of the leading vehicle is moved to a position overlapping the recommended travel lane. According to this aspect, the driving support device can favorably support driving of the vehicle so that the vehicle travels in the recommended travel lane.

In another aspect of the driving support device, the display control unit blinks the blinker of the leading vehicle in the direction of movement when moving the position of the image of the leading vehicle to a position overlapping the recommended travel lane. The displayed image is displayed on the display means. According to this aspect, the driving support device can more suitably support the driving of the vehicle so that the vehicle travels in the recommended travel lane.

In another aspect of the driving support apparatus, the driving support apparatus further includes detection means for detecting a position of a forward vehicle that travels in front of the host vehicle and is closest to the host vehicle from a landscape in front of the vehicle, The display control means is configured to detect the front position where the display position of the leading vehicle image set based on the travel speed acquired by the acquisition means and the information related to driving assistance received by the reception means is detected by the detection means. When it overlaps with the position of the vehicle, the image of the leading vehicle is not displayed. Thereby, the driving assistance device can prevent a decrease in visibility due to the image of the leading vehicle overlapping the preceding vehicle when the preceding vehicle is a suitable driving target.

In another aspect of the driving support apparatus, the driving support apparatus includes a communication unit that performs inter-vehicle communication with surrounding vehicles, and the display control unit travels in front of the host vehicle through the inter-vehicle communication, and Whether or not to display the image of the leading vehicle is switched based on the information about the type of device that provides guidance for the preceding vehicle acquired from the preceding vehicle closest to the vehicle. According to this aspect, the driving support device can accurately determine whether or not the preceding vehicle travels at the recommended traveling speed, and can appropriately switch the presence or absence of the display of the image of the leading vehicle.

In another aspect of the driving support apparatus, the display control unit causes the display unit to display an image that emphasizes the preceding vehicle when the image of the leading vehicle is not displayed. According to this aspect, the driving support device can cause the driver to appropriately recognize that the preceding vehicle is an indication of driving.

In another aspect of the driving support apparatus, the display unit displays an image of a virtual leading vehicle on an image showing a front view of the vehicle. Also according to this aspect, the driving assistance device can favorably support driving of the vehicle so as to reduce energy loss as much as possible.

In another preferred embodiment of the present invention, there is provided a driving support device that performs driving support for a driver of a vehicle and controls a display unit that displays a virtual leading vehicle image superimposed on a landscape in front of the vehicle. A control method to be executed, an acquisition step of acquiring the travel speed of the vehicle, a reception step of receiving information related to driving support from the outside of the vehicle, a travel speed acquired by the acquisition means, and the reception A display control step of changing a size and a position of the image of the leading vehicle based on information relating to driving assistance received in the step. By using this control method, the driving support device can favorably support driving of the vehicle so as to reduce energy loss as much as possible.

In another preferred embodiment of the present invention, a computer that performs driving support for a driver of the vehicle and controls display means for displaying an image of a virtual leading vehicle on the front landscape of the vehicle is executed. An acquisition means for acquiring the traveling speed of the vehicle, a receiving means for receiving information relating to driving support from the outside of the vehicle, a traveling speed acquired by the acquiring means, and received by the receiving means Based on the information related to driving assistance, the computer is caused to function as display control means for changing the size and position of the image of the leading vehicle. By executing this program, the computer can favorably support the driving of the vehicle so as to reduce the energy loss as much as possible. Preferably, the program is stored in a storage medium.

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

[System configuration]
FIG. 1 illustrates a configuration example of a driving support system 100 according to the embodiment. As illustrated in FIG. 1, the driving support system 100 includes a driving support device 10 mounted on a vehicle Ve, a beacon transmitter 11, and a management server 12. The driving support device 10 includes a navigation device 1, a head-up display 2, and a beacon receiver 3. The beacon transmitter 11 is connected to the management server 12 by wire or wireless.

The navigation device 1 has a function of performing route guidance from the departure point to the destination. The navigation device 1 can be a mobile phone such as a stationary navigation device installed in the vehicle Ve, a PND (Portable Navigation Device), or a smartphone.

The head-up display 2 generates an image (also referred to as “guidance image”) that displays map information including the current position, route guidance information, travel speed, and other guidance information for assisting driving, and the guidance image is displayed on the driver. This is a device that allows a user to visually recognize a virtual image from the eye position (eye point). In the present embodiment, the head-up display 2 displays a virtual vehicle image (also referred to as “guided vehicle image Ivc”) for guiding the vehicle Ve on a road in a forward landscape. Various information necessary for displaying the guidance image is supplied from the navigation device 1 to the head-up display 2.

