WO2019058414A1 - Display control device and display control method - Google Patents

Display control device and display control method Download PDF

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Publication number
WO2019058414A1
WO2019058414A1 PCT/JP2017/033678 JP2017033678W WO2019058414A1 WO 2019058414 A1 WO2019058414 A1 WO 2019058414A1 JP 2017033678 W JP2017033678 W JP 2017033678W WO 2019058414 A1 WO2019058414 A1 WO 2019058414A1
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WO
WIPO (PCT)
Prior art keywords
lane
vehicle
image
priority
display control
Prior art date
Application number
PCT/JP2017/033678
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French (fr)
Japanese (ja)
Inventor
健仁 塩谷
下谷　光生
Original Assignee
三菱電機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to PCT/JP2017/033678 priority Critical patent/WO2019058414A1/en
Publication of WO2019058414A1 publication Critical patent/WO2019058414A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network

Definitions

  • the present invention relates to display control of lane images of roundabouts.
  • each lane in the roundabout is prioritized by country. Then, it is required to show the driver the priority of each lane of the roundabout in an easy-to-understand manner.
  • Patent Document 1 describes that the priority of each road is considered in the roundabout.
  • Patent Document 2 describes that a map is used to express the priority in road units such as expressways, national roads, and prefectural roads.
  • An object of the present invention is to present a driver with a priority of each lane of a roundabout in view of the above-mentioned problems.
  • the display control device is based on a map data acquisition unit for acquiring map data of a roundabout having a plurality of lanes, a priority setting unit for setting the priority of each lane of the roundabout, and map data.
  • the display control unit includes: an image creation unit that creates a lane image that represents each lane of the roundabout according to the priority order; and a display control unit that causes the first display device mounted on the host vehicle to display the lane image.
  • the display control method acquires map data of a roundabout having a plurality of lanes, sets the priority of each lane of the roundabout, and prioritizes each lane of the roundabout based on the map data.
  • a lane image represented in the above manner is created, and the lane image is displayed on the first display device mounted on the host vehicle.
  • the display control device is based on a map data acquisition unit for acquiring map data of a roundabout having a plurality of lanes, a priority setting unit for setting the priority of each lane of the roundabout, and map data.
  • the display control unit includes: an image creation unit that creates a lane image that represents each lane of the roundabout according to the priority order; and a display control unit that causes the first display device mounted on the host vehicle to display the lane image. Therefore, the driver of the host vehicle can easily grasp the priority of each lane of the roundabout through the lane image.
  • the display control method acquires map data of a roundabout having a plurality of lanes, sets the priority of each lane of the roundabout, and prioritizes each lane of the roundabout based on the map data.
  • a lane image represented in the above manner is created, and the lane image is displayed on the first display device mounted on the host vehicle. Therefore, the driver of the host vehicle can easily grasp the priority of each lane of the roundabout through the lane image.
  • FIG. 1 is a block diagram showing a configuration of a display control device according to Embodiment 1.
  • 5 is a flowchart showing an operation of the display control device according to the first embodiment.
  • FIG. 7 is a block diagram showing a configuration of a display control device according to Embodiment 2.
  • 15 is a flowchart showing an operation of an image creation unit of the display control device according to Embodiment 2. It is a figure which shows the lane image of the comparative example in which the height difference according to a priority is not expressed. It is a figure explaining the lane image of 3D. It is a figure which shows the lane image in which the height difference between lane objects was represented by the shadow.
  • FIG. 16 is a block diagram showing a configuration of a display control device according to Embodiment 3. 15 is a flowchart showing an operation of a display control apparatus according to Embodiment 3.
  • FIG. 7 is a diagram showing a lane change line in which a lane change line is shown as a lane change route. It is a figure which shows the lane image in which the lane change line was represented by the arrow.
  • FIG. 18 is a block diagram showing a configuration of a display control device according to Embodiment 4.
  • FIG. 16 is a flowchart showing a lane image creation process of the image creation unit in the display control apparatus according to Embodiment 4.
  • FIG. It is a figure which shows a lane image in case another vehicle is away from a self-vehicles by more than fixed distance.
  • FIG. 18 is a block diagram showing a configuration of a display control system according to Embodiment 5.
  • 21 is a flowchart showing the operation of the display control apparatus according to the fifth embodiment. It is a flowchart which shows the detail of FIG.34 S105. It is a figure which shows a lane image in case the own vehicle is away from other vehicles by a fixed distance or more. It is a figure which shows the lane image in case the own vehicle is approaching within the fixed distance from another vehicle.
  • FIG. 1 is a block diagram showing the configuration of the display control apparatus 101 according to the first embodiment.
  • the display control device 101 includes a map data acquisition unit 11, a priority setting unit 12, an image creation unit 13, and a display control unit 14. Further, the display control device 101 is connected to the display device 21 and is configured to be usable.
  • the map data acquisition unit 11 acquires map data of a roundabout having a plurality of lanes.
  • the priority setting unit 12 sets priorities for each lane of the roundabout.
  • the image creation unit 13 creates a lane image representing each lane of the roundabout in a mode according to the priority.
  • the display control unit 14 causes the display device 21 mounted on the host vehicle to display the lane image created by the image creation unit 13.
  • the display device 21 is a display device such as a liquid crystal display device mounted on the host vehicle, and displays a lane image under the control of the display control unit 14.
  • FIG. 2 is a flowchart showing the operation of the display control apparatus 101 according to the first embodiment.
  • the map data acquisition unit 11 acquires map data (step S101).
  • the priority setting unit 12 sets priorities in each lane of the roundabout (step S102).
  • the image creating unit 13 creates a lane image representing each lane of the roundabout in a mode according to the priority (step S103).
  • the display control unit 14 causes the display device 21 to display a lane image (step S104).
  • the map data acquisition unit 11 acquires map data of a roundabout having a plurality of lanes
  • the priority setting unit 12 sets the priority of each lane of the roundabout.
  • an image creation unit 13 for creating a lane image that represents each lane of the roundabout according to the priority order based on the map data
  • a display control unit 14 for displaying the lane image on the display device mounted on the vehicle. And. Therefore, the driver of the host vehicle can easily grasp the priority of each lane of the roundabout through the lane image.
  • map data of a roundabout having multiple lanes is acquired, priority of each lane of the roundabout is set, and each lane of the roundabout is determined based on the map data.
  • a lane image represented in a mode according to the priority order is created, and the lane image is displayed on the first display device mounted on the host vehicle. Therefore, the driver of the host vehicle can easily grasp the priority of each lane of the roundabout through the lane image.
  • FIG. 3 is a block diagram showing the configuration of the display control apparatus 102 according to the second embodiment.
  • the display control device 102 includes a map data acquisition unit 11, a priority setting unit 12, an image creation unit 13, and a display control unit 14.
  • the display control device 102 is connected to the display device 21 and the vehicle position detection device 22 and is configured to be able to use these.
  • the map data acquisition unit 11 acquires map data.
  • the map data acquired by the map data acquisition unit 11 includes map data of a roundabout having a plurality of lanes.
  • the map data is stored, for example, in a server outside the display control apparatus.
  • the priority setting unit 12 sets priorities for each lane of the roundabout.
  • the priority setting unit 12 sets the priority in accordance with a predetermined priority rule.
  • the priority rule is defined, for example, as a national traffic regulation, and for example, "inner lanes have higher priority” or "outer lanes have higher priority”. Also, the priority of each lane may be described in advance in the map data.
  • the image generation unit 13 acquires position information of the host vehicle from the host vehicle position detection device 22, and generates a lane image representing a road in a predetermined geographical range in lane units based on the position information of the host vehicle.
  • the geographical range in which the image creation unit 13 creates a lane image is, for example, a peripheral region of the own vehicle centered on the position of the own vehicle.
  • FIG. 4 is a flowchart showing the operation of the image creation unit 13 of the display control apparatus 102.
  • the operation of the image creating unit 13 of the display control device 102 will be described with reference to FIG.
  • the flow of FIG. 4 corresponds to step S103 of FIG.
  • the image generation unit 13 acquires position information of the host vehicle from the host vehicle position detection device 22, and determines a lane image generation range based thereon (step S201).
  • the image creation unit 13 determines the presence or absence of a roundabout in the lane image creation range (step S202).
  • the image creating unit 13 obtains map data from the map data obtaining unit 11 and can refer to map data in the lane image creating range to identify the presence or absence of a roundabout in the lane image creating range. If there is no roundabout in the lane image creation area, the image creation unit 13 creates a normal lane image (step S207).
  • a normal lane image is a lane image in which each lane of a road is represented without being distinguished in a manner according to the priority.
  • the image creation unit 13 determines whether the number of lanes of the roundabout is 2 or more (step S203).
  • the image creation unit 13 can acquire the number of lanes of the roundabout from the map data of the roundabout in the lane image creation range, and performs the determination in step S203 based on the acquisition result.
  • the image creating unit 13 acquires the priority of the roundabout from the priority setting unit 12. Then, the image creating unit 13 determines whether the inner lane of the roundabout has a higher priority than the outer lane (step S204). In the case of Yes in step S204, the image creation unit 13 creates a lane image that looks higher toward the inner lane in the roundabout (step S205). On the other hand, in the case of No in step S204, the image creation unit 13 creates a lane image that looks higher toward the outer lane in the roundabout (step S205). That is, in the lane image, the difference in height according to the priority is expressed between the lanes of the roundabout.
  • step S205 After step S205, step S206 or step S207, the image creating unit 13 ends the process.
  • FIG. 5 shows an example of a lane image in which the difference in height according to the priority is not represented as a comparative example.
  • FIG. 5 shows a roundabout with four lanes, an entering lane to the roundabout, and an exit lane from the roundabout.
  • no height difference is expressed between the lanes in the roundabout, and each lane in the roundabout is displayed in the same manner. Therefore, the driver can not know the priority of each lane in the roundabout through this lane image.
  • the upper diagram of FIG. 6 is a diagram showing a lane image of a roundabout consisting of two lanes.
  • the lane object 51B representing the inner lane is displayed to be higher than the lane object 51A representing the outer lane although not represented in the drawing.
  • the lower part of FIG. 6 is a virtual sectional view when it is assumed that each of the lane objects 51A and 51B is viewed from the side.
  • the lane object 51B looks higher than the lane object 51A to the driver who has viewed the lane image displayed on the display device 21 having the 3D display function.
  • the lane image may be a pseudo 3D lane image.
  • the height difference between lane objects may be expressed by shading.
