WO2019021458A1 - 周囲状況の表示方法及び表示装置 - Google Patents
周囲状況の表示方法及び表示装置 Download PDFInfo
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- WO2019021458A1 WO2019021458A1 PCT/JP2017/027444 JP2017027444W WO2019021458A1 WO 2019021458 A1 WO2019021458 A1 WO 2019021458A1 JP 2017027444 W JP2017027444 W JP 2017027444W WO 2019021458 A1 WO2019021458 A1 WO 2019021458A1
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- vehicle
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- host vehicle
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- 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—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
- B60K35/10—Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
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- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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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—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
- B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
- B60K35/28—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
Definitions
- the present invention relates to a display method and a display device for detecting a surrounding condition of a vehicle and displaying the detected condition.
- Patent Document 1 As a technique for notifying a passenger of a mode change at the time of autonomous driving travel, for example, the one disclosed in Patent Document 1 is known.
- patent document 1 the required time until traveling control by automatic driving switches is calculated, and the timing of switching is notified by numerical display on a screen.
- the present invention has been made to solve such conventional problems, and the object of the present invention is to provide a method and a method of displaying an ambient condition which can appropriately notify the timing when an action is switched by automatic driving. To provide a display of the situation.
- One mode of the present invention displays the timing to which the action of the self-vehicles changes by an automatic driving function with a change display bar which has a predetermined display frame and changes and displays a designated position in the display frame.
- FIG. 1 is a block diagram showing the configuration of a display device according to an embodiment of the present invention.
- FIG. 2A is a display example showing a first situation in which the host vehicle joins the traveling lane from the acceleration lane of the expressway and enters behind the other vehicle.
- FIG. 2B is a display example showing a second situation in which the host vehicle joins the traveling lane from the acceleration lane of the expressway and enters behind the other vehicle.
- FIG. 3A is a display example showing a first situation in which the host vehicle joins the traveling lane from the acceleration lane of the expressway and enters in front of the other vehicle.
- FIG. 1 is a block diagram showing the configuration of a display device according to an embodiment of the present invention.
- FIG. 2A is a display example showing a first situation in which the host vehicle joins the traveling lane from the acceleration lane of the expressway and enters behind the other vehicle.
- FIG. 2B is a display example showing a second situation in which the host vehicle joins the
- FIG. 3B is a display example showing a second situation in which the host vehicle joins the traveling lane from the acceleration lane of the expressway and enters in front of the other vehicle.
- FIG. 4A is a first display example of a situation in which the host vehicle is waiting for the pedestrian of the pedestrian crossing.
- FIG. 4B is a second display example of the situation in which the host vehicle is waiting for the pedestrian of the pedestrian crossing.
- FIG. 5A is a first display example of a situation in which the host vehicle is waiting for the passage of two pedestrians on a pedestrian crossing.
- FIG. 5B is a second display example of the situation where the host vehicle is waiting for the passage of two pedestrians on the pedestrian crossing.
- FIG. 6A is a first display example of the situation waiting for the passage of another vehicle approaching from the right side when the host vehicle turns left at the intersection.
- FIG. 6B is a second display example of the situation waiting for the passage of another vehicle approaching from the right side when the host vehicle turns left at the intersection.
- FIG. 7A is a first display example of the situation waiting for the passage of another vehicle approaching from the right side and the left side when the host vehicle turns right at an intersection.
- FIG. 7B is a second display example of the situation waiting for the passage of another vehicle approaching from the right side and the left side when the host vehicle turns right at the intersection.
- FIG. 8A is a first display example of the situation waiting for the oncoming vehicle to pass when the host vehicle turns right at an intersection.
- FIG. 8B is a second display example of the situation waiting for the oncoming vehicle to pass when the host vehicle turns right at an intersection.
- FIG. 8C is a third display example of the situation waiting for the oncoming vehicle to pass when the host vehicle turns right at the intersection.
- FIG. 9 is an explanatory view showing a segment display.
- FIG. 10A is a first minute view of a flowchart showing the processing procedure of the display device according to the embodiment.
- FIG. 10B is a second minute view of a flowchart showing the processing procedure of the display device according to the embodiment.
- FIG. 10C is a third diagram of the flowchart showing the processing procedure of the display device according to the embodiment.
- FIG. 1 is a block diagram showing the configuration of a display device according to an embodiment of the present invention.