The beacon receiver 3 is, for example, an optical beacon receiver or a radio beacon receiver, and receives information related to driving support (also referred to as “driving support information Ia”) from a beacon transmitter 11 described later. Here, the driving support information Ia includes, for example, information on timing at which one or a plurality of traffic signals switch signals (also simply referred to as “signal information”), information on real-time traffic jam conditions, and information on traffic regulation. The beacon receiver 3 transmits the received driving support information Ia to the navigation device 1.

The beacon transmitter 11 is, for example, an optical beacon transmitter or a radio beacon transmitter, and is provided for each one or a plurality of traffic signals. The beacon transmitter 11 transmits the driving support information Ia toward a predetermined area determined for each beacon transmitter 11 based on the control of the management server 12. The management server 12 generates and manages driving support information Ia to be transmitted by each beacon transmitter 11.

If the navigation device 1 is a mobile phone such as a smartphone, the navigation device 1 may be held by a cradle or the like. In this case, the navigation device 1 may exchange information with the head-up display 2 via a cradle or the like. Further, instead of the configuration shown in FIG. 1, a function corresponding to the navigation device 1 may be incorporated in the head-up display 2.

[Configuration of navigation device]
FIG. 2 shows the configuration of the navigation device 1. As shown in FIG. 2, the navigation device 1 includes a self-supporting positioning device 13, a camera 17, a GPS receiver 18, a system controller 20, a disk drive 31, a data storage unit 36, a communication interface 37, a communication device 38, an interface 39, A display unit 40, an audio output unit 50, and an input device 60 are provided.

The self-supporting positioning device 13 includes an acceleration sensor 14, an angular velocity sensor 15, and a distance sensor 16. The acceleration sensor 14 is made of, for example, a piezoelectric element, detects the acceleration of the vehicle Ve, and outputs acceleration data. The angular velocity sensor 15 is composed of, for example, a vibrating gyroscope, detects the angular velocity of the vehicle Ve when the direction of the vehicle Ve is changed, and outputs angular velocity data and relative azimuth data. The distance sensor 16 measures a vehicle speed pulse composed of a pulse signal generated with the rotation of the wheel of the vehicle Ve.

The camera 17 is fixed toward the front of the vehicle Ve, and generates an image of the front of the vehicle Ve taken at predetermined or indefinite intervals. The camera 17 supplies the generated image to the system controller 20.

The GPS receiver 18 receives radio waves 19 carrying downlink data including positioning data from a plurality of GPS satellites. The positioning data is used to detect the absolute position (also referred to as “current position”) of the vehicle Ve from latitude and longitude information.

The system controller 20 includes an interface 21, a CPU (Central Processing Unit) 22, a ROM (Read Only Memory) 23, and a RAM (Random Access Memory) 24, and controls the entire navigation device 1. For example, the system controller 20 sets a destination or waypoint based on an input to the input device 60, and performs processing necessary for route guidance to the set destination or waypoint. Further, the system controller 20 performs display control of the head-up display 2. In particular, in this embodiment, the system controller 20 determines the display position and size of the guided vehicle image Ivc based on the traveling speed measured by the distance sensor 16 and the like.

The interface 21 performs an interface operation with the acceleration sensor 14, the angular velocity sensor 15, the distance sensor 16, and the GPS receiver 18. From these, vehicle speed pulses, acceleration data, relative azimuth data, angular velocity data, GPS positioning data, absolute azimuth data, and the like are input to the system controller 20. The CPU 22 controls the entire system controller 20. The ROM 23 includes a nonvolatile memory (not shown) in which a control program for controlling the system controller 20 is stored. The RAM 24 stores various data such as route data preset by the user via the input device 60 so as to be readable, and provides a working area to the CPU 22.

A system controller 20, a disk drive 31 such as a CD-ROM drive or a DVD-ROM drive, a data storage unit 36, a communication interface 37, a display unit 40, an audio output unit 50 and an input device 60 are mutually connected via a bus line 30. It is connected to the.

The disk drive 31 reads and outputs content data such as music data and video data from a disk 33 such as a CD or DVD under the control of the system controller 20. The disk drive 31 may be either a CD-ROM drive or a DVD-ROM drive, or may be a CD and DVD compatible drive.

The data storage unit 36 is configured by, for example, an HDD or the like, and stores various data used for navigation processing such as map data. The map data includes road data represented by links corresponding to roads and nodes corresponding to road connecting portions (intersections), facility information about each facility, and the like.

The communication device 38 is composed of, for example, an FM tuner, a beacon receiver, a mobile phone, a dedicated communication card, and the like, and via a communication interface 37, traffic jams distributed from a VICS (registered trademark, Vehicle Information Communication System) center Receive road traffic information such as traffic information and other information. In addition, the communication device 38 receives the driving support information Ia from the beacon receiver 3. Further, the communication device 38 transmits various information necessary for displaying the guide image to the head-up display 2.

