WO2015097958A1 - Dispositif d'assistance à la conduite - Google Patents

Dispositif d'assistance à la conduite Download PDF

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Publication number
WO2015097958A1
WO2015097958A1 PCT/JP2014/005422 JP2014005422W WO2015097958A1 WO 2015097958 A1 WO2015097958 A1 WO 2015097958A1 JP 2014005422 W JP2014005422 W JP 2014005422W WO 2015097958 A1 WO2015097958 A1 WO 2015097958A1
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WIPO (PCT)
Prior art keywords
display
vehicle
driver
information
overtaking
Prior art date
Application number
PCT/JP2014/005422
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English (en)
Japanese (ja)
Inventor
椎　彰史
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株式会社デンソー
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Filing date
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Publication of WO2015097958A1 publication Critical patent/WO2015097958A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Arrangement of adaptations of instruments
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
    • B60K35/28—
    • B60K35/90—
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/28—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with an adjustable field of view
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • B60K2360/178—
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/70—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by an event-triggered choice to display a specific image among a selection of captured images
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B60W2050/009—Priority selection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B60W2420/408—

Definitions

  • the present disclosure relates to a driving support device that supports a driving operation of a driver of the host vehicle.
  • HUD head-up display
  • Patent Document 2 based on the relative speed between the preceding vehicle and the host vehicle, the driver's intention such as whether or not the driver of the host vehicle is trying to pass the preceding vehicle is estimated, and based on the estimation result.
  • An apparatus for controlling a transmission is disclosed.
  • a larger driving force is generated by changing the transmission to a low speed gear ratio or gear ratio. Let This supports the driver's smooth overtaking operation.
  • the driving operation includes a process such as recognition and determination of information necessary for the driving operation.
  • the type of information displayed on the HUD is not changed between when the driver is trying to overtake the preceding vehicle and when the driver is following the preceding vehicle.
  • the driver when the driver is trying to overtake the preceding vehicle, a higher level of recognition, judgment, and operation is required than when the driver is driving on the traffic flow of the surroundings.
  • the types of information that the driver should recognize such as the vehicle speed and the speed limit of the host vehicle, differ. That is, it is preferable that information corresponding to the driver's intention is displayed on the display device.
  • An object of the present disclosure is to provide a driving support device that displays information more suitable for a driver's intention for driving operation on a display device.
  • a driving support device that is mounted on a host vehicle and supports a driving operation by a driver of the host vehicle travels around a display control unit that controls content displayed on at least one display, and the periphery of the host vehicle.
  • the peripheral vehicle information acquisition unit that sequentially acquires the peripheral vehicle information indicating the relative position of the peripheral vehicle with respect to the host vehicle, and the change of the relative position of the peripheral vehicle indicated in the peripheral vehicle information with time, the driver A driver intention estimation unit that estimates whether or not to change the front-rear relationship with the vehicle.
  • the display control unit changes the content displayed on the display based on the estimation result of the driver intention estimation unit.
  • the driver intention estimation unit estimates whether or not the driver is changing the front-rear relationship with the surrounding vehicle from the temporal change in the relative position between the host vehicle and the surrounding vehicle. And a display control part changes the display content of a display according to the estimation result.
  • the driver intention estimation unit determines that the driver is about to overtake the preceding vehicle
  • information of a predetermined type suitable for the overtaking operation is displayed.
  • information more suitable for the driver's intention for the driving operation can be displayed on the display device.
  • FIG. 1 is a block diagram illustrating an example of a schematic configuration of a driving support system according to the present embodiment.
  • FIG. 2 is a functional block diagram illustrating an example of a schematic configuration of the HCU according to the present embodiment.
  • FIG. 3 is a diagram showing the types of information displayed on the HUD and meter display in each support mode.
  • FIG. 4 is a flowchart showing an example of a flow of driving support processing performed by the HCU.
  • FIG. 5 is a flowchart showing an example of the flow of the overtaking determination process performed by the HCU.
  • FIG. 6 is an external view around the driver's seat, FIG.
  • FIG. 7 is a diagram for explaining the visibility of the driver with respect to various displays provided around the driver seat.
  • FIG. 8 is a diagram illustrating an example of types of information displayed on each display to be controlled by the display control unit according to the fourth modification.
  • FIG. 9 is a diagram illustrating an example of types of information displayed on each display to be controlled by the display control unit according to the fifth modification.
  • FIG. 1 is a diagram illustrating an example of a schematic configuration of a driving support system 100 to which a driving support device according to the present disclosure is applied.
  • the driving support system 100 includes an HCU 1, a surrounding monitoring ECU 2, a surrounding monitoring device 3, a HUD 4, a meter display 5, a travel control system 6, a communication module 7, a sensor group 8, and an operation switch group 9.
  • the HCU 1, the periphery monitoring ECU 2, the HUD 4, the meter display 5, the travel control system 6, the communication module 7, the sensor group 8, and the operation switch group 9 are connected to each other via a well-known in-vehicle network. ing.
  • a vehicle equipped with the driving support system 100 is referred to as a host vehicle.
  • ECU means an electronic control unit, and is an abbreviation for Electronic Control Unit.
  • HCU is an abbreviation for HMI (Human Machine Interface) Control Unit
  • HUD is an abbreviation for Head-Up Display.
  • the periphery monitoring device 3 is a device that is mounted on the host vehicle and detects obstacles around the host vehicle.
  • the periphery monitoring device 3 includes a front monitoring unit 31, a rear monitoring unit 32, a left side monitoring unit 33, and a right side monitoring unit 34.
  • the front monitoring unit 31 sequentially detects obstacles ahead of the host vehicle
  • the rear monitoring unit 32 sequentially detects obstacles behind the host vehicle.
  • the left side monitoring unit 33 sequentially detects obstacles on the left side of the host vehicle
  • the right side monitoring unit 34 sequentially detects obstacles on the right side of the host vehicle.
  • the front monitoring unit 31 detects, for example, a front camera that images the front of the host vehicle and an obstacle in front of the host vehicle (here, a preceding vehicle) using a reflected wave obtained by reflection of electromagnetic waves or sound waves. And an object sensor (both not shown).
  • the front camera is an optical camera, and for example, a CMOS camera or a CCD camera can be used.
  • an infrared camera may be used as the front camera.
  • the front camera may be installed in the vicinity of a rearview mirror in the vehicle interior so as to capture a predetermined range in front of the host vehicle.
  • the image information ahead of the own vehicle imaged with the front camera is output to periphery monitoring ECU2.
  • the front obstacle sensor determines the distance to the obstacle, the direction in which the obstacle exists, and the relative position based on the shift or phase change between the transmission timing and the reception timing of the reflected wave.
  • a millimeter-wave radar that detects the speed.
  • the front obstacle sensor may be a laser radar, an infrared sensor, an ultrasonic sensor, a distance measuring system that specifies a position from parallax of images taken by a plurality of cameras, or the like.
  • Information on the obstacle detected by the front obstacle sensor is supplied to the periphery monitoring ECU 2.
