WO2016009628A1 - Vehicular display device - Google Patents

Vehicular display device Download PDF

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Publication number
WO2016009628A1
WO2016009628A1 PCT/JP2015/003499 JP2015003499W WO2016009628A1 WO 2016009628 A1 WO2016009628 A1 WO 2016009628A1 JP 2015003499 W JP2015003499 W JP 2015003499W WO 2016009628 A1 WO2016009628 A1 WO 2016009628A1
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WIPO (PCT)
Prior art keywords
vehicle
state
display
marker
control unit
Prior art date
Application number
PCT/JP2015/003499
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French (fr)
Japanese (ja)
Inventor
船引　誠
大林　敬一郎
孝好 古山
隼 今村
忠司 芝田
Original Assignee
パナソニックＩｐマネジメント株式会社
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Application filed by パナソニックＩｐマネジメント株式会社 filed Critical パナソニックＩｐマネジメント株式会社
Publication of WO2016009628A1 publication Critical patent/WO2016009628A1/en

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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
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks

Definitions

  • the present disclosure relates to a vehicle display device that displays information on the following traveling in a vehicle that follows the preceding vehicle according to the control of the traveling control means.
  • Patent Document 1 discloses a technique for facilitating the driver's perception of a notification target.
  • a notification target to be notified to the driver from the driver's foreground and a line of sight toward the position of the driver's notification target are obtained, and a gaze point where the line of sight intersects the display image is calculated as formation information.
  • a gaze point where the line of sight intersects the display image is calculated as formation information.
  • reporting object is formed, and it superimposes and displays on a foreground.
  • Patent Document 2 discloses a vehicle display device that enhances driver drivability with respect to vehicle follow-up running. This vehicle display device extracts an image of a preceding vehicle in which the vehicle is following the vehicle from the front image acquired by the imaging unit as a tracking target image. Then, a control information image representing the control information is superimposed and displayed around the follow target object image in the front image.
  • a vehicle display device is a vehicle display device that is installed in a vehicle having a travel control unit that performs control to follow a preceding vehicle and displays information related to follow-up travel.
  • the following traveling state and the position information of the preceding vehicle are acquired from the unit, and the following marker indicating the preceding vehicle and the state marker indicating the following traveling state of the vehicle are displayed on the display unit between the following marker and the vehicle.
  • a display control unit to be displayed in between.
  • FIG. 1 is a block diagram showing a configuration of a vehicle display device according to Embodiment 1.
  • FIG. 2 is a diagram illustrating a display example of the following traveling state according to the first embodiment.
  • FIG. 3A is a diagram showing a display example of the inter-vehicle distance display 1 according to the first embodiment.
  • FIG. 3B is a diagram showing a display example of the inter-vehicle distance display 1 according to Embodiment 1.
  • FIG. 4A is a diagram illustrating a display example of the inter-vehicle distance display 2 according to the first embodiment.
  • FIG. 4B is a diagram showing a display example of the inter-vehicle distance display 2 according to Embodiment 1.
  • FIG. 1 is a block diagram showing a configuration of a vehicle display device according to Embodiment 1.
  • FIG. 2 is a diagram illustrating a display example of the following traveling state according to the first embodiment.
  • FIG. 3A is a diagram showing a display example of the inter-
  • FIG. 4C is a diagram showing a display example of the inter-vehicle distance display 2 according to Embodiment 1.
  • FIG. 5A is a diagram illustrating a display example of a constant speed traveling state of the display method 1 according to the first embodiment.
  • FIG. 5B is a diagram showing a display example of the accelerated traveling state of the display method 1 according to the first embodiment.
  • FIG. 5C is a diagram illustrating a display example of a deceleration traveling state of the display method 1 according to the first embodiment.
  • FIG. 6A is a diagram illustrating a display example of a constant speed traveling state of the display method 2 according to the first embodiment.
  • FIG. 6B is a diagram illustrating a display example of an accelerated traveling state of the display method 2 according to the first embodiment.
  • FIG. 6C is a diagram illustrating a display example of a deceleration traveling state of the display method 2 according to the first embodiment.
  • FIG. 7A is a diagram illustrating a display example of a constant speed traveling state of the display method 3 according to the first embodiment.
  • FIG. 7B is a diagram showing a display example of the accelerated travel state of the display method 3 according to the first embodiment.
  • FIG. 7C is a diagram illustrating a display example of a deceleration traveling state of the display method 3 according to the first embodiment.
  • FIG. 8A is a diagram illustrating a display example of a constant speed traveling state of the display method 4 according to the first embodiment.
  • FIG. 8B is a diagram illustrating a display example of the accelerated traveling state of the display method 4 according to the first embodiment.
  • FIG. 8C is a diagram illustrating a display example of a deceleration traveling state of the display method 4 according to the first embodiment.
  • FIG. 9A is a diagram illustrating a display example of a constant speed traveling state of the display method 5 according to the first embodiment.
  • FIG. 9B is a diagram illustrating a display example of an accelerated traveling state of the display method 5 according to the first embodiment.
  • FIG. 9C is a diagram illustrating a display example of a deceleration traveling state of the display method 5 according to the first embodiment.
  • FIG. 10A is a diagram illustrating a display example of a constant speed traveling state of the display method 6 according to the first embodiment.
  • FIG. 10A is a diagram illustrating a display example of a constant speed traveling state of the display method 6 according to the first embodiment.
  • FIG. 10B is a diagram showing a display example of the accelerated traveling state of the display method 6 according to the first embodiment.
  • FIG. 10C is a diagram illustrating a display example of a deceleration traveling state of the display method 6 according to the first embodiment.
  • FIG. 11A is a diagram illustrating a display example of a constant speed traveling state of the display method 7 according to the first embodiment.
  • FIG. 11B is a diagram showing a display example of the accelerated travel state of the display method 7 according to the first embodiment.
  • FIG. 11C is a diagram illustrating a display example of a deceleration traveling state of the display method 7 according to the first embodiment.
  • FIG. 12A is a diagram illustrating a display example of the constant speed traveling state of the display method 8 according to the first embodiment.
  • FIG. 12B is a diagram showing a display example of the accelerated travel state of the display method 8 according to the first embodiment.
  • FIG. 12C is a diagram illustrating a display example of a deceleration traveling state of the display method 8 according to the first embodiment.
  • FIG. 13 is a diagram illustrating a display example of another display method according to the first embodiment.
  • FIG. 14 is a diagram showing a display example of another display method according to the first embodiment.
  • the target object is displayed, but information on how the host vehicle is controlled is not displayed when following traveling is performed. . For this reason, the driver may have a sense of incongruity or anxiety when following the vehicle.
  • the present disclosure provides a vehicle display device that reduces a driver's uncomfortable feeling and anxiety when following a vehicle in a vehicle having a following vehicle function.
  • FIG. 1 is a block diagram showing a configuration of host vehicle 100 including vehicle display device 160 according to Embodiment 1. As shown in FIG. The own vehicle 100 according to the first embodiment has an ACC (adaptive cruise control) function.
  • ACC adaptive cruise control
  • the host vehicle 100 includes a surrounding information acquisition unit 110, a vehicle information acquisition unit 120, an input unit 130, a travel control unit 140, a vehicle control unit 150, and a vehicle display device 160.
  • the vehicle display device 160 includes a display control unit 170 and a display unit 180.
  • the surrounding information acquisition unit 110 acquires surrounding information indicating the surrounding information of the host vehicle 100.
  • the peripheral information is, for example, the presence / absence of a preceding vehicle or the distance between the preceding vehicle and the like.
  • Peripheral information is acquired from various sensors such as a radar installed in the host vehicle 100 and images from a camera.
  • the vehicle information acquisition unit 120 acquires vehicle information indicating the state of the host vehicle 100.
  • vehicle information includes, for example, vehicle speed, accelerator state, brake state, vehicle inclination, and the like.
  • Vehicle information is acquired from a CAN (control area network) or vehicle speed pulse.
  • the input unit 130 sets ON / OFF of travel control by ACC, setting of vehicle speed and inter-vehicle distance desired by the driver, ON / OFF of follow-up control, and ON / OFF of vehicle speed control. For example, ON / OFF of each control is performed using an operation switch or the like installed near the steering of the host vehicle 100. Further, the inter-vehicle distance is set to a level such as large, medium, and small depending on the number of times the switch is pressed.
  • the traveling control unit 140 controls the vehicle control unit 150 using information acquired from the surrounding information acquisition unit 110, the vehicle information acquisition unit 120, and the input unit 130.
  • the traveling control unit 140 detects the preceding vehicle from the image ahead of the vehicle acquired from the surrounding information acquisition unit 110, and calculates the inter-vehicle distance between the preceding vehicle and the host vehicle 100 from the detected position of the preceding vehicle. Further, the current vehicle speed of the host vehicle 100 is acquired from the vehicle information acquisition unit 120.
  • the vehicle control unit 150 controls acceleration / deceleration of the vehicle speed of the host vehicle 100 based on the current inter-vehicle distance from the preceding vehicle, the vehicle speed of the host vehicle 100, and the like. I do.
  • the travel control unit 140 includes the position of the preceding vehicle and control information to the vehicle control unit 150, the set vehicle speed and the set inter-vehicle distance preset by the driver via the input unit 130, and information on the current host vehicle 100, etc. Is output to the display unit 180.
  • the traveling control unit 140 targets the preceding vehicle closest to the host vehicle 100 traveling in the same lane as the host vehicle 100 as a tracking target. Therefore, when there are a plurality of preceding vehicles, if the nearest preceding vehicle changes due to a lane change or the like, the preceding vehicle that is the target of the follow-up traveling is changed.
  • the vehicle control unit 150 controls each part of the host vehicle 100 according to the control of the traveling control unit 140.
  • Vehicle control unit 150 is electrically connected to an engine and a transmission (not shown).
  • the vehicle control unit 150 controls the speed of the host vehicle 100 by controlling the engine and the transmission according to the control of the traveling control unit 140.
  • the display control unit 170 controls a display method of information displayed on the display unit 180 based on the information acquired from the travel control unit 140.
  • Display unit 180 displays information related to travel control and the state of host vehicle 100 to the driver.
  • the display unit 180 uses a head-up display (HUD), for example, and superimposes the display image on the front real image. Further, a car navigation display, an LED display, or the like may be used. In the present disclosure, a case where the display unit 180 is a head-up display will be described as an example.
  • HUD head-up display
  • the following traveling state is a state indicating whether or not the host vehicle 100 is following the preceding vehicle.
  • the display control unit 170 determines that the host vehicle 100 and the preceding vehicle are connected or connected (as if the host vehicle is pulled by the preceding vehicle).
  • a state marker that is intuitively understood from experience is displayed on the display unit 180.
  • FIG. 2 is a diagram showing a display example of the following traveling state according to the first embodiment.
  • FIG. 2 shows a case where the foreground vehicle 200 is traveling in the foreground that the driver can see through the windshield 210.
  • the follow-up marker 230 indicates on the display unit 180 that the preceding vehicle 200 is a follow-up vehicle.
  • the follow-up marker 230 is superimposed and displayed between the preceding vehicle 200 and the host vehicle 100.
  • the fact that the host vehicle 100 follows the preceding vehicle 200 is, for example, a figure (string shape, carpet shape, etc.) connected between the preceding vehicle 200 and the host vehicle 100 as shown in FIG. This is indicated by the status marker 240.
  • the display control unit 170 has, as a state marker, a continuous graphic row (a row of triangles, rectangles, circles, etc.), a graphic that associates the preceding vehicle 200 side and the host vehicle 100 side (both sides are indicated by the same triangle, etc.). May be displayed. These figures may be displayed so as to extend from the own vehicle 100 toward the preceding vehicle 200 at the start of following.
  • the display control unit 170 may display the vehicle 100 and the preceding vehicle 200 so as to extend from both sides toward the center. It should be noted that when the follow-up is canceled, a display is performed so as to perform a movement opposite to the start of follow-up.
  • the speed control state indicates a speed control state of the host vehicle 100, and indicates any one of three states of a constant speed travel state, an acceleration travel state, and a deceleration travel state.
  • the constant speed traveling state is a state in which the host vehicle 100 is traveling at a constant or substantially constant vehicle speed.
  • the acceleration running state is a state where the host vehicle 100 is accelerating or is about to accelerate.
  • the deceleration travel state is a state where the host vehicle 100 is decelerating or is about to decelerate.
  • the display control unit 170 uses a state marker indicating that the preceding vehicle 200 and the host vehicle 100 are in the following traveling state as the constant speed traveling state.
  • the display control unit 170 displays, for example, a state marker indicating a constant speed traveling state as an accelerated traveling state by deforming it into a shape that can be pulled forward.
  • the display unit 180 is displayed as a reduced-speed traveling state, for example, by deforming the state marker indicating the constant-speed traveling state so as to be pushed backward. That is, the display control unit 170 causes the display unit 180 to display a state marker that allows the driver to intuitively know the speed control state based on the laws of natural physics and experience.
  • the display control unit 170 displays the acceleration traveling state by indenting a state marker disposed between the preceding vehicle 200 and the host vehicle 100 in the vicinity of the upper and lower centers, and expresses the deceleration traveling state by inflating. Also good.
  • the display control unit 170 operates to return to a certain reference (shape, position, size, etc.) from a state where it is pulled forward or a state where it is pushed backward (stretched) (opposite)
  • a certain reference shape, position, size, etc.
  • working is based on a following driving
  • the display control unit 170 uses a display graphic representing the set inter-vehicle distance as a reference when setting the inter-vehicle distance.
  • the inter-vehicle distance is set by the driver in stages such as large, medium, and small using an operation switch or the like.
  • the display control unit 170 also displays the state of the inter-vehicle distance using the state marker.
  • a display method performed by the display control unit 170 according to the inter-vehicle distance when the inter-vehicle distance is in three stages of large, medium, and small will be described.
  • 3A and 3B are diagrams illustrating a display example of the inter-vehicle distance display 1 according to the first embodiment.
  • 4A to 4C are diagrams for explaining a display example of the inter-vehicle distance display 2 according to the first embodiment.