  • the light source is in the upper right direction in the drawing, but the direction in which the shadow extends is the lower left direction in the drawing.
  • FIG. It may be a direction.
  • FIG. 9 is a lane image in which the height difference between the lane objects in the roundabout is represented by the shadow and the height difference between the lane objects is chamfered.
  • the image creation unit 13 may create such a lane image. This emphasizes the height difference between the lane objects.
  • FIG. 10 is a lane image in which the border between the roundabout and the exit lane is deleted in the lane image of FIG. 7.
  • FIG. 11 is an enlarged view of a main part of the lane image of FIG.
  • the image creation unit 13 may create such a lane image. This allows the driver to easily grasp the exit route from the roundabout.
  • FIGS. 5 to 11 show lane images in the case where the priority is higher from the outer lane to the inner lane of the roundabout.
  • the image creating unit 13 creates a lane image that appears to be gradually higher from the outer lane to the inner lane.
  • the upper diagram of FIG. 12 is a diagram showing a lane image of such a roundabout.
  • the priority of the outside lane is higher than the inside lane.
  • the lane object 51A representing the outside lane is displayed to look higher than the lane object 51B representing the inside lane.
  • the lower part of FIG. 12 is a virtual sectional view when it is assumed that each of the lane objects 51A and 51B is viewed from the side.
  • the lane object 51A looks higher than the lane object 51B to the driver who has viewed the lane image displayed on the display device 21 having the 3D display function.
  • FIG. 13 shows a lane image of a roundabout whose priority is higher from the outer lane to the inner lane.
  • height differences between lane objects are represented by shadows.
  • the image creating unit 13 creates a lane image representing each lane of the roundabout in a mode according to the priority based on the map data.
  • the mode according to the priority is a mode in which the higher the lane with higher priority, the lower the lane with lower priority. Therefore, the driver can intuitively understand the difference in priority between the roundabout lanes through the lane image.
  • FIG. 14 is a block diagram showing the configuration of the display control apparatus 103 according to the third embodiment.
  • the display control device 103 includes a traveling lane estimation unit 15 in addition to the configuration of the display control device 102 according to the second embodiment. Further, the display control device 103 is connected to the display device 21, the vehicle position detection device 22, and the lane change input device 23, and is configured to be able to use these.
  • the travel lane estimation unit 15 acquires lane position information from the vehicle position detection device 22, and estimates the travel lane of the vehicle based on the lane position information and the map data.
  • the lane change input device 23 inputs, for example, operation information of a winker mounted on the host vehicle into the image creation unit 13 as lane change information.
  • the blinkers include a right blinker that operates when the host vehicle turns to the right or right lane and a left blinker that operates when the host vehicle turns to the left or left lane.
  • the motion information of the blinker includes information indicating whether the blinker is in motion or whether the right or left side is in motion.
  • the image creating unit 13 acquires information on the traveling lane of the host vehicle from the traveling lane estimation unit 15, and acquires operation information on the winker from the lane change input device 23. Then, the image creating unit 13 performs a lane change line addition process on the lane image described in the second embodiment.
  • FIG. 15 is a flowchart showing the operation of the display control apparatus 103 according to the third embodiment.
  • step S103A differs from the flowchart of FIG.
  • the image creation unit 13 performs a lane change line addition process (step S103A).
  • FIG. 16 is a flowchart showing details of step S103A of FIG.
  • the image generation unit 13 acquires map data from the map data acquisition unit 11 and acquires position information of the host vehicle from the host vehicle position detection device 22. Then, the image creating unit 13 determines whether the host vehicle is traveling on a roundabout, based on the information (step S301).
  • the image creating unit 13 ends the process. Therefore, no lane change line is added to the lane image in this case.
  • the image creating unit 13 determines whether the host vehicle changes lanes based on the lane change information of the lane change input device 23 (step S302). For example, based on the motion information of the blinker, the image creation unit 13 determines that the host vehicle changes lanes when the blinker on the right or left side is operating.
  • the image creating unit 13 ends the process. Therefore, no lane change line is added to the lane image in this case.
  • the image creating unit 13 determines whether the priority of the traveling lane of the host vehicle is increased due to the lane change (step S303). For example, when the lane change information indicates the operation of the right side blinker, the image creating unit 13 compares the current lanes of the host vehicle with the lanes on the right side. Then, if the priority of the lane on the right side is higher, the image creating unit 13 determines that the priority of the traveling lane is increased due to the lane change (Yes in step S303). On the other hand, if the priority of the right lane is lower, the image creating unit 13 determines that the priority of the traveling lane is lowered due to the change of lane (No in step S303).
  • step S303 the image creating unit 13 adds a down lane change line from the current traveling lane of the host vehicle to the lane on the right side thereof (step S304).
  • step S305 the image creating unit 13 adds a lane change line of upward slope from the current traveling lane of the host vehicle to the lane on the right side thereof (step S305).
  • the operation information of the blinker is lane change information
  • guidance information from the navigation device of the own vehicle may be input to the image creation unit 13 as lane change information.
  • the image creating unit 13 determines the presence or absence of a lane change based on the guidance information.
  • FIG. 17 shows an example of a lane change line in a lane image.
  • Lane objects 51A, 51B, and 51C indicating the lanes of the roundabout are shown in the lane image shown in FIG.
  • the host vehicle icon 54 indicating the position of the host vehicle is superimposed on the lane object 51B indicating the center lane and displayed.
  • a lane change path 55 connecting the lane object 51B and the lane object 51A is displayed in the lane image.
  • the middle lane has higher priority than the right lane, so the lane object 51B is displayed higher than the lane object 51C.
  • the lane change path 55 is represented as a downward slope path in accordance with the difference in height between the lanes.
  • the lane change route 55 is a downward slope route because the priority of the traveling lane is lowered after the lane change, but when the priority of the traveling lane becomes higher after the lane change, the lane change route 55 is up Expressed as the path of the gradient. That is, the lane change path 55 has an inclination according to the height difference of the lane object before and after the lane change.
  • the lane change path 55 may move following the traveling of the vehicle until the vehicle changes lanes.
  • the lane change line is represented as a lane change path 55 having a slope.
  • the lane change line is a connection line between the current traveling lane of the host vehicle and the lane after the lane change, and may be expressed in another manner as long as the difference in priority between the lanes is expressed.
  • the lane change line may be an arrow 56 starting from the current traveling lane and ending at the lane after the lane change.
  • the color of the arrow 56 changes the priority of the lane before and after the lane change, such as the red arrow 56 when the priority of the traveling lane is lowered due to the lane change and the blue arrow 56 when it becomes high.
  • the direction is represented.
  • FIG. 19 is a block diagram showing the configuration of the display control apparatus 104 according to the fourth embodiment.
  • the display control device 104 includes the other vehicle detection unit 16 in addition to the configuration of the display control device 103 according to the third embodiment. Further, the display control device 104 is connected to the display device 21, the vehicle position detection device 22, the lane change input device 23 and the periphery detection device 24, and these are configured to be available.
  • the periphery detection device 24 is configured by a camera, a radar, a sensor or the like mounted on the host vehicle, and detects space information around the host vehicle. Detection information of the surrounding area detection device 24 is input to the other vehicle detection unit 16.
  • the other vehicle detection unit 16 detects the position, the speed, the operation condition of the blinker, and the like of the other vehicle traveling around the own vehicle based on the detection information of the periphery detection device 24.
  • the image creation unit 13 creates a lane image that represents each lane of the roundabout in a manner according to their priority. However, the display mode of each lane in the lane image dynamically changes according to the positional relationship between the host vehicle and the other vehicle.
  • FIG. 20 is a flowchart showing a lane image creation process of the image creation unit 13 in the display control apparatus 104 according to the fourth embodiment. This flow corresponds to the detailed flow of step S103 in FIG. The lane image creation processing of the fourth embodiment will be described below with reference to FIG.
  • the image creating unit 13 determines whether the host vehicle is traveling on a roundabout (step S401). Specifically, based on the map data acquired from the map data acquisition unit 11 and the position information of the own vehicle acquired from the own vehicle position detection device 22, the image creation unit 13 is traveling the roundabout. Determine if it is or not. If the host vehicle is not traveling roundabout, the image creating unit 13 creates a normal lane image (step S408).
  • the normal lane image is a lane image in which each lane is not represented differently in the priority order.
  • the image creating unit 13 determines whether the number of lanes in the roundabout is 2 or more (step S402). Specifically, based on the map data acquired from the map data acquisition unit 11 and the position information of the own vehicle acquired from the own vehicle position detection device 22, the image creation unit 13 has two or more lanes of the roundabout. Determine if it is or not. If the number of lanes in the roundabout is not 2 or more, the image creating unit 13 creates a normal lane image (step S408).
  • the image creating unit 13 determines whether another vehicle is traveling in the adjacent lane near the host vehicle (step S403). Specifically, based on the position information of the other vehicle acquired from the other vehicle detection unit 16 and the position information of the own vehicle acquired from the own vehicle position detection device 22, the image creating unit 13 nears the own vehicle It is determined whether or not you are traveling in the adjacent lane. Here, the vicinity of the host vehicle is, for example, within a certain distance such as 100 m from the host vehicle. If the other vehicle is not traveling in the adjacent lane near the host vehicle, the image creating unit 13 creates a normal lane image (step S408).
  • step S403 when the other vehicle is traveling in the adjacent lane near the host vehicle, the image creating unit 13 determines whether the traveling lane of the other vehicle is higher in priority than the lane in which the host vehicle is traveling (step S404). If the priority order of the travel lanes of the other vehicles is lower than that of the own vehicle, the image creation unit 13 creates a normal lane image (step S408).
  • the image creation unit 13 creates a lane image having a height difference in the lane object (step S405).
  • the image creating unit 13 determines whether another vehicle is about to change lanes to the traveling lane of the host vehicle (step S406). This determination is made based on the operating condition of the blinker of the other vehicle detected by the other vehicle detection unit 16. That is, when the winkers of the other vehicles instruct the lane change to the traveling lane of the own vehicle, the image creating unit 13 determines that the other vehicles are going to change the lane to the traveling lane of the own vehicle.
  • the image creating unit 13 ends the process.
  • the image creating unit 13 changes the color of the lane object representing the traveling lane of the other vehicle (step S407).
  • the driver can recognize that it is necessary to give up the road in consideration of the lane change of the other vehicle. This is the end of the image creation process of the image creation unit 13.