  • the front obstacle sensor may be installed near the center of the front bumper so as to transmit a search wave to a predetermined range in front of the host vehicle, for example.
  • the front monitoring unit 31 detects the presence of a preceding vehicle by image recognition using image information of a front camera, and calculates a distance to the preceding vehicle using a front obstacle sensor.
  • the forward monitoring unit 31 may not include the front camera and may detect the distance to the preceding vehicle only by the front obstacle sensor. In this case, for example, it may be configured to estimate whether the vehicle is a preceding vehicle from the size of the obstacle detected by the front obstacle sensor.
  • the preceding vehicle described in the present embodiment is not limited to a vehicle traveling in front of the host vehicle in a lane (the host vehicle traveling lane) in which the host vehicle is traveling.
  • the vehicle traveling in front of the host vehicle in the lane adjacent to the host vehicle lane in other words, traveling in the same direction diagonally forward of the host vehicle.
  • Vehicles that are present are also included in the preceding vehicles.
  • the preceding vehicle traveling in the own vehicle lane It is referred to as a front preceding vehicle, and a preceding vehicle traveling in a lane adjacent to the host vehicle traveling lane is referred to as a side preceding vehicle.
  • the preceding vehicle traveling in the lane adjacent to the right side of the own vehicle traveling lane is referred to as the right side adjacent preceding vehicle, and the preceding vehicle traveling in the lane adjacent to the left side of the own vehicle traveling lane. Is also referred to as a left side adjacent preceding vehicle.
  • the rear monitoring unit 32 detects, for example, a rear camera that captures the back of the host vehicle and an obstacle behind the host vehicle (here, the following vehicle) using a reflected wave obtained by reflection of electromagnetic waves or sound waves. And an object sensor (both not shown).
  • the rear camera and the rear obstacle sensor have the same configuration as the front camera and the front obstacle sensor, except that the installation location and the shooting range (or detection range) are different.
  • the rear camera is, for example, in the upper part of the rear window so as to capture a predetermined range behind the host vehicle
  • the rear obstacle sensor is, for example, in the vicinity of the rear bumper center so as to transmit an exploration wave to a predetermined range behind the host vehicle.
  • Each may be installed.
  • the following vehicle described in the present embodiment is not limited to a vehicle traveling behind the host vehicle in the host vehicle lane.
  • the vehicle traveling behind the host vehicle in the lane adjacent to the host vehicle traveling lane in other words, the vehicle traveling in the same direction diagonally behind the host vehicle Is included in the following vehicles.
  • the following vehicle traveling in the own vehicle traveling lane is It is referred to as a rear succeeding vehicle, and a succeeding vehicle traveling in a lane adjacent to the host vehicle traveling lane is referred to as a side succeeding vehicle.
  • a succeeding vehicle traveling in a lane adjacent to the host vehicle traveling lane is referred to as a side succeeding vehicle.
  • the following vehicle traveling in the lane adjacent to the right side of the own vehicle traveling lane is referred to as the right side adjacent succeeding vehicle
  • the following vehicle traveling in the lane adjacent to the left side of the own vehicle traveling lane Is also referred to as a left side adjacent succeeding vehicle.
  • the left side monitoring unit 33 includes a left side camera that images the left side of the host vehicle, for example.
  • a CCD camera may be used as the left side camera.
  • the image information of the side of the own vehicle imaged with the left side camera is supplied to the periphery monitoring ECU 2.
  • the left side mentioned here includes from the left diagonal front to the left diagonal rear of the host vehicle.
  • the right side monitoring unit 34 includes, for example, a right side camera that images the right side of the host vehicle.
  • a CCD camera may be used as the right side camera.
  • the side image information of the host vehicle imaged by the right side camera is supplied to the periphery monitoring ECU 2.
  • the right side said here shall include from the diagonally right front of the own vehicle to diagonally right backward.
  • the left side monitoring unit 33 and the right side monitoring unit 34 are different from the front monitoring unit 31 and the rear monitoring unit 32 in that they do not include an obstacle sensor, but are not limited thereto. That is, the left side monitoring unit 33 and the right side monitoring unit 34 may each include an obstacle sensor, like the front monitoring unit 31 and the rear monitoring unit 32.
  • the obstacle sensor When an omnidirectional laser radar or the like can be used as the obstacle sensor, the front, rear, left side, and right side obstacles may be detected by the omnidirectional obstacle sensor.
  • the periphery monitoring ECU 2 is connected to the periphery monitoring device 3 through a known in-vehicle network so as to be able to communicate with each other, and the relative position and relative speed of each vehicle existing around the host vehicle from the periphery monitoring device 3 with respect to the host vehicle.
  • the periphery monitoring ECU 2 acquires the presence or absence of a preceding vehicle, the distance from the preceding vehicle, the lane in which the preceding vehicle travels, the relative speed, and the like when there is a preceding person, from the front monitoring unit 31.
  • the relative speed of the surrounding vehicle is based on the own vehicle, and the case where the surrounding vehicle is faster than the own vehicle is represented by a positive value.
  • the process (specifying process) for specifying the relative positions and the like of surrounding vehicles existing in each direction is performed by the monitoring unit corresponding to each direction, and the area monitoring ECU 2
  • the periphery monitoring ECU 2 may implement part or all of the specific processing of the surrounding vehicles existing in each direction. That is, the periphery monitoring ECU 2 may sequentially acquire data detected by devices (cameras and obstacle sensors) included in each unit, and specify the relative position, relative speed, and the like of the surrounding vehicle from those data.
  • the surroundings monitoring ECU 2 generates data (referred to as surrounding vehicle data) indicating the relative positions and relative speeds of the surrounding vehicles in all directions around the host vehicle, and sequentially outputs them to the HCU 1.
  • This surrounding vehicle data corresponds to surrounding vehicle information.
  • the HUD 4 is a well-known head-up display that displays various information by projecting a virtual image on a part of the windshield in front of the driver's seat based on instructions from the HCU 1. More specifically, the HUD 4 includes a light projecting device disposed in the instrument panel, and the light projecting device displays predetermined information in a projection range defined in advance on the windshield of the vehicle. Project. Then, the virtual image formed in front of the vehicle by the display light overlaps with the scenery in front of the vehicle and is visually recognized by the driver.
  • a HUD image an image displayed on the windshield by the HUD 4 is referred to as a HUD image.
  • the HUD image includes text, images, and the like. For example, an image showing a guidance route is displayed superimposed on an actual road. The area on the windshield where the HUD image is displayed is formed below the driving field of view that should be secured when the driver performs driving, and the driver visually recognizes the HUD image while visually checking the front of the vehicle. Can be done. As a result, the amount of line-of-sight movement of the driver is reduced, the focus adjustment load can be reduced, and safety can be improved.
  • the HCU 1 generates image data (referred to as HCU image original data) that is the source of the HUD image
  • the HUD 4 uses the HCU image source data input from the HCU 1 as an HCU image. Shall be displayed.
  • This HUD 4 corresponds to the first display.