- This display device is mounted on a vehicle having an automatic driving function.
- the automatic driving in the present embodiment refers to, for example, a state in which at least an accelerator among actuators such as a brake, an accelerator, and a steering is controlled without a driver's operation. Therefore, other actuators may be operated by the operation of the driver.
- the display device includes a display controller 1, a display 2 for displaying an image, a map database 3, a GPS device 4 (Global Positioning System), LRF 5 (Laser Range Finder), and a camera 6.
- the steering angle sensor 7 and the vehicle speed sensor 8 are provided.
- the display controller 1 includes a scene specification circuit 11, an end point setting circuit 12, an obstacle position detection circuit 13, a variation display bar drawing circuit 14, an HMI display circuit 15, and an image synthesis circuit 16.
- the GPS device 4 detects the current position of the vehicle, and outputs the detected position information to the scene identification circuit 11.
- the map database 3 stores three-dimensional map data including the periphery of the vehicle. Map data is output to the scene identification circuit 11.
- the LRF 5 irradiates an infrared laser toward the object and measures the distance to the object by the intensity of the reflected light.
- the distance to the object can be acquired as point cloud information by the measurement of LRF 5, and the point cloud information is output to the scene identification circuit 11.
- LRF5 it is also possible to detect an object using a clearance sonar, ultrasonic wave radar, camera, road-vehicle communication, inter-vehicle communication, etc. using an ultrasonic wave.
- Output data of the LRF 5 is output to the obstacle position detection circuit 13.
- the camera 6 includes a front camera 6a, a rear camera 6b, a light camera 6c, and a left camera 6d, and captures images in the front, rear, left, and right directions of the vehicle.
- Each of the cameras 6 (6a to 6c) is a camera provided with an imaging device such as a CCD or a CMOS.
- the captured image data is output to the obstacle position detection circuit 13.
- the steering angle sensor 7 detects the steering angle of the vehicle, and outputs the detected steering angle to the scene identification circuit 11. Further, the vehicle speed sensor 8 detects the speed of the vehicle from the number of rotations of the wheels, and outputs the detected speed to the scene identification circuit 11.
- the display 2 can use an image monitor such as a liquid crystal display. Furthermore, various display methods such as a segment display provided with a plurality of light emitting diodes 61 as shown in FIG. 9 or a head-up display can be adopted.
- the scene identification circuit 11 identifies a situation in which the behavior of a vehicle traveling by automatic driving is switched.
- the action is switched refers to actions such as start from stop, acceleration, deceleration, right turn, left turn, steering (high speed merging), and the like.
- Specific situations in which the action is switched include, for example, a pattern such as an intrusion on an expressway, lane change, waiting for pedestrians on a pedestrian crossing, left turn at an intersection, right turn, departure for waiting for an oncoming vehicle.
- the scene specifying circuit 11 specifies the switching of each action described above based on the three-dimensional map data, the current position data of the vehicle, the steering angle data, and the vehicle speed data.
- the pattern of behavior change is output to the end point setting circuit 12.
- the obstacle position detection circuit 13 detects the position of an obstacle such as another vehicle, pedestrian, or animal around the host vehicle based on the detection data of the LRF 5 and the images captured by the cameras 6 (6a to 6d). To detect For example, while the host vehicle is stopped at an intersection, another vehicle approaching from the left side or the right side is detected. It also detects oncoming vehicles coming from the front. Further, obstacles such as pedestrians and animals walking in the vicinity of the vehicle are detected. The detected position information of the obstacle is output to the end point setting circuit 12 and the variable display bar drawing circuit 14.
- the end point setting circuit 12 displays the vehicle and its surrounding image ( ⁇ image, bird's eye image) in a situation where the behavior of the vehicle traveling by automatic driving is switched, the start point and end point of the fluctuation display bar displayed in the surrounding image Set two end points of.
- the variable display bar drawing circuit 14 draws the variable display bar on the image based on the end point set by the end point setting circuit 12, the positional relationship between the vehicle and the obstacle, and the relative speed.
- the variable display bar is, for example, a rectangular shape elongated in a fixed direction (horizontal direction in the figure) as shown by a symbol Q3 in FIG. 4A, etc., and is controlled by automatic operation by changing a designated point (designated position). Display the timing at which the vehicle's behavior changes. That is, the fluctuation display bar has a function of displaying the timing at which the behavior of the host vehicle changes in conjunction with the surrounding situation of the host vehicle.