  • Lane image> The change of the lane image in a series of situations where another vehicle overtakes the host vehicle and changes lanes is shown in FIG. 21 to FIG. Lane objects 51A, 51B, and 51C representing the lanes of the roundabout are displayed in the lane images shown in these figures.
  • the own vehicle icon 54 and the other vehicle icon 57 indicating the position of the other vehicle are superimposed and displayed on the appropriate positions of the lane objects 51A, 51B, 51C.
  • FIG. 21 it is assumed that the host vehicle is traveling in the center lane and the other vehicle is traveling behind the host vehicle in the left lane. Since the other vehicle is separated from the host vehicle by a predetermined distance or more, the lane objects 51A, 51B, 51C do not express the height difference according to the priority.
  • the lane image of FIG. 21 is created in step S408 of FIG.
  • the height difference between the lane object 51A representing the lane of the other vehicle and the lane object 51B representing the lane of the host vehicle Is represented.
  • a height difference may be expressed among all the lane objects 51A, 51B, 51C.
  • the lane image of FIG. 22 is created in step S405 of FIG.
  • the image creating unit 13 may show that the host vehicle gives priority to another vehicle by making the lane object 51B different in color from the other lane objects 51A and 51C. Further, as shown in FIG. 27, even if the image creating unit 13 sets the color of each of the lane objects 51A, 51B, and 51C to a different color according to the priority order of the lanes, the priority order of each lane is indicated. good.
  • FIGS. 28 to 31 show display examples of lane images when an HUD is used as an example of the display device 21.
  • the lane image is superimposed on the scenery in front of the host vehicle, so the lane object, the host vehicle icon and the other vehicle icon as shown in FIGS. 21 to 27 are not included in the lane image.
  • FIG. 28 shows the display of the HUD when there is no other vehicle traveling in the adjacent lane near the host vehicle. At this time, the HUD does not display anything, and the white line 61 of the road is displayed on the windshield 60 as a landscape in front of the host vehicle.
  • a step 62 is displayed on the white line 61 at the boundary between the left lane and the middle lane.
  • a blue area is displayed superimposed on the traveling lane of the host vehicle.
  • the user can grasp that the traveling lane of the host vehicle is lower in priority than the traveling lanes of other vehicles.
  • a blue area may be displayed superimposed also on the right lane.
  • an arrow 63 indicating that the other vehicle changes lane to the traveling lane of the host vehicle is superimposed and displayed on the HUD. As a result, the driver can grasp that the lane change of the other vehicle is prioritized over the traveling of the own vehicle.
  • FIG. 31 shows the display of the HUD when the lane change of the other vehicle with respect to the traveling lane of the host vehicle is completed after the situation shown in FIG. At this time, nothing is displayed on the HUD, and the white line 61 of the road and the other vehicle are displayed on the windshield 60 as a landscape in front of the host vehicle.
  • a colored line 64 may be superimposed on a region of a predetermined width along the white line that is the boundary of both lanes. .
  • the driver can grasp which of the adjacent lanes has the lower priority, depending on whether the line 64 is displayed on the right side or the left side with respect to the white line.
  • the image creating unit 13 of the fourth embodiment travels the traveling lane of the other vehicle and the own vehicle A lane image is created that represents lanes in a manner depending on priority. Therefore, when there is no corresponding other vehicle, it is possible to simply display the lane image.
  • the other-vehicle detection unit 16 operates as an other-vehicle winker detection unit that detects the operation status of the winkers of the other vehicles traveling in the lane adjacent to the traveling lane of the own vehicle. Further, when the other vehicle outputs a blinker in the direction of the traveling lane of the own vehicle, the image creating unit 13 is a lane image that represents the traveling lane of the other vehicle and the traveling lane of the own vehicle according to the priority order. Create Therefore, the driver can easily grasp whether or not the other vehicle should be prioritized when the other vehicle changes the lane to the traveling lane of the own vehicle.
  • the display device 21 which is the first display device in the fourth embodiment is a HUD
  • the driver of the host vehicle can visually recognize the lane image without significantly moving the line of sight. Therefore, the driver of the own vehicle can easily grasp the priority of each lane of the roundabout.
  • FIG. 33 is a block diagram showing the configuration of the display control system according to the fifth embodiment.
  • a display control device 105B that performs control is provided in the display control system according to the fifth embodiment.
  • the display control device 105A includes a communication unit 17A that transmits the lane image created by the image creation unit 13 to the display control device 105B.
  • the configuration of the display control device 105A other than the communication unit 17A is the same as that of the display control device 104.
  • the same reference numerals as in the other embodiments denote the same or corresponding parts. However, for each configuration of the display control device 105A, the subscript A is added to the reference numeral, and for each configuration of the display control device 105A, the subscript B is added to the reference numeral to distinguish the two.
  • the display control device 104 is connected to the display device 21A, the vehicle position detection device 22, the lane change input device 23, and the periphery detection device 24, and is configured to be able to use these.
  • the display control device 105B includes a map data acquisition unit 11B, an image creation unit 13B, a display control unit 14B, a traveling lane estimation unit 15B, and a communication unit 17B.
  • the image creating unit 13B creates a lane image of a road around the vehicle. In the lane image created by the image creation unit 13B, the priority of each lane is not represented.
  • the communication unit 17B acquires a lane image from the communication unit 17A.
  • the display control unit 14B causes the display device 21B to display the lane image created by the image creation unit 13B or the lane image acquired from the communication unit 17B.
  • FIG. 34 is a flowchart showing the operation of the display control device 105A.
  • step S105 is provided after step S104 of the flow of the first embodiment shown in FIG.
  • the image generation unit 13A performs feedback processing (step S105).
  • FIG. 35 is a flowchart showing details of step S105 in FIG. Steps S501 to S503 in the flow of FIG. 35 are similar to steps S401 to S403 of FIG. If No in any of steps S501 to S503, the feedback processing ends.
  • Step S503 a lane image as shown in FIG. 36 is displayed on the display device 21B.
  • the lane image includes lane objects 51A, 51B, 51C representing each lane of the roundabout, an own vehicle icon 54 representing the location of the own vehicle A, and another vehicle icon 57 representing the location of the other vehicle B.
  • the own vehicle icon 54 is superimposed on a lane object 51C representing a left lane
  • the other vehicle icon 57 is superimposed on a lane object 51B representing a middle lane.
  • the positions of these icons reflect the actual position of the vehicle. That is, the host vehicle travels in the left lane, and the other vehicles travel in the center lane ahead of the host vehicle.
  • the lane objects 51A, 51B, and 51C do not express the height difference according to the priority.
  • step S503 in FIG. 35 the image creating unit 13A determines whether the priority of the travel lane of the host vehicle is higher than that of the other vehicle. (Step S504). If the priority of the traveling lane of the own vehicle is lower than that of the other vehicles, the other vehicles need not pay attention to the behavior of the own vehicle. Thus, the feedback process ends. At this time, in the lane image displayed on the display device 21B, the height difference between the lane objects is not represented as shown in FIG.
  • the image creating unit 13A feeds back to the display control device 105B so as to show the difference in elevation on the lane object (step S505). Specifically, the image creating unit 13A creates a feedback signal that instructs the lane object to express the height difference according to the priority of the traveling lane of the own vehicle and the traveling lane of the other vehicle. Then, the communication unit 17A transmits a feedback signal to the communication unit 17B.
  • the communication unit 17B sends the feedback signal received from the communication unit 17A to the image creation unit 13B. Based on the feedback signal, the image creating unit 13B represents the height difference according to the priority of the lane in the lane object in the lane image. Then, the display control unit 14B displays the lane image on the display device 21B. At this time, a lane image as shown in FIG. 38 is displayed on the display device 21B.
  • FIG. 38 shows a lane image displayed on the display device 21B in a state where the host vehicle A is traveling in front of the other vehicle B within a certain distance from the other vehicle B.
  • the lane object 51A is expressed higher than the lane object 51B. Therefore, the driver of the other vehicle B can grasp that the priority of the traveling lane of the own vehicle A is higher than that of the other vehicle B.
  • step S505 the image creating unit 13A determines, based on the lane change information of the lane change input device 23, whether or not the host vehicle changes lanes (step S506). If the host vehicle does not change lanes, the feedback process ends.
  • the image creation unit 13A feeds back the other vehicle to change the color of the lane object (step S507). Specifically, the image creating unit 13A creates a feedback signal instructing to change the color of the lane object representing the lane with the highest priority among the traveling lane of the own vehicle and the traveling lane of the other vehicle. Then, the communication unit 17A transmits a feedback signal to the communication unit 17B. This is the end of the feedback processing of the display control device 105A.
  • the communication unit 17B sends the feedback signal of step S507 received from the communication unit 17A to the image creation unit 13B.
  • the image creating unit 13B changes the color of the lane object representing the lane with the highest priority among the traveling lane of the own vehicle and the traveling lane of the other vehicle in the lane image based on the feedback signal.
  • the display control unit 14B displays the lane image on the display device 21B.
  • a lane image as shown in FIG. 39 is displayed on the display device 21B.
  • FIG. 39 shows the lane displayed on the display device 21B when the host vehicle A moves out the winker in the direction of the lane of the other vehicle B in the same situation as in FIG. 37 in the positional relationship between the host vehicle A and the other vehicle B.
  • the image is shown.
  • the lane object 51C representing the traveling lane of the host vehicle A is displayed in a color different from that of the lane objects 51A and 51B. Therefore, the driver of the other vehicle B is aware that the priority of the traveling lane of the own vehicle A is higher than that of the other vehicle B, and that the lane change of the own vehicle A should be prioritized over the traveling of the other vehicle B. it can. As a result, the driver of the host vehicle A can change lanes smoothly.
  • FIG. 40 shows a lane image displayed on the display device 21B when the host vehicle A completes the lane change to the travel lane of the other vehicle B. At this time, feedback from the display control device 105A to the display control device 105B is not performed, and the lane objects 51A, 51B, and 51C are displayed in the same color, and the height difference is not expressed between them.
  • the display control device 105A of the fifth embodiment includes the other vehicle detection unit 16A that detects another vehicle traveling in a lane adjacent to the travel lane of the own vehicle. Then, when the other vehicle detection unit 16A detects another vehicle, the display control device 105A performs feedback to the display control device 105B to display a lane image on the other vehicle as a second display device 21B. Display on. Therefore, according to the fifth embodiment, not only the driver of the host vehicle but also the driver of another vehicle can be made to grasp the priority of each lane of the roundabout. As a result, the vehicle can change lanes smoothly near other vehicles.