The display unit 40 displays various display data on a display device such as a display under the control of the system controller 20. Specifically, the system controller 20 reads map data from the data storage unit 36. The display unit 40 displays the map data read from the data storage unit 36 by the system controller 20 on the display screen. The display unit 40 includes a graphic controller 41 that controls the entire display unit 40 based on control data sent from the CPU 22 via the bus line 30 and a memory such as a VRAM (Video RAM), and can display image information that can be displayed immediately. A buffer memory 42 that temporarily stores, a display control unit 43 that controls display of a display 44 such as a liquid crystal or a CRT (Cathode Ray Tube) based on image data output from the graphic controller 41, and a display 44 are provided. . The display 44 functions as an image display unit, and includes, for example, a liquid crystal display device having a diagonal size of about 5 to 10 inches and is mounted near the front panel in the vehicle.

The audio output unit 50 performs D / A (Digital to Analog) conversion of audio digital data sent from the CD-ROM drive 31, DVD-ROM 32, RAM 24, or the like via the bus line 30 under the control of the system controller 20. A D / A converter 51 to perform, an amplifier (AMP) 52 that amplifies the audio analog signal output from the D / A converter 51, and a speaker 53 that converts the amplified audio analog signal into sound and outputs the sound into the vehicle. It is prepared for.

The input device 60 includes keys, switches, buttons, a remote controller, a voice input device, and the like for inputting various commands and data. The input device 60 is disposed around the front panel and the display 44 of the main body of the in-vehicle electronic system mounted in the vehicle. When the display 44 is a touch panel system, the touch panel provided on the display screen of the display 44 also functions as the input device 60. The input device 60 receives an input for the system controller 20 to set a destination and a waypoint.

The distance sensor 16 and the system controller 20 are examples of “acquisition means” in the present invention, and the system controller 20 and the communication device 38 are examples of “reception means” and “communication means” in the present invention. The controller 20 is an example of “display control means” and “detection means” in the present invention.

[Configuration of head-up display]
FIG. 3 schematically shows a state in which the head-up display 2 is installed in the vehicle interior. FIG. 3 is a side view of the driver's seat of the vehicle, and the driver is sitting on the seat in the passenger compartment. Above the driver's head is a roof (sheet metal) 27 that forms the outer frame of the vehicle, and below that is a ceiling 28 that is the interior of the passenger compartment. In front of the driver, there is a windshield 25 and a sun visor 29 of the vehicle.

The head-up display 2 is installed diagonally upward in front of the driver. The head-up display 2 mainly includes a main body portion 4 in which the light source unit 6 is accommodated, a combiner 5, a screen portion 7, a connection member 8, and a clip portion 9.

The light source unit 6 accommodated in the main body unit 4 emits light constituting an intermediate image indicating information to be visually recognized by an observer toward the screen unit 7. The light source unit 6 includes a light source, a control unit that controls the output of the light source, and a communication unit for receiving various information necessary for emitting light constituting the intermediate image from the navigation device 1.

The combiner 5 projects the light constituting the intermediate image generated by the screen unit 7 and partially reflects the projected light to the driver's eye point “Pe”, thereby giving the virtual image “Iv” to the observer. An optical member to be visually recognized. Note that the tip of the arrow in the virtual image Iv indicates the upward direction. The display light reflecting surface of the combiner 5 has a substantially concave shape. Thereby, the combiner 5 displays the virtual image Iv in an enlarged manner. The combiner 5 is an example of the “display unit” in the present invention.

The connecting member 8 extends from the main body 4 in the direction of the windshield 25 and supports the combiner 5. The connection member 8 is, for example, a pair of arms, and one end is attached to each side surface of the main body 4, and the combiner 5 is held between the other ends.

The screen unit 7 is a reflective optical member that generates an intermediate image, and functions as an exit pupil magnifier (EPE). In the screen unit 7, for example, a microlens array in which a plurality of microlenses are arranged is formed on a surface on which light from the light source unit 6 is incident, and a reflection surface is formed on a surface opposite to the microlens array. Is done. In this embodiment, the screen portion 7 is a reflective optical member, but may be a transmissive optical member as another example. In this case, the screen unit 7 is provided between the light source unit 6 and the combiner 5, and the light source unit 6 emits light in the direction in which the combiner 5 exists.

The clip portion 9 is attached to the upper surface of the main body portion 4 facing the ceiling 28, and the main body portion 4 is attached to the sun visor 29 with the sun visor 29 sandwiched therebetween. The clip portion 9 is a plate-like elastic body that is curved in a substantially J shape, and has an elastic force that biases the sun visor 29 in the direction of nipping.