  • Each figure shows the case where the forerunner vehicle 200 is traveling in the foreground that the driver can see through the windshield 210.
  • the follow-up marker 230 in each figure indicates that the preceding vehicle 200 is a follow-up vehicle on the display unit 180.
  • the display control unit 170 displays the stage of the inter-vehicle distance in the shape of a graphic that is displayed between the preceding vehicle 200 and the host vehicle 100. It is assumed that the current inter-vehicle distance stage is “large” and is displayed as shown in FIG.
  • the display control unit 170 displays the state marker 240 in FIG. 2 as the state marker 300 in FIG. 3A.
  • the state marker 300 has a shape that can be associated with a force acting in an accelerating direction by being recessed near the center. Therefore, the state marker 300 can remind the driver that the inter-vehicle distance is set smaller than the current inter-vehicle distance.
  • the display control unit 170 changes the state marker 300 in FIG. 3A to the state in FIG. 3B. It is displayed like the marker 301.
  • the state marker 301 has a shape that can be associated with a force acting in a decelerating direction because the vicinity of the center is swollen. Therefore, the state marker 301 can remind the driver that the inter-vehicle distance is set larger than the current inter-vehicle distance.
  • FIG. 4A is a diagram showing a current inter-vehicle distance display. 4A, the set inter-vehicle distance is displayed as the number of figures to be displayed with the preceding vehicle 200. In Embodiment 1, by changing the number of figures, the shape of each figure changes, and the driver is reminded of acceleration / deceleration by changing the inter-vehicle distance setting.
  • FIG. 4A shows a case where the set inter-vehicle distance is “large”, and the display control unit 170 displays four figures 400 as state markers.
  • FIG. 4B shows a case where the set inter-vehicle distance is “medium”, and the display control unit 170 displays three figures 401 as state markers.
  • the display control unit 170 may perform display with the same vertical size and a larger interval. In this case, the display control unit 170 displays two figures when the set inter-vehicle distance is “small”.
  • the display control unit 170 displays four figures 402 as shown in FIG. 4C, for example.
  • the figure 402 warps the left and right center downwards, indicating that it is being pulled forward, and reminds the driver to decelerate.
  • FIGS. 5A to 11C A display method according to Embodiment 1 will be described with reference to FIGS. 5A to 11C. Each figure shows the case where the forerunner vehicle 200 is traveling in the foreground that the driver can see through the windshield 210.
  • the follow-up marker 230 indicates on the display unit 180 that the preceding vehicle 200 is a follow-up vehicle.
  • the display control unit 170 displays the following traveling state and the speed control state using a state marker.
  • Display method 1 uses a figure resembling an elastic body between the preceding vehicle 200 and the host vehicle 100 that swells in the upper and lower centers, or reminiscent of returning from the displayed state to the original state. Indicates acceleration / deceleration. For example, it is used that the force is applied in the direction of contraction when the center becomes thin when rubber or the like is pulled.
  • FIG. 5A is a diagram illustrating a display example of a constant speed traveling state of the display method 1 according to the first embodiment.
  • FIG. 5B is a diagram illustrating a display example of an accelerated traveling state of the display method 1 according to the first embodiment.
  • FIG. 5C is a diagram showing a display example of a deceleration traveling state of the display method 1 according to the first embodiment.
  • the display control unit 170 displays a state marker 500 on the display unit 180 indicating that the host vehicle 100 is following the preceding vehicle 200 in the constant speed traveling state.
  • the display control unit 170 displays the state marker 501 in FIG. 5B on the display unit 180.
  • the state marker 501 in FIG. 5B is indented as compared to the state marker 500 in FIG. 5A, indicating that the state marker 501 has been stretched, and reminds the driver to accelerate.
  • the display control unit 170 displays the state marker 502 in FIG. 5C on the display unit 180 when the host vehicle 100 enters the decelerating traveling state.
  • the state marker 502 in FIG. 5C is inflated compared to the state marker 500 in FIG. 5A, indicating that the state marker 502 has been contracted, and reminds the driver to decelerate.
  • the display method 2 represents acceleration / deceleration by using a figure (rectangle) and a figure row reminiscent of an elastic body whose upper and lower left and right centers are warped up or down. For example, when the eraser is bent or when the vicinity of the center of the rubber stretched horizontally is pulled up and down, the driver is reminded that the force acts in the same direction as the direction pulled near both ends.
  • FIG. 6A is a diagram illustrating a display example of the constant speed traveling state of the display method 2 according to the first embodiment.
  • FIG. 6B is a diagram illustrating a display example of an accelerated traveling state of the display method 2 according to the first embodiment.
  • FIG. 6C is a diagram illustrating a display example of a deceleration traveling state of the display method 2 according to the first embodiment.
  • the display control unit 170 displays a state marker 510 on the display unit 180 indicating that the host vehicle 100 is following the preceding vehicle 200 in the constant speed traveling state.
  • the display control unit 170 displays the state marker 511 in FIG. 6B on the display unit 180.
  • the state marker 511 in FIG. 6B warps the right and left center upward as compared with the state marker 510 in FIG. 6A, thereby indicating that the state marker 511 is pulled to the back, and reminds the driver to accelerate.
  • the display control unit 170 displays the state marker 512 of FIG. 6C on the display unit 180 when the host vehicle 100 enters the deceleration traveling state.
  • the state marker 512 shown in FIG. 6C is warped downward in the center of the left and right as compared with the state marker 510 shown in FIG. 6A, thereby indicating that the state marker 512 is pulled forward, and reminds the driver to decelerate.
  • the display method 3 displays acceleration / deceleration by displaying a graphic (circular shape) or a graphic string reminiscent of an elastic body in which the graphic is pulled up or down or pressed from above or below. For example, when a round balloon is pulled up and down or crushed from above and below, the driver can associate that the force is applied in the direction of the force received from the balloon, and from this, it can be predicted that acceleration / deceleration will work.
  • FIG. 7A is a diagram illustrating a display example of the constant speed traveling state of the display method 3 according to the first embodiment.
  • FIG. 7B is a diagram showing a display example of the accelerated travel state of the display method 3 according to the first embodiment.
  • FIG. 7C is a diagram showing a display example of a deceleration traveling state of the display method 3 according to the first embodiment.
  • the display control unit 170 displays a state marker 520 on the display unit 180 indicating that the host vehicle 100 is following the preceding vehicle 200 in the constant speed traveling state.
  • the state marker 520 is a circular diagram series.
  • the display control unit 170 displays the state marker 521 in FIG. 7B on the display unit 180 when the host vehicle 100 enters the acceleration traveling state.
  • the state marker 521 in FIG. 7B reminds the driver to accelerate because each circle is pulled up and down compared to the state marker 520 in FIG. 7A.
  • the display control unit 170 displays the state marker 522 of FIG.
  • the state marker 522 in FIG. 7C reminds the driver to decelerate as each circle is crushed from above and below compared to the state marker 520 in FIG. 7A.
  • the display method 4 indicates a follow-up running state by displaying a plurality of graphic rows with the preceding vehicle 200. Further, the shape of the figure is changed according to the distance between the vehicle 200 and the preceding vehicle 200, and each figure is expanded and contracted. The driver associates that the expansion and contraction of the figure works in the direction of returning to the original shape, and can predict that acceleration / deceleration will work from this.
  • FIG. 8A is a diagram showing a constant speed traveling state of the display method 4 according to the first embodiment.
  • FIG. 8B is a diagram showing an accelerated traveling state of the display method 4 according to the first embodiment.
  • FIG. 8C is a diagram showing a deceleration traveling state of the display method 4 according to the first embodiment.
  • the display control unit 170 displays a state marker 530 on the display unit 180 indicating that the host vehicle 100 is following the preceding vehicle 200 in the constant speed traveling state.
  • the display control unit 170 displays the state marker 531 in FIG. 8B on the display unit 180.
  • the state marker 531 of FIG. 8B reminds the driver to accelerate because each figure extends vertically compared to the state marker 530 of FIG. 8A.
  • the display control unit 170 displays the state marker 532 of FIG. 8C on the display unit 180 when the host vehicle 100 enters the deceleration traveling state.
  • the state marker 532 in FIG. 8C reminds the driver to decelerate because each figure is contracted compared to the state marker 530 in FIG. 8A.
  • the display method 5 indicates the following traveling state by displaying a plurality of graphic rows between the vehicle 200 and the preceding vehicle 200.
  • the graphic row is expanded and contracted by changing the interval of each graphic in accordance with the inter-vehicle distance from the preceding vehicle 200. The driver can predict that acceleration / deceleration will work in the direction in which the interval returns to the original interval.
  • FIG. 9A is a diagram showing a constant speed traveling state of the display method 5 according to the first embodiment.
  • FIG. 9B is a diagram showing an accelerated traveling state of the display method 5 according to the first embodiment.
  • FIG. 9C is a diagram illustrating a deceleration traveling state of the display method 5 according to the first embodiment.
  • the display control unit 170 displays a state marker 540 on the display unit 180 indicating that the host vehicle 100 is following the preceding vehicle 200 in the constant speed traveling state.
  • the display control unit 170 displays the state marker 541 in FIG. 9B on the display unit 180.
  • the distance between the figures of the state marker 541 in FIG. 9B is made larger than the distance between the figures in FIG. 9A to remind the driver to accelerate.
  • the display control unit 170 displays the state marker 542 shown in FIG. 9C on the display unit 180 when the host vehicle 100 enters the deceleration traveling state.
  • the distance between the figures of the state marker 542 in FIG. 9C is made narrower than the distance between the figures of the state marker 540 in FIG. 9A to remind the driver to decelerate.
  • the display method 6 displays a figure connected to the preceding vehicle 200, and changes the color / darkness of a portion longer or shorter than the reference position with the set inter-vehicle distance as a reference position.
  • a shape resemble of air compression is used. That is, a shape that can be associated with a force acting in a direction in which the piston returns to its original position when the piston of the sealed syringe is pushed or pulled is used.
  • FIG. 10A is a diagram showing a constant speed traveling state of the display method 6 according to the first embodiment.
  • FIG. 10B is a diagram showing an accelerated traveling state of the display method 6 according to Embodiment 1.
  • FIG. 10C is a diagram illustrating a deceleration traveling state of the display method 6 according to the first embodiment.
  • the display control unit 170 displays a state marker 550 on the display unit 180 indicating that the host vehicle 100 is following the preceding vehicle 200 in the constant speed traveling state.
  • the display control unit 170 displays the state marker 553 of FIG. 10B on the display unit 180.
  • the state marker 553 in FIG. 10B indicates a case where the current inter-vehicle distance is longer than the set inter-vehicle distance.
  • the state marker 551 indicates the reference inter-vehicle distance
  • the tip (upper) 552 indicates the distance to the position of the preceding vehicle 200 that exceeds the reference inter-vehicle distance.
  • the display controller 170 displays the tip 552 in a different color from the state marker 551. In this case, the driver associates that the vehicle 100 moves in a direction in which the vehicle 100 returns to the reference inter-vehicle distance, that is, in a direction in which the front end portion 552 is reduced.
  • the display reminds the driver of acceleration. In other words, it indicates that the inter-vehicle distance accelerates in the upward movement direction (upward direction). In addition, from the front end portion 552, the driver can intuitively associate that the fact that the inter-vehicle distance is larger than the set inter-vehicle distance is a cause of acceleration.
  • the display control unit 170 displays the state marker 556 of FIG. 10C on the display unit 180.
  • FIG. 10C shows a case where the current inter-vehicle distance is shorter than the set inter-vehicle distance.
  • a front end (upper part) 555 of the state marker 556 indicates a distance from the current inter-vehicle distance to the reference inter-vehicle distance, and changes the color of the front end 555 from the position of the preceding vehicle 200.
  • the state marker 554 indicates the current inter-vehicle distance.
  • the tip 555 is displayed so as to overlap the preceding vehicle 200.
  • the driver associates that the force acts in the direction of returning to the reference inter-vehicle distance, that is, the direction in which the tip end portion 555 becomes smaller. This reminds the driver to decelerate. In other words, it indicates that the actual inter-vehicle distance decelerates in the direction of moving downward (downward).
  • the front end portion 555 can intuitively remind the driver that the fact that the current inter-vehicle distance is smaller than the set inter-vehicle distance is a cause of deceleration.
  • the display method 7 uses a shape that visualizes the difference from the reference position and is reminiscent of moving toward the reference position. For example, an inverted triangle is displayed with the preceding vehicle 200. In this case, acceleration / deceleration is notified by a change in the angle below the inverted triangle. The following operation is performed based on the angle at which the set inter-vehicle distance is reached.
  • FIG. 11A is a diagram illustrating a constant speed traveling state of the display method 7 according to the first embodiment.
  • FIG. 11B is a diagram illustrating an accelerated traveling state of the display method 7 according to the first embodiment.
  • FIG. 11C is a diagram illustrating a deceleration traveling state of the display method 7 according to the first embodiment.
  • the display control unit 170 displays a state marker 560 indicating that the host vehicle 100 is following the preceding vehicle 200 in the constant speed traveling state.
  • the angle of the state marker 560 is set as a reference angle.
  • the display control unit 170 displays the state marker 561 of FIG. 11B on the display unit 180 when the host vehicle 100 enters the acceleration traveling state.
  • the angle of the state marker 561 in FIG. 11B is larger than the reference angle of the state marker 560.
  • the display control unit 170 displays the state marker 562 in FIG. 11C on the display unit 180.
  • the angle of the state marker 562 in FIG. 11C is narrower than the reference angle in FIG. 11A.
  • an angle smaller than or larger than the reference angle is displayed by changing the reference angle and the color. Thereby, it can be clearly shown to the driver whether the angle has increased or decreased. Furthermore, it is possible to intuitively associate the driver with the fact that the inter-vehicle distance has become larger or smaller than the set inter-vehicle distance, which has caused the acceleration or deceleration.
  • the display method 8 displays a line with the preceding vehicle 200, and displays a predetermined figure (an arrow, a triangle, a circle, etc.) on the line or inside the line. Then, acceleration / deceleration is notified by changing the position of a predetermined figure.