  • the processing circuit 81 includes the map data acquisition unit 11, 11A, 11B, the priority setting unit 12, 12A, 12B, the image creation unit 13, 13A, 13B, the display control unit 14, 14A, 14B, the traveling lane estimation unit 15 , 15A, 15B, another vehicle detection unit 16, and communication units 17A, 17B (hereinafter referred to as the image creation unit 13 etc.).
  • Dedicated hardware may be applied to the processing circuit 81, or a processor that executes a program stored in a memory may be applied.
  • the processor is, for example, a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, a DSP (Digital Signal Processor) or the like.
  • the processing circuit 81 may be, for example, a single circuit, a complex circuit, a programmed processor, a parallel programmed processor, an application specific integrated circuit (ASIC), an FPGA (field-programmable) Gate Array) or a combination thereof is applicable.
  • the functions of the respective units such as the image creating unit 13 may be realized by a plurality of processing circuits 81, or the functions of the respective units may be collectively realized by one processing circuit.
  • the processing circuit 81 When the processing circuit 81 is a processor, the functions of the image creating unit 13 and the like are realized by a combination of software and the like (software, firmware or software and firmware). Software and the like are described as a program and stored in a memory. As shown in FIG. 43, the processor 82 applied to the processing circuit 81 reads out and executes the program stored in the memory 83 to realize the function of each part.
  • the display control devices 101, 102, 103, 104, and 105A acquire the map data of the roundabout having a plurality of lanes, and the priority of each lane of the roundabout
  • the memory 83 is, for example, non-volatile, such as random access memory (RAM), read only memory (ROM), flash memory, erasable programmable read only memory (EPROM), electrically erasable programmable read only memory (EEPROM), etc. Or volatile semiconductor memory, HDD (Hard Disk Drive), magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD (Digital Versatile Disk) and its drive device etc., or any storage medium used in the future It may be.
  • RAM random access memory
  • ROM read only memory
  • EPROM erasable programmable read only memory
  • EEPROM electrically erasable programmable read only memory
  • volatile semiconductor memory HDD (Hard Disk Drive), magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD (Digital Versatile Disk) and its drive device etc., or any storage medium used in the future It may be.
  • achieved by either hardware, software, etc. was demonstrated.
  • the present invention is not limited to this, and a part of the image creating unit 13 or the like may be realized by dedicated hardware, and another part may be realized by software or the like.
  • the function of the image creating unit 13 is realized by a processing circuit as dedicated hardware, and the processing circuit 81 as the processor 82 reads and executes the program stored in the memory 83 for other than that. It is possible to realize the function.
  • the processing circuit can implement each of the functions described above by hardware, software, etc., or a combination thereof.
  • the navigation apparatus 1 has been described above as an in-vehicle apparatus, the in-vehicle apparatus, a portable navigation device (PND), a communication terminal (for example, a portable terminal such as a mobile phone, a smartphone, and a tablet) and applications installed in these
  • PND portable navigation device
  • a communication terminal for example, a portable terminal such as a mobile phone, a smartphone, and a tablet
  • the present invention can also be applied to a system configured as a system by appropriately combining functions, servers, and the like.
  • the functions or components of the display control devices 101, 102, 103, 104, 105A, and 105B described above may be distributed and disposed in the devices constituting the system, or any one of them. It may be placed centrally on the device.
  • FIG. 44 shows an example in which the configuration of the display control device 101 is distributed and arranged between the host vehicle A and the server S.
  • the display control unit 14 and the display device 21 are disposed in the host vehicle A, and the map data acquisition unit 11, the priority setting unit 12, and the image creation unit 13 are disposed in the server S.
  • each embodiment can be freely combined, or each embodiment can be appropriately modified or omitted.

Abstract

The purpose of the present invention is to present the priority of each lane of a roundabout to a driver. This display control device (101) comprises: a map data acquiring unit (11) that acquires map data of a roundabout having a plurality of lanes; a priority setting unit (12) that sets the priorities of the lanes of the roundabout; an image creating unit (13) that creates a lane image that represents the lanes of the roundabout in forms corresponding to the priorities of the lanes on the basis of the map data; and a display control unit (14) that causes a first display device mounted in the host vehicle to display the lane image.

Description

表示制御装置および表示制御方法Display control apparatus and display control method
　本発明はラウンドアバウトの車線画像の表示制御に関する。 The present invention relates to display control of lane images of roundabouts.
　通常、ラウンドアバウトの各車線には国別に優先順位が定められている。そして、ラウンドアバウトの各車線の優先順位を運転者に分かりやすく提示することが求められている。 Usually, each lane in the roundabout is prioritized by country. Then, it is required to show the driver the priority of each lane of the roundabout in an easy-to-understand manner.
　特許文献１には、ラウンドアバウトにおいて各道路の優先度を考慮することが記載されている。 Patent Document 1 describes that the priority of each road is considered in the roundabout.
　また、特許文献２には、高速道路、国道、県道といった道路単位での優先順位を地図に表現することが記載されている。 Further, Patent Document 2 describes that a map is used to express the priority in road units such as expressways, national roads, and prefectural roads.
特開２０１７－０５６９３５号公報JP, 2017-056935, A 特開２００２－２９７０２９号公報Japanese Patent Application Publication No. 2002-297029
　特許文献１には、ラウンドアバウトにおいて各道路の優先度を考慮することが記載されているが、何に対して使用するかは不明確である。 Although patent document 1 describes that the priority of each road is considered in a roundabout, it is unclear what to use for what.
　また、特許文献２では道路単位の優先順位を地図に表現することが示されているが、車線単位の優先順位を考慮したものではない。 Moreover, although expressing the priority of a road unit on a map in patent document 2 is shown, the priority of a lane unit is not considered.
　本発明は、上記の問題点に鑑み、ラウンドアバウトの各車線の優先順位を運転者に提示することを目的とする。 An object of the present invention is to present a driver with a priority of each lane of a roundabout in view of the above-mentioned problems.
　本発明に係る表示制御装置は、複数車線を有するラウンドアバウトの地図データを取得する地図データ取得部と、ラウンドアバウトの各車線の優先順位を設定する優先順位設定部と、地図データを基に、ラウンドアバウトの各車線を優先順位に応じた態様で表す車線画像を作成する画像作成部と、車線画像を自車両に搭載された第１表示装置に表示させる表示制御部と、を備える。 The display control device according to the present invention is based on a map data acquisition unit for acquiring map data of a roundabout having a plurality of lanes, a priority setting unit for setting the priority of each lane of the roundabout, and map data. The display control unit includes: an image creation unit that creates a lane image that represents each lane of the roundabout according to the priority order; and a display control unit that causes the first display device mounted on the host vehicle to display the lane image.
　本発明に係る表示制御方法は、複数車線を有するラウンドアバウトの地図データを取得し、ラウンドアバウトの各車線の優先順位を設定し、地図データを基に、ラウンドアバウトの各車線を優先順位に応じた態様で表す車線画像を作成し、車線画像を自車両に搭載された第１表示装置に表示させる。 The display control method according to the present invention acquires map data of a roundabout having a plurality of lanes, sets the priority of each lane of the roundabout, and prioritizes each lane of the roundabout based on the map data. A lane image represented in the above manner is created, and the lane image is displayed on the first display device mounted on the host vehicle.
　本発明に係る表示制御装置は、複数車線を有するラウンドアバウトの地図データを取得する地図データ取得部と、ラウンドアバウトの各車線の優先順位を設定する優先順位設定部と、地図データを基に、ラウンドアバウトの各車線を優先順位に応じた態様で表す車線画像を作成する画像作成部と、車線画像を自車両に搭載された第１表示装置に表示させる表示制御部と、を備える。従って、自車両の運転者は、車線画像を通してラウンドアバウトの各車線の優先順位を容易に把握することができる。 The display control device according to the present invention is based on a map data acquisition unit for acquiring map data of a roundabout having a plurality of lanes, a priority setting unit for setting the priority of each lane of the roundabout, and map data. The display control unit includes: an image creation unit that creates a lane image that represents each lane of the roundabout according to the priority order; and a display control unit that causes the first display device mounted on the host vehicle to display the lane image. Therefore, the driver of the host vehicle can easily grasp the priority of each lane of the roundabout through the lane image.
　本発明に係る表示制御方法は、複数車線を有するラウンドアバウトの地図データを取得し、ラウンドアバウトの各車線の優先順位を設定し、地図データを基に、ラウンドアバウトの各車線を優先順位に応じた態様で表す車線画像を作成し、車線画像を自車両に搭載された第１表示装置に表示させる。従って、自車両の運転者は、車線画像を通してラウンドアバウトの各車線の優先順位を容易に把握することができる。 The display control method according to the present invention acquires map data of a roundabout having a plurality of lanes, sets the priority of each lane of the roundabout, and prioritizes each lane of the roundabout based on the map data. A lane image represented in the above manner is created, and the lane image is displayed on the first display device mounted on the host vehicle. Therefore, the driver of the host vehicle can easily grasp the priority of each lane of the roundabout through the lane image.
　本発明の目的、特徴、態様、および利点は、以下の詳細な説明と添付図面とによって、より明白となる。 The objects, features, aspects, and advantages of the present invention will be more apparent from the following detailed description and the accompanying drawings.