- the variable display bar drawing circuit 14 draws the variable display bar on the surrounding image based on the surrounding image, the current position of the vehicle, and the position of the obstacle.
- the designated point is indicated by a colored area in the entire area of the display frame. For example, by changing the area displayed in red in the entire display frame, the timing at which the vehicle changes the action is displayed.
- the HMI display circuit 15 generates various images indicating information on automatic driving when traveling by automatic driving, and outputs the generated images to the image combining circuit 16.
- the image synthesis circuit 16 synthesizes the image related to the automatic operation set by the HMI display circuit 15 with the surrounding image on which the variable display bar is drawn, and displays the image on the display 2.
- the display controller 1 described above can be realized using a microcomputer including a CPU (central processing unit), a memory, and an input / output unit.
- a computer program (display program) for causing a microcomputer to function as the display controller 1 is installed in the microcomputer and executed.
- the microcomputer functions as a plurality of information processing circuits (11 to 16) included in the display controller 1.
- the display controller 1 may be used also as an electronic control unit (ECU) used for other control related to the vehicle.
- the components other than the LRF 5, the camera 6, and the display 2 shown in FIG. 1 may not be mounted on the vehicle, and may be configured to acquire various data through communication with a base station.
- the position at the back of the rear end of the own vehicle V1 is changed by a predetermined distance
- the variation display bar Q1 is displayed with one end point q1 and the rear end position of the host vehicle V1 as the other end point q2.
- the display position is a position that does not overlap with the traveling path on the image, and is in a direction parallel to the traveling direction of the host vehicle V1.
- the distance to the end point q1 is set to an arbitrary distance from the host vehicle V1.
- the variation display bar Q1 colors the area from the end point q2 to the indicated point q3 with the front end position of the other vehicle V2 as the indicated point q3 and the end point q2 as the starting point. At this time, the vicinity of the designated point q3 is displayed as a gradation display.
- the colored area displayed on the fluctuation display bar Q1 indicates the relative distance between the host vehicle V1 and the other vehicle V2. As shown in FIG. 2B, when the other vehicle V2 approaches the host vehicle V1, the designated point q3 approaches the end point q2, and the coloring area decreases. The occupant of the host vehicle V1 can recognize the timing at which the other vehicle V2 passes the host vehicle V1 by the disappearance of the colored area of the variable display bar Q1 as shown in FIG.
- the occupant can sense in a perceptual manner the timing at which the host vehicle V1 changes lanes to the travel lane L2 (timing at which the behavior of the host vehicle V1 switches), and the operation for the host vehicle V1 to enter the travel lane L2 from the acceleration lane L1 You can be prepared for what you do.
- the end point q2 of the variable display bar Q1 moves on the screen in accordance with the travel of the host vehicle V1.
- the display position of the variable display bar Q1 moves so that the rear end portion of the host vehicle V1 coincides with the end point q2.
- FIGS. 3A and 3B when the vehicle V1 enters in front of the other vehicle V2, a fluctuation display bar Q2 having end points q1 and q2 is displayed on the surrounding image of the vehicle V1.
- the designated point q5 indicates the front end position of the other vehicle V2, and colors an area from the end point q1 to the designated point q4.
- the occupant can recognize that the coloring area starts in the end point q1 and thus merges in front of the other vehicle V2.
- FIG. 3B as the inter-vehicle distance between the host vehicle V1 and the other vehicle V2 increases, the position of the designated point q5 approaches the end point q1, and the coloring area decreases. The occupant sees a decrease in the colored area, and can intuitively recognize the timing at which the host vehicle V1 changes lanes to the travel lane L2, and the driver V1 enters the travel lane L2 from the acceleration lane L1. You can be prepared.
- the host vehicle V1 starts traveling.
- the fluctuation display bar Q3 which makes the ends q11 and q12 the both ends of the pedestrian crossing 31 of the front image of the own vehicle V1 is displayed.
- the variable display bar Q3 is displayed parallel to the pedestrian crossing 31.
- a designated area q13 indicating the position of the pedestrian 21 is a colored area.
- the indicated point q13 of the variable display bar Q3 moves from right to left, and when the end point q12 is reached, the vehicle V1 starts traveling Do. That is, the length from the end point q12 of the designated point q13 displayed on the variation display bar Q3 is set according to the position of the host vehicle V1 and the attention target.