  • the predetermined figure When the predetermined figure is on the line, it indicates acceleration / deceleration by moving in the vertical direction, and when it is inside the line, it moves in the direction to gather in the center or away from the center.
  • FIG. 12A is a diagram illustrating a constant speed traveling state of the display method 8 according to the first embodiment.
  • FIG. 12B is a diagram showing an accelerated traveling state of the display method 8 according to the first embodiment.
  • FIG. 12C is a diagram showing a deceleration traveling state of the display method 8 according to the first embodiment.
  • the display control unit 170 displays a state marker 570 indicating that the host vehicle 100 is following the preceding vehicle 200 in the constant speed traveling state.
  • the display control unit 170 displays a predetermined graphic 571 on the state marker 570 as shown in FIG. 12B.
  • FIG. 12B displays a predetermined figure 571 only on the own vehicle 100 side.
  • the predetermined figure 571 in FIG. 12B is composed of three triangles.
  • the display control unit 170 displays a predetermined graphic 572 on the state marker 570 as shown in FIG. 12C.
  • the predetermined figure 572 is displayed only on the own vehicle 100 side.
  • the predetermined figure 572 in FIG. 12C is composed of three triangles. It should be noted that animation display may be performed such that the triangle moves downward while the display position of the predetermined graphic 572 remains unchanged. As a result, it is felt that the host vehicle 100 moves toward the front, so that the driver is reminded that the vehicle is decelerating.
  • the predetermined figures 571 and 572 are displayed on the own vehicle 100 side, but may be displayed on the preceding vehicle 200 side.
  • the tip of the arrow or triangle may be directed in the moving direction.
  • the travel control unit 140 controls the acceleration / deceleration of the speed of the host vehicle 100 in a state in which the travel control and the follow-up control are turned on, the following three cases are conceivable. In each case, the travel control unit 140 determines acceleration / deceleration using information obtained from the surrounding information acquisition unit 110 and the vehicle information acquisition unit 120, controls the vehicle control unit 150, and controls the display control unit 170. Output information. Based on the information acquired from the traveling control unit 140, the control information displays the following traveling state and the speed control state on the display unit 180.
  • the traveling control unit 140 controls the host vehicle 100 to accelerate so that the vehicle speed of the host vehicle 100 becomes the set vehicle speed.
  • the travel control unit 140 controls the vehicle speed of the host vehicle 100 to be reduced.
  • the travel control unit 140 controls the host vehicle 100 to accelerate or decelerate in order to set the distance between the preceding vehicle 200 and the preceding vehicle 200 as the set inter-vehicle distance.
  • the vehicle display device includes the display control unit 170 and the display unit 180.
  • the display control unit 170 obtains the following traveling state, the position information of the preceding vehicle 200, and the speed control information of the own vehicle 100 from the traveling control unit 140, and the following driving state and the speed control state of the own vehicle 100 are determined by the laws of natural physics.
  • the state marker shown in the shape resemble of the speed control state of the vehicle and associated with the speed control state of the vehicle is displayed on the display unit 180.
  • the driver can intuitively understand whether the traveling state of the vehicle is a constant speed traveling state, an acceleration traveling state, or a decelerating traveling state. It is also possible to intuitively understand the cause of the current running state.
  • the first embodiment has been described as an example of the technique disclosed in the present application.
  • the technology in the present disclosure is not limited to this, and can also be applied to embodiments that have been changed, replaced, added, omitted, and the like.
  • the state marker specified as the following vehicle 200 to be followed is displayed, but the state marker may be displayed on the own vehicle 100 as well.
  • Fig. 13 shows another display example. As shown in FIG. 13, in addition to the follow-up destination marker 230 that identifies the preceding vehicle 200, the host vehicle marker 231 that indicates the host vehicle 100 is displayed. By connecting the tracking destination marker 230 and the host vehicle marker 231 with the state marker 600, the driver knows that the host vehicle 100 is following the preceding vehicle 200.
  • the avatar of the host vehicle 100 may be displayed on the front side (below the display unit 180).
  • FIG. 14 shows another display example.
  • FIG. 14 displays an avatar (bonnet) 232 of the host vehicle 100 instead of the host vehicle marker 231 of FIG.
  • the tracking destination marker 230 and the avatar 232 By connecting the tracking destination marker 230 and the avatar 232 with the state marker 600, it can be seen that the host vehicle 100 is following the preceding vehicle 200.
  • a display related to the display of the display unit 180 may be output on the instrument panel in order to give a sense of connection to parts other than the display unit 180.
  • the relevance can be obtained, for example, by illuminating the following marker 230 indicating the preceding vehicle 200 and the display on the instrument panel in the same color.
  • the display control unit 170 may generate a state marker by combining each display method. For example, in the display methods 1 to 5, when the current inter-vehicle distance is larger than the set inter-vehicle distance, the color of the marker in the section exceeding the set inter-vehicle distance may be changed.
  • the size of deforming the figure and the speed of animation may be changed.
  • the explanation was made using rubber, balloons, etc. as the expanding and contracting figures, but the present invention is not limited to this.
  • a shape such as a spring reminiscent of an elastic body may be used.
  • the display unit 180 is a head-up display
  • the present disclosure is not limited thereto.
  • the following marker indicating the following vehicle may be a car-shaped marker.
  • the present disclosure is applicable to a vehicle display device that displays a driving state to a driver.
  • the present disclosure can be applied to a system using a head-up display, a navigation system, and the like.
  • SYMBOLS 100 Own vehicle 110 Peripheral information acquisition part 120 Vehicle information acquisition part 130 Input part 140 Travel control part 150 Vehicle control part 160 Display apparatus for vehicles 170 Display control part 180 Display part 200 Front running vehicle 210 Windshield 230 Tracking destination marker 231 Own vehicle Marker 232 Avatar 240,300,301,500,501,502,510,511,512,520,521,522,530,531,532,540,541,542,550,551,553,554,556,560 , 561, 562, 570, 600 Status marker 400, 401, 402, 571, 572 Graphic 552, 555 Tip

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Abstract

Provided is a vehicular display device in which a travel control unit uses information acquired from a surroundings information acquisition unit, a vehicle information acquisition unit, and an input unit to control a vehicle control unit. The travel control unit outputs the following to a display unit: the position of a leading vehicle; control information destined for the vehicle control unit; the vehicle speed and inter-vehicle distance set by a driver; current vehicle information; and the like. On the basis of the information that is acquired from the travel control unit, a display control unit controls a display method for information that is displayed on the display unit.

Description

車両用表示装置Vehicle display device
　本開示は、走行制御手段の制御に応じて前走車に追従走行する車両において、当該追従走行に関する情報を表示する車両用表示装置に関するものである。 The present disclosure relates to a vehicle display device that displays information on the following traveling in a vehicle that follows the preceding vehicle according to the control of the traveling control means.
　特許文献１は、運転者が報知対象の知覚を容易にする技術を開示する。特許文献１では、運転者の前景中から運転者に報知すべき報知対象と、運転者の報知対象の位置に向う視線を求め、視線が表示画像と交差する注視点位置を形成情報として算出する。そして、形成情報に基づき、運転者の注視点位置に応じて、報知対象を強調する強調画像を形成し、前景に重畳して表示する。 Patent Document 1 discloses a technique for facilitating the driver's perception of a notification target. In Patent Literature 1, a notification target to be notified to the driver from the driver's foreground and a line of sight toward the position of the driver's notification target are obtained, and a gaze point where the line of sight intersects the display image is calculated as formation information. . And based on formation information, according to a driver | operator's gaze point position, the emphasis image which emphasizes alerting | reporting object is formed, and it superimposes and displays on a foreground.
　特許文献２は、車両の追従走行に関して運転者のドライバビリティを高める車両用表示装置を開示する。この車両用表示装置は、撮像手段により取得された前方画像から、車両を追従走行させている前走車の画像を追従走行対象画像として抽出する。そして、前方画像における追従走行対象画像の周囲に制御情報を表す制御情報画像を重ね合わせて表示する。 Patent Document 2 discloses a vehicle display device that enhances driver drivability with respect to vehicle follow-up running. This vehicle display device extracts an image of a preceding vehicle in which the vehicle is following the vehicle from the front image acquired by the imaging unit as a tracking target image. Then, a control information image representing the control information is superimposed and displayed around the follow target object image in the front image.
特開２０１０－１２０６１７号公報JP 2010-120617 A 特開２００９－２９８３２２号公報JP 2009-298322 A
　本開示における車両用表示装置は、前走車に追従走行する制御を行う走行制御部を有する車両に設置され、追従走行に関する情報を表示する車両用表示装置であって、表示部と、走行制御部より、追従走行の状態と、前走車の位置情報を取得し、表示部に、前走車を示す追従先マーカと、車両の追従走行状態を示す状態マーカを追従先マーカと車両との間に表示させる表示制御部とを備える。 A vehicle display device according to the present disclosure is a vehicle display device that is installed in a vehicle having a travel control unit that performs control to follow a preceding vehicle and displays information related to follow-up travel. The following traveling state and the position information of the preceding vehicle are acquired from the unit, and the following marker indicating the preceding vehicle and the state marker indicating the following traveling state of the vehicle are displayed on the display unit between the following marker and the vehicle. And a display control unit to be displayed in between.
　この構成により、追従走行時の車両速度の変化および変化の要因を直感的に分かる形状、動作で表示するので、追従走行時の運転者の違和感、不安感を軽減する車両用表示装置を提供することができる。 With this configuration, a change in vehicle speed during follow-up traveling and the cause of the change are displayed in an intuitively understandable shape and operation, and thus a vehicle display device that reduces the driver's discomfort and anxiety during follow-up running is provided. be able to.
図１は、実施の形態１に係る車両用表示装置の構成を示すブロック図である。FIG. 1 is a block diagram showing a configuration of a vehicle display device according to Embodiment 1. In FIG. 図２は、実施の形態１に係る追従走行状態の一表示例を示す図である。FIG. 2 is a diagram illustrating a display example of the following traveling state according to the first embodiment. 図３Ａは、実施の形態１に係る車間距離表示１の一表示例を示す図である。FIG. 3A is a diagram showing a display example of the inter-vehicle distance display 1 according to the first embodiment. 図３Ｂは、実施の形態１に係る車間距離表示１の一表示例を示す図である。FIG. 3B is a diagram showing a display example of the inter-vehicle distance display 1 according to Embodiment 1. 図４Ａは、実施の形態１に係る車間距離表示２の一表示例を示す図である。FIG. 4A is a diagram illustrating a display example of the inter-vehicle distance display 2 according to the first embodiment. 図４Ｂは、実施の形態１に係る車間距離表示２の一表示例を示す図である。FIG. 4B is a diagram showing a display example of the inter-vehicle distance display 2 according to Embodiment 1. 図４Ｃは、実施の形態１に係る車間距離表示２の一表示例を示す図である。FIG. 4C is a diagram showing a display example of the inter-vehicle distance display 2 according to Embodiment 1. 図５Ａは、実施の形態１に係る表示方法１の定速走行状態の一表示例を示す図である。FIG. 5A is a diagram illustrating a display example of a constant speed traveling state of the display method 1 according to the first embodiment. 図５Ｂは、実施の形態１に係る表示方法１の加速走行状態の一表示例を示す図である。FIG. 5B is a diagram showing a display example of the accelerated traveling state of the display method 1 according to the first embodiment. 図５Ｃは、実施の形態１に係る表示方法１の減速走行状態の一表示例を示す図である。FIG. 5C is a diagram illustrating a display example of a deceleration traveling state of the display method 1 according to the first embodiment. 図６Ａは、実施の形態１に係る表示方法２の定速走行状態の一表示例を示す図である。FIG. 6A is a diagram illustrating a display example of a constant speed traveling state of the display method 2 according to the first embodiment. 図６Ｂは、実施の形態１に係る表示方法２の加速走行状態の一表示例を示す図である。FIG. 6B is a diagram illustrating a display example of an accelerated traveling state of the display method 2 according to the first embodiment. 図６Ｃは、実施の形態１に係る表示方法２の減速走行状態の一表示例を示す図である。FIG. 6C is a diagram illustrating a display example of a deceleration traveling state of the display method 2 according to the first embodiment. 図７Ａは、実施の形態１に係る表示方法３の定速走行状態の一表示例を示す図である。FIG. 7A is a diagram illustrating a display example of a constant speed traveling state of the display method 3 according to the first embodiment. 図７Ｂは、実施の形態１に係る表示方法３の加速走行状態の一表示例を示す図である。FIG. 7B is a diagram showing a display example of the accelerated travel state of the display method 3 according to the first embodiment. 図７Ｃは、実施の形態１に係る表示方法３の減速走行状態の一表示例を示す図である。FIG. 7C is a diagram illustrating a display example of a deceleration traveling state of the display method 3 according to the first embodiment. 図８Ａは、実施の形態１に係る表示方法４の定速走行状態の一表示例を示す図である。FIG. 8A is a diagram illustrating a display example of a constant speed traveling state of the display method 4 according to the first embodiment. 図８Ｂは、実施の形態１に係る表示方法４の加速走行状態の一表示例を示す図である。FIG. 8B is a diagram illustrating a display example of the accelerated traveling state of the display method 4 according to the first embodiment. 図８Ｃは、実施の形態１に係る表示方法４の減速走行状態の一表示例を示す図である。FIG. 8C is a diagram illustrating a display example of a deceleration traveling state of the display method 4 according to the first embodiment. 図９Ａは、実施の形態１に係る表示方法５の定速走行状態の一表示例を示す図である。FIG. 9A is a diagram illustrating a display example of a constant speed traveling state of the display method 5 according to the first embodiment. 図９Ｂは、実施の形態１に係る表示方法５の加速走行状態の一表示例を示す図である。FIG. 9B is a diagram illustrating a display example of an accelerated traveling state of the display method 5 according to the first embodiment. 図９Ｃは、実施の形態１に係る表示方法５の減速走行状態の一表示例を示す図である。FIG. 9C is a diagram illustrating a display example of a deceleration traveling state of the display method 5 according to the first embodiment. 図１０Ａは、実施の形態１に係る表示方法６の定速走行状態の一表示例を示す図である。FIG. 10A is a diagram illustrating a display example of a constant speed traveling state of the display method 6 according to the first embodiment. 図１０Ｂは、実施の形態１に係る表示方法６の加速走行状態の一表示例を示す図である。FIG. 10B is a diagram showing a display example of the accelerated traveling state of the display method 6 according to the first embodiment. 図１０Ｃは、実施の形態１に係る表示方法６の減速走行状態の一表示例を示す図である。FIG. 10C is a diagram illustrating a display example of a deceleration traveling state of the display method 6 according to the first embodiment. 図１１Ａは、実施の形態１に係る表示方法７の定速走行状態の一表示例を示す図である。FIG. 11A is a diagram illustrating a display example of a constant speed traveling state of the display method 7 according to the first embodiment. 図１１Ｂは、実施の形態１に係る表示方法７の加速走行状態の一表示例を示す図である。FIG. 11B is a diagram showing a display example of the accelerated travel state of the display method 7 according to the first embodiment. 図１１Ｃは、実施の形態１に係る表示方法７の減速走行状態の一表示例を示す図である。FIG. 11C is a diagram illustrating a display example of a deceleration traveling state of the display method 7 according to the first embodiment. 図１２Ａは、実施の形態１に係る表示方法８の定速走行状態の一表示例を示す図である。FIG. 12A is a diagram illustrating a display example of the constant speed traveling state of the display method 8 according to the first embodiment. 図１２Ｂは、実施の形態１に係る表示方法８の加速走行状態の一表示例を示す図である。FIG. 12B is a diagram showing a display example of the accelerated travel state of the display method 8 according to the first embodiment. 図１２Ｃは、実施の形態１に係る表示方法８の減速走行状態の一表示例を示す図である。FIG. 12C is a diagram illustrating a display example of a deceleration traveling state of the display method 8 according to the first embodiment. 図１３は、実施の形態１に係る他の表示方法の一表示例を示す図である。FIG. 13 is a diagram illustrating a display example of another display method according to the first embodiment. 図１４は、実施の形態１に係る他の表示方法の一表示例を示す図である。FIG. 14 is a diagram showing a display example of another display method according to the first embodiment.