  • the meter display 5 is arranged at the upper part of the driver's seat side of the instrument panel (hereinafter, abbreviated as instrument panel), and based on the instructions of the HCU 1, the vehicle speed, the rotational speed of the engine (internal combustion engine), the remaining fuel in the fuel tank. This is a so-called multi-information display that displays various information such as quantity.
  • the meter display 5 is capable of full color display, for example, and can be configured using a liquid crystal display, an organic EL display, or the like. This meter display 5 corresponds to a second display.
  • the meter display 5 generates a meter image imitating a mechanical meter indicating the traveling speed and the engine rotational speed by rotating the pointer (this is called a mechanical meter image) and displays it.
  • the mechanical meter image is drawn by superimposing a pointer image imitating the pointer on the scale plate image in which the scale and the number corresponding to the scale are arranged along the circular outline, and the pointer image is displayed on the scale plate image. Displayed in a rotating manner.
  • the meter that displays the traveling speed and the engine speed is generated and displayed as image data, but the present invention is not limited to this.
  • the traveling speed or the like may be displayed by a mechanical meter that is actually mechanically configured, without a mechanical meter image.
  • the meter display 5 is a relatively small display arranged in the vicinity of the mechanical meter.
  • the meter display 5 provided at the position where the instruments are usually arranged is usually used as the second display, but the present invention is not limited to this. Instead of the meter display 5, a center display arranged near the center of the instrument panel in the vehicle width direction may be used.
  • the travel control system 6 cooperates with a drive ECU (not shown), a brake ECU, a steering ECU (none of which are shown), and the like to perform a well-known ACC (Adaptive Cruise Control) function, LKA (Lane Keeping Assist) function, and the like. carry out.
  • the above-described drive ECU controls the operation of the injector and the igniter, operates the fuel injection amount to the engine and the engine ignition interval, and controls the engine speed. That is, the drive ECU controls a drive system such as an engine.
  • the braking ECU controls a braking system including a brake actuator and the like in order to control braking of the host vehicle.
  • the steering ECU controls, for example, a steering electric motor provided between the steering and the pinion gear in order to control the steering direction of the host vehicle. That is, the steering ECU controls a steering system composed of a steering electric motor.
  • the traveling control system 6 determines the distance between the front preceding vehicle and the front preceding vehicle. An instruction is given to the drive ECU and the brake ECU so as to keep them constant.
  • the ACC function is on, the case where the front preceding vehicle is not supplemented is referred to as a standby state for convenience.
  • This ACC function corresponds to a follow-up running function.
  • the traveling control system 6 detects a white line from the image of the camera provided in each unit so that the own vehicle does not deviate from the own vehicle traveling lane with respect to the steering ECU. To control the steering system.
  • the communication module 7 is a communication device that is equipped with a transmission / reception antenna and performs well-known vehicle-to-vehicle communication and road-to-vehicle communication.
  • the communication module 7 modulates and transmits data input from the HCU 1 and uses a signal received from the outside Demodulate to band band data and output to HCU1.
  • the sensor group 8 is various sensors that detect the state of the host vehicle. For example, a vehicle speed sensor, an acceleration sensor, a gyro sensor, a GNSS receiver, a steering angle sensor, a brake stroke sensor, an accelerator pedal sensor, and a direction indication lever A position sensor or the like is included.
  • the vehicle speed sensor detects the traveling speed of the host vehicle
  • the acceleration sensor detects the acceleration acting on the host vehicle.
  • the GNSS receiver acquires data indicating the current position of the GNSS receiver 101 by receiving radio waves from a satellite used in GNSS (Global Navigation Satellite System).
  • GNSS Global Navigation Satellite System
  • the GNSS receiver may be a GPS receiver.
  • the gyro sensor detects the rotational angular velocity around the vertical axis of the host vehicle, and the steering angle sensor detects the steering angle based on the steering angle.
  • the brake stroke sensor detects the depression amount of the brake pedal, and the accelerator pedal sensor detects the depression amount of the accelerator pedal.
  • the direction indicating lever position sensor detects whether the direction indicating lever is in a left turn position or a right turn position.
  • the operation switch group 9 is, for example, a mechanical switch (so-called steering switch) provided around the steering. By operating the operation switch group 9, the driver can instruct selection, playback / stop, and volume adjustment of a song being played by, for example, an audio function associated with the HCU 1.
  • the operation switch group 9 is also used when the above-described ACC function or LKA function is switched on / off.
  • the HCU 1 is connected to each of the periphery monitoring ECU 2, the HUD 4, the meter display 5, the travel control system 6, the communication module 7, the sensor group 8, and the operation switch group 9 so as to be able to communicate with each other via a known in-vehicle network.
  • the HCU 1 is mainly composed of a microcomputer including a CPU, a ROM, a RAM, a backup RAM, and the like, and executes various processes by executing various control programs stored in the ROM based on input data. .
  • This HCU1 corresponds to a driving support device.
  • the HCU 1 includes a host vehicle position detection unit F1, a driver intention estimation unit F2, a mode setting unit F3, a display control unit F4, a travel control unit F5, an operation reception unit F6, And a communication processing unit F7.
  • the own vehicle position detection unit F1 detects the current position of the vehicle (hereinafter referred to as vehicle position) based on signals input from a GNSS receiver, a vehicle speed sensor, a gyroscope, and the like.
  • vehicle position is represented by latitude and longitude, for example.
  • the position acquisition unit 11B acquires the vehicle position sequentially (for example, every 100 milliseconds).
  • the sensor group used for detecting the vehicle position has an error with different properties, and is configured to be used while being complemented by a plurality of sensors.
  • each sensor it may be constituted by a part of the above-described sensors.
  • the driver intention estimation unit F2 changes the front-rear relationship between the driver and the surrounding vehicle based on the operation that the driver is performing on the vehicle (referred to as the driver operation) and the surrounding vehicle data input from the surrounding monitoring ECU 2. Estimate whether or not you are trying.
  • the driver operation includes a deceleration operation, an acceleration operation, a lane change operation, and the like.
  • the deceleration operation refers to, for example, an operation that increases the amount of depression of the brake pedal, weakens the depression of the accelerator pedal, or applies an engine brake
  • the acceleration operation refers to an operation that increases the depression of the accelerator pedal, for example.
  • the lane change operation refers to an operation of a direction indicator lever or steering.
  • the driver intention estimation unit F2 includes, as finer functional blocks, a surrounding vehicle information acquisition unit F21, a surrounding change amount calculation unit F22, an overtaking determination unit F23, and an overtaking determination unit F24.
  • the surrounding vehicle information acquisition unit F21 sequentially acquires the surrounding vehicle data input from the surrounding monitoring ECU 2, and acquires the relative position and the relative speed of each vehicle existing around the own vehicle with respect to the own vehicle.
  • the surrounding vehicle information acquisition unit F21 holds time-series data in which the surrounding vehicle data sequentially input from the surrounding monitoring ECU 2 is arranged in time series (this is referred to as surrounding vehicle time-series data).