- the occupant can sensuously recognize the timing at which the host vehicle V1 starts traveling (the timing at which the behavior of the host vehicle V1 is switched) by the change in the colored area. For this reason, the occupant can be prepared for the host vehicle V1 switching from stop to start.
- FIG. 5A and FIG. 5B are diagrams showing a situation in which two pedestrians 22 and 23 who travel in different directions are walking on the pedestrian crossing 31 in front.
- the vehicle V1 starts traveling when both of the pedestrians 22 and 23 cross the pedestrian crossing 31.
- the fluctuation display bar Q4 which makes the ends q21 and q22 the both ends of the pedestrian crossing 31 of the front image of the own vehicle V1 is displayed.
- the variable display bar Q4 is displayed parallel to the pedestrian crossing 31.
- a designated area q24 indicating the position of the pedestrian 22 is a colored area. Furthermore, with the end point q21 on the right side as a starting point, a designated area q23 indicating the position of the pedestrian 23 is a colored area.
- the designated point q24 of the variable display bar Q4 moves from right to left, and the designated point q23 moves from left to right.
- the designated point q24 reaches the end point q22 and the designated point q23 reaches the end point q21, the host vehicle V1 starts traveling.
- the occupant can recognize the timing at which the host vehicle V1 starts traveling by the change in the colored area. For this reason, the occupant can be prepared for the host vehicle V1 switching from stop to start.
- FIGS. 6A and 6B show a situation where the own vehicle V1 turns left at an intersection 51 as a situation where the behavior of the own vehicle V1 switches.
- FIG. 6A the own vehicle V1 starts traveling when the other vehicle V11 approaching from the right of the intersection 51 passes the intersection 51.
- a variation display bar Q5 is displayed, with the position of the vehicle V1 on the surrounding image as one end point q32 and the predetermined position in the right direction as the other end point q31.
- the fluctuation display bar Q5 is displayed in parallel with the traveling direction of the other vehicle V11.
- a region up to a designated point q33 indicating the position of the other vehicle V11 is a colored area.
- the indicated point q33 of the variable display bar Q5 moves from the right to the left, and when the end point q31 is reached, the host vehicle V1 starts traveling.
- the occupant can recognize the timing at which the host vehicle V1 starts traveling by the change of the coloring area, and can have an attitude for the host vehicle V1 to switch from stop to start.
- the other vehicle V12 approaching from the left side shown in FIGS. 6A and 6B does not become an obstacle to the left turn of the host vehicle V1, and thus is not recognized as a target of caution.
- FIG. 7A and FIG. 7B show that the vehicle V1 is an intersection 51
- the other vehicle 51 is the other It is a figure which shows the condition which waits for passage of a vehicle and turns right.
- the host vehicle V1 starts traveling (right turn).
- a variable display bar Q6 is displayed with a predetermined position in the left direction on the surrounding image as one end point q42 and a predetermined position in the right direction as the other end point q41.
- the fluctuation display bar Q6 is displayed in parallel with the traveling direction of the other vehicles V11 and V12.
- a point q45 indicating the position of the vehicle V1 of the variable display bar Q6 is a starting point
- a designated area q43 indicating the position of the other vehicle V11 is a colored area
- a designated area q44 indicating the position of the other vehicle V12 is a colored area.
- variable display bar Q7 is displayed with the front end position of the vehicle V1 on the surrounding image as one end point q52 and the predetermined position in front as the other end point q51.
- the variable display bar Q7 is displayed in parallel with the traveling direction of the oncoming vehicle V21.
- an end point q52 indicating the front end position of the vehicle V1 of the variable display bar Q7 is a starting point, and a designated area q53 indicating the position of the oncoming vehicle V21 is a colored area.
- the indicated point q53 of the variable display bar Q7 moves downward from above.
- FIG. 8C when the oncoming vehicle V21 passes the intersection 51, the host vehicle V1 starts traveling. The occupant can recognize the timing at which the host vehicle V1 starts traveling by the change of the coloring area, and can have an attitude for the host vehicle V1 to switch from stop to start.
- 6A, 6B, 7A, 7B and 8A to 8C described above show an example where the vehicle is passing on the left side. In the case of right-handed traffic, the left and right are opposite.
- step S11 it is determined whether or not the host vehicle V1 is traveling by automatic driving. If the automatic driving is in progress (YES in step S11), in step S12, it is determined whether the host vehicle V1 is decelerating or stopping.