実施の形態１に係る表示制御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 display control device according to Embodiment 1. 実施の形態１に係る表示制御装置の動作を示すフローチャートである。5 is a flowchart showing an operation of the display control device according to the first embodiment. 実施の形態２に係る表示制御装置の構成を示すブロック図である。FIG. 7 is a block diagram showing a configuration of a display control device according to Embodiment 2. 実施の形態２に係る表示制御装置の画像作成部の動作を示すフローチャートである。15 is a flowchart showing an operation of an image creation unit of the display control device according to Embodiment 2. 優先順位に応じた高低差が表現されない比較例の車線画像を示す図である。It is a figure which shows the lane image of the comparative example in which the height difference according to a priority is not expressed. ３Ｄの車線画像を説明する図である。It is a figure explaining the lane image of 3D. 車線オブジェクト間の高低差が影により表現された車線画像を示す図である。It is a figure which shows the lane image in which the height difference between lane objects was represented by the shadow. 車線オブジェクト間の高低差が影により表現された車線画像を示す図である。It is a figure which shows the lane image in which the height difference between lane objects was represented by the shadow. 車線オブジェクト間の高低差が面取りされた車線画像を示す図である。It is a figure which shows the lane image in which the height difference between lane objects was chamfered. ラウンドアバウトと脱出車線との境界線が削除された車線画像を示す図である。It is a figure which shows the lane image from which the boundary line of a roundabout and an exit lane was deleted. 図１０の車線画像の要部拡大図である。It is a principal part enlarged view of the lane image of FIG. ３Ｄの車線画像を説明する図である。It is a figure explaining the lane image of 3D. 車線オブジェクト間の高低差が影により表現された車線画像を示す図である。It is a figure which shows the lane image in which the height difference between lane objects was represented by the shadow. 実施の形態３に係る表示制御装置の構成を示すブロック図である。FIG. 16 is a block diagram showing a configuration of a display control device according to Embodiment 3. 実施の形態３に係る表示制御装置の動作を示すフローチャートである。15 is a flowchart showing an operation of a display control apparatus according to Embodiment 3. 図１５のステップＳ１０３Ａの詳細を示すフローチャートである。It is a flowchart which shows the detail of FIG.15 S103A. 車線変更線が車線変更経路として示された車線変更線を示す図である。FIG. 7 is a diagram showing a lane change line in which a lane change line is shown as a lane change route. 車線変更線が矢印で表された車線画像を示す図である。It is a figure which shows the lane image in which the lane change line was represented by the arrow. 実施の形態４に係る表示制御装置の構成を示すブロック図である。FIG. 18 is a block diagram showing a configuration of a display control device according to Embodiment 4. 実施の形態４に係る表示制御装置における画像作成部の車線画像作成処理を示すフローチャートである。FIG. 16 is a flowchart showing a lane image creation process of the image creation unit in the display control apparatus according to Embodiment 4. FIG. 他車両が自車両から一定距離以上離れている場合の車線画像を示す図である。It is a figure which shows a lane image in case another vehicle is away from a self-vehicles by more than fixed distance. 他車両が自車両から一定距離以内に近づいている場合の車線画像を示す図である。It is a figure which shows the lane image in case another vehicle is approaching within the fixed distance from the own vehicle. 他車両が車線変更を行う際の車線画像を示す図である。It is a figure which shows the lane image at the time of another vehicle changing lanes. 他車両の車線変更が完了した後の車線画像を示す図である。It is a figure which shows the lane image after the lane change of another vehicle is completed. 他車両が自車両から一定距離以内に近づいている場合の車線画像を示す図である。It is a figure which shows the lane image in case another vehicle is approaching within the fixed distance from the own vehicle. 他車両が自車両から一定距離以内に近づいている場合の車線画像を示す図である。It is a figure which shows the lane image in case another vehicle is approaching within the fixed distance from the own vehicle. 他車両が自車両から一定距離以内に近づいている場合の車線画像を示す図である。It is a figure which shows the lane image in case another vehicle is approaching within the fixed distance from the own vehicle. ＨＵＤの表示例を示す図である。It is a figure which shows the example of a display of HUD. ＨＵＤの表示例を示す図である。It is a figure which shows the example of a display of HUD. ＨＵＤの表示例を示す図である。It is a figure which shows the example of a display of HUD. ＨＵＤの表示例を示す図である。It is a figure which shows the example of a display of HUD. ＨＵＤの表示例を示す図である。It is a figure which shows the example of a display of HUD. 実施の形態５に係る表示制御システムの構成を示すブロック図である。FIG. 18 is a block diagram showing a configuration of a display control system according to Embodiment 5. 実施の形態５に係る表示制御装置の動作を示すフローチャートである。21 is a flowchart showing the operation of the display control apparatus according to the fifth embodiment. 図３４のステップＳ１０５の詳細を示すフローチャートである。It is a flowchart which shows the detail of FIG.34 S105. 自車両が他車両から一定距離以上離れている場合の車線画像を示す図である。It is a figure which shows a lane image in case the own vehicle is away from other vehicles by a fixed distance or more. 自車両が他車両から一定距離以内に近づいている場合の車線画像を示す図である。It is a figure which shows the lane image in case the own vehicle is approaching within the fixed distance from another vehicle. 自車両が他車両から一定距離以内に近づいている場合の車線画像を示す図である。It is a figure which shows the lane image in case the own vehicle is approaching within the fixed distance from another vehicle. 自車両が車線変更を行う際の車線画像を示す図である。It is a figure showing the lane picture at the time of self-vehicles changing lanes. 自車両の車線変更が完了した後の車線画像を示す図である。It is a figure which shows the lane image after the lane change of the own vehicle is completed. 自車両が他車両から一定距離以内に近づいている場合の車線画像を示す図である。It is a figure which shows the lane image in case the own vehicle is approaching within the fixed distance from another vehicle. 表示制御装置のハードウェア構成を示す図である。It is a figure which shows the hardware constitutions of a display control apparatus. 表示制御装置のハードウェア構成を示す図である。It is a figure which shows the hardware constitutions of a display control apparatus. 車載装置とサーバによる表示制御装置の構成例を示す図である。It is a figure which shows the structural example of the display control apparatus by a vehicle-mounted apparatus and a server.
　＜Ａ．実施の形態１＞
　＜Ａ－１．構成＞
　図１は、実施の形態１に係る表示制御装置１０１の構成を示すブロック図である。表示制御装置１０１は、地図データ取得部１１、優先順位設定部１２、画像作成部１３および表示制御部１４を備えている。また、表示制御装置１０１は表示装置２１と接続され、これを利用可能に構成されている。 <A. Embodiment 1>
<A-1. Configuration>
FIG. 1 is a block diagram showing the configuration of the display control apparatus 101 according to the first embodiment. The display control device 101 includes a map data acquisition unit 11, a priority setting unit 12, an image creation unit 13, and a display control unit 14. Further, the display control device 101 is connected to the display device 21 and is configured to be usable.
　地図データ取得部１１は、複数車線を有するラウンドアバウトの地図データを取得する。優先順位設定部１２は、ラウンドアバウトの各車線に対して優先順位を設定する。画像作成部１３は、ラウンドアバウトの各車線を優先順位に応じた態様で表した車線画像を作成する。表示制御部１４は、画像作成部１３が作成した車線画像を自車両に搭載された表示装置２１に表示させる。表示装置２１は、自車両に搭載された液晶表示装置等の表示装置であり、表示制御部１４の制御を受けて車線画像を表示する。 The map data acquisition unit 11 acquires map data of a roundabout having a plurality of lanes. The priority setting unit 12 sets priorities for each lane of the roundabout. The image creation unit 13 creates a lane image representing each lane of the roundabout in a mode according to the priority. The display control unit 14 causes the display device 21 mounted on the host vehicle to display the lane image created by the image creation unit 13. The display device 21 is a display device such as a liquid crystal display device mounted on the host vehicle, and displays a lane image under the control of the display control unit 14.
　＜Ａ－２．動作＞
　図２は、実施の形態１に係る表示制御装置１０１の動作を示すフローチャートである。以下、図２に沿って表示制御装置１０１の動作を説明する。まず、地図データ取得部１１が地図データを取得する（ステップＳ１０１）。次に、優先順位設定部１２がラウンドアバウトの各車線に優先順位を設定する（ステップＳ１０２）。次に、画像作成部１３が地図データを基に、ラウンドアバウトの各車線を優先順位に応じた態様で表す車線画像を作成する（ステップＳ１０３）。その後、表示制御部１４は車線画像を表示装置２１に表示させる（ステップＳ１０４）。 <A-2. Operation>
FIG. 2 is a flowchart showing the operation of the display control apparatus 101 according to the first embodiment. Hereinafter, the operation of the display control apparatus 101 will be described with reference to FIG. First, the map data acquisition unit 11 acquires map data (step S101). Next, the priority setting unit 12 sets priorities in each lane of the roundabout (step S102). Next, based on the map data, the image creating unit 13 creates a lane image representing each lane of the roundabout in a mode according to the priority (step S103). Thereafter, the display control unit 14 causes the display device 21 to display a lane image (step S104).
　＜Ａ－３．効果＞
　実施の形態１に係る表示制御装置１０１によれば、複数車線を有するラウンドアバウトの地図データを取得する地図データ取得部１１と、ラウンドアバウトの各車線の優先順位を設定する優先順位設定部１２と、地図データを基に、ラウンドアバウトの各車線を優先順位に応じた態様で表す車線画像を作成する画像作成部１３と、車線画像を自車両に搭載された表示装置に表示させる表示制御部１４と、を備える。従って、自車両の運転者は、車線画像を通してラウンドアバウトの各車線の優先順位を容易に把握することができる。 <A-3. Effect>
According to the display control device 101 according to the first embodiment, the map data acquisition unit 11 acquires map data of a roundabout having a plurality of lanes, and the priority setting unit 12 sets the priority of each lane of the roundabout. And an image creation unit 13 for creating a lane image that represents each lane of the roundabout according to the priority order based on the map data, and a display control unit 14 for displaying the lane image on the display device mounted on the vehicle. And. Therefore, the driver of the host vehicle can easily grasp the priority of each lane of the roundabout through the lane image.
　実施の形態１に係る表示制御方法によれば、複数車線を有するラウンドアバウトの地図データを取得し、ラウンドアバウトの各車線の優先順位を設定し、地図データを基に、ラウンドアバウトの各車線を優先順位に応じた態様で表す車線画像を作成し、車線画像を自車両に搭載された第１表示装置に表示させる。従って、自車両の運転者は、車線画像を通してラウンドアバウトの各車線の優先順位を容易に把握することができる。 According to the display control method according to the first embodiment, map data of a roundabout having multiple lanes is acquired, priority of each lane of the roundabout is set, and each lane of the roundabout is determined based on the map data. A lane image represented in a mode according to the priority order is created, and the lane image is displayed on the first display device mounted on the host vehicle. Therefore, the driver of the host vehicle can easily grasp the priority of each lane of the roundabout through the lane image.
　＜Ｂ．実施の形態２＞
　＜Ｂ－１．構成＞
　図３は、実施の形態２に係る表示制御装置１０２の構成を示すブロック図である。図３において、図１と同一又は対応する構成には同一の参照符号を付している。表示制御装置１０２は、地図データ取得部１１、優先順位設定部１２、画像作成部１３、および表示制御部１４を備えている。表示制御装置１０２は、表示装置２１及び自車位置検出装置２２と接続され、これらを利用可能に構成されている。 <B. Second Embodiment>
<B-1. Configuration>
FIG. 3 is a block diagram showing the configuration of the display control apparatus 102 according to the second embodiment. In FIG. 3, the same reference numerals as in FIG. 1 denote the same or corresponding parts. The display control device 102 includes a map data acquisition unit 11, a priority setting unit 12, an image creation unit 13, and a display control unit 14. The display control device 102 is connected to the display device 21 and the vehicle position detection device 22 and is configured to be able to use these.