  • the surrounding change amount calculation unit F22 specifies the behavior of the surrounding vehicle from the surrounding vehicle time series data managed by the surrounding vehicle information acquisition unit F21 (this is referred to as a surrounding change amount calculation process). For example, when the latest relative speed of the following vehicle is larger than the previous time, it is determined that the following vehicle is accelerating. Further, when the latest relative speed of the subsequent vehicle is smaller than the previous time, it is determined that the subsequent vehicle is decelerating. Thereby, for example, even when the following vehicle is faster than the host vehicle, it is possible to identify whether the vehicle is decelerating or accelerating.
  • the surrounding change amount calculation unit F22 calculates the amount of change in the relative position of each vehicle from the surrounding vehicle time series data. Thus, the relative speed of each vehicle is calculated.
  • the overtaking determination unit F23 determines whether or not the driver of the own vehicle is about to overtake the preceding vehicle. Whether the driver of the host vehicle is going to overtake the preceding vehicle may be determined using the relative speed, relative position, driver operation, etc. with the preceding vehicle.
  • the driver determines that the relative speed of the side leading vehicle is negative and the driver's acceleration operation is detected. It is determined that the vehicle is overtaking the side preceding vehicle.
  • the driver determines that he is trying to overtake the front preceding vehicle when the driver's acceleration operation and lane change operation are detected in a situation where the front preceding vehicle exists.
  • the driver tries to overtake the preceding vehicle. May be determined.
  • the driver may determine that he is trying to overtake the preceding vehicle.
  • the threshold used for the determination at this time may be a value for determining whether or not the host vehicle catches up with the preceding vehicle within a certain time (for example, 15 seconds).
  • the overtaking determination unit F24 determines whether or not the driver of the own vehicle is about to be overtaken by the following vehicle.
  • the state where the driver of the own vehicle is about to be overtaken by the following vehicle can also be said to be a state where the driver of the own vehicle is not rushing and is allowed to be overtaken by the following vehicle.
  • Whether or not the driver of the host vehicle is about to be overtaken by the following vehicle may be determined using a relative speed, a relative position, a driver operation, or the like with the following vehicle.
  • the driver when the host vehicle is traveling with a certain distance from the front vehicle and the relative speed of the side following vehicle is positive, the driver is about to be overtaken by the following vehicle. Is determined. Further, more simply, when the relative speed of the side following vehicle is positive, the driver may determine that the driver is about to be overtaken by the following vehicle.
  • Whether or not the rear vehicle has changed lanes may be determined using a known object tracking technique such as active search.
  • the acceleration of the side succeeding vehicle calculated by the peripheral change amount calculation unit F22 from the surrounding vehicle time series data is equal to or greater than a certain threshold value.
  • the driver of the vehicle may determine that the driver is about to be overtaken.
  • the threshold used for the determination at this time may be a value for determining whether the relative speed becomes a positive constant value within a certain time (for example, 20 seconds) and catches up with the host vehicle.
  • the mode setting unit F3 switches the operation mode (support mode) of the driving support system 100 according to the estimation result of the driver intention estimation unit F2 described above, and sequentially notifies the current support mode to other functions.
  • the driving support system 100 includes three operation modes (that is, a support mode) of an overtaking mode, an overtaking mode, and a normal mode, and performs driving support with different contents for each of the support modes.
  • the support mode includes a non-support mode in which driving support is not performed.
  • the mode setting unit F3 sets the support mode to the overtaking mode when the overtaking determination unit F23 determines that the driver is about to overtake the preceding vehicle. Further, when the overtaking determination unit F24 determines that the driver is about to be overtaken by the following vehicle, the support mode is set to the overtaking mode. If it is not determined that the driver is trying to overtake the preceding vehicle or whether the driver is overtaking the following vehicle, the support mode is set to the normal mode.
  • the overtaking mode is a support mode for the driver to concentrate mainly by driving operation, and the overtake mode is a support mode for supporting the cruising of the host vehicle lane.
  • the normal mode is a support mode that supports maintaining the cruise of the vehicle lane as in the overtake mode.
  • the overtaking mode does not shift directly to the overtaking mode, and the normal mode is shifted to the overtaking mode. Further, it is assumed that the overtaking mode is directly overtaken and the mode is not shifted to, and the overtaking mode is shifted to the normal mode. In other words, the normal mode shifts to both the overtaking mode and the overtaking mode.
  • the display control unit F4 performs a process of switching the content to be displayed on the HUD 4 and the meter display 5 according to the support mode set by the mode setting unit F3.
  • the display content here refers to the type and display mode of information. More specifically, the type of information displayed on each display in each support mode will be described with reference to the table shown in FIG.
  • the table shown in FIG. 3 represents the type of information displayed (or not displayed) on the HUD 4, the type of information displayed (or not displayed) on the meter display 5, and the contents of input control for each support mode.
  • the HUD 4 displays information such as vehicle speed, route guidance information, ACC information, and ECO information.
  • vehicle speed is the traveling speed of the host vehicle
  • route guidance information is information calculated by a navigation device (not shown) that guides the route on which the host vehicle is scheduled to travel. This corresponds to this information.
  • ACC information is information indicating the operation state of the ACC function described above, and displays, for example, active, standby, off, and the like. In addition, when the vehicle is active, the distance between the vehicle and the target preceding vehicle may be included. This ACC information corresponds to the following traveling information.
  • the ECO information is information representing, for example, information on the average fuel consumption calculated for each predetermined section, a rate at which driving for reducing fuel consumption (so-called eco-driving) can be performed, and the like.
  • each information for example, 1 if the vehicle speed
  • the information indicates that the priority is high.
  • Information with higher priority is displayed in a display mode (display position, size, etc.) that is easier to view. For example, the higher the priority, the larger the display or the display near the center of the visual field of the driver facing the front of the vehicle.
  • information with lower priority for example, ECO information
  • the meter display 5 displays a notification of incoming mail and an audio song name in addition to a mechanical meter.
  • the mechanical meter is also displayed on the meter display in other support modes.
  • the HUD 4 displays information such as ACC information, vehicle speed, audio song name, ECO information, and route guidance information.
  • the reason why the priority of the types of information such as vehicle speed and route guidance information is lower than that in the normal mode is that the ACC function is turned on and the front preceding vehicle is followed as described later when the mode is overtaken. It is because it will be in the state which can drive
  • the meter display 5 in the overtaking mode displays a notification of incoming mail in addition to the mechanical meter.
  • the audio song name displayed on the meter display 5 in the normal mode is overtaken and displayed on the HUD 4 in the mode. That is, in the overtaking mode, various types of information are collected and displayed on the HUD 4 more than in the normal mode. In other words, the type of information displayed on the HUD 4 in the normal mode is reduced compared to that in the overtaking mode.
  • the overtaking mode does not shift to the overtaking mode, while the normal mode may shift to the overtaking mode.
  • the display control unit F4 described later reduces the amount of information to be displayed on the HUD 4 than in the mode, and the driver Make it possible to concentrate on safety confirmation.