[Display of guided vehicle image]
Next, display control of the guided vehicle image Ivc executed by the system controller 20 will be described. The system controller 20 is based on signal information included in the driving support information Ia received by the beacon receiver 3 and is also referred to as a travel speed (also referred to as “recommended speed VR”) suitable for reducing the number of stops and acceleration / deceleration of the vehicle Ve. ) And the display mode of the guided vehicle image Ivc is determined according to the difference between the recommended speed VR and the traveling speed of the vehicle Ve. Thereby, the system controller 20 suitably displays the guided vehicle image Ivc on the head-up display 2 so that the traveling speed of the vehicle Ve becomes the recommended speed VR.

(1) Recognition of recommended speed VR First, a method for recognizing the recommended speed VR will be described. Here, an example in which the system controller 20 calculates the recommended speed VR based on the signal information included in the driving support information Ia will be described.

First, when the vehicle Ve passes in the vicinity of the beacon transmitter 11, the beacon receiver 3 has signal information regarding one or more nearest traffic signals (also referred to as “target traffic signals”) existing in the traveling direction of the vehicle Ve. Is received from the beacon transmitter 11 and supplied to the system controller 20. For example, the signal information described above includes information about the distance from the vicinity of the beacon transmitter 11 to each target signal and the time when each target signal becomes a red signal and / or a blue signal within a predetermined time from the current time. It is. In addition to this, the signal information may further include information on the speed limit of the section between the target traffic signals.

Then, after receiving the driving support information Ia, the system controller 20 can continuously pass the blue signal while avoiding acceleration / deceleration as much as possible based on the signal information included in the driving support information Ia supplied from the beacon receiver 3. A recommended speed VR, which is a traveling speed, is calculated. In this case, the system controller 20 calculates the recommended speed VR by a known calculation method described in JP 2012-133624 A, for example. Note that the above publication discloses a technique for calculating a recommended speed at which an intersection where the traffic signal exists can be passed with a green signal by receiving information on the distance to the traffic signal and the time of the green signal of the traffic signal.

FIG. 4 shows the relationship between the position of the traffic signals A to D as the target traffic signals and the red signal time zone of each traffic signal A to D (refer to the rectangular portion), and the travel distance from the current position when traveling at the recommended speed VR. And the time (see graph G1).

As shown in FIG. 4, the graph G1 does not overlap with the red signal time zone of each of the traffic signals A to D. Therefore, when the vehicle Ve travels at the recommended speed VR, the signal display when each of the traffic lights A to D passes is a blue signal, and traveling with low fuel consumption with less energy loss is realized. In this way, the recommended speed VR is set to a traveling speed at which the target traffic light can pass the green light continuously while avoiding acceleration / deceleration as much as possible.

Note that, instead of the example of calculating the recommended speed VR, when the information of the recommended speed VR is already included in the signal information of the driving support information Ia, the system controller 20 refers to the signal information of the driving support information Ia. By doing so, the recommended speed VR may be recognized.

(2) Display Mode of Guided Vehicle Image Ivc Next, the display mode of the guided vehicle image Ivc will be described with reference to FIGS. As will be described later, the system controller 20 determines the display mode of the guided vehicle image Ivc based on the speed difference between the travel speed of the vehicle Ve and the recommended speed VR (also referred to as “speed difference dV”).

(2-1) When the speed difference dV is equal to or smaller than a predetermined value First, a case where the speed difference dV is equal to or smaller than a predetermined value will be described. The above-mentioned predetermined value is set to, for example, an upper limit value of the speed difference dV that can pass through the intersections of the target traffic lights continuously when the signal is green. In this case, the system controller 20 displays the guided vehicle image Ivc on the head-up display 2 so as to maintain the current traveling speed.

FIG. 5 shows a front view visually recognized through the combiner 5 when the speed difference dV is within a predetermined value. In this case, the system controller 20 determines that the traveling speed of the vehicle Ve is within the range of speeds that can be passed through the intersections where the target traffic signal is continuously green, and the guided vehicle image Ivc is relative to the vehicle Ve. It is displayed superimposed on the front scenery so that it can be seen traveling forward by an appropriate distance. Preferably, the system controller 20 may change the above-mentioned appropriate distance according to the traveling speed of the vehicle Ve. For example, the system controller 20 sets the above-described appropriate distance to a distance that will be reached after 2 seconds at the current traveling speed. Further, the system controller 20 causes the head-up display 2 to display a green character image 75 </ b> A composed of the character string “GOOD SPEED”. Thereby, the system controller 20 can suitably notify the driver that the traveling speed of the vehicle Ve is a good speed close to the recommended speed VR.