　特許文献１、２の車両用表示装置では、注目すべき対象物の表示は行うが、追従走行を行っている場合等に、自車両がどのような制御をされているかどうかの情報は表示されない。このため、運転者は、追従走行時に違和感や不安感を抱く恐れがあった。 In the vehicle display devices disclosed in Patent Documents 1 and 2, the target object is displayed, but information on how the host vehicle is controlled is not displayed when following traveling is performed. . For this reason, the driver may have a sense of incongruity or anxiety when following the vehicle.
　本開示は、追従走行機能を有する車両において、追従走行時の運転者の違和感、不安感を軽減する車両用表示装置を提供する。 The present disclosure provides a vehicle display device that reduces a driver's uncomfortable feeling and anxiety when following a vehicle in a vehicle having a following vehicle function.
　以下、適宜図面を参照しながら、実施の形態を詳細に説明する。但し、必要以上に詳細な説明は省略する場合がある。例えば、既によく知られた事項の詳細説明や実質的に同一の構成に対する重複説明を省略する場合がある。これは、以下の説明が不必要に冗長になるのを避け、当業者の理解を容易にするためである。 Hereinafter, embodiments will be described in detail with reference to the drawings as appropriate. However, more detailed description than necessary may be omitted. For example, detailed descriptions of already well-known matters and repeated descriptions for substantially the same configuration may be omitted. This is to avoid the following description from becoming unnecessarily redundant and to facilitate understanding by those skilled in the art.
　なお、添付図面および以下の説明は、当業者が本開示を十分に理解するために、提供されるのであって、これらにより請求の範囲に記載の主題を限定することは意図されていない。 The accompanying drawings and the following description are provided for those skilled in the art to fully understand the present disclosure, and are not intended to limit the claimed subject matter.
　（実施の形態１）
　以下、図面を用いて、実施の形態１を説明する。 (Embodiment 1)
The first embodiment will be described below with reference to the drawings.
　［１－１．構成］
　図１は、実施の形態１に係る車両用表示装置１６０を備えた自車両１００の構成を示すブロック図である。実施の形態１にかかる自車両１００は、ＡＣＣ（アダプティブクルーズコントロール）機能を備える。 [1-1. Constitution]
FIG. 1 is a block diagram showing a configuration of host vehicle 100 including vehicle display device 160 according to Embodiment 1. As shown in FIG. The own vehicle 100 according to the first embodiment has an ACC (adaptive cruise control) function.
　図１に示すように、自車両１００は、周辺情報取得部１１０と、車両情報取得部１２０と、入力部１３０と、走行制御部１４０と、車両制御部１５０と、車両用表示装置１６０とを備える。また、車両用表示装置１６０は、表示制御部１７０と、表示部１８０を備える。 As shown in FIG. 1, the host vehicle 100 includes a surrounding information acquisition unit 110, a vehicle information acquisition unit 120, an input unit 130, a travel control unit 140, a vehicle control unit 150, and a vehicle display device 160. Prepare. The vehicle display device 160 includes a display control unit 170 and a display unit 180.
　周辺情報取得部１１０は、自車両１００の周辺の情報を示す周辺情報を取得する。周辺情報とは、例えば、前走車の有無や、前走車との車間距離などである。周辺情報は、自車両１００に設置しているレーダーなどの各種センサや、カメラの映像から取得する。 The surrounding information acquisition unit 110 acquires surrounding information indicating the surrounding information of the host vehicle 100. The peripheral information is, for example, the presence / absence of a preceding vehicle or the distance between the preceding vehicle and the like. Peripheral information is acquired from various sensors such as a radar installed in the host vehicle 100 and images from a camera.
　車両情報取得部１２０は、自車両１００の状態を示す車両情報を取得する。車両情報とは、例えば、車両速度、アクセル状態、ブレーキ状態、車両の傾きなどである。車両情報は、ＣＡＮ（コントロールエリアネットワーク）や車速パルスから取得する。 The vehicle information acquisition unit 120 acquires vehicle information indicating the state of the host vehicle 100. The vehicle information includes, for example, vehicle speed, accelerator state, brake state, vehicle inclination, and the like. Vehicle information is acquired from a CAN (control area network) or vehicle speed pulse.
　入力部１３０は、ＡＣＣによる走行制御のＯＮ／ＯＦＦ、運転者が所望する車両速度や車間距離の設定、追従制御のＯＮ／ＯＦＦ、車両速度制御のＯＮ／ＯＦＦを設定する。例えば、各制御のＯＮ／ＯＦＦは自車両１００のステアリング付近に設置されている操作スイッチなどを用いて行う。また、車間距離は、スイッチを押す回数により、大、中、小などの段階を設定する。 The input unit 130 sets ON / OFF of travel control by ACC, setting of vehicle speed and inter-vehicle distance desired by the driver, ON / OFF of follow-up control, and ON / OFF of vehicle speed control. For example, ON / OFF of each control is performed using an operation switch or the like installed near the steering of the host vehicle 100. Further, the inter-vehicle distance is set to a level such as large, medium, and small depending on the number of times the switch is pressed.
　走行制御部１４０は、周辺情報取得部１１０、車両情報取得部１２０、入力部１３０より取得した情報を用いて車両制御部１５０を制御する。走行制御部１４０は、周辺情報取得部１１０より取得した車両前方の映像から、前走車を検出し、検出した前走車の位置より前走車と自車両１００との車間距離を算出する。また、車両情報取得部１２０より、自車両１００の現在の車両速度を取得する。走行制御部１４０は、前走車を検出すると、現在の前走車との車間距離と自車両１００の車両速度などに基づいて、車両制御部１５０に自車両１００の車両速度の加減速の制御を行う。走行制御部１４０は、前走車の位置や車両制御部１５０への制御情報、運転者が予め入力部１３０を介して設定した設定車両速度や設定車間距離、および現在の自車両１００の情報などを表示部１８０に出力する。 The traveling control unit 140 controls the vehicle control unit 150 using information acquired from the surrounding information acquisition unit 110, the vehicle information acquisition unit 120, and the input unit 130. The traveling control unit 140 detects the preceding vehicle from the image ahead of the vehicle acquired from the surrounding information acquisition unit 110, and calculates the inter-vehicle distance between the preceding vehicle and the host vehicle 100 from the detected position of the preceding vehicle. Further, the current vehicle speed of the host vehicle 100 is acquired from the vehicle information acquisition unit 120. When the traveling control unit 140 detects the preceding vehicle, the vehicle control unit 150 controls acceleration / deceleration of the vehicle speed of the host vehicle 100 based on the current inter-vehicle distance from the preceding vehicle, the vehicle speed of the host vehicle 100, and the like. I do. The travel control unit 140 includes the position of the preceding vehicle and control information to the vehicle control unit 150, the set vehicle speed and the set inter-vehicle distance preset by the driver via the input unit 130, and information on the current host vehicle 100, etc. Is output to the display unit 180.
　なお、本開示においては、走行制御部１４０は、自車両１００と同じ車線を走行する自車両１００に最も近い前走車を追従対象としている。従って、前走車が複数存在する場合、最も近い前走車が車線変更などにより変わると、追従走行の対象となる前走車が変更されることになる。 In the present disclosure, the traveling control unit 140 targets the preceding vehicle closest to the host vehicle 100 traveling in the same lane as the host vehicle 100 as a tracking target. Therefore, when there are a plurality of preceding vehicles, if the nearest preceding vehicle changes due to a lane change or the like, the preceding vehicle that is the target of the follow-up traveling is changed.
　車両制御部１５０は、走行制御部１４０の制御に従って、自車両１００の各部の制御を行う。車両制御部１５０は、図示しないエンジンおよびトランスミッションと電気的に接続されている。車両制御部１５０は、走行制御部１４０の制御に従って、エンジンやトランスミッションを制御して、自車両１００の速度を制御する。 The vehicle control unit 150 controls each part of the host vehicle 100 according to the control of the traveling control unit 140. Vehicle control unit 150 is electrically connected to an engine and a transmission (not shown). The vehicle control unit 150 controls the speed of the host vehicle 100 by controlling the engine and the transmission according to the control of the traveling control unit 140.
　表示制御部１７０は、走行制御部１４０から取得した情報に基づいて、表示部１８０に表示する情報の表示方法を制御する。 The display control unit 170 controls a display method of information displayed on the display unit 180 based on the information acquired from the travel control unit 140.
　表示部１８０は、運転者に走行制御に関する情報および自車両１００の状態を表示する。表示部１８０は、例えば、ヘッドアップディスプレイ（ＨＵＤ）を用い、前方の実像に表示映像を重畳させる。また、カーナビゲーションのディスプレイやＬＥＤ表示などを用いてもよい。本開示では、表示部１８０がヘッドアップディスプレイである場合を一例として説明する。 Display unit 180 displays information related to travel control and the state of host vehicle 100 to the driver. The display unit 180 uses a head-up display (HUD), for example, and superimposes the display image on the front real image. Further, a car navigation display, an LED display, or the like may be used. In the present disclosure, a case where the display unit 180 is a head-up display will be described as an example.
　［１－２．車両状態］
　本開示では、追従走行時の自車両１００の状態を「追従走行状態」と「速度制御状態」に大別し、２つの状態を状態マーカで表示する。 [1-2. Vehicle state]
In the present disclosure, the state of the host vehicle 100 at the time of following traveling is roughly divided into a “following traveling state” and a “speed control state”, and two states are displayed by state markers.
　［１－２－１．追従走行状態］
　追従走行状態は、自車両１００が前走車に追従しているか否かを示す状態である。追従走行している場合、表示制御部１７０は、自車両１００と前走車が繋がった、もしくは、繋がっている（前走車に自車が牽引されているように）ことが自然物理法則や経験上から直観的に分かる状態マーカを表示部１８０に表示する。 [1-2-1. Following running state]
The following traveling state is a state indicating whether or not the host vehicle 100 is following the preceding vehicle. When the vehicle is following the vehicle, the display control unit 170 determines that the host vehicle 100 and the preceding vehicle are connected or connected (as if the host vehicle is pulled by the preceding vehicle). A state marker that is intuitively understood from experience is displayed on the display unit 180.
　図２は、実施の形態１に係る追従走行状態の一表示例を示す図である。図２は、運転者がフロントガラス２１０を介して見える前景に前走車２００が走行している場合を示す。図２において、追従先マーカ２３０は、表示部１８０上に前走車２００が追従先の車両であることを示す。追従先マーカ２３０は、前走車２００と自車両１００との間に重畳表示される。 FIG. 2 is a diagram showing a display example of the following traveling state according to the first embodiment. FIG. 2 shows a case where the foreground vehicle 200 is traveling in the foreground that the driver can see through the windshield 210. In FIG. 2, the follow-up marker 230 indicates on the display unit 180 that the preceding vehicle 200 is a follow-up vehicle. The follow-up marker 230 is superimposed and displayed between the preceding vehicle 200 and the host vehicle 100.
　前走車２００に自車両１００が追従していることは、例えば、図２に示すように、前走車２００と自車両１００の間に、繋がった図形（紐状、カーペット状など）である状態マーカ２４０で示す。 The fact that the host vehicle 100 follows the preceding vehicle 200 is, for example, a figure (string shape, carpet shape, etc.) connected between the preceding vehicle 200 and the host vehicle 100 as shown in FIG. This is indicated by the status marker 240.
　また、表示制御部１７０は、状態マーカとして、連続した図形列（三角、矩形、丸などの列）、前走車２００側と自車両１００側を対応付ける図形（両側を同じ三角で指す、など）を表示してもよい。これらの図形は、追従開始時には、前走車２００に向かって、自車両１００から伸びていくように表示してもよい。また、表示制御部１７０は、自車両１００、前走車２００の両側から中央に向かって伸びていくように表示してもよい。なお、追従解除時には、追従開始時と反対の動きを行うように表示する。 In addition, the display control unit 170 has, as a state marker, a continuous graphic row (a row of triangles, rectangles, circles, etc.), a graphic that associates the preceding vehicle 200 side and the host vehicle 100 side (both sides are indicated by the same triangle, etc.). May be displayed. These figures may be displayed so as to extend from the own vehicle 100 toward the preceding vehicle 200 at the start of following. The display control unit 170 may display the vehicle 100 and the preceding vehicle 200 so as to extend from both sides toward the center. It should be noted that when the follow-up is canceled, a display is performed so as to perform a movement opposite to the start of follow-up.