  • the type of information displayed on the HUD 4 increases, but the visibility of the driver outside the vehicle is ensured by adjusting the display mode, such as reducing the display area of each information. .
  • the HUD 4 displays information of a type such as a vehicle speed, a speed limit, and route guidance information.
  • the speed limit is a legal speed limit of the road on which the host vehicle is currently traveling, and is determined using, for example, the host vehicle position detected by the host vehicle position detection unit F1 and map data.
  • information displayed on the HUD 4 is limited to information necessary for driving operation (referred to as driving information) such as vehicle speed and speed limit, and more than information displayed on the HUD 4 in other support modes. Reduce. As a result, the load on the driver for recognizing the information displayed on the HUD 4 is reduced, and the driver can concentrate more on safety confirmation and driving operation.
  • driving information information necessary for driving operation
  • vehicle speed and speed limit information displayed on the HUD 4 in other support modes.
  • information displayed on the HUD 4 is limited to driving information, but is not limited thereto.
  • non-driving information such as ECO information may be displayed on the HUD 4.
  • the non-driving information displayed on the HUD 4 in the overtaking mode has a display mode that is less conspicuous than the driving information. That is, the driving information is displayed in a display mode that is more conspicuous than the non-driving information.
  • the conspicuous display mode may be such that driving information is displayed larger than non-driving information or displayed at a position where the line-of-sight movement amount from the state where the driver is viewing the front direction is smaller.
  • ECO information is displayed on the meter display 5 in the overtaking mode. That is, each type of information such as ACC information, ECO information, audio song name, and mail arrival notification corresponds to information other than driving information (that is, non-driving information) among a plurality of types of information displayed on each display. To do.
  • the ACC information, the audio song name, and the mail arrival notification are information that is not displayed on either the HUD 4 or the meter display 5 in the overtaking mode.
  • the type of information displayed on the HUD 4 can be changed by operating the operation switch group 9, but the change of information displayed on the HUD 4 is prohibited in the overtaking mode.
  • an operation for turning on the ACC function or the LKA function is also invalidated.
  • the driver feels uncomfortable if, for example, the position where the vehicle speed is displayed is greatly different in each support mode. there is a possibility. Therefore, it is preferable that information displayed in common in the overtaking mode and the normal mode, that is, the vehicle speed and the route guidance information are arranged at the same position as much as possible.
  • the similarity of the layout of information displayed on the HUD 4 in each support mode is the same between the normal mode and the overtake mode. That is, in the normal mode and the overtaking mode, information (ECO information, etc.) displayed in common is preferably arranged at the same position as much as possible. In this way, by providing a common layout for the information displayed on the HUD 4 between the support modes that shift to each other, the driver can easily recognize each information.
  • the display control unit F4 generates original image data that is an original of an image displayed on the HUD 4 (that is, an HUD image) and image data that is displayed on the meter display 5, and sequentially outputs them.
  • the traveling control unit F5 outputs an instruction to the traveling control system 6 so as to implement support according to the support mode set by the mode setting unit F3. More specifically, the traveling control unit F5 instructs to turn on the ACC function or the LKA function when the support mode is overtaken and the mode is set. Further, when the support mode is the overtaking mode, the driver ECU is instructed to assist the driver's acceleration operation and realize smoother acceleration.
  • the operation reception unit F6 receives an input operation performed by the driver on the operation switch group 9. For example, when a user operation for setting the ACC function on is detected, the travel control unit F5 is instructed to turn on the ACC function.
  • the communication processing unit F7 acquires the data received by the communication module 7 and performs processing for outputting and transmitting the data generated by the HCU 1 to the communication module 7.
  • the flowchart shown in FIG. 4 is configured to start when the ignition power of the host vehicle is turned on and power is supplied to the HCU 1.
  • the flowchart shown in FIG. 4 is terminated when the ignition power is turned off. That is, the flowchart is sequentially performed while the ignition power is on.
  • step S1 the driver intention estimation unit F2 performs an overtaking determination process and proceeds to step S2.
  • the overtaking determination process in step S1 will be described with reference to the flowchart shown in FIG.
  • the flowchart shown in FIG. 5 is executed when the process proceeds to step S1 of the flowchart shown in FIG.
  • an overtaking flag and an overtaking flag which will be described later, are initialized and set to off.
  • step S101 the surrounding vehicle information acquisition unit F21 performs a surrounding vehicle information acquisition process, and proceeds to step S103.
  • the peripheral vehicle information acquisition unit F21 acquires peripheral vehicle data from the peripheral monitoring ECU 2, and manages the data as peripheral vehicle time-series data arranged in time series.
  • the peripheral change amount calculation unit F22 performs the peripheral change amount calculation process described above, and proceeds to step S105.
  • step S105 the overtaking determination unit F23 determines whether the driver of the own vehicle is about to overtake the preceding vehicle. If the overtaking determination unit F23 determines that the driver of the host vehicle is about to overtake the preceding vehicle, the process proceeds to step S107. In step S107, the overtaking flag is set to ON, and the process proceeds to step S109. On the other hand, if the overtaking determination unit F23 does not determine in step S105 that the driver of the host vehicle is about to overtake the preceding vehicle, the process proceeds to step S109 while the overtaking flag is off.
  • step S109 the overtaken determination unit F24 determines whether or not the driver of the host vehicle is about to be overtaken by the following vehicle. If the overtaking determination unit F24 determines that the driver of the host vehicle is about to be overtaken by the following vehicle, the process proceeds to step S111. In step S111, the overtaken flag is set to ON, and the process proceeds to step S113. On the other hand, if it is determined in step S109 that the overtaken determination unit F24 has not determined that the driver of the own vehicle is about to be overtaken by the following vehicle, the overtaken flag remains off and the process proceeds to step S113. move on.
  • step S113 it is determined whether or not both the overtaking flag and the overtaken flag are on. If both flags are on, step S113 is YES and the process moves to step S115. On the other hand, if at least one of the overtaking flag and the overtaken flag is off, step S113 is NO and the process proceeds to step S117.
  • step S115 a notification that prompts the driver to confirm the rear (this is a warning process) is performed, and the process proceeds to step S117.
  • the warning process may be performed by displaying a message notifying that the succeeding vehicle is approaching the HUD 4 or a figure (such as an arrow) for directing the line of sight toward the rear.
  • the rear confirmation may be prompted by voice or sound.
  • step S117 the driver's intention is determined from the status of the overtake flag and overtake flag. That is, when the overtaking flag is on, the driver determines that he is trying to overtake the preceding vehicle. If it is overtaken and the flag is on, it is determined that the driver is about to be overtaken by the following vehicle. If both flags are off, it is determined that the current state is a normal state where neither overtaking nor overtaking is attempted.
  • the determination result of step S117 is held as an internal state, and the process returns to step S2 of the flowchart shown in FIG.
  • step S2 the driver intention estimation unit F2 determines whether or not the driver is overtaking the preceding vehicle as a result of the overtaking determination process in step S1. If it is determined that the driver is overtaking the preceding vehicle, step S2 is YES and the process proceeds to step S3. On the other hand, if it is determined that the driver is not overtaking the preceding vehicle, step S2 is NO and the process proceeds to step S5.