- step S13 the scene specifying circuit 11 specifies the scene of the host vehicle V1 based on the map data. Furthermore, in step S14, the obstacle position detection circuit 13 detects an obstacle such as another vehicle, a pedestrian, or an animal, which is present around the host vehicle V1. Among the detected obstacles, the obstacle that caused the vehicle to decelerate or stop is specified as a warning target.
- step S15 the scene specification circuit 11 determines, based on the map data and the current position data of the vehicle, whether the current scene is a stop at an intersection or a merging / lane change.
- step S16 the obstacle position detection circuit 13 detects an adjacent lane and other vehicles traveling in the adjacent lane. Specifically, as shown in FIG. 2A and FIG. 3A, the other vehicle V2 traveling on the traveling lane L2 is detected.
- step S17 the end point setting circuit 12 and the variable display bar drawing circuit 14 set the variable display bar in the direction (vertical direction in the figure) from the other vehicle V2 to the host vehicle V1. Furthermore, in step S18, two end points of the variable display bar are set. Specifically, the variable display bar Q1 having the end points q1 and q2 shown in FIGS. 2A and 2B is set, and is displayed at a position not overlapping the lane on the image. At this time, the rear end of the vehicle V1 and the end point q1 of the variable display bar are set to coincide in the traveling direction of the vehicle.
- the variation display bar Q2 is similarly displayed in the example shown in FIGS. 3A and 3B.
- step S26 of FIG. 10C the current position of the attention object is specified. Specifically, as shown in FIG. 2A, another vehicle V2 traveling behind the host vehicle V1 on the traveling lane L2 is specified as a warning target.
- step S27 the fluctuation display bar drawing circuit 14 fluctuates the coloring area by changing the designated point q3 of the fluctuation display bar Q1 according to the current position of the other vehicle V2 (attention object).
- the occupant of the host vehicle sees a change in the colored area of the variable display bar Q1 or Q2 when the host vehicle V1 changes lanes and enters the front of the other vehicle V2 or enters the rear. Can recognize.
- step S28 it is determined whether the other vehicle V2 has reached the end point of the variable display bar Q1. If the end point has been reached, display of the variable display bar is ended in step S29. In step S30, it is determined whether or not traveling by the automatic driving function is to be ended, and if it is ended, the present process is ended.
- step S15 of FIG. 10A when it is determined in the process of step S15 of FIG. 10A that it is an “intersection”, the target of attention in step S19 of FIG. 10B is a pedestrian walking on a pedestrian crossing or an oncoming vehicle. It is judged.
- the obstacle position detection circuit 13 detects the position of the pedestrian crossing and the position of the pedestrian. For example, as shown to FIG. 4A mentioned above, the pedestrian crossing 31 and the pedestrian 21 are detected on the front image of the own vehicle V1.
- step S21 the end point setting circuit 12 and the variable display bar drawing circuit 14 set the direction of the variable display bar in a direction parallel to the pedestrian crossing 31, and further, in step S22, Set the end of the fluctuation indicator bar based on it.
- the variable display bar Q3 is displayed.
- the starting point of the colored area is set based on the walking direction of the pedestrian.
- the end point q12 is set as the starting point.
- step S26 of FIG. 10C the current position of the attention object is specified. Specifically, as shown in FIG. 4A, the pedestrian 21 who walks the pedestrian crossing 31 is specified as the target of attention.
- step S27 the variation display bar drawing circuit 14 changes the display position of the variation display bar Q3 according to the current position of the pedestrian 21 (attention). Specifically, the display position of the designated point q13 is changed from FIG. 4A to FIG. 4B. Therefore, the occupant can recognize the timing at which the host vehicle V1 starts traveling by observing the change in the colored area of the fluctuation display bar Q3. In the example shown in FIGS. 5A and 5B as well, it is possible to recognize the timing at which the host vehicle V1 starts traveling by changing the display of the variable display bar Q4. Subsequently, the processes of steps S28 to S30 are performed as described above.
- the obstacle position detection circuit 13 detects the position of the intersection and the position of the oncoming vehicle in step S23. For example, as shown in FIG. 8A described above, the oncoming vehicle V21 is detected in the oncoming lane on the image around the host vehicle V1.