　［１－２－２．速度走行状態］
　速度制御状態は、自車両１００の速度制御状態を示し、定速走行状態、加速走行状態、減速走行状態の３つの状態のいずれかの状態を示す。定速走行状態は、自車両１００が一定、もしくはほぼ一定の車両速度で走行している状態である。加速走行状態は、自車両１００が加速している、もしくは、加速しようとしている状態である。減速走行状態は、自車両１００が減速している、もしくは、減速しようとしている状態である。 [1-2-2. Speed running state]
The speed control state indicates a speed control state of the host vehicle 100, and indicates any one of three states of a constant speed travel state, an acceleration travel state, and a deceleration travel state. The constant speed traveling state is a state in which the host vehicle 100 is traveling at a constant or substantially constant vehicle speed. The acceleration running state is a state where the host vehicle 100 is accelerating or is about to accelerate. The deceleration travel state is a state where the host vehicle 100 is decelerating or is about to decelerate.
　例えば、表示制御部１７０は、定速走行状態として、前走車２００と自車両１００が追従走行状態であることを示す状態マーカを用いる。表示制御部１７０は、加速走行状態として、例えば、定速走行状態を示す状態マーカを前方に引っ張られるような形に変形して表示する。表示部１８０は、減速走行状態として、例えば、定速走行状態を示す状態マーカが後方に押されるような形に変形して表示される。すなわち、表示制御部１７０は、自然物理法則や経験上から、運転者が、直観的に速度制御状態が分かる状態マーカを表示部１８０に表示させる。 For example, the display control unit 170 uses a state marker indicating that the preceding vehicle 200 and the host vehicle 100 are in the following traveling state as the constant speed traveling state. The display control unit 170 displays, for example, a state marker indicating a constant speed traveling state as an accelerated traveling state by deforming it into a shape that can be pulled forward. The display unit 180 is displayed as a reduced-speed traveling state, for example, by deforming the state marker indicating the constant-speed traveling state so as to be pushed backward. That is, the display control unit 170 causes the display unit 180 to display a state marker that allows the driver to intuitively know the speed control state based on the laws of natural physics and experience.
　また、表示制御部１７０は、前走車２００と自車両１００の間に配置した状態マーカを上下中央付近にへこませることで加速走行状態を表示し、膨らませることで減速走行状態を表してもよい。 In addition, the display control unit 170 displays the acceleration traveling state by indenting a state marker disposed between the preceding vehicle 200 and the host vehicle 100 in the vicinity of the upper and lower centers, and expresses the deceleration traveling state by inflating. Also good.
　また、表示制御部１７０は、前方に引っ張られている状態や、後方に押されている（伸縮している）状態から、ある基準（形状、位置、大きさなど）に戻る力が働く（反対方向に力が働く）という法則（弾性の法則）を用いてもよい。すなわち、形状を変化させることにより、将来の速度制御状態を連想させる形状を用い、運転者が直感的に速度制御状態を分かる表示を行ってもよい。 Further, the display control unit 170 operates to return to a certain reference (shape, position, size, etc.) from a state where it is pulled forward or a state where it is pushed backward (stretched) (opposite) You may use the law (the law of elasticity) that a force works in a direction. That is, by changing the shape, a shape reminiscent of the future speed control state may be used, and the driver may intuitively display the speed control state.
　なお、ある基準とは、例えば、追従走行状態で定速走行時の表示状態を基準とする。また、表示制御部１７０は、車間距離設定時は、設定車間距離を表す表示図形を基準とする。 In addition, with a certain reference | standard, for example, the display state at the time of constant speed driving | running | working is based on a following driving | running | working state. The display control unit 170 uses a display graphic representing the set inter-vehicle distance as a reference when setting the inter-vehicle distance.
　［１－３．車間距離］
　車間距離は、運転者が操作スイッチなどにより、大、中、小などの段階で設定する。表示制御部１７０は、車間距離の状態も、状態マーカを用いて表示する。以下、車間距離が大、中、小の３段階である場合に、表示制御部１７０が車間距離に応じて行う表示方法を説明する。 [1-3. Inter-vehicular distance]
The inter-vehicle distance is set by the driver in stages such as large, medium, and small using an operation switch or the like. The display control unit 170 also displays the state of the inter-vehicle distance using the state marker. Hereinafter, a display method performed by the display control unit 170 according to the inter-vehicle distance when the inter-vehicle distance is in three stages of large, medium, and small will be described.
　図３Ａ、図３Ｂは、実施の形態１に係る車間距離表示１の一表示例を説明する図である。図４Ａ～Ｃは、実施の形態１に係る車間距離表示２の一表示例を説明する図である。各図は、運転者がフロントガラス２１０を介して見える前景に前走車２００が走行している場合を示す。また、各図の追従先マーカ２３０は、表示部１８０上に前走車２００が追従先の車両であることを示す。 3A and 3B are diagrams illustrating a display example of the inter-vehicle distance display 1 according to the first embodiment. 4A to 4C are diagrams for explaining a display example of the inter-vehicle distance display 2 according to the first embodiment. Each figure shows the case where the forerunner vehicle 200 is traveling in the foreground that the driver can see through the windshield 210. Also, the follow-up marker 230 in each figure indicates that the preceding vehicle 200 is a follow-up vehicle on the display unit 180.
　［１－３－１．車間距離表示１］
　表示制御部１７０は、車間距離の段階を前走車２００と自車両１００との間に表示する図形の形状で表示する。今、現在の車間距離の段階は「大」であり、図２のように表示しているとする。 [1-3-1. Inter-vehicle distance display 1]
The display control unit 170 displays the stage of the inter-vehicle distance in the shape of a graphic that is displayed between the preceding vehicle 200 and the host vehicle 100. It is assumed that the current inter-vehicle distance stage is “large” and is displayed as shown in FIG.
　ここで、運転者が車間距離を、「大」から「中」に変更した場合、表示制御部１７０は、図２の状態マーカ２４０を図３Ａの状態マーカ３００のように表示する。状態マーカ３００は、中央付近にへこんでいることにより、加速する方向に力が働くことが連想できる形状である。従って、状態マーカ３００は、運転者に車間距離を現状の車間距離より小さく設定されたことを連想させることができる。 Here, when the driver changes the inter-vehicle distance from “large” to “medium”, the display control unit 170 displays the state marker 240 in FIG. 2 as the state marker 300 in FIG. 3A. The state marker 300 has a shape that can be associated with a force acting in an accelerating direction by being recessed near the center. Therefore, the state marker 300 can remind the driver that the inter-vehicle distance is set smaller than the current inter-vehicle distance.
　また、現在の車間距離が「中」であり、運転者が設定車間距離を「中」から「大」に変更した場合、表示制御部１７０は、図３Ａの状態マーカ３００を、図３Ｂの状態マーカ３０１のように表示する。状態マーカ３０１は、中央付近が膨らんでいることより、減速する方向に力が働くことが連想できる形状である。従って、状態マーカ３０１は、運転者に車間距離を現状の車間距離より大きく設定されたことを連想させることができる。 Further, when the current inter-vehicle distance is “medium” and the driver changes the set inter-vehicle distance from “medium” to “large”, the display control unit 170 changes the state marker 300 in FIG. 3A to the state in FIG. 3B. It is displayed like the marker 301. The state marker 301 has a shape that can be associated with a force acting in a decelerating direction because the vicinity of the center is swollen. Therefore, the state marker 301 can remind the driver that the inter-vehicle distance is set larger than the current inter-vehicle distance.
　［１－３－２．車間距離表示２］
　図４Ａは、現状の車間距離表示を示す図である。図４Ａの状態マーカとしての図形４００に示すように、設定車間距離は、前走車２００との間に表示する図形の個数で表示する。実施の形態１では、図形の個数を変更することにより、各図形の形状が変化し、車間距離設定の変更による加減速を運転者に連想させる。 [1-3-2. Inter-vehicle distance display 2]
FIG. 4A is a diagram showing a current inter-vehicle distance display. 4A, the set inter-vehicle distance is displayed as the number of figures to be displayed with the preceding vehicle 200. In Embodiment 1, by changing the number of figures, the shape of each figure changes, and the driver is reminded of acceleration / deceleration by changing the inter-vehicle distance setting.
　図４Ａは、設定車間距離が「大」の場合を示し、表示制御部１７０は、状態マーカとして、図形４００を４個表示する。また、図４Ｂは、設定車間距離が「中」の場合を示し、表示制御部１７０は、状態マーカとして、図形４０１を３個表示する。この場合、各図形の横幅は変化しないが、図形４００を４個表示していた部分に３個の図形４０１を表示するため、各図形は、縦に伸びる。このため、運転者は縦サイズが縮む方向（加速する）に力が働くことが直感的に予測できる。なお、表示制御部１７０は、縦サイズは同じで、間隔を大きくする表示を行ってもよい。この場合、表示制御部１７０は、設定車間距離が「小」の場合は、図形を２個表示する。 FIG. 4A shows a case where the set inter-vehicle distance is “large”, and the display control unit 170 displays four figures 400 as state markers. FIG. 4B shows a case where the set inter-vehicle distance is “medium”, and the display control unit 170 displays three figures 401 as state markers. In this case, although the horizontal width of each figure does not change, since the three figures 401 are displayed in the portion where the four figures 400 are displayed, each figure extends vertically. For this reason, the driver can intuitively predict that the force works in the direction in which the vertical size shrinks (accelerates). Note that the display control unit 170 may perform display with the same vertical size and a larger interval. In this case, the display control unit 170 displays two figures when the set inter-vehicle distance is “small”.
　また、運転者が、設定車間距離を再び「大」に戻した際は、表示制御部１７０は、例えば、図４Ｃのように図形４０２を４個表示する。図形４０２は、左右中央を下に反らせていることで、手前に引っ張られていることを示し、運転者に減速することを連想させる。 When the driver returns the set inter-vehicle distance to “large” again, the display control unit 170 displays four figures 402 as shown in FIG. 4C, for example. The figure 402 warps the left and right center downwards, indicating that it is being pulled forward, and reminds the driver to decelerate.
　［１－４．速度走行表示］
　実施の形態１に係る表示方法を、図５Ａ～図１１Ｃを用いて説明する。各図は、運転者がフロントガラス２１０を介して見える前景に前走車２００が走行している場合を示す。また、追従先マーカ２３０は、表示部１８０上に前走車２００が追従先の車両であることを示す。表示制御部１７０は、追従走行状態と速度制御状態を、状態マーカを用いて表示する。 [1-4. Speed running display]
A display method according to Embodiment 1 will be described with reference to FIGS. 5A to 11C. Each figure shows the case where the forerunner vehicle 200 is traveling in the foreground that the driver can see through the windshield 210. The follow-up marker 230 indicates on the display unit 180 that the preceding vehicle 200 is a follow-up vehicle. The display control unit 170 displays the following traveling state and the speed control state using a state marker.
　［１－４－１．表示方法１］
　表示方法１は、前走車２００と自車両１００の間に、上下中央付近が膨らむ、もしくはへこんだ弾性体を連想させる図形を用い、表示した状態から元の状態に戻ることを連想させることで加減速を表す。例えば、ゴムなどを引っ張った時に真ん中が細くなると、縮まる方向に力が働くことが連想されることを用いている。 [1-4-1. Display method 1]
Display method 1 uses a figure resembling an elastic body between the preceding vehicle 200 and the host vehicle 100 that swells in the upper and lower centers, or reminiscent of returning from the displayed state to the original state. Indicates acceleration / deceleration. For example, it is used that the force is applied in the direction of contraction when the center becomes thin when rubber or the like is pulled.
　図５Ａは実施の形態１に係る表示方法１の定速走行状態の一表示例を示す図である。図５Ｂは実施の形態１に係る表示方法１の加速走行状態の一表示例を示す図である。図５Ｃは実施の形態１に係る表示方法１の減速走行状態の一表示例を示す図である。 FIG. 5A is a diagram illustrating a display example of a constant speed traveling state of the display method 1 according to the first embodiment. FIG. 5B is a diagram illustrating a display example of an accelerated traveling state of the display method 1 according to the first embodiment. FIG. 5C is a diagram showing a display example of a deceleration traveling state of the display method 1 according to the first embodiment.
　図５Ａに示すように、表示制御部１７０は、定速走行状態では、前走車２００に自車両１００が追従していることを示す状態マーカ５００を表示部１８０に表示する。表示制御部１７０は、自車両１００が加速走行状態に入ると、図５Ｂの状態マーカ５０１を表示部１８０に表示する。図５Ｂの状態マーカ５０１は、図５Ａの状態マーカ５００に比べてへこんでいることで、伸ばされていることを示し、運転者に加速することを連想させる。 As shown in FIG. 5A, the display control unit 170 displays a state marker 500 on the display unit 180 indicating that the host vehicle 100 is following the preceding vehicle 200 in the constant speed traveling state. When the host vehicle 100 enters the acceleration traveling state, the display control unit 170 displays the state marker 501 in FIG. 5B on the display unit 180. The state marker 501 in FIG. 5B is indented as compared to the state marker 500 in FIG. 5A, indicating that the state marker 501 has been stretched, and reminds the driver to accelerate.
　また、表示制御部１７０は、自車両１００が減速走行状態に入ると、図５Ｃの状態マーカ５０２を表示部１８０に表示する。図５Ｃの状態マーカ５０２は、図５Ａの状態マーカ５００に比べて膨らんでいることで、縮められていることを示し、運転者に減速することを連想させる。 The display control unit 170 displays the state marker 502 in FIG. 5C on the display unit 180 when the host vehicle 100 enters the decelerating traveling state. The state marker 502 in FIG. 5C is inflated compared to the state marker 500 in FIG. 5A, indicating that the state marker 502 has been contracted, and reminds the driver to decelerate.