(2-2) Case Where Traveling Speed is Lower than Predetermined Value with respect to Recommended Speed VR Next, a case where the speed difference dV becomes larger than a predetermined value due to the low traveling speed of the vehicle Ve will be described. In this case, the system controller 20 displays the guided vehicle image Ivc on the head-up display 2 so as to recommend an increase in traveling speed.

FIG. 6 shows a front view visually recognized through the combiner 5 when the traveling speed of the vehicle Ve is lower than a predetermined value with respect to the recommended speed VR. In the example of FIG. 6, the system controller 20 displays the guided vehicle image Ivc superimposed on the front scenery so that the guided vehicle image Ivc appears to travel far from the appropriate distance with respect to the vehicle Ve. Specifically, in this case, the system controller 20 displays the guided vehicle image Ivc smaller in the upper position than when the speed difference dV is a predetermined value or less. Thereby, the system controller 20 makes a driver | operator recognize suitably that the traveling speed of the vehicle Ve is lower than the recommended speed VR. Further, the system controller 20 causes the head-up display 2 to display a yellow character image 75 </ b> B composed of the character string “SPEED UP”. Thereby, the system controller 20 can make a driver | operator recognize more clearly that it is necessary to raise the traveling speed of the vehicle Ve.

(2-3) Case Where Traveling Speed is Higher than Predetermined Speed VR A case where the speed difference dV becomes larger than a predetermined value due to the high traveling speed of the vehicle Ve will be described. In this case, the system controller 20 displays the guided vehicle image Ivc on the head-up display 2 so as to recommend a decrease in traveling speed.

FIG. 7 shows a forward scenery visually recognized through the combiner 5 when the traveling speed of the vehicle Ve is higher than a predetermined value with respect to the recommended speed VR. In the example of FIG. 7, the system controller 20 displays the guidance vehicle image Ivc so as to be superimposed on the front scenery so that the guided vehicle image Ivc appears to travel closer than the appropriate distance with respect to the vehicle Ve. Specifically, in this case, the system controller 20 displays the guided vehicle image Ivc larger at the lower position than when the speed difference dV is equal to or less than a predetermined value. Thereby, the system controller 20 makes a driver | operator recognize suitably that the driving speed of the vehicle Ve is higher than the recommended speed VR.

Further, in the example of FIG. 7, the system controller 20 causes the head-up display 2 to display the guided vehicle image Ivc in a state where the left and right brake lamp areas 89 are lit in red. Further, the system controller 20 causes the head-up display 2 to display a red character image 75 </ b> C composed of the character string “SPEED DOWN”. Thus, the system controller 20 changes the colors of the guided vehicle image Ivc and the character images 75A to 75C according to the relationship between the traveling speed and the recommended speed VR. Thereby, the system controller 20 can make a driver | operator recognize suitably that it is necessary to reduce the traveling speed of the vehicle Ve.

Further, from the state of FIG. 5 or FIG. 6, when the traveling speed of the vehicle Ve becomes higher than a predetermined value with respect to the recommended speed VR, the system controller 20 preferably first lights up the guided vehicle image Ivc with the brake lamp lit. It is good to display so that the leading vehicle which the guidance vehicle image Ivc shows may approach the vehicle Ve gradually after that. That is, in this case, the system controller 20 moves the guided vehicle image Ivc to a lower position while gradually increasing it. Thereby, the system controller 20 can make a driver | operator recognize suitably that it is necessary to reduce the traveling speed of the vehicle Ve.

[Response at the sag section]
Next, a display mode of the guided vehicle image Ivc when the vehicle is traveling in the sag portion that is a concave portion extending from the downhill to the uphill on an expressway or the like will be described. Generally, in the sag, when the driver arrives at the concave bottom point (valley bottom) and goes uphill, it is difficult to notice a slow change, so the timing of stepping on the accelerator strongly is delayed, and speed reduction is likely to occur, This causes traffic jams.

In consideration of the above, the system controller 20 provides information on an appropriate driving speed and lanes that are vacant compared to other lanes (also referred to as “recommended lanes”) from the beacon transmitter 11 installed near the sag portion. The included driving support information Ia is received via the beacon receiver 3. Then, the system controller 20 changes the position and size of the guided vehicle image Ivc so as to recommend the lane change to the recommended lane based on the received information and the traveling state of the vehicle Ve.

Here, the processing when changing the lane based on the driving support information Ia will be described. The system controller 20 recognizes the current traveling lane of the vehicle Ve by a known lane recognition technique based on the image supplied from the camera 17. Further, the system controller 20 determines whether or not the recommended lane information is included in the driving support information Ia received from the beacon transmitter 11. Then, the system controller 20 heads up an animation in which the guided vehicle image Ivc changes to the recommended lane when the driving assistance information Ia includes the recommended lane information and the current driving lane is different from the recommended lane. It is displayed on the display 2.