　地図データ取得部１１は、地図データを取得する。地図データ取得部１１が取得する地図データには、複数車線を有するラウンドアバウトの地図データが含まれる。地図データは、例えば表示制御装置の外部のサーバに格納されている。 The map data acquisition unit 11 acquires map data. The map data acquired by the map data acquisition unit 11 includes map data of a roundabout having a plurality of lanes. The map data is stored, for example, in a server outside the display control apparatus.
　優先順位設定部１２は、ラウンドアバウトの各車線に対して優先順位を設定する。優先順位設定部１２は、予め定められた優先順位規則に従って優先順位を設定する。この優先順位規則は、例えば国の交通法規として定められているものであり、例えば「内側の車線ほど優先順位が高い」、または「外側の車線ほど優先順位が高い」といったものである。また、各車線の優先順位は地図データに予め記載されていても良い。 The priority setting unit 12 sets priorities for each lane of the roundabout. The priority setting unit 12 sets the priority in accordance with a predetermined priority rule. The priority rule is defined, for example, as a national traffic regulation, and for example, "inner lanes have higher priority" or "outer lanes have higher priority". Also, the priority of each lane may be described in advance in the map data.
　画像作成部１３は、自車位置検出装置２２から自車両の位置情報を取得し、自車両の位置情報を基に所定の地理的範囲の道路を車線単位で表した車線画像を作成する。画像作成部１３が車線画像を作成する地理的範囲、すなわち車線画像作成範囲は、例えば自車両の位置を中心とした自車両の周辺領域である。 The image generation unit 13 acquires position information of the host vehicle from the host vehicle position detection device 22, and generates a lane image representing a road in a predetermined geographical range in lane units based on the position information of the host vehicle. The geographical range in which the image creation unit 13 creates a lane image, that is, the lane image creation range is, for example, a peripheral region of the own vehicle centered on the position of the own vehicle.
　＜Ｂ－２．動作＞
　図４は、表示制御装置１０２の画像作成部１３の動作を示すフローチャートである。以下、図４に沿って表示制御装置１０２の画像作成部１３の動作を説明する。図４のフローは、図２のステップＳ１０３に相当する。まず、画像作成部１３は自車位置検出装置２２から自車両の位置情報を取得し、それに基づき車線画像作成範囲を決定する（ステップＳ２０１）。 <B-2. Operation>
FIG. 4 is a flowchart showing the operation of the image creation unit 13 of the display control apparatus 102. Hereinafter, the operation of the image creating unit 13 of the display control device 102 will be described with reference to FIG. The flow of FIG. 4 corresponds to step S103 of FIG. First, the image generation unit 13 acquires position information of the host vehicle from the host vehicle position detection device 22, and determines a lane image generation range based thereon (step S201).
　次に、画像作成部１３は車線画像作成範囲におけるラウンドアバウトの有無を判断する（ステップＳ２０２）。画像作成部１３は地図データ取得部１１から地図データを取得し、車線画像作成範囲の地図データを参照することにより、車線画像作成範囲におけるラウンドアバウトの有無を識別することができる。車線画像作成範囲にラウンドアバウトがなければ、画像作成部１３は通常の車線画像を作成する（ステップＳ２０７）。通常の車線画像とは、道路の各車線が優先順位に応じた態様で区別されずに表される車線画像のことである。 Next, the image creation unit 13 determines the presence or absence of a roundabout in the lane image creation range (step S202). The image creating unit 13 obtains map data from the map data obtaining unit 11 and can refer to map data in the lane image creating range to identify the presence or absence of a roundabout in the lane image creating range. If there is no roundabout in the lane image creation area, the image creation unit 13 creates a normal lane image (step S207). A normal lane image is a lane image in which each lane of a road is represented without being distinguished in a manner according to the priority.
　車線画像作成範囲にラウンドアバウトがあれば、画像作成部１３はラウンドアバウトの車線数が２以上か否かを判断する（ステップＳ２０３）。画像作成部１３は、車線画像作成範囲におけるラウンドアバウトの地図データからラウンドアバウトの車線数を取得することができ、この取得結果に基づきステップＳ２０３の判断を行う。 If there is a roundabout in the lane image creation range, the image creation unit 13 determines whether the number of lanes of the roundabout is 2 or more (step S203). The image creation unit 13 can acquire the number of lanes of the roundabout from the map data of the roundabout in the lane image creation range, and performs the determination in step S203 based on the acquisition result.
　ラウンドアバウトの車線数が２以上であれば、画像作成部１３は優先順位設定部１２からラウンドアバウトの優先順位を取得する。そして、画像作成部１３はラウンドアバウトの内側車線の方が外側車線より優先順位が高いか否かを判断する（ステップＳ２０４）。ステップＳ２０４でＹｅｓの場合、画像作成部１３はラウンドアバウトにおいて内側車線ほど高く見えるような車線画像を作成する（ステップＳ２０５）。一方、ステップＳ２０４でＮｏの場合、画像作成部１３はラウンドアバウトにおいて外側車線ほど高く見えるような車線画像を作成する（ステップＳ２０５）。すなわち、車線画像においてラウンドアバウトの各車線間には優先順位に応じた高低差が表現される。 If the number of lanes in the roundabout is two or more, the image creating unit 13 acquires the priority of the roundabout from the priority setting unit 12. Then, the image creating unit 13 determines whether the inner lane of the roundabout has a higher priority than the outer lane (step S204). In the case of Yes in step S204, the image creation unit 13 creates a lane image that looks higher toward the inner lane in the roundabout (step S205). On the other hand, in the case of No in step S204, the image creation unit 13 creates a lane image that looks higher toward the outer lane in the roundabout (step S205). That is, in the lane image, the difference in height according to the priority is expressed between the lanes of the roundabout.
　ステップＳ２０５，ステップＳ２０６またはステップＳ２０７の後、画像作成部１３は処理を終了する。 After step S205, step S206 or step S207, the image creating unit 13 ends the process.
　＜Ｂ－３．車線画像＞
　次に、車線画像の具体例を示す。まず、比較例として優先順位に応じた高低差が表現されない車線画像の例を図５に示す。図５は、４車線のラウンドアバウトと、ラウンドアバウトへの進入車線およびラウンドアバウトからの脱出車線が示されている。この車線画像において、ラウンドアバウト内の車線間には高低差が表現されておらず、ラウンドアバウトの各車線は同じ態様で表示されている。従って、運転者はこの車線画像を通してラウンドアバウト内の各車線の優先順位を知ることは出来ない。 <B-3. Lane image>
Next, a specific example of the lane image is shown. First, FIG. 5 shows an example of a lane image in which the difference in height according to the priority is not represented as a comparative example. FIG. 5 shows a roundabout with four lanes, an entering lane to the roundabout, and an exit lane from the roundabout. In this lane image, no height difference is expressed between the lanes in the roundabout, and each lane in the roundabout is displayed in the same manner. Therefore, the driver can not know the priority of each lane in the roundabout through this lane image.
　図６の上図は、２車線からなるラウンドアバウトの車線画像を示す図である。外側車線より内側車線の優先順位が高い場合、図面では表現されていないが、内側車線を表す車線オブジェクト５１Ｂが外側車線を表す車線オブジェクト５１Ａよりも高く見えるように表示される。図６の下図は、各車線オブジェクト５１Ａ，５１Ｂを真横から見たと仮定した場合の仮想的な断面図である。３Ｄ表示機能を有する表示装置２１に表示された車線画像を見た運転者には、車線オブジェクト５１Ｂが車線オブジェクト５１Ａよりも高く見える。 The upper diagram of FIG. 6 is a diagram showing a lane image of a roundabout consisting of two lanes. When the priority of the inner lane is higher than that of the outer lane, the lane object 51B representing the inner lane is displayed to be higher than the lane object 51A representing the outer lane although not represented in the drawing. The lower part of FIG. 6 is a virtual sectional view when it is assumed that each of the lane objects 51A and 51B is viewed from the side. The lane object 51B looks higher than the lane object 51A to the driver who has viewed the lane image displayed on the display device 21 having the 3D display function.
　図６では３Ｄの車線画像について説明したが、車線画像は擬似的な３Ｄの車線画像であっても良い。例えば、図７に示すように、影を付けることによって車線オブジェクト間の高低差が表現されても良い。図７では、光源が図面の右上の方向にあるものとして影の伸びる方向を図面における左下方向としたが、図８に示すようにラウンドアバウトの中心に光源があるものとして影の伸びる方向を全方向としても良い。 Although FIG. 6 describes a 3D lane image, the lane image may be a pseudo 3D lane image. For example, as shown in FIG. 7, the height difference between lane objects may be expressed by shading. In FIG. 7, the light source is in the upper right direction in the drawing, but the direction in which the shadow extends is the lower left direction in the drawing. However, as shown in FIG. It may be a direction.
　図９は、影によりラウンドアバウトの各車線オブジェクト間の高低差が表現され、かつ車線オブジェクト間の高低差が面取りされた車線画像である。画像作成部１３はこのような車線画像を作成しても良い。これにより、車線オブジェクト間の高低差がより強調される。 FIG. 9 is a lane image in which the height difference between the lane objects in the roundabout is represented by the shadow and the height difference between the lane objects is chamfered. The image creation unit 13 may create such a lane image. This emphasizes the height difference between the lane objects.
　図１０は、図７の車線画像において、ラウンドアバウトと脱出車線との境界線が削除された車線画像である。図１１は、図１０の車線画像の要部拡大図である。画像作成部１３はこのような車線画像を作成しても良い。これにより、運転者はラウンドアバウトからの脱出経路を容易に把握することができる。 FIG. 10 is a lane image in which the border between the roundabout and the exit lane is deleted in the lane image of FIG. 7. FIG. 11 is an enlarged view of a main part of the lane image of FIG. The image creation unit 13 may create such a lane image. This allows the driver to easily grasp the exit route from the roundabout.
　図５から図１１では、ラウンドアバウトの外側車線から内側車線にかけて優先順位が高くなる場合の車線画像を示した。一方、ラウンドアバウトの外側車線から内側車線にかけて優先順位が高くなる場合には、画像作成部１３は外側車線から内側車線にかけて徐々に高くなるように見える車線画像を作成する。 FIGS. 5 to 11 show lane images in the case where the priority is higher from the outer lane to the inner lane of the roundabout. On the other hand, when the priority becomes higher from the outer lane to the inner lane of the roundabout, the image creating unit 13 creates a lane image that appears to be gradually higher from the outer lane to the inner lane.