　［１－４－２．表示方法２］
　表示方法２は、左右中央付近が上もしくは下に反った弾性体を連想させる図形（矩形）、図形列を用い、加減速を表す。例えば、消しゴムを曲げた時や横に張ったゴムの中央付近を上下に引っ張った場合に、両端付近に引っ張った方向と同じ方向に力が働くことが運転者に連想させる。 [1-4-2. Display method 2]
The display method 2 represents acceleration / deceleration by using a figure (rectangle) and a figure row reminiscent of an elastic body whose upper and lower left and right centers are warped up or down. For example, when the eraser is bent or when the vicinity of the center of the rubber stretched horizontally is pulled up and down, the driver is reminded that the force acts in the same direction as the direction pulled near both ends.
　図６Ａは、実施の形態１に係る表示方法２の定速走行状態の一表示例を示す図である。図６Ｂは、実施の形態１に係る表示方法２の加速走行状態の一表示例を示す図である。図６Ｃは、実施の形態１に係る表示方法２の減速走行状態の一表示例を示す図である。 FIG. 6A is a diagram illustrating a display example of the constant speed traveling state of the display method 2 according to the first embodiment. FIG. 6B is a diagram illustrating a display example of an accelerated traveling state of the display method 2 according to the first embodiment. FIG. 6C is a diagram illustrating a display example of a deceleration traveling state of the display method 2 according to the first embodiment.
　図６Ａに示すように、表示制御部１７０は、定速走行状態では、前走車２００に自車両１００が追従していることを示す状態マーカ５１０を表示部１８０に表示する。表示制御部１７０は、自車両１００が加速走行状態に入ると、図６Ｂの状態マーカ５１１を表示部１８０に表示する。図６Ｂの状態マーカ５１１は、図６Ａの状態マーカ５１０に比べて左右中央を上に反らせていることで、奥に引っ張られていることを示し、運転者に加速することを連想させる。 As shown in FIG. 6A, the display control unit 170 displays a state marker 510 on the display unit 180 indicating that the host vehicle 100 is following the preceding vehicle 200 in the constant speed traveling state. When the host vehicle 100 enters the acceleration traveling state, the display control unit 170 displays the state marker 511 in FIG. 6B on the display unit 180. The state marker 511 in FIG. 6B warps the right and left center upward as compared with the state marker 510 in FIG. 6A, thereby indicating that the state marker 511 is pulled to the back, and reminds the driver to accelerate.
　また、表示制御部１７０は、自車両１００が減速走行状態に入ると、図６Ｃの状態マーカ５１２を表示部１８０に表示する。図６Ｃの状態マーカ５１２は、図６Ａの状態マーカ５１０に比べて左右中央を下に反らせていることで、手前に引っ張られていることを示し、運転者に減速することを連想させる。 Further, the display control unit 170 displays the state marker 512 of FIG. 6C on the display unit 180 when the host vehicle 100 enters the deceleration traveling state. The state marker 512 shown in FIG. 6C is warped downward in the center of the left and right as compared with the state marker 510 shown in FIG. 6A, thereby indicating that the state marker 512 is pulled forward, and reminds the driver to decelerate.
　［１－４－３．表示方法３］
　表示方法３は、図形が上下に引っ張られている、もしくは、上下から押されている弾性体を連想させる図形（円形）、図形列を表示し、加減速を表す。例えば、丸い風船を上下に引っ張った時や上下から押しつぶした時に、風船から受ける力の方向に力が働くことを、運転者は連想でき、これから加減速が働くと予測できる。 [1-4-3. Display method 3]
The display method 3 displays acceleration / deceleration by displaying a graphic (circular shape) or a graphic string reminiscent of an elastic body in which the graphic is pulled up or down or pressed from above or below. For example, when a round balloon is pulled up and down or crushed from above and below, the driver can associate that the force is applied in the direction of the force received from the balloon, and from this, it can be predicted that acceleration / deceleration will work.
　図７Ａは、実施の形態１に係る表示方法３の定速走行状態の一表示例を示す図である。図７Ｂは、実施の形態１に係る表示方法３の加速走行状態の一表示例を示す図である。図７Ｃは実施の形態１に係る表示方法３の減速走行状態の一表示例を示す図である。 FIG. 7A is a diagram illustrating a display example of the constant speed traveling state of the display method 3 according to the first embodiment. FIG. 7B is a diagram showing a display example of the accelerated travel state of the display method 3 according to the first embodiment. FIG. 7C is a diagram showing a display example of a deceleration traveling state of the display method 3 according to the first embodiment.
　図７Ａに示すように、表示制御部１７０は、定速走行状態では、前走車２００に自車両１００が追従していることを示す状態マーカ５２０を表示部１８０に表示する。状態マーカ５２０は、円形の図系列である。 7A, the display control unit 170 displays a state marker 520 on the display unit 180 indicating that the host vehicle 100 is following the preceding vehicle 200 in the constant speed traveling state. The state marker 520 is a circular diagram series.
　表示制御部１７０は、自車両１００が加速走行状態に入ると、図７Ｂの状態マーカ５２１を表示部１８０に表示する。図７Ｂの状態マーカ５２１は、図７Ａの状態マーカ５２０に比べて各円が上下に引っ張られていることで、運転者に加速することを連想させる。 The display control unit 170 displays the state marker 521 in FIG. 7B on the display unit 180 when the host vehicle 100 enters the acceleration traveling state. The state marker 521 in FIG. 7B reminds the driver to accelerate because each circle is pulled up and down compared to the state marker 520 in FIG. 7A.
　また、表示制御部１７０は、自車両１００が減速走行状態に入ると、図７Ｃの状態マーカ５２２を表示部１８０に表示する。図７Ｃの状態マーカ５２２は、図７Ａの状態マーカ５２０に比べて各円が上下から押しつぶされていることで、運転者に減速することを連想させる。 Further, the display control unit 170 displays the state marker 522 of FIG. The state marker 522 in FIG. 7C reminds the driver to decelerate as each circle is crushed from above and below compared to the state marker 520 in FIG. 7A.
　［１－４－４．表示方法４］
　表示方法４は、前走車２００との間に複数の図形列を表示することで追従走行状態を示す。また、前走車２００との車間距離に応じて、図形の形状を変化させ、各図形を伸縮させる。運転者は、図形の伸縮が元の形に戻る方向に働くことを連想し、これから加減速が働くと予測できる。 [1-4-4. Display method 4]
The display method 4 indicates a follow-up running state by displaying a plurality of graphic rows with the preceding vehicle 200. Further, the shape of the figure is changed according to the distance between the vehicle 200 and the preceding vehicle 200, and each figure is expanded and contracted. The driver associates that the expansion and contraction of the figure works in the direction of returning to the original shape, and can predict that acceleration / deceleration will work from this.
　図８Ａは、実施の形態１に係る表示方法４の定速走行状態を示す図である。図８Ｂは、実施の形態１に係る表示方法４の加速走行状態を示す図である。図８Ｃは、実施の形態１に係る表示方法４の減速走行状態を示す図である。 FIG. 8A is a diagram showing a constant speed traveling state of the display method 4 according to the first embodiment. FIG. 8B is a diagram showing an accelerated traveling state of the display method 4 according to the first embodiment. FIG. 8C is a diagram showing a deceleration traveling state of the display method 4 according to the first embodiment.
　図８Ａに示すように、表示制御部１７０は、定速走行状態では、前走車２００に自車両１００が追従していることを示す状態マーカ５３０を表示部１８０に表示する。表示制御部１７０は、自車両１００が加速走行状態に入ると、図８Ｂの状態マーカ５３１を表示部１８０に表示する。図８Ｂの状態マーカ５３１は、図８Ａの状態マーカ５３０に比べて各図形が上下に伸びていることで、運転者に加速することを連想させる。 As shown in FIG. 8A, the display control unit 170 displays a state marker 530 on the display unit 180 indicating that the host vehicle 100 is following the preceding vehicle 200 in the constant speed traveling state. When the host vehicle 100 enters the accelerated traveling state, the display control unit 170 displays the state marker 531 in FIG. 8B on the display unit 180. The state marker 531 of FIG. 8B reminds the driver to accelerate because each figure extends vertically compared to the state marker 530 of FIG. 8A.
　また、表示制御部１７０は、自車両１００が減速走行状態に入ると、図８Ｃの状態マーカ５３２を表示部１８０に表示する。図８Ｃの状態マーカ５３２は、図８Ａの状態マーカ５３０に比べて各図形が縮んでいることで、運転者に減速することを連想させる。 The display control unit 170 displays the state marker 532 of FIG. 8C on the display unit 180 when the host vehicle 100 enters the deceleration traveling state. The state marker 532 in FIG. 8C reminds the driver to decelerate because each figure is contracted compared to the state marker 530 in FIG. 8A.
　［１－４－５．表示方法５］
　表示方法５は、前走車２００との間に複数の図形列を表示することで追従走行状態を示す。また、前走車２００との車間距離に応じて、各図形の間隔を変更して、図形列を伸縮させる。運転者は、その間隔が元の間隔に戻る方向に、これから加減速が働くと予測できる。 [1-4-5. Display method 5]
The display method 5 indicates the following traveling state by displaying a plurality of graphic rows between the vehicle 200 and the preceding vehicle 200. In addition, the graphic row is expanded and contracted by changing the interval of each graphic in accordance with the inter-vehicle distance from the preceding vehicle 200. The driver can predict that acceleration / deceleration will work in the direction in which the interval returns to the original interval.
　図９Ａは、実施の形態１に係る表示方法５の定速走行状態を示す図である。図９Ｂは、実施の形態１に係る表示方法５の加速走行状態を示す図である。図９Ｃは、実施の形態１に係る表示方法５の減速走行状態を示す図である。 FIG. 9A is a diagram showing a constant speed traveling state of the display method 5 according to the first embodiment. FIG. 9B is a diagram showing an accelerated traveling state of the display method 5 according to the first embodiment. FIG. 9C is a diagram illustrating a deceleration traveling state of the display method 5 according to the first embodiment.
　図９Ａに示すように、表示制御部１７０は、定速走行状態では、前走車２００に自車両１００が追従していることを示す状態マーカ５４０を表示部１８０に表示する。表示制御部１７０は、自車両１００が加速走行状態に入ると、図９Ｂの状態マーカ５４１を表示部１８０に表示する。図９Ｂの状態マーカ５４１の図形間の間隔を、図９Ａの図形間の間隔に比べて大きくすることで、運転者に加速することを連想させる。 As shown in FIG. 9A, the display control unit 170 displays a state marker 540 on the display unit 180 indicating that the host vehicle 100 is following the preceding vehicle 200 in the constant speed traveling state. When the host vehicle 100 enters the acceleration traveling state, the display control unit 170 displays the state marker 541 in FIG. 9B on the display unit 180. The distance between the figures of the state marker 541 in FIG. 9B is made larger than the distance between the figures in FIG. 9A to remind the driver to accelerate.
　また、表示制御部１７０は、自車両１００が減速走行状態に入ると、図９Ｃの状態マーカ５４２を表示部１８０に表示する。図９Ｃの状態マーカ５４２の図形間の間隔を、図９Ａの状態マーカ５４０の図形間の間隔に比べて狭くすることで、運転者に減速することを連想させる。 The display control unit 170 displays the state marker 542 shown in FIG. 9C on the display unit 180 when the host vehicle 100 enters the deceleration traveling state. The distance between the figures of the state marker 542 in FIG. 9C is made narrower than the distance between the figures of the state marker 540 in FIG. 9A to remind the driver to decelerate.
　［１－４－６．表示方法６］
　表示方法６は、前走車２００との間に繋がった図形を表示し、設定車間距離を基準位置として、基準位置より、長い部分、短い部分の色・濃さなどを変える。例えば、空気の圧縮を連想させる形状を用いる。すなわち、空気を入れ、密封した注射器のピストンを押したり、引っ張ったりしたときにピストンが元の位置に戻る方向に力が働くことが連想できる形状を用いる。 [1-4-6. Display method 6]
The display method 6 displays a figure connected to the preceding vehicle 200, and changes the color / darkness of a portion longer or shorter than the reference position with the set inter-vehicle distance as a reference position. For example, a shape reminiscent of air compression is used. That is, a shape that can be associated with a force acting in a direction in which the piston returns to its original position when the piston of the sealed syringe is pushed or pulled is used.
　図１０Ａは、実施の形態１に係る表示方法６の定速走行状態を示す図である。図１０Ｂは、実施の形態１に係る表示方法６の加速走行状態を示す図である。図１０Ｃは、実施の形態１に係る表示方法６の減速走行状態を示す図である。 FIG. 10A is a diagram showing a constant speed traveling state of the display method 6 according to the first embodiment. FIG. 10B is a diagram showing an accelerated traveling state of the display method 6 according to Embodiment 1. FIG. 10C is a diagram illustrating a deceleration traveling state of the display method 6 according to the first embodiment.
　図１０Ａに示すように、表示制御部１７０は、定速走行状態では、前走車２００に自車両１００が追従していることを示す状態マーカ５５０を表示部１８０に表示する。表示制御部１７０は、自車両１００が加速走行状態に入ると、図１０Ｂの状態マーカ５５３を表示部１８０に表示する。 As shown in FIG. 10A, the display control unit 170 displays a state marker 550 on the display unit 180 indicating that the host vehicle 100 is following the preceding vehicle 200 in the constant speed traveling state. When the host vehicle 100 enters the acceleration traveling state, the display control unit 170 displays the state marker 553 of FIG. 10B on the display unit 180.