  • step S3 the mode setting unit F3 sets the support mode to the overtaking mode, and proceeds to step S4. That is, the case where the mode setting unit F3 sets the support mode to the overtaking mode means that the driver intention estimation unit F2 determines that the driver is overtaking the preceding vehicle.
  • the display control unit F4 sets the display content of each display to the display content for the overtaking mode as described above. That is, the display content displayed on the HUD 4 is limited to information of a type necessary for driving operation such as vehicle speed, speed limit, and route guidance information, and ECO information is displayed on the meter display 5.
  • the traveling control unit F5 sets them to off and instructs the traveling control system 6 to support the driver's acceleration operation.
  • the control performed by the display control unit F4 and the travel control unit F5 in step S3 corresponds to the support content in the overtaking mode.
  • step S4 it is determined whether or not overtaking has been completed.
  • the case where it is determined that the overtaking is completed may be, for example, a case where a preceding vehicle that is a target of overtaking is detected by the rear monitoring unit 32 or a case where the relative position of the preceding vehicle is behind the host vehicle. . If it is determined that the overtaking has been completed, step S4 becomes YES and the process proceeds to step S8. On the other hand, if it is determined that overtaking has not been completed, step S4 is NO and step S4 is repeated, and the overtaking mode is maintained until it is determined that overtaking has been completed. However, when a certain time (for example, 30 seconds) has elapsed since the overtaking mode has been set, a timeout occurs and the process proceeds to step S8.
  • a certain time for example, 30 seconds
  • step S5 it is determined whether or not the driver is about to be overtaken by the following vehicle as a result of the overtaking determination process in step S1. If it is determined that the driver is about to be overtaken by the following vehicle, step S5 is YES and the process proceeds to step S6. On the other hand, when it is not determined that the driver is about to be overtaken by the following vehicle, step S5 is NO and the process proceeds to step S1.
  • step S6 the mode setting unit F3 overtakes the support mode and sets the mode to step S7. That is, the case where the mode setting unit F3 overtakes the support mode and sets it to the mode means a case where the driver intention estimation unit F2 determines that the driver is about to be overtaken by the following vehicle.
  • the travel control unit F5 sets the ACC function and the LKA function to ON when they are OFF. To the travel control system 6.
  • the drive system is controlled so as to suppress sudden acceleration. This is to reduce the possibility that the driver of the succeeding vehicle will be confused if the host vehicle suddenly accelerates in a situation where the succeeding vehicle is overtaken.
  • the display control unit F4 sets the display contents of each display to the display contents for the mode by overtaking the support mode and setting the mode to the mode by the mode setting unit F3. That is, the display contents displayed on the HUD 4 are displayed at predetermined positions such as ACC information, vehicle speed, audio song name, ECO information, and route guidance information.
  • the control performed by the display control unit F4 and the travel control unit F5 in step S6 corresponds to the support content in the overtaking mode.
  • the overtaking mode since the ACC function is set to ON, the display content of the ACC information is active or standby.
  • step S7 it is determined whether or not the following vehicle has been overtaken by the following vehicle.
  • the case where it is determined that the overtaking by the following vehicle has been completed is, for example, a case where the target subsequent vehicle is detected by the front monitoring unit 31 of the own vehicle, or a case where the relative position of the following vehicle is in front of the own vehicle. do it. If it is determined that overtaking by the following vehicle is completed, step S7 becomes YES and the process proceeds to step S8.
  • step S7 becomes NO and step S7 is repeated, and the overtaking mode is maintained. However, if a certain time (for example, 60 seconds) has elapsed since the overtaking mode was entered, a timeout occurs and the process proceeds to step S8. In addition, when the driver performs an acceleration operation or a lane change operation exceeding a certain threshold, the process proceeds to step S8.
  • a certain time for example, 60 seconds
  • step S8 the mode setting unit F3 sets the support mode to the normal mode and returns to step S1.
  • the display control unit F4 sets the display content of each display to the display content for the normal mode. That is, the display contents displayed on the HUD 4 are displayed at predetermined positions such as vehicle speed, route guidance information, ACC information display, and ECO information.
  • whether or not the traveling control unit F5 sets the ACC function or the LKA function to ON may be set to a state set in advance by the driver.
  • the driving control system 6 is instructed to turn on these functions.
  • the overtaking determination unit F23 determines whether or not the driver is overtaking the preceding vehicle based on the traffic situation around the own vehicle, that is, the surrounding vehicle data and the surrounding vehicle time series data (S105). . Further, the overtaking determination unit F24 determines whether or not the driver is about to be overtaken by the following vehicle (S109).
  • the mode setting unit F3 sets the support mode to the overtaking mode (step S3). While the support mode is the overtaking mode, the display control unit F4 changes the content displayed on each of the HUD 4 and the meter display 5 to the display content for the overtaking mode (see FIG. 3) and the traveling control unit. F5 also provides assistance to assist acceleration.
  • the mode setting unit F3 overtakes the support mode and sets the mode (step S6). While the support mode is overtaken, the display control unit F4 changes the contents displayed on the HUD 4 and the meter display 5 to the overtake mode display contents (see FIG. 3) and travels. The control unit F5 also turns on the ACC function and the LKA function.
  • the periphery monitoring device 3 and the periphery monitoring ECU 2 are provided, and the surrounding vehicle information acquisition unit F21 is configured to acquire the relative position of the surrounding vehicle based on the surrounding vehicle data input from the periphery monitoring ECU 2.
  • the surrounding vehicle information acquisition unit F21 is configured to acquire the relative position of the surrounding vehicle based on the surrounding vehicle data input from the periphery monitoring ECU 2.
  • it is not limited to this.
  • the own vehicle and the surrounding vehicle perform well-known vehicle-to-vehicle communication and position information indicating the position of the surrounding vehicle can be received by the vehicle-to-vehicle communication
  • the received position information and the own vehicle position of the own vehicle You may determine the relative position of a surrounding vehicle from the vehicle position which the detection part F1 has detected.
  • the traveling control unit F5 may instruct the ACC function to be turned on.
  • the display control unit F4 employs, as the first display, a display arranged at a position that is relatively easy to visually recognize for the driver facing the front direction of the host vehicle, out of the two displays to be controlled.
  • the other is preferably employed as the second display.
  • each display for the driver facing the front direction of the host vehicle is determined according to the position where the display is arranged.
  • the relationship between the display mounting position and the visibility of the driver with respect to the display will be described.
  • the area where the display is arranged around the driver's seat and the type of display arranged in the area will be described.
  • the area where the display is arranged around the driver's seat can be roughly divided into a front area A1 of the driver's seat and a central area in the vehicle width direction of the instrument panel (hereinafter simply referred to as a central area) A2, as shown in FIG. it can.
  • the front area A1 of the driver seat is an area including an area facing the driver seat in the instrument panel and an area facing the driver seat in the windshield.