8 (A) and 8 (B) show the forward scenery that is continuously viewed in time series through the combiner 5 when the vehicle Ve is guided to the recommended lane. In the example of FIGS. 8A and 8B, the system controller 20 recognizes that the vehicle Ve is traveling in the left lane of the two left and right lanes, and is a beacon transmitter provided around the sag portion. 11 recognizes that the recommended lane is the right lane based on the driving assistance information Ia received from the vehicle 11. In this case, first, as shown in FIG. 8 (A), the system controller 20 displays the guided vehicle image Ivc in which the right blinker area 90 blinks in a superimposed manner on the left lane. Further, after that, as shown in FIG. 8B, the system controller 20 moves the guided vehicle image Ivc in which the right blinker area 90 blinks so as to overlap the right lane. By doing in this way, the system controller 20 can make a driver | operator suitably visually recognize that it is necessary to change a lane to the right lane, and can guide the vehicle Ve to a recommended lane suitably.

Further, when the system controller 20 receives the driving support information Ia including the recommended traveling speed for avoiding traffic jams or the like during traveling in the sag portion or the vicinity thereof, the system controller 20 recognizes the traveling speed as the recommended speed VR, Based on the speed difference dV between the recommended speed VR and the current travel speed of the vehicle Ve, the display mode of the guided vehicle image Ivc is changed. Specifically, in this case, as described in the section “Display of guided vehicle image”, the system controller 20 determines the position and size of the guided vehicle image Ivc based on whether the speed difference dV is equal to or less than a predetermined value. To change. Thereby, the system controller 20 can suppress suitably generation | occurrence | production of the traffic congestion resulting from the speed fall in a sag part.

As described above, the driving support device 10 according to the present embodiment includes the navigation device 1, the head-up display 2 that displays the guided vehicle image Ivc on the scenery in front of the vehicle Ve, and the beacon receiver 3. . Then, the system controller 20 of the navigation device 1 obtains the traveling speed of the vehicle Ve from the distance sensor 16 and drives the driving support information Ia from the beacon transmitter 11 provided outside the vehicle Ve via the beacon receiver 3. Receive. Then, the system controller 20 changes the size and position of the guided vehicle image Ivc based on the acquired traveling speed and the received driving assistance information Ia. Thereby, the driving assistance device 10 can favorably support the driving of the vehicle Ve so as to reduce the energy loss as much as possible.

[Modification]
Next, a modified example suitable for the above embodiment will be described. The following modifications may be applied to the embodiments in any combination. Hereinafter, unless otherwise specified, the “front vehicle” refers to the vehicle in front that is closest to the vehicle Ve.

(Modification 1)
The system controller 20 may display the guided vehicle image Ivc so as to guide the vehicle Ve to travel with low fuel consumption even when the driving support information Ia is not received.

For example, in this case, in the data storage unit 36, an upper limit value of acceleration allowed as a condition for low fuel consumption travel is stored in advance, and information on the speed limit for each link is stored in advance as map data. Then, the system controller 20 travels for accelerating to the speed limit with an acceleration equal to or lower than the upper limit value of the acceleration based on the speed limit of the link corresponding to the current position of the vehicle Ve and the upper limit value of the acceleration. Is calculated as a recommended speed VR. Then, the system controller 20 changes the position and size of the guided vehicle image Ivc based on the recommended speed VR and the traveling speed of the vehicle Ve, as described in the section “Displaying the guided vehicle image”. Note that the upper limit value of the acceleration described above may be different for each speed limit.

According to the present modification, the system controller 20 suitably guides the vehicle Ve so that the traveling speed becomes the limit speed even when the driving support information Ia is not received, and suitably suppresses sudden acceleration or the like. be able to.

(Modification 2)
When the system controller 20 detects that an actual vehicle is traveling at a position where the guided vehicle image Ivc is to be displayed based on the image showing the front scenery of the vehicle Ve taken by the camera 17, the system controller 20 displays the guided vehicle image Ivc. It does not have to be displayed. In this case, the system controller 20 preferably highlights the preceding vehicle so as to indicate that the preceding vehicle is traveling at a speed equivalent to the recommended speed VR.