　図１０Ｂの状態マーカ５５３は、設定車間距離より現在の車間距離が長い場合を示す。状態マーカ５５３において、状態マーカ５５１は基準の車間距離、先端部（上部）５５２は基準の車間距離を超えた前走車２００の位置までの距離を示す。表示制御部１７０は、先端部５５２は状態マーカ５５１と色を異ならせて表示する。この場合、運転者は、自車両１００が基準の車間距離に戻る方向、すなわち、先端部５５２が少なくなる方向に、移動すると連想する。 The state marker 553 in FIG. 10B indicates a case where the current inter-vehicle distance is longer than the set inter-vehicle distance. In the state marker 553, the state marker 551 indicates the reference inter-vehicle distance, and the tip (upper) 552 indicates the distance to the position of the preceding vehicle 200 that exceeds the reference inter-vehicle distance. The display controller 170 displays the tip 552 in a different color from the state marker 551. In this case, the driver associates that the vehicle 100 moves in a direction in which the vehicle 100 returns to the reference inter-vehicle distance, that is, in a direction in which the front end portion 552 is reduced.
　このような表示により運転者に加速を連想させる。言い換えると、車間距離が上方向に移動する方向（上方向）に加速することを示す。また、先端部５５２より、運転者に車間距離が設定車間距離よりも大きくなったことが、加速する要因となったことを直感的に連想させることができる。 ¡The display reminds the driver of acceleration. In other words, it indicates that the inter-vehicle distance accelerates in the upward movement direction (upward direction). In addition, from the front end portion 552, the driver can intuitively associate that the fact that the inter-vehicle distance is larger than the set inter-vehicle distance is a cause of acceleration.
　また、表示制御部１７０は、自車両１００が減速走行状態に入ると、図１０Ｃの状態マーカ５５６を表示部１８０に表示する。図１０Ｃは、設定車間距離より現在の車間距離が短い場合を示している。状態マーカ５５６の先端部（上部）５５５は、現在の車間距離から基準の車間距離までの距離を示し、前走車２００の位置から先端部５５５の色を変えている。また、状態マーカ５５４は、現在の車間距離を示している。 Further, when the host vehicle 100 enters the deceleration traveling state, the display control unit 170 displays the state marker 556 of FIG. 10C on the display unit 180. FIG. 10C shows a case where the current inter-vehicle distance is shorter than the set inter-vehicle distance. A front end (upper part) 555 of the state marker 556 indicates a distance from the current inter-vehicle distance to the reference inter-vehicle distance, and changes the color of the front end 555 from the position of the preceding vehicle 200. The state marker 554 indicates the current inter-vehicle distance.
　先端部５５５は前走車２００に重なって表示される。この場合、運転者は、基準の車間距離に戻る方向、すなわち先端部５５５が小さくなる方向に力が働くと連想する。これにより、運転者に減速することを連想させる。言い換えると、実際の車間距離が下方向に移動する方向（下方向）に減速することを示す。また、先端部５５５により、運転者に現在の車間距離が設定車間距離よりも小さくなったことが、減速する要因となったことを直感的に連想させることができる。 The tip 555 is displayed so as to overlap the preceding vehicle 200. In this case, the driver associates that the force acts in the direction of returning to the reference inter-vehicle distance, that is, the direction in which the tip end portion 555 becomes smaller. This reminds the driver to decelerate. In other words, it indicates that the actual inter-vehicle distance decelerates in the direction of moving downward (downward). In addition, the front end portion 555 can intuitively remind the driver that the fact that the current inter-vehicle distance is smaller than the set inter-vehicle distance is a cause of deceleration.
　［１－４－７．表示方法７］
　表示方法７は、基準位置との差を可視化し、基準位置に近付くように動くことを連想させる形状を用いる。例えば、前走車２００との間に、逆三角形を表示する。この場合、逆三角形の下側の角度の変化により、加減速を通知する。設定車間距離になる際の角度を基準として、次の動作を行う。 [1-4-7. Display method 7]
The display method 7 uses a shape that visualizes the difference from the reference position and is reminiscent of moving toward the reference position. For example, an inverted triangle is displayed with the preceding vehicle 200. In this case, acceleration / deceleration is notified by a change in the angle below the inverted triangle. The following operation is performed based on the angle at which the set inter-vehicle distance is reached.
　図１１Ａは、実施の形態１に係る表示方法７の定速走行状態を示す図である。図１１Ｂは、実施の形態１に係る表示方法７の加速走行状態を示す図である。図１１Ｃは、実施の形態１に係る表示方法７の減速走行状態を示す図である。 FIG. 11A is a diagram illustrating a constant speed traveling state of the display method 7 according to the first embodiment. FIG. 11B is a diagram illustrating an accelerated traveling state of the display method 7 according to the first embodiment. FIG. 11C is a diagram illustrating a deceleration traveling state of the display method 7 according to the first embodiment.
　図１１Ａに示すように、表示制御部１７０は、定速走行状態では、前走車２００に自車両１００が追従していることを示す状態マーカ５６０を表示する。ここで、状態マーカ５６０の角度を基準角度とする。 As shown in FIG. 11A, the display control unit 170 displays a state marker 560 indicating that the host vehicle 100 is following the preceding vehicle 200 in the constant speed traveling state. Here, the angle of the state marker 560 is set as a reference angle.
　表示制御部１７０は、自車両１００が加速走行状態に入ると、図１１Ｂの状態マーカ５６１を表示部１８０に表示する。設定車間距離より車間距離が小さくなると、図１１Ｂの状態マーカ５６１の角度が、状態マーカ５６０の基準角度より角度が広がることを示している。この表示により、運転者は、角度を狭める方向（上方向）に力が働くと連想する。すなわち、運転者に加速を連想させる。 The display control unit 170 displays the state marker 561 of FIG. 11B on the display unit 180 when the host vehicle 100 enters the acceleration traveling state. When the inter-vehicle distance is smaller than the set inter-vehicle distance, the angle of the state marker 561 in FIG. 11B is larger than the reference angle of the state marker 560. By this display, the driver associates that force acts in the direction of narrowing the angle (upward). That is, the driver is reminded of acceleration.
　また、表示制御部１７０は、自車両１００が減速走行状態に入ると、図１１Ｃの状態マーカ５６２を表示部１８０に表示する。設定車間距離より車間距離が大きくなると、図１１Ｃの状態マーカ５６２の角度が、図１１Ａの基準角度より角度が狭くなることを示している。この表示により、運転者は、角度を広げる方向（下方向）に力が働くと連想する。すなわち、運転者に減速することを連想させる。 Further, when the host vehicle 100 enters a deceleration traveling state, the display control unit 170 displays the state marker 562 in FIG. 11C on the display unit 180. When the inter-vehicle distance becomes larger than the set inter-vehicle distance, the angle of the state marker 562 in FIG. 11C is narrower than the reference angle in FIG. 11A. By this display, the driver associates that the force acts in the direction of expanding the angle (downward). That is, it reminds the driver to decelerate.
　なお、図１１Ｂ、図１１Ｃに示すように、基準角度より小さくなった角度、または大きくなった角度の部分は、基準角度と色を変えて表示する。これにより、運転者に角度が大きくなったのか、小さくなったのかを明示することができる。さらに、運転者に車間距離が設定車間距離よりも大きくなったこと、または小さくなったことが、加速または減速する要因となったことを直感的に連想させることができる。 As shown in FIGS. 11B and 11C, an angle smaller than or larger than the reference angle is displayed by changing the reference angle and the color. Thereby, it can be clearly shown to the driver whether the angle has increased or decreased. Furthermore, it is possible to intuitively associate the driver with the fact that the inter-vehicle distance has become larger or smaller than the set inter-vehicle distance, which has caused the acceleration or deceleration.
　［１－４－８．表示方法８］
　表示方法８は、前走車２００との間にラインを表示し、ライン上、もしくは、ライン内部に所定の図形（矢印、三角形、円など）を表示する。そして、所定の図形の位置を変化させることにより、加減速を通知する。所定の図形はライン上にある場合は上下方向、ライン内部にある場合は、中央に集まる方向または離れる方向に移動することで加減速を表す。 [1-4-8. Display method 8]
The display method 8 displays a line with the preceding vehicle 200, and displays a predetermined figure (an arrow, a triangle, a circle, etc.) on the line or inside the line. Then, acceleration / deceleration is notified by changing the position of a predetermined figure. When the predetermined figure is on the line, it indicates acceleration / deceleration by moving in the vertical direction, and when it is inside the line, it moves in the direction to gather in the center or away from the center.
　図１２Ａは、実施の形態１に係る表示方法８の定速走行状態を示す図である。図１２Ｂは、実施の形態１に係る表示方法８の加速走行状態を示す図である。図１２Ｃは、実施の形態１に係る表示方法８の減速走行状態を示す図である。 FIG. 12A is a diagram illustrating a constant speed traveling state of the display method 8 according to the first embodiment. FIG. 12B is a diagram showing an accelerated traveling state of the display method 8 according to the first embodiment. FIG. 12C is a diagram showing a deceleration traveling state of the display method 8 according to the first embodiment.
　図１２Ａに示すように、表示制御部１７０は、定速走行状態では、前走車２００に自車両１００が追従していることを示す状態マーカ５７０を表示する。表示制御部１７０は、自車両１００が加速走行状態に入ると、図１２Ｂに示すように状態マーカ５７０上に所定の図形５７１を表示する。図１２Ｂは所定の図形５７１を自車両１００側のみに表示している。図１２Ｂにおける所定の図形５７１は、３つの三角形で構成される。なお、三角形の表示位置はそのままで、上方に移動するようなアニメーション表示を行ってもよい。これにより自車両１００が奥に移動するように感じられるので、運転者に加速していることを連想させる。 As shown in FIG. 12A, the display control unit 170 displays a state marker 570 indicating that the host vehicle 100 is following the preceding vehicle 200 in the constant speed traveling state. When the host vehicle 100 enters the accelerated traveling state, the display control unit 170 displays a predetermined graphic 571 on the state marker 570 as shown in FIG. 12B. FIG. 12B displays a predetermined figure 571 only on the own vehicle 100 side. The predetermined figure 571 in FIG. 12B is composed of three triangles. In addition, you may perform the animation display which moves upwards, with the display position of a triangle unchanged. As a result, it is felt that the host vehicle 100 moves to the back, and the driver is reminded that the vehicle is accelerating.
　また、表示制御部１７０は、自車両１００が減速走行状態に入ると、図１２Ｃに示すように、状態マーカ５７０上に所定の図形５７２を表示する。図１２Ｃでは、所定の図形５７２を自車両１００側のみに表示している。図１２Ｃにおける所定の図形５７２は、３つの三角形で構成される。なお、所定の図形５７２の表示位置はそのままで、三角形が下方に移動するようなアニメーション表示を行ってもよい。これにより、自車両１００が手前に移動するように感じられるので、運転者に減速していることを連想させる。 Further, when the host vehicle 100 enters the deceleration traveling state, the display control unit 170 displays a predetermined graphic 572 on the state marker 570 as shown in FIG. 12C. In FIG. 12C, the predetermined figure 572 is displayed only on the own vehicle 100 side. The predetermined figure 572 in FIG. 12C is composed of three triangles. It should be noted that animation display may be performed such that the triangle moves downward while the display position of the predetermined graphic 572 remains unchanged. As a result, it is felt that the host vehicle 100 moves toward the front, so that the driver is reminded that the vehicle is decelerating.
　なお、図１２Ｂ、図１２Ｃでは各々所定の図形５７１、５７２を自車両１００側に表示したが、前走車２００側に表示してもよい。この場合は、所定の図形を表示位置はそのままで、下方に移動するようなアニメーション表示を行うことで、運転者に加速することを連想させることができる。また、所定の図形を表示位置はそのままで、上方に移動するようなアニメーション表示を行うことで、運転者に減速することを連想させることができる。 12B and 12C, the predetermined figures 571 and 572 are displayed on the own vehicle 100 side, but may be displayed on the preceding vehicle 200 side. In this case, it is possible to associate the driver with acceleration by performing an animation display in which a predetermined figure is displayed at the same position and moved downward. In addition, it is possible to remind the driver to decelerate by performing an animation display in which a predetermined figure is displayed at the same position and moved upward.
　また、所定の図形として、矢印や三角形を用いるときは、移動する方向に矢印や三角形の先端を向けてもよい。 Also, when an arrow or triangle is used as the predetermined figure, the tip of the arrow or triangle may be directed in the moving direction.
　［１－５．動作］
　走行制御及び追従制御をＯＮにしている状態において、走行制御部１４０が自車両１００の速度の加減速の制御を行う場合は以下の３つの場合が考えられる。各場合において、走行制御部１４０は、周辺情報取得部１１０、車両情報取得部１２０から得られる情報を用いて、加減速を決定し、車両制御部１５０を制御すると共に、表示制御部１７０に制御情報を出力する。制御情報は走行制御部１４０から取得した情報に基づいて、表示部１８０に追従走行状態、速度制御状態を表示する。 [1-5. Operation]
When the travel control unit 140 controls the acceleration / deceleration of the speed of the host vehicle 100 in a state in which the travel control and the follow-up control are turned on, the following three cases are conceivable. In each case, the travel control unit 140 determines acceleration / deceleration using information obtained from the surrounding information acquisition unit 110 and the vehicle information acquisition unit 120, controls the vehicle control unit 150, and controls the display control unit 170. Output information. Based on the information acquired from the traveling control unit 140, the control information displays the following traveling state and the speed control state on the display unit 180.
　まず、自車両１００が速度制御設定時に入力する設定車両速度よりも遅い車両速度で前走車２００を追従している時に、前走車２００の車線変更などにより、追従制御が解除された場合が考えられる。この場合、走行制御部１４０は、自車両１００の車両速度を設定車両速度にするために、自車両１００を加速するよう制御する。 First, when the own vehicle 100 is following the preceding vehicle 200 at a vehicle speed slower than the set vehicle speed input at the time of speed control setting, the following control may be canceled due to a lane change of the preceding vehicle 200 or the like. Conceivable. In this case, the traveling control unit 140 controls the host vehicle 100 to accelerate so that the vehicle speed of the host vehicle 100 becomes the set vehicle speed.