- step S24 the end point setting circuit 12 and the variable display bar drawing circuit 14 set the direction of the variable display bar in a direction parallel to the traveling direction of the oncoming vehicle V21, and further, in step S25, the start point and the end point Set and display the variable display bar Q7.
- step S26 the current position of the attention object is specified. Specifically, as shown in FIG. 8A, the oncoming vehicle V21 is specified as a warning target.
- step S27 the fluctuation display bar drawing circuit 14 fluctuates a designated point q53 displayed on the fluctuation display bar Q7 in accordance with the current position of the oncoming vehicle V21. Specifically, the designated point q53 is varied in the order of FIG. 8A, FIG. 8B, and FIG. 8C. As described above, the occupant of the host vehicle V1 can recognize the timing at which the host vehicle V1 starts traveling by observing the change in the colored area of the variable display bar Q7. Subsequently, the processes of steps S28 to S30 are performed as described above.
- FIGS. 10A, 10B and 10C the lane change shown in FIGS. 2A, 2B, 3A and 3B, and the crosswalk shown in FIGS. 4A, 4B, 5A and 5B.
- the process for waiting for pedestrians and waiting for oncoming vehicles shown in FIGS. 8A, 8B and 8C has been described.
- FIGS. 6A and 6B when turning left at an intersection, FIGS. 7A and 7B.
- the fluctuation display bar is displayed by the same processing as above, and the timing at which the behavior of the host vehicle V1 changes by changing the colored area according to the movement of the attention object It is possible to indicate
- the automatic driving function of the own vehicle V1 displays the timing at which the behavior of the own vehicle V1 switches, for example, the timing of lane change and the timing of departure at an intersection in conjunction with the surrounding situation of the own vehicle V1.
- the occupant can sensuously recognize the timing at which the action switches, and can suppress the discomfort that the occupant feels.
- the timing at which the action of the host vehicle V1 is switched is displayed based on the relative distance between the host vehicle V1 and the caution target such as another vehicle, the case where the target of attention is a trigger for switching the action of the host vehicle V1
- the timing at which the action is switched can be displayed in accordance with the relative positional relationship with the attention target, the occupant can more appropriately know the timing at which the action is switched.
- the attention object serves as a trigger for switching the action of the own vehicle V1.
- the timing at which the action is switched can be displayed in accordance with the relative positional relationship with the attention target, the occupant can more appropriately know the timing at which the action is switched.
- the timing of switching is adjusted according to the movement direction of the attention object. Since the display can be performed, the occupant can more appropriately know the timing at which the action switches.
- the attention object can be easily associated with the display of the fluctuation display bar, and the occupant can more appropriately know the timing at which the action is switched. Can.
- the fluctuation display bar As a gradation display, the current position of the attention object can be displayed ambiguously within a certain range, and even if the movement of the attention object changes, the occupant takes action. It is possible to properly know when to switch.
- the timing at which the action starts changes, the timing at which the vehicle starts, the timing at which the vehicle stops, the timing at which acceleration starts, the timing at which deceleration starts, the timing at which the steering angle changes, and the timing at which the angular velocity of the steering angle changes.
- Timing to start turning right, timing to end turning left, timing to start changing lanes, timing to end changing lanes, etc. are included as long as the behavior of the vehicle changes.