  • the central area A2 is an area sandwiched between an area facing the driver's seat in the instrument panel and an area facing the passenger seat in the instrument panel.
  • FIG. 6 is an external view around the driver's seat.
  • Examples of the display provided in the driver seat front area A1 include a display having a display area above the instrument panel in the driver seat front area A1, a display provided in the instrument panel in front of the driver seat, and the like.
  • the display having a display area above the instrument panel in the driver seat front area A1 is, for example, the aforementioned HUD 4, and the display provided on the instrument panel in front of the driver seat is, for example, the aforementioned meter display 5.
  • An area indicated by reference numeral 4A in FIG. 6 represents a display area of the HUD 4.
  • an area above the instrument panel in the driver seat front area A1 is referred to as an upper front area
  • an area in the driver seat front area A1 in which the instrument panel is disposed is referred to as a front lower area.
  • the front upper area includes the effective visual field of the driver who is gazing at the front of the host vehicle. That is, the front upper area corresponds to an area that is most easily seen by a driver who is gazing at the front of the host vehicle.
  • the front lower area is an area that can be seen by the driver by directing a line of sight downward from a state of staring at the front of the host vehicle.
  • a display provided in the central area A2 As a display provided in the central area A2, a display provided in the uppermost stage of the central area A2, a display provided in a position corresponding to the side of the rotation center of the steering in the central area A2, or a position below the position, etc. There is.
  • the display provided in the uppermost stage of the central area A2 is a so-called multi-function display (MFD) 11 built in the instrument panel.
  • MFD11 is arrange
  • the display provided on the side of the rotation center of the steering corresponds to the display provided in the in-vehicle navigation device or the display provided in the in-vehicle audio device.
  • a display provided on the side of the center of rotation of the steering is called by various names, but here is called an AVN (Audio-Visual-Navigation) display.
  • an area higher than the rotation center of the steering in the central area A2 is referred to as an upper central area.
  • region A2 is called a center lower area
  • the center upper area is an area that can be captured in the effective visual field by moving the line of sight to the left side from the state of gazing at the front of the host vehicle.
  • the center lower area is an area that can be captured at the center of the field of view for the driver by moving the line of sight obliquely to the lower left from a state of gazing in front of the host vehicle.
  • the visibility of each display for the driver is determined according to the amount of line-of-sight movement and the amount of focus adjustment.
  • the line-of-sight movement amount refers to an amount by which a driver whose line of sight is directed toward the front of the vehicle moves the line of sight in order to see the display.
  • the focus adjustment amount refers to the time required to focus on the display after turning the line of sight in the direction in which the display is arranged.
  • the amount of eye movement with respect to the display provided in each area will be described.
  • the display area is provided near the center of the field of view of the driver facing the front direction of the host vehicle, the movement amount of the line of sight is very small.
  • the meter display 5 and the MFD 11 are provided in an area closer to the gaze point of the driver who is gazing at the front of the host vehicle, the line-of-sight movement amount is smaller than that of the AVN display 12.
  • the double circle symbol that contributes to the item of eye movement amount shown in FIG. 7 means that the eye movement amount is very small, and the circle symbol means that the eye movement amount is relatively small. Further, the triangle symbol means that the amount of line-of-sight movement is large compared to other regions.
  • the MFD 11 has a display screen at a position a predetermined distance away from the seat side end surface of the instrument panel toward the front side of the vehicle, and is positioned farther from the driver than other displays (such as the meter display 5) provided on the seat side end surface of the instrument panel. To display information. That is, the focus adjustment amount for the MFD 11 is expected to be smaller than that of the meter display 5 or the AVN display 12.
  • a double circle symbol contributing to the item of focus adjustment amount shown in FIG. 7 indicates that the focus adjustment amount is very small, and a circle symbol means that the focus adjustment amount is relatively small. Further, the triangle symbol means that the amount of focus adjustment is large compared to other areas.
  • the HUD 4 corresponds to a display that has relatively good visibility for the driver.
  • the MFD 11 and the meter display 5 are controlled, the MFD 11 corresponds to a display that has relatively good visibility for the driver.
  • the meter display 5 and the AVN display 12 are controlled, the meter display 5 corresponds to a display that has relatively good visibility for the driver.
  • Modification 4 an example in which the display control unit F4 sets the combination to be controlled as the MFD 11 and the meter display 5 will be described. That is, the display control unit F4 of the fourth modification appropriately changes the contents displayed on the MFD 11 and the meter display 5 based on the estimation result of the driver intention estimation unit F2.
  • the MFD 11 corresponds to a display with relatively good visibility.
  • FIG. 8 shows an example of the contents displayed on each display for each support mode in the fourth modification.
  • the display control unit F4 displays information such as vehicle speed, route guidance information, ACC information, and road surface information on the MFD 11, and the meter display 5 includes ECO information and air conditioner in addition to the mechanical meter. Display information.
  • the road surface information is information representing a road surface state, a frictional force (so-called grip force) generated between the road surface and the tire, and the like.
  • the traveling control system 6 has a skid prevention function for preventing the skid of the vehicle by automatically controlling the brake and engine output based on the driving operation and the vehicle speed of the driver,
  • the operating state of the skid prevention function may be displayed as road surface information.
  • the display control unit F4 displays the ACC information on the MFD 11 with the highest priority. This is because, in this configuration, the ACC function is automatically turned on in the overtaking mode, so whether the driver can properly catch the preceding vehicle, that is, whether it is in the active state or the standby state. This is because it is necessary to recognize this.
  • other functions for controlling the running of the vehicle for example, LKA function may be displayed with priority over the air conditioner information.
  • information for example, audio information
  • information for example, air conditioner information
  • the meter display 5 displays ECO information, presence / absence of incoming mail, etc. in addition to the mechanical meter.
  • the display control unit F4 displays the surrounding vehicle information with the highest priority on the MFD 11.
  • the surrounding vehicle information here is information about vehicles existing around the host vehicle, for example, information indicating a relative position, a relative speed, and the like of the vehicle existing around the host vehicle.
  • the image corresponding to the surrounding vehicle information may be generated based on the surrounding vehicle data acquired by the surrounding vehicle information acquisition unit F21.
  • surrounding vehicle information on a display that is easy for the driver who is driving to overtake the preceding vehicle (overtaking operation)
  • MFD 11 a display
  • the driver can perform the overtaking operation more appropriately by knowing the relative position and relative speed of the surrounding vehicles.
  • the surrounding vehicle information corresponds to overtaking driving information that is displayed with priority in particular among driving information. Further, when the vehicle is overtaken by the following vehicle, it is possible to confirm whether or not the host vehicle can normally detect the preceding vehicle by visually checking the ACC information.
  • vehicle speed and road surface information may be displayed in addition to the surrounding vehicle information.
  • the meter display 5 in the overtaking mode displays ECO information and route guidance information in addition to the mechanical meter.
  • the content to be displayed on the meter display 5 may be designed as appropriate, but it is preferable that driving information is given priority over audio information or the like.
  • the fifth modification is an example in which the display control unit F4 controls the HUD 4 and the MFD 11 as control targets.