　次に、走行中に自車両１００の車両速度より遅い車両速度の車に追いついて、その車が前走車２００として設定された場合、もしくは、設定した車間距離より手前に他の車が車線変更して自車両１００の前を走行し始めたことにより、前走車２００として設定された場合が考えられる。この場合。走行制御部１４０は、自車両１００の車両速度を減速するよう制御する。 Next, if a vehicle with a vehicle speed slower than the vehicle speed of the host vehicle 100 is caught while traveling and the vehicle is set as the preceding vehicle 200, or another vehicle changes lanes before the set inter-vehicle distance. Then, it may be considered that the vehicle has been set as the preceding vehicle 200 by starting to travel in front of the host vehicle 100. in this case. The travel control unit 140 controls the vehicle speed of the host vehicle 100 to be reduced.
　次に、追従走行している時に、前走車２００の加減速により、設定車間距離と実際の車間距離の差が大きくなった場合である。この場合、走行制御部１４０は、前走車２００との車間を設定車間距離にするために、自車両１００を加速、もしくは、減速するよう制御する。 Next, it is a case where the difference between the set inter-vehicle distance and the actual inter-vehicle distance becomes large due to acceleration / deceleration of the preceding vehicle 200 during the following traveling. In this case, the travel control unit 140 controls the host vehicle 100 to accelerate or decelerate in order to set the distance between the preceding vehicle 200 and the preceding vehicle 200 as the set inter-vehicle distance.
　［１－６．効果など］
　以上のように、本実施の形態において、車両用表示装置は、表示制御部１７０と表示部１８０とを備える。表示制御部１７０は、走行制御部１４０より追従走行の状態、前走車２００の位置情報、自車両１００の速度制御情報を取得し、自車両１００の追従走行状態と速度制御状態を自然物理法則に基づいた動きが推定でき、かつ、車両の速度制御状態を連想させる形状で示した状態マーカを表示部１８０に表示させる。 [1-6. Effect etc.]
As described above, in the present embodiment, the vehicle display device includes the display control unit 170 and the display unit 180. The display control unit 170 obtains the following traveling state, the position information of the preceding vehicle 200, and the speed control information of the own vehicle 100 from the traveling control unit 140, and the following driving state and the speed control state of the own vehicle 100 are determined by the laws of natural physics. The state marker shown in the shape reminiscent of the speed control state of the vehicle and associated with the speed control state of the vehicle is displayed on the display unit 180.
　これにより、運転者が自車両の走行状態が、定速走行状態、加速走行状態、減速走行状態のいずれであるかを直感的に理解することができる。また、現在の走行状態になった原因も直感的に理解することができる。 Thereby, the driver can intuitively understand whether the traveling state of the vehicle is a constant speed traveling state, an acceleration traveling state, or a decelerating traveling state. It is also possible to intuitively understand the cause of the current running state.
　そのため、追従走行時の運転者の違和感、不安感を軽減することができる。 Therefore, it is possible to reduce the driver's discomfort and anxiety when following the vehicle.
　（他の実施の形態）
　以上のように、本出願において開示する技術の例示として、実施の形態１を説明した。しかしながら、本開示における技術は、これに限定されず、変更、置き換え、付加、省略などを行った実施の形態にも適用できる。また、上記実施の形態１で説明した各構成要素を組み合わせて、新たな実施の形態とすることも可能である。 (Other embodiments)
As described above, the first embodiment has been described as an example of the technique disclosed in the present application. However, the technology in the present disclosure is not limited to this, and can also be applied to embodiments that have been changed, replaced, added, omitted, and the like. Moreover, it is also possible to combine each component demonstrated in the said Embodiment 1, and it can also be set as a new embodiment.
　なお、実施の形態１においては、追従先の前走車２００と特定する状態マーカを表示したが、自車両１００にも状態マーカ表示をしてもよい。 In the first embodiment, the state marker specified as the following vehicle 200 to be followed is displayed, but the state marker may be displayed on the own vehicle 100 as well.
　図１３に他の表示例を示す。図１３に示すように、前走車２００を特定する追従先マーカ２３０に加え、自車両１００を示す自車両マーカ２３１を表示する。追従先マーカ２３０と自車両マーカ２３１を状態マーカ６００でつなぐことにより、運転者は、自車両１００が前走車２００に追従していることが分かる。 Fig. 13 shows another display example. As shown in FIG. 13, in addition to the follow-up destination marker 230 that identifies the preceding vehicle 200, the host vehicle marker 231 that indicates the host vehicle 100 is displayed. By connecting the tracking destination marker 230 and the host vehicle marker 231 with the state marker 600, the driver knows that the host vehicle 100 is following the preceding vehicle 200.
　また、手前側（表示部１８０の下側）に自車両１００のアバターを表示してもよい。 Further, the avatar of the host vehicle 100 may be displayed on the front side (below the display unit 180).
　図１４に他の表示例を示す。図１４は図１３の自車両マーカ２３１に代えて、自車両１００のアバター（ボンネット）２３２を表示する。追従先マーカ２３０とアバター２３２を状態マーカ６００でつなぐことにより、自車両１００が前走車２００に追従していることが分かる。 Fig. 14 shows another display example. FIG. 14 displays an avatar (bonnet) 232 of the host vehicle 100 instead of the host vehicle marker 231 of FIG. By connecting the tracking destination marker 230 and the avatar 232 with the state marker 600, it can be seen that the host vehicle 100 is following the preceding vehicle 200.
　これは、表示部１８０の表示範囲の下側が自車のボンネットから大きく離れている場合、自車両１００とのつながり感が薄くなると考えられるため、つながり感を強調するのに有効である。また、表示部１８０以外の部分にもつながり感を出すために、インパネ上に表示部１８０の表示と関連する表示を出力してもよい。前走車２００を指す追従先マーカ２３０とインパネ上の表示を同じ色に光らせるなどで関連性を出すことができる。 This is effective for emphasizing the sense of connection because the lower side of the display range of the display unit 180 is far away from the hood of the own vehicle and the feeling of connection with the own vehicle 100 is considered to be thin. In addition, a display related to the display of the display unit 180 may be output on the instrument panel in order to give a sense of connection to parts other than the display unit 180. The relevance can be obtained, for example, by illuminating the following marker 230 indicating the preceding vehicle 200 and the display on the instrument panel in the same color.
　また、表示制御部１７０は各表示方法を組合せて状態マーカを生成してもよい。例えば、表示方法１～５において、設定車間距離より現在の車間距離が大きい場合は、設定車間距離を超える区間のマーカの色を変えてもよい。 Further, the display control unit 170 may generate a state marker by combining each display method. For example, in the display methods 1 to 5, when the current inter-vehicle distance is larger than the set inter-vehicle distance, the color of the marker in the section exceeding the set inter-vehicle distance may be changed.
　また、加減速の大きさに従って、図形を変形させる大きさや、アニメーションさせる速さを変更してもよい。 Also, according to the acceleration / deceleration size, the size of deforming the figure and the speed of animation may be changed.
　また、速度走行表示の表示方法１～５では、伸縮する図形として、ゴム、風船などを用いて説明したが、これに限定しない。例えば、バネなど、弾性体を連想させる形状であればよい。 Further, in the display methods 1 to 5 of the speed running display, the explanation was made using rubber, balloons, etc. as the expanding and contracting figures, but the present invention is not limited to this. For example, a shape such as a spring reminiscent of an elastic body may be used.
　また、本開示では、表示部１８０がヘッドアップディスプレイである場合を一例として説明したが、これに限定するものではない。例えば、ナビゲーションシステムの場合は、追従先の車両を示す追従先マーカを車の形状をしたマーカにしてもよい。 In the present disclosure, the case where the display unit 180 is a head-up display has been described as an example, but the present disclosure is not limited thereto. For example, in the case of a navigation system, the following marker indicating the following vehicle may be a car-shaped marker.
　本開示は、運転者に運転状態の表示を行う車両用表示装置に適用可能である。具体的には、ヘッドアップディスプレイを用いたシステム、ナビゲーションシステムなどに、本開示は適用可能である。 The present disclosure is applicable to a vehicle display device that displays a driving state to a driver. Specifically, the present disclosure can be applied to a system using a head-up display, a navigation system, and the like.
　１００　自車両
　１１０　周辺情報取得部
　１２０　車両情報取得部
　１３０　入力部
　１４０　走行制御部
　１５０　車両制御部
　１６０　車両用表示装置
　１７０　表示制御部
　１８０　表示部
　２００　前走車
　２１０　フロントガラス
　２３０　追従先マーカ
　２３１　自車両マーカ
　２３２　アバター
　２４０，３００，３０１，５００，５０１，５０２，５１０，５１１，５１２，５２０，５２１，５２２，５３０，５３１，５３２，５４０，５４１，５４２，５５０，５５１，５５３，５５４，５５６，５６０，５６１，５６２，５７０，６００　状態マーカ
　４００，４０１，４０２，５７１，５７２　図形
　５５２，５５５　先端部 DESCRIPTION OF SYMBOLS 100 Own vehicle 110 Peripheral information acquisition part 120 Vehicle information acquisition part 130 Input part 140 Travel control part 150 Vehicle control part 160 Display apparatus for vehicles 170 Display control part 180 Display part 200 Front running vehicle 210 Windshield 230 Tracking destination marker 231 Own vehicle Marker 232 Avatar 240,300,301,500,501,502,510,511,512,520,521,522,530,531,532,540,541,542,550,551,553,554,556,560 , 561, 562, 570, 600 Status marker 400, 401, 402, 571, 572 Graphic 552, 555 Tip

Claims (12)

  1. 　前走車に追従走行する制御を行う走行制御部を有する車両に設置され、前記追従走行に関する情報を表示する車両用表示装置であって、
    　表示部と、
    　前記走行制御部より、前記追従走行の状態と、前記前走車の位置情報を取得し、前記表示部に、前記前走車を示す追従先マーカと、前記追従先マーカと前記車両との間に、前記車両の追従走行状態を示す状態マーカとを表示させる表示制御部とを備えた車両用表示装置。     A vehicle display device that is installed in a vehicle having a travel control unit that performs control to follow the preceding vehicle, and displays information related to the following traveling,
    A display unit;
    From the travel control unit, the state of the following traveling and the position information of the preceding vehicle are acquired, and a following marker indicating the preceding vehicle is displayed on the display unit, and between the following marker and the vehicle. And a display control unit for displaying a state marker indicating the following traveling state of the vehicle.
  2. 　前記表示制御部は、前記走行制御部より前記車両の速度制御情報を取得し、
    　前記追従走行状態と速度制御状態を示す状態マーカを前記表示部に表示させ、
    　前記状態マーカは、自然物理法則に基づいた動きが推定でき、かつ、前記車両の速度制御状態を連想させる形状である請求項１記載の車両用表示装置。     The display control unit acquires speed control information of the vehicle from the travel control unit,
    Display the state marker indicating the following running state and the speed control state on the display unit,
    The vehicle display device according to claim 1, wherein the state marker has a shape capable of estimating a motion based on a law of natural physics and reminiscent of a speed control state of the vehicle.
  3. 　前記速度制御状態は、加速走行状態、定速走行状態、減速走行状態のいずれかである請求項２記載の車両用表示装置。 The vehicle display device according to claim 2, wherein the speed control state is one of an acceleration traveling state, a constant speed traveling state, and a decelerating traveling state.
  4. 　前記状態マーカは、形状を変化させることにより、将来の前記速度制御状態を連想させる形状である請求項２記載の車両用表示装置。 The vehicle display device according to claim 2, wherein the state marker has a shape reminiscent of the future speed control state by changing the shape.
  5. 　前記状態マーカは、弾性の法則に基づき、基準の形状と比べ伸縮したときに、反対方向に力が働くことを連想させる形状であることを特徴とする請求項２記載の車両用表示装置。 3. The vehicle display device according to claim 2, wherein the state marker has a shape reminiscent of a force acting in the opposite direction when expanded and contracted based on a law of elasticity.
  6. 　前記状態マーカは、弾性体を連想させる形状であることを特徴とする請求項５記載の車両用表示装置。 The vehicle display device according to claim 5, wherein the state marker has a shape reminiscent of an elastic body.
  7. 　前記状態マーカは、空気の伸縮を連想させる形状であることを特徴とする請求項５記載の車両用表示装置。 The vehicle display device according to claim 5, wherein the state marker has a shape reminiscent of expansion and contraction of air.
  8. 　前記状態マーカは、基準位置との差を可視化し、基準位置に近付くように動くことを連想させる形状であることを特徴とする請求項２記載の車両用表示装置。 3. The vehicle display device according to claim 2, wherein the state marker has a shape that makes it possible to visualize a difference from a reference position and to move toward the reference position.
  9. 　前記表示制御部は、前記走行制御部より前記車両の速度制御情報を取得し、
    　前記状態マーカ上に、速度制御状態を示す所定の図形を重畳させる請求項１記載の車両用表示装置。     The display control unit acquires speed control information of the vehicle from the travel control unit,
    The vehicle display device according to claim 1, wherein a predetermined graphic indicating a speed control state is superimposed on the state marker.
  10. 　前記表示制御部は、自車両を示す図形を表示し、
    　前記状態マーカを、前記追従先マーカと前記自車両を示す図形をつなげるように表示させる請求項１記載の車両用表示装置。     The display control unit displays a figure indicating the host vehicle,
    The vehicle display device according to claim 1, wherein the state marker is displayed so as to connect the tracking destination marker and a figure indicating the host vehicle.
  11. 　前記状態マーカは、前記前走車と前記車両との車間距離も示し、
    　前記表示制御部は、前記車間距離に応じて、前記状態マーカの形状を変更する請求項１記載の車両用表示装置。     The state marker also indicates an inter-vehicle distance between the preceding vehicle and the vehicle,
    The vehicle display device according to claim 1, wherein the display control unit changes a shape of the state marker according to the inter-vehicle distance.
  12. 　前記状態マーカは、前記前走車と前記車両との車間距離も示し、
    　前記表示制御部は、前記状態マーカを複数の図系列として表示し、前記車間距離に応じて、前記図形の数を変更する請求項１記載の車両用表示装置。     The state marker also indicates an inter-vehicle distance between the preceding vehicle and the vehicle,
    The vehicle display device according to claim 1, wherein the display control unit displays the state marker as a plurality of figure series and changes the number of the figures according to the inter-vehicle distance.
PCT/JP2015/003499 2014-07-15 2015-07-10 Vehicular display device WO2016009628A1 (en)

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