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Abstract
Description
[実施形態の構成説明]
図1は、本発明の実施形態に係る表示装置の構成を示すブロック図である。この表示装置は、自動運転機能を有する車両に搭載される。なお、本実施形態における自動運転とは、例えば、ブレーキ、アクセル、ステアリング等のアクチュエータのうち、少なくともアクセルをドライバの操作なしに制御している状態のことを指す。そのため、その他のアクチュエータがドライバの操作により作動していたとしても構わない。
次に、周囲画像に表示する変動表示バーの具体的な表示例について説明する。
(1)高速道路の走行車線に合流する場合
図2A、図2B、図3A、図3Bは、自車両V1の行動が切り替わる状況として、自車両V1が高速道路の加速車線L1から走行車線L2に合流する状況を示す図である。図2A、図3Aに示すように、走行車線L2の、自車両V1よりも後方に他車両V2が走行している。合流では、自車両V1が他車両V2の後方に進入する場合、及び前方に進入する場合の2通りが有る。図2A、図2Bは後方に進入する場合、図3A、図3Bは前方に進入する場合をそれぞれ示している。前方または後方に進入する判断は、自車両V1と他車両V2の相対速度によって決定する。
図4A、図4Bは、自車両V1の行動が切り替わる状況として、自車両V1が交差点51の停止線で停止しており、前方の横断歩道31を歩行者21が、図中右から左に向かって歩行している状況を示す図である。
この場合には、二人の歩行者22、23が共に横断歩道31を渡り切った時点で自車両V1が走行を開始する。図5Aに示すように、自車両V1の前方画像の、横断歩道31の両端を端点q21、q22とする変動表示バーQ4を表示する。変動表示バーQ4は、横断歩道31に対して平行に表示される。
図6A、図6Bは、自車両V1の行動が切り替わる状況として、自車両V1が交差点51で左折する状況を示す図である。
この場合には、交差点51の右方向から接近する他車両V11が交差点51を通過した時点で自車両V1が走行を開始する。図6Aに示すように、周囲画像上の自車両V1の位置を一方の端点q32とし、右方向の所定位置を他方の端点q31とした変動表示バーQ5を表示する。変動表示バーQ5は、他車両V11の進行方向と平行に表示される。
なお、図6A、6Bに示す左側から接近する他車両V12は、自車両V1の左折の障害にはならないので、注意対象として認識しない。
図7A、図7Bは、自車両V1の行動が切り替わる状況として、自車両V1が交差点51で、左右方向の他車両の通過を待って右折する状況を示す図である。
この場合には、交差点51の右方向から接近する他車両V11、及び左方向から接近する他車両V12が共に交差点51を通過した時点で、自車両V1が走行(右折)を開始する。図7Aに示すように、周囲画像上の左方向の所定位置を一方の端点q42とし、右方向の所定位置を他方の端点q41とした変動表示バーQ6を表示する。変動表示バーQ6は、他車両V11、V12の進行方向と平行に表示される。
図8A、図8B、図8Cは、自車両V1の行動が切り替わる状況として、自車両V1が交差点51で、対向車両の通過を待って右折する状況を示す図である。
なお、上述した図6A、図6B、図7A、図7B、図8A~図8Cでは、車両が左側通行である例を示している。右側通行の場合には左右が反対になる。
次に、本実施形態の作用を図10A、図10B、図10Cに示すフローチャートを参照して説明する。この処理は、図1に示した表示コントローラ1により実行される。初めに、ステップS11において、自車両V1が自動運転で走行中であるか否かを判断する。自動運転走行中である場合には(ステップS11でYES)、ステップS12において、自車両V1は減速或いは停車しているか否かを判断する。
合流・車線変更である場合には、ステップS16において、障害物位置検出回路13は、隣接車線、及び隣接車線を走行する他車両を検出する。具体的には、図2A、図3Aに示したように、走行車線L2を走行する他車両V2を検出する。
ステップS30において、自動運転機能による走行を終了するか否かが判断され、終了する場合には、本処理を終了する。
その後、図10CのステップS26において、注意対象の現在位置を特定する。具体的には、図4Aに示したように、横断歩道31を歩行する歩行者21を注意対象として特定する。
なお、図5A、図5Bに示す例においても同様に、変動表示バーQ4の表示を変動させることにより、自車両V1が走行を開始するタイミングを認識できる。以下、前述と同様に、ステップS28~S30の処理が実施される。
上記のように構成された本実施形態では、以下に示す効果が得られる。
(1)自車両V1が有する自動運転機能により、自車両V1の行動が切り替わるタイミング、例えば、車線変更のタイミングや交差点で発車するタイミングを、自車両V1の周囲状況に連動して表示するので、乗員は行動が切り替わるタイミングを感覚的に認識でき、乗員が感じる違和感を抑制することができる。
2 表示器
3 地図データベース
4 GPS装置
5 LRF
6 カメラ
7 舵角センサ
8 車速センサ
11 シーン特定回路
12 端点設定回路
13 障害物位置検出回路
14 変動表示バー描画回路
15 表示回路
16 画像合成回路
Claims (8)
- 自動運転機能を有する自車両の周囲状況を検出し、検出した前記周囲状況を表示する周囲状況の表示方法であって、
前記自動運転機能によって自車両の行動が切り替わるタイミングを、所定の表示枠を有し該表示枠内での指示位置を変動して表示する変動表示バーで表示すること
を特徴とする周囲状況の表示方法。 - 前記周囲状況として、前記自車両周囲の注意対象を検出し、
前記自車両と前記注意対象との相対距離に応じて、前記表示枠内の指示位置を変動させること
を特徴とする請求項1に記載の周囲状況の表示方法。 - 前記周囲状況として、自車両周囲の注意対象を検出し、
前記変動表示バーの一方の端部から前記指示位置までの長さが、前記自車両と前記注意対象の位置に応じて設定されること
を特徴とする請求項1に記載の周囲状況の表示方法。 - 前記周囲状況として、自車両周囲の注意対象を検出し、