　図１２の上図は、そのようなラウンドアバウトの車線画像を示す図である。内側車線より外側車線の優先順位が高い。図面では表現されていないが、外側車線を表す車線オブジェクト５１Ａが内側車線を表す車線オブジェクト５１Ｂよりも高く見えるように表示される。図１２の下図は、各車線オブジェクト５１Ａ，５１Ｂを真横から見たと仮定した場合の仮想的な断面図である。３Ｄ表示機能を有する表示装置２１に表示された車線画像を見た運転者には、車線オブジェクト５１Ａが車線オブジェクト５１Ｂよりも高く見える。 The upper diagram of FIG. 12 is a diagram showing a lane image of such a roundabout. The priority of the outside lane is higher than the inside lane. Although not represented in the drawing, the lane object 51A representing the outside lane is displayed to look higher than the lane object 51B representing the inside lane. The lower part of FIG. 12 is a virtual sectional view when it is assumed that each of the lane objects 51A and 51B is viewed from the side. The lane object 51A looks higher than the lane object 51B to the driver who has viewed the lane image displayed on the display device 21 having the 3D display function.
　図１３は、外側車線から内側車線にかけて優先順位が高くなるラウンドアバウトの車線画像を示している。この車線画像では、車線オブジェクト間の高低差が影により表現されている。 FIG. 13 shows a lane image of a roundabout whose priority is higher from the outer lane to the inner lane. In this lane image, height differences between lane objects are represented by shadows.
　＜Ｂ－４．効果＞
　実施の形態２に係る表示制御装置１０２において、画像作成部１３は地図データを基に、ラウンドアバウトの各車線を優先順位に応じた態様で表す車線画像を作成する。そして、優先順位に応じた態様とは、優先順位が高い車線ほど高く優先順位が低い車線ほど低く見える態様である。従って、運転者は車線画像を通してラウンドアバウトの車線間の優先順位の違いを直感的に把握することができる。 <B-4. Effect>
In the display control apparatus 102 according to the second embodiment, the image creating unit 13 creates a lane image representing each lane of the roundabout in a mode according to the priority based on the map data. And the mode according to the priority is a mode in which the higher the lane with higher priority, the lower the lane with lower priority. Therefore, the driver can intuitively understand the difference in priority between the roundabout lanes through the lane image.
　＜Ｃ．実施の形態３＞
　＜Ｃ－１．構成＞
　図１４は、実施の形態３に係る表示制御装置１０３の構成を示すブロック図である。図１４において、他の実施の形態と同一または対応する構成には同一の参照符号を付している。表示制御装置１０３は、実施の形態２に係る表示制御装置１０２の構成に加えて走行車線推定部１５を備えている。また、表示制御装置１０３は表示装置２１、自車位置検出装置２２、および車線変更入力装置２３と接続され、これらを利用可能に構成されている。 <C. Third Embodiment>
<C-1. Configuration>
FIG. 14 is a block diagram showing the configuration of the display control apparatus 103 according to the third embodiment. In FIG. 14, the same reference numerals as in the other embodiments denote the same or corresponding parts. The display control device 103 includes a traveling lane estimation unit 15 in addition to the configuration of the display control device 102 according to the second embodiment. Further, the display control device 103 is connected to the display device 21, the vehicle position detection device 22, and the lane change input device 23, and is configured to be able to use these.
　走行車線推定部１５は、自車位置検出装置２２から車線の位置情報を取得し、車線の位置情報と地図データに基づき、自車両の走行車線を推定する。 The travel lane estimation unit 15 acquires lane position information from the vehicle position detection device 22, and estimates the travel lane of the vehicle based on the lane position information and the map data.
　車線変更入力装置２３は、例えば自車両に搭載されたウィンカーの動作情報を車線変更情報として画像作成部１３に入力する。ウィンカーには、自車両が右折または右側の車線に車線変更する際に作動する右側ウィンカーと、自車両が左折または左側の車線に車線変更する際に作動する左側ウィンカーとがある。ウィンカーの動作情報には、ウィンカーが動作しているか否か、また右側または左側のいずれが動作しているかを示す情報が含まれる。 The lane change input device 23 inputs, for example, operation information of a winker mounted on the host vehicle into the image creation unit 13 as lane change information. The blinkers include a right blinker that operates when the host vehicle turns to the right or right lane and a left blinker that operates when the host vehicle turns to the left or left lane. The motion information of the blinker includes information indicating whether the blinker is in motion or whether the right or left side is in motion.
　画像作成部１３は、走行車線推定部１５から自車両の走行車線の情報を取得し、車線変更入力装置２３からウィンカーの動作情報を取得する。そして、画像作成部１３は実施の形態２で説明した車線画像に、車線変更線の付加処理を行う。 The image creating unit 13 acquires information on the traveling lane of the host vehicle from the traveling lane estimation unit 15, and acquires operation information on the winker from the lane change input device 23. Then, the image creating unit 13 performs a lane change line addition process on the lane image described in the second embodiment.
　＜Ｃ－２．動作＞
　図１５は、実施の形態３に係る表示制御装置１０３の動作を示すフローチャートである。図１５のフローチャートにおいて、ステップＳ１０３Ａのみが図２のフローチャートと異なる。画像作成部１３は車線画像を作成した後（ステップＳ１０３）、車線変更線の付加処理を行う（ステップＳ１０３Ａ）。 C-2. Operation>
FIG. 15 is a flowchart showing the operation of the display control apparatus 103 according to the third embodiment. In the flowchart of FIG. 15, only step S103A differs from the flowchart of FIG. After creating the lane image (step S103), the image creation unit 13 performs a lane change line addition process (step S103A).
　図１６は、図１５のステップＳ１０３Ａの詳細を示すフローチャートである。以下、図１６のフローチャートに沿って画像作成部１３の動作を説明する。まず、画像作成部１３は、地図データ取得部１１から地図データを取得し、自車位置検出装置２２から自車両の位置情報を取得する。そして、画像作成部１３はこれらの情報に基づき自車両がラウンドアバウトを走行中か否かを判断する（ステップＳ３０１）。 FIG. 16 is a flowchart showing details of step S103A of FIG. Hereinafter, the operation of the image creation unit 13 will be described along the flowchart of FIG. First, the image generation unit 13 acquires map data from the map data acquisition unit 11 and acquires position information of the host vehicle from the host vehicle position detection device 22. Then, the image creating unit 13 determines whether the host vehicle is traveling on a roundabout, based on the information (step S301).
　自車両がラウンドアバウトを走行中でなければ、画像作成部１３は処理を終了する。従って、この場合車線画像に車線変更線は付加されない。 If the own vehicle is not traveling roundabout, the image creating unit 13 ends the process. Therefore, no lane change line is added to the lane image in this case.
　一方、自車両がラウンドアバウトを走行中であれば、画像作成部１３は車線変更入力装置２３の車線変更情報に基づき、自車両が車線変更を行うか否かを判断する（ステップＳ３０２）。例えば、画像作成部１３はウィンカ―の動作情報に基づき、右側または左側のウィンカ―が動作している場合に、自車両が車線変更を行うと判断する。 On the other hand, if the host vehicle is traveling roundabout, the image creating unit 13 determines whether the host vehicle changes lanes based on the lane change information of the lane change input device 23 (step S302). For example, based on the motion information of the blinker, the image creation unit 13 determines that the host vehicle changes lanes when the blinker on the right or left side is operating.
　自車両が車線変更を行わない場合、画像作成部１３は処理を終了する。従って、この場合車線画像に車線変更線は付加されない。 If the host vehicle does not change lanes, the image creating unit 13 ends the process. Therefore, no lane change line is added to the lane image in this case.
　一方、自車両が車線変更を行う場合、画像作成部１３は車線変更により自車両の走行車線の優先順位が上がるか否かを判断する（ステップＳ３０３）。例えば、車線変更情報が右側ウィンカ―の作動を示している場合、画像作成部１３は現在の自車両の走行車線とその右側の車線との優先順位を比較する。そして、右側の車線の優先順位の方が高ければ、画像作成部１３は車線変更により走行車線の優先順位が上がると判断する（ステップＳ３０３でＹｅｓ）。他方、右側の車線の優先順位の方が低ければ、画像作成部１３は車線変更により走行車線の優先順位が下がると判断する（ステップＳ３０３でＮｏ）。 On the other hand, when the host vehicle changes lanes, the image creating unit 13 determines whether the priority of the traveling lane of the host vehicle is increased due to the lane change (step S303). For example, when the lane change information indicates the operation of the right side blinker, the image creating unit 13 compares the current lanes of the host vehicle with the lanes on the right side. Then, if the priority of the lane on the right side is higher, the image creating unit 13 determines that the priority of the traveling lane is increased due to the lane change (Yes in step S303). On the other hand, if the priority of the right lane is lower, the image creating unit 13 determines that the priority of the traveling lane is lowered due to the change of lane (No in step S303).
　ステップＳ３０３でＹｅｓであれば、画像作成部１３は現在の自車両の走行車線からその右側の車線にかけて下り傾斜の車線変更線を付加する（ステップＳ３０４）。一方、ステップＳ３０３でＮｏであれば、画像作成部１３は現在の自車両の走行車線からその右側の車線にかけて上り傾斜の車線変更線を付加する（ステップＳ３０５）。 If Yes in step S303, the image creating unit 13 adds a down lane change line from the current traveling lane of the host vehicle to the lane on the right side thereof (step S304). On the other hand, if No in step S303, the image creating unit 13 adds a lane change line of upward slope from the current traveling lane of the host vehicle to the lane on the right side thereof (step S305).
　なお、上記の説明ではウィンカ―の動作情報を車線変更情報としたが、自車両のナビゲーション装置からの誘導情報を車線変更情報として画像作成部１３に入力しても良い。この場合、ステップＳ３０２において画像作成部１３は誘導情報に基づき車線変更の有無を判断する。 In the above description, although the operation information of the blinker is lane change information, guidance information from the navigation device of the own vehicle may be input to the image creation unit 13 as lane change information. In this case, in step S302, the image creating unit 13 determines the presence or absence of a lane change based on the guidance information.