FIG. 9 shows a forward scenery visually recognized through the combiner 5 when the forward vehicle 95 exists at a position where the guided vehicle image Ivc is to be displayed. In the example of FIG. 9, first, the system controller 20 determines the position and size at which the guided vehicle image Ivc is to be displayed based on the recommended speed VR and the traveling speed. Next, the system controller 20 recognizes that the forward vehicle 95 exists at a position overlapping the position where the guided vehicle image Ivc is to be displayed in the image supplied from the camera 17. Therefore, in this case, the system controller 20 causes the head-up display 2 to display a broken line frame 77 surrounding the forward vehicle 95. Thereby, the system controller 20 can highlight the forward vehicle 95 and allow the driver to appropriately recognize that the vehicle should be driven with the forward vehicle 95 as a target.

(Modification 3)
In addition to the processing of the embodiment, the system controller 20 may switch whether to display the guided vehicle image Ivc based on the information on the type of the device that provides guidance for the preceding vehicle acquired by inter-vehicle communication with the preceding vehicle. .

In this case, the communication device 38 of the navigation device 1 further has a communication function capable of performing inter-vehicle communication with surrounding vehicles. Then, the system controller 20 uses a navigation device that guides the preceding vehicle based on information obtained by inter-vehicle communication with the preceding vehicle traveling immediately before the vehicle Ve, like the navigation device 1, as the vehicle travels. It is determined whether or not a function for performing driving assistance (also referred to as “speed induction function”) is provided so that the speed becomes the recommended speed. For example, when the model information of the navigation device is included in the information exchanged by inter-vehicle communication, the data storage unit 36 stores a list of model information having a speed guidance function in advance, and the system controller 20 To determine whether or not the navigation device for the vehicle ahead has a speed guidance function. In another example, when the information transmitted / received by inter-vehicle communication includes information indicating whether or not the vehicle has a speed guidance function, the system controller 20 refers to the information so that the navigation device of the preceding vehicle can It is determined whether or not a speed guidance function is provided.

When the system controller 20 determines that the preceding vehicle has a navigation device having a speed guidance function, the system controller 20 does not display the guided vehicle image Ivc. In this case, preferably, the system controller 20 may perform display for emphasizing the preceding vehicle, as in the description of FIG. Accordingly, it is possible to cause the driver to appropriately recognize that the preceding vehicle is guided by the navigation device so as to travel based on the predetermined recommended speed. In this case, the driver can drive with less energy loss by driving the vehicle Ve in accordance with the traveling speed of the preceding vehicle.

(Modification 4)
Regardless of the second and third modifications, the system controller 20 may hide the guided vehicle image Ivc when the distance between the actual vehicle ahead and the vehicle Ve is within a predetermined distance. The above-mentioned predetermined distance is determined in advance, for example, as a distance determined to be dangerous when the vehicle Ve accelerates. As a result, the system controller 20 can reliably suppress accelerating acceleration from the guided vehicle image Ivc when the inter-vehicle distance from the preceding vehicle is short.

(Modification 5)
The system controller 20 may execute the display control of the guided vehicle image Ivc described in the section [Response in the sag portion] even when the vehicle Ve is traveling other than the sag portion. Specifically, when the driving support information Ia transmitted from the beacon transmitter 11 includes recommended lane information or the like, the system controller 20 displays the image regardless of whether or not the sag unit is traveling. When the travel lane recognized by the vehicle is different from the recommended lane, the guided vehicle image Ivc is displayed so as to guide the vehicle Ve to the recommended lane. This also allows the system controller 20 to suitably guide the vehicle Ve to an empty lane.

(Modification 6)
Instead of the system controller 20, the light source unit 6 of the head-up display 2 may perform processing for determining the display position and display size of the guided vehicle image Ivc. In this case, the light source unit 6 receives the driving support information Ia from the beacon receiver 3 directly or via the navigation device 1 and information on the traveling speed of the vehicle Ve from the navigation device 1 or the vehicle Ve or a sensor (not shown). Receive. Then, the light source unit 6 calculates the speed difference dV based on the received information, and determines the display mode of the guided vehicle image Ivc based on the speed difference dV, as described in the section “Displaying the guided vehicle image”. Also by this, the driving assistance device 10 can favorably support the driving of the vehicle Ve so that the vehicle can travel with reduced energy loss.

(Modification 7)
The display method to which the present invention can be applied is not limited to the display by the head-up display 2. Instead of this, the navigation device 1 may superimpose the guided vehicle image Ivc on the image of the scenery in front of the vehicle Ve taken by the camera 17 and display it on the display unit 40. Even in this case, the navigation device 1 changes the size and position of the guided vehicle image Ivc displayed in the front landscape image based on the speed difference dV, as described in the section “Displaying the guided vehicle image”. By doing so, the driving | running | working of the vehicle Ve can be induced | guided | derived suitably so that driving | running | working with reduced energy loss can be performed.