前記変動表示バーの動きと、前記注意対象の移動方向を対応させることを特徴とする請求項1~3のいずれか1項に記載の周囲状況の表示方法。 - 前記変動表示バーの動きの方向と、前記注意対象の移動方向を一致させることを特徴とする請求項4に記載の周囲状況の表示方法。
- 前記変動表示バーの端部位置と、前記注意対象の位置を一致させることを特徴とする請求項4または5に記載の周囲状況の表示方法。
- 前記変動表示バーの指示位置を、グラデュエーション表示することを特徴とする請求項1に記載の周囲状況の表示方法。
- 自動運転機能を有する自車両の周囲状況を検出し、検出した前記周囲状況を表示する周囲状況の表示装置であって、
前記自動運転機能によって自車両の行動が切り替わるタイミングを、所定の表示枠を有し該表示枠内での指示位置を変動して表示する変動表示バーで表示する表示器
を備えたことを特徴とする周囲状況の表示装置。
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EP17918881.8A EP3660811B1 (en) | 2017-07-28 | 2017-07-28 | Surrounding situation display method and surrounding situation display device |
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BR112020001742-6A BR112020001742A2 (pt) | 2017-07-28 | 2017-07-28 | método de exibição de situação circundante e dispositivo de exibição de situação circundante |
CN201780093521.8A CN111183466B (zh) | 2017-07-28 | 2017-07-28 | 周围状况的显示方法以及显示装置 |
US16/633,999 US11338824B2 (en) | 2017-07-28 | 2017-07-28 | Surrounding situation display method and surrounding situation display device |
JP2019532321A JP6819786B2 (ja) | 2017-07-28 | 2017-07-28 | 周囲状況の表示方法及び表示装置 |
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- 2017-07-28 EP EP17918881.8A patent/EP3660811B1/en active Active
- 2017-07-28 CA CA3071091A patent/CA3071091A1/en not_active Abandoned
- 2017-07-28 KR KR1020207003394A patent/KR102303362B1/ko active IP Right Grant
- 2017-07-28 WO PCT/JP2017/027444 patent/WO2019021458A1/ja active Application Filing
- 2017-07-28 US US16/633,999 patent/US11338824B2/en active Active
- 2017-07-28 CN CN201780093521.8A patent/CN111183466B/zh active Active
- 2017-07-28 BR BR112020001742-6A patent/BR112020001742A2/pt unknown
- 2017-07-28 JP JP2019532321A patent/JP6819786B2/ja active Active
- 2017-07-28 RU RU2020108463A patent/RU2737645C1/ru active
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Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2020203066A1 (ja) * | 2019-04-01 | 2020-10-08 | 株式会社デンソー | 表示制御装置及び表示制御プログラム |
JP2020168892A (ja) * | 2019-04-01 | 2020-10-15 | 株式会社デンソー | 表示制御装置及び表示制御プログラム |
JP7059975B2 (ja) | 2019-04-01 | 2022-04-26 | 株式会社デンソー | 表示制御装置及び表示制御プログラム |
Also Published As
Publication number | Publication date |
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US20200353948A1 (en) | 2020-11-12 |
US11338824B2 (en) | 2022-05-24 |
CA3071091A1 (en) | 2019-01-31 |
JP6819786B2 (ja) | 2021-01-27 |
RU2737645C1 (ru) | 2020-12-01 |
BR112020001742A2 (pt) | 2020-07-21 |
EP3660811B1 (en) | 2023-07-19 |
JPWO2019021458A1 (ja) | 2020-09-03 |
CN111183466B (zh) | 2023-06-09 |
EP3660811A4 (en) | 2020-08-05 |
KR102303362B1 (ko) | 2021-09-23 |
CN111183466A (zh) | 2020-05-19 |
EP3660811A1 (en) | 2020-06-03 |
KR20200026287A (ko) | 2020-03-10 |
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