  • FIG. 9 shows an example of contents displayed on each display for each support mode in the fifth modification.
  • the driving support system 100 does not include the meter display 5 and the MFD 11 also functions as the meter display 5.
  • the display control unit F4 displays information such as vehicle speed, route guidance information, ACC information, and ECO information on the HUD 4. Further, meter system information, road surface information, audio information, and air conditioner information are displayed on the MFD 11.
  • the meter system information is information representing the vehicle speed, the rotational speed of the engine, the remaining amount of fuel (or battery), and the like.
  • the display control unit F4 displays ACC information, vehicle speed, audio information, ECO information, route guidance information, and the like on the HUD4. Display information. Of various information displayed on the HUD 4, it is preferable to display the ACC information with the highest priority.
  • the display control unit F4 preferentially displays driving information such as the vehicle speed, speed limit, and route guidance information on the HUD 4 as in the embodiment.
  • driving information such as the vehicle speed, speed limit, and route guidance information
  • the surrounding vehicle information may be displayed on the HUD 4.
  • the MFD 11 displays meter system information and road surface information.
  • the driver intention estimation unit F2 determines that the driver is trying to overtake the preceding vehicle, the driving information is preferentially displayed compared to other cases.
  • Modification 6 Although the modification 3 illustrated the configuration in which various displays mounted around the driver's seat are classified based on their installation positions, the present invention is not limited to this.
  • a human visual field is divided into a plurality of regions with different recognition capabilities of information included in the region, with a gazing point as a center.
  • the effective visual field that is excellent in the ability to accept information is a substantially elliptical region that is 30 degrees horizontal and 20 degrees vertical with the gazing point as the center. It is about 90 degrees and about 45 degrees to 70 degrees vertically. The aforementioned difference in visibility for each region is also determined based on this characteristic.
  • the driver's field of view is divided into a plurality of areas based on the gaze point of the driver who is gazing in front of the host vehicle, and various displays mounted around the driver's seat depending on which area each display belongs to May be distinguished.
  • the field of view of the driver is divided into three regions of a first field of view, a second field of view, and a third field of view in descending order of the recognition ability of the driver.
  • the first field of view is an area corresponding to an effective field of view, and is an ellipse that is 30 degrees horizontal and 20 degrees vertical with respect to the line of sight (referred to as the gaze direction) when the driver is gazing in front of the host vehicle.
  • the area is
  • the second visual field is a region corresponding to a stable visual field and refers to a region other than the first visual field out of a substantially elliptical region having a horizontal of 60 degrees and a vertical of 45 degrees with respect to the gaze direction.
  • the third field of view is a region other than the first field of view and the second field of view of a substantially elliptical region having a horizontal 90 ° and a vertical 70 ° centered on the gaze direction.
  • the gaze direction may be defined for each driver, or may be a direction from the center of the headrest of the driver's seat toward the front of the vehicle. This gaze direction corresponds to the line of sight of the driver facing the front of the vehicle.
  • the HUD 4 corresponds to the display existing in the first field of view
  • the MFD 11 and the meter display 5 correspond to the display present in the second field of view
  • the AVN display 12 corresponds to the display existing in the third visual field.
  • driver's field of view may be divided in four stages by further dividing the second field of view. In this way, the display provided around the driver's seat can be distinguished from the driver's field of view.
  • the first angle may be an angle that forms an effective human visual field or a stable visual field, such as 30 degrees or 45 degrees.
  • the first angle may be defined separately for the horizontal direction and the vertical direction.
  • the first angle in the horizontal direction may be 30 degrees and the first angle in the vertical direction may be 20 degrees.
  • the value of the first angle is not limited to the value described above.
  • the LKA function and the ACC function are illustrated as examples of functions provided by the traveling control system 6, but the present invention is not limited thereto.
  • the travel control system 6 may be configured to implement an acceleration support function that supports an acceleration operation by the driver by controlling a transmission mounted on the host vehicle.
  • the travel control unit F5 may instruct the travel control system 6 to operate the acceleration support function when the driving support system 100 is in the overtaking mode.
  • the traveling control system 6 is configured to perform a skid prevention function for preventing a side slip of the host vehicle by automatically controlling a brake and an engine output based on the driving operation and the vehicle speed of the driver. Also good.
  • the acceleration support function and the skid prevention function may be realized with the aid of a known technique.
  • the display control unit F4 has exemplified the aspect of controlling the contents displayed on each of the two displays, but the present invention is not limited to this.
  • the number of displays to be controlled by the display control unit F4 may be one, or may be three or more.
  • each section is expressed as, for example, S1. Further, each section can be divided into a plurality of subsections, while a plurality of sections can be combined into one section. Further, each section configured in this manner can be referred to as a device, module, or means.

Abstract

L'invention concerne un dispositif d'assistance à la conduite de véhicule qui comprend : une unité de commande d'affichage (F4) qui commande un contenu affiché sur un dispositif d'affichage (4, 5, 11, 12) ; une unité d'acquisition d'informations de véhicule périphérique (F21) qui acquiert de façon successive des informations de véhicule périphérique indiquant une position relative d'un véhicule périphérique par rapport à un véhicule en question ; et une unité d'estimation d'intention de conducteur (F2) qui estime si, sur la base d'un changement temporel de la position relative du véhicule périphérique, le conducteur va modifier une relation avant-arrière avec le véhicule périphérique. Sur la base d'un résultat d'estimation par l'unité d'estimation d'intention de conducteur, l'unité de commande d'affichage modifie le contenu affiché sur le dispositif d'affichage.
PCT/JP2014/005422 2013-12-23 2014-10-27 Dispositif d'assistance à la conduite WO2015097958A1 (fr)

Applications Claiming Priority (4)

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JP2013-264762 2013-12-23
JP2013264762 2013-12-23
JP2014-184288 2014-09-10
JP2014184288A JP6327078B2 (ja) 2013-12-23 2014-09-10 運転支援装置

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CN108352116A (zh) * 2015-07-31 2018-07-31 日立汽车系统株式会社 自身车辆周边信息管理装置
CN108501949A (zh) * 2017-02-27 2018-09-07 松下电器（美国）知识产权公司 信息处理装置以及程序
CN110023162A (zh) * 2016-12-02 2019-07-16 三菱电机株式会社 自动驾驶控制计划制定装置及自动驾驶控制计划的制定方法
CN112776825A (zh) * 2019-10-23 2021-05-11 丰田自动车株式会社 车辆的显示装置
CN114103810A (zh) * 2020-08-31 2022-03-01 丰田自动车株式会社 车辆用信息显示系统
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JP7263992B2 (ja) * 2019-09-13 2023-04-25 株式会社デンソー 車両制御装置
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CN110023162A (zh) * 2016-12-02 2019-07-16 三菱电机株式会社 自动驾驶控制计划制定装置及自动驾驶控制计划的制定方法
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CN114103810B (zh) * 2020-08-31 2024-04-26 丰田自动车株式会社 车辆用信息显示系统

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