(Modification 8)
In FIG. 3, the head-up display 2 has a combiner 5 and makes the driver visually recognize the virtual image Iv based on the emitted light of the light source unit 6 reflected by the combiner 5. However, the configuration to which the present invention is applicable is not limited to this. Instead of this, the head-up display 2 may not have the combiner 5 and may allow the driver to visually recognize the virtual image Iv based on the emitted light of the light source unit 6 reflected by the windshield 25.

Further, the position of the light source unit 6 is not limited to the case where it is installed on the ceiling portion 27. Instead of this, the light source unit 6 may be installed inside the dashboard. In this case, the dashboard is provided with an opening for allowing light to pass through the combiner 5 or the windshield 25.

DESCRIPTION OF SYMBOLS 1 Navigation apparatus 2 Head-up display 3 Beacon receiver 4 Main-body part 5 Combiner 6 Light source unit 8 Connection member 10 Driving support apparatus 11 Beacon transmitter 25 Windshield 100 Driving support system

Claims

A driving assistance device that provides driving assistance to a driver of a vehicle,
Display means for displaying an image of a virtual leading vehicle on the front landscape of the vehicle;
Obtaining means for obtaining the traveling speed of the vehicle;
Receiving means for receiving information relating to driving assistance from outside the vehicle;
Display control means for changing the size and position of the image of the leading vehicle based on the travel speed acquired by the acquisition means and information relating to driving assistance received by the reception means;
A driving support apparatus comprising:
The receiving means receives, as information relating to the driving assistance, information relating to a distance to a traffic light existing ahead of the vehicle and information relating to a time when the traffic light indicates a green light, or information relating to a recommended traveling speed. The driving support device according to claim 1.
The display control means changes the size and position of the image of the leading vehicle according to a speed difference between the travel speed acquired by the acquisition means and a recommended travel speed based on the information related to the driving support. The driving support device according to claim 1 or 2.
The display control means causes the display means to display an image of a state in which a brake lamp of the leading vehicle is lit when the traveling speed is higher than the recommended traveling speed by a predetermined value or more. 3. The driving support device according to 3.
3. The driving support apparatus according to claim 2, wherein the receiving unit further receives information on a recommended travel lane of a road on which the vehicle is traveling as information on the driving support.
The display control means determines the position of the leading vehicle image in the recommended travel lane when the recommended travel lane of the road on which the vehicle is traveling and the lane in which the vehicle is traveling are different. The driving support device according to claim 5, wherein the driving support device is moved to a position overlapping with the driving assistance device.
The display control means displays, on the display means, an image of a mode in which a blinker of the leading vehicle blinks in the direction of movement when the position of the leading vehicle image is moved to a position overlapping the recommended travel lane. The driving support apparatus according to claim 6, wherein
From the front landscape of the vehicle, further comprising detection means for detecting the position of the front vehicle that travels ahead of the host vehicle and is closest to the host vehicle,
The display control means detects the display position of the image of the leading vehicle set based on the travel speed acquired by the acquisition means and information related to driving assistance received by the receiving means. The driving support device according to any one of claims 1 to 7, wherein an image of the leading vehicle is not displayed when the vehicle overlaps a position of a preceding vehicle.
A communication means for performing vehicle-to-vehicle communication with surrounding vehicles,
The display control means is based on information about the type of equipment that travels ahead of the host vehicle through the vehicle-to-vehicle communication and that guides the vehicle ahead and is acquired from the vehicle closest to the host vehicle. The driving support device according to any one of claims 1 to 7, wherein the presence / absence of the display is switched.
The driving support apparatus according to claim 8 or 9, wherein the display control means causes the display means to display an image that emphasizes the preceding vehicle when the image of the leading vehicle is not displayed.
The driving support device according to any one of claims 1 to 10, wherein the display unit displays an image of a virtual leading vehicle on an image showing a front scenery of the vehicle.
A control method executed by a driving support device that performs driving support for a driver of a vehicle and controls a display unit that displays an image of a virtual leading vehicle superimposed on a front landscape of the vehicle,
An acquisition step of acquiring a traveling speed of the vehicle;
A receiving step of receiving information on driving assistance from outside the vehicle;
A display control step of changing the size and position of the image of the leading vehicle based on the travel speed acquired by the acquisition means and the information on the driving assistance received by the reception step;
A control method characterized by comprising:
A program executed by a computer that performs driving support for a driver of the vehicle and controls display means for displaying an image of a virtual leading vehicle on the front landscape of the vehicle,
Obtaining means for obtaining the traveling speed of the vehicle;
Receiving means for receiving information relating to driving assistance from outside the vehicle;
The computer is caused to function as display control means for changing the size and position of the image of the leading vehicle based on the travel speed acquired by the acquisition means and information relating to driving assistance received by the reception means. Program.
A storage medium storing the program according to claim 13.