　＜Ｃ－３．車線変更線の例＞
　図１７は、車線画像における車線変更線の例を示している。図１７に示す車線画像には、ラウンドアバウトの各車線を示す車線オブジェクト５１Ａ，５１Ｂ，５１Ｃが示される。自車両が中央の車線を走行している場合、自車両の位置を示す自車両アイコン５４が中央の車線を示す車線オブジェクト５１Ｂに重畳して表示される。自車両が中央の車線から右側の車線への車線変更を行おうとするとき、車線オブジェクト５１Ｂと車線オブジェクト５１Ａを接続する車線変更経路５５が車線画像に表示される。 <C-3. Lane Change Line Example>
FIG. 17 shows an example of a lane change line in a lane image. Lane objects 51A, 51B, and 51C indicating the lanes of the roundabout are shown in the lane image shown in FIG. When the host vehicle travels in the center lane, the host vehicle icon 54 indicating the position of the host vehicle is superimposed on the lane object 51B indicating the center lane and displayed. When the host vehicle changes lanes from the center lane to the right lane, a lane change path 55 connecting the lane object 51B and the lane object 51A is displayed in the lane image.
　中央の車線は右側の車線よりも優先順位が高く、従って車線オブジェクト５１Ｂは車線オブジェクト５１Ｃよりも高く表示されている。そして、車線変更経路５５は車線間の高低差にあわせて、下り勾配の経路として表される。図１７では車線変更後に走行車線の優先順位が低くなるため、車線変更経路５５は下り勾配の経路であるが、車線変更後に走行車線の優先順位が高くなる場合には、車線変更経路５５は上り勾配の経路として表される。すなわち、車線変更経路５５は、車線変更前後の車線オブジェクトの高低差に応じた傾斜を有している。 The middle lane has higher priority than the right lane, so the lane object 51B is displayed higher than the lane object 51C. The lane change path 55 is represented as a downward slope path in accordance with the difference in height between the lanes. In FIG. 17, the lane change route 55 is a downward slope route because the priority of the traveling lane is lowered after the lane change, but when the priority of the traveling lane becomes higher after the lane change, the lane change route 55 is up Expressed as the path of the gradient. That is, the lane change path 55 has an inclination according to the height difference of the lane object before and after the lane change.
　車線変更経路５５は、自車両が車線変更を行うまで自車両の走行に追従して移動しても良い。 The lane change path 55 may move following the traveling of the vehicle until the vehicle changes lanes.
　図１７では、車線変更線が勾配を有する車線変更経路５５として表された。しかし、車線変更線は、自車両の現在の走行車線と車線変更後の車線との接続線であり、車線間の優先順位の違いが表現されれば他の態様で表されても良い。例えば図１８に示すように、車線変更線は現在の走行車線を始点とし車線変更後の車線を終点とする矢印５６であっても良い。この場合、車線変更によって走行車線の優先順位が低くなる場合には赤色の矢印５６、高くなる場合には青色の矢印５６というように、矢印５６の色によって車線変更前後の車線の優先順位の変化方向が表される。 In FIG. 17, the lane change line is represented as a lane change path 55 having a slope. However, the lane change line is a connection line between the current traveling lane of the host vehicle and the lane after the lane change, and may be expressed in another manner as long as the difference in priority between the lanes is expressed. For example, as shown in FIG. 18, the lane change line may be an arrow 56 starting from the current traveling lane and ending at the lane after the lane change. In this case, the color of the arrow 56 changes the priority of the lane before and after the lane change, such as the red arrow 56 when the priority of the traveling lane is lowered due to the lane change and the blue arrow 56 when it becomes high. The direction is represented.
　＜Ｃ－４．効果＞
　実施の形態３の表示制御装置１０３において、画像作成部１３は、自車両がラウンドアバウト内で車線変更を行う際、車線変更前後の車線に跨り車線変更前後の車線の優先順位の変化を表す車線変更線を車線画像に付加する。これにより、運転者は車線画像を通して、車線変更時の優先順位の変化を直感的に把握することができる。 <C-4. Effect>
In the display control apparatus 103 according to the third embodiment, when the image forming unit 13 changes lanes in the roundabout, the lanes before and after the lane change are displayed. Add a change line to the lane image. As a result, the driver can intuitively grasp the change in priority at the time of lane change through the lane image.
　そして、図１７に示したように車線変更線が車線変更前後の車線の車線画像における高低差に応じた傾斜を有するように表される場合、運転者は車線画像を通して、車線変更時の優先順位の変化を直感的に把握することができる。 Then, as shown in FIG. 17, when the lane change line is represented as having a slope according to the difference in height of the lane image of the lane before and after the lane change, the driver can prioritize the lane change through the lane image. Changes can be intuitively understood.
　また、図１８に示したように車線変更線が車線変更前後の車線の優先順位の変化方向に応じた色で表される場合、運転者は車線画像を通して、車線変更時の優先順位の変化を直感的に把握することができる。 Also, as shown in FIG. 18, when the lane change line is represented by a color according to the change direction of the priority of the lane before and after the lane change, the driver changes the priority at the time of the lane change through the lane image. It can be grasped intuitively.
　＜Ｄ．実施の形態４＞
　＜Ｄ－１．構成＞
　図１９は、実施の形態４に係る表示制御装置１０４の構成を示すブロック図である。図１９において、他の実施の形態と同一または対応する構成には同一の参照符号を付している。表示制御装置１０４は、実施の形態３に係る表示制御装置１０３の構成に加えて他車両検出部１６を備えている。また、表示制御装置１０４は、表示装置２１、自車位置検出装置２２、車線変更入力装置２３および周辺検出装置２４と接続され、これらを利用可能に構成されている。 <D. Fourth Embodiment>
<D-1. Configuration>
FIG. 19 is a block diagram showing the configuration of the display control apparatus 104 according to the fourth embodiment. In FIG. 19, the same reference numerals as in the other embodiments denote the same or corresponding parts. The display control device 104 includes the other vehicle detection unit 16 in addition to the configuration of the display control device 103 according to the third embodiment. Further, the display control device 104 is connected to the display device 21, the vehicle position detection device 22, the lane change input device 23 and the periphery detection device 24, and these are configured to be available.
　周辺検出装置２４は、自車両に搭載されたカメラ、レーダーまたはセンサ等により構成され、自車両の周辺の空間情報を検出する。周辺検出装置２４の検出情報は他車両検出部１６に入力される。 The periphery detection device 24 is configured by a camera, a radar, a sensor or the like mounted on the host vehicle, and detects space information around the host vehicle. Detection information of the surrounding area detection device 24 is input to the other vehicle detection unit 16.
　他車両検出部１６は周辺検出装置２４の検出情報に基づき自車両の周辺を走行する他車両の位置、速度、ウィンカ―の動作状況などを検出する。 The other vehicle detection unit 16 detects the position, the speed, the operation condition of the blinker, and the like of the other vehicle traveling around the own vehicle based on the detection information of the periphery detection device 24.
　画像作成部１３は、ラウンドアバウトの各車線をそれらの優先順位に応じた態様で表す車線画像を作成する。但し、車線画像における各車線の表示態様は、自車両と他車両との位置関係に応じて動的に変化する。 The image creation unit 13 creates a lane image that represents each lane of the roundabout in a manner according to their priority. However, the display mode of each lane in the lane image dynamically changes according to the positional relationship between the host vehicle and the other vehicle.
　＜Ｄ－２．動作＞
　図２０は、実施の形態４に係る表示制御装置１０４における画像作成部１３の車線画像作成処理を示すフローチャートである。このフローは、図２のステップＳ１０３の詳細なフローに相当する。以下、図２０に沿って実施の形態４の車線画像作成処理を説明する。 <D-2. Operation>
FIG. 20 is a flowchart showing a lane image creation process of the image creation unit 13 in the display control apparatus 104 according to the fourth embodiment. This flow corresponds to the detailed flow of step S103 in FIG. The lane image creation processing of the fourth embodiment will be described below with reference to FIG.
　まず、画像作成部１３は自車両がラウンドアバウトを走行中であるか否かを判断する（ステップＳ４０１）。具体的には、画像作成部１３は地図データ取得部１１から取得した地図データと、自車位置検出装置２２から取得した自車両の位置情報とに基づき、自車両がラウンドアバウトを走行中であるか否かを判断する。自車両がラウンドアバウトを走行中でなければ、画像作成部１３は通常の車線画像を作成する（ステップＳ４０８）。通常の車線画像とは、各車線が優先順位によって異なる態様で表されない車線画像のことである。 First, the image creating unit 13 determines whether the host vehicle is traveling on a roundabout (step S401). Specifically, based on the map data acquired from the map data acquisition unit 11 and the position information of the own vehicle acquired from the own vehicle position detection device 22, the image creation unit 13 is traveling the roundabout. Determine if it is or not. If the host vehicle is not traveling roundabout, the image creating unit 13 creates a normal lane image (step S408). The normal lane image is a lane image in which each lane is not represented differently in the priority order.
　自車両がラウンドアバウトを走行中であれば、画像作成部１３はラウンドアバウトの車線数が２以上であるか否かを判断する（ステップＳ４０２）。具体的には、画像作成部１３は地図データ取得部１１から取得した地図データと、自車位置検出装置２２から取得した自車両の位置情報とに基づき、ラウンドアバウトの車線数が２以上であるか否かを判断する。ラウンドアバウトの車線数が２以上でなければ、画像作成部１３は通常の車線画像を作成する（ステップＳ４０８）。 If the host vehicle is traveling in a roundabout, the image creating unit 13 determines whether the number of lanes in the roundabout is 2 or more (step S402). Specifically, based on the map data acquired from the map data acquisition unit 11 and the position information of the own vehicle acquired from the own vehicle position detection device 22, the image creation unit 13 has two or more lanes of the roundabout. Determine if it is or not. If the number of lanes in the roundabout is not 2 or more, the image creating unit 13 creates a normal lane image (step S408).
　ラウンドアバウトの車線数が２以上であれば、画像作成部１３は他車両が自車両の近くで隣接車線を走行しているか否かを判断する（ステップＳ４０３）。具体的には、画像作成部１３は他車両検出部１６から取得した他車両の位置情報と、自車位置検出装置２２から取得した自車両の位置情報とに基づき、他車両が自車両の近くで隣接車線を走行しているか否かを判断する。ここで、自車両の近くとは、例えば自車両から１００ｍなど一定の距離以内とする。他車両が自車両の近くで隣接車線を走行していない場合、画像作成部１３は通常の車線画像を作成する（ステップＳ４０８）。 If the number of lanes in the roundabout is two or more, the image creating unit 13 determines whether another vehicle is traveling in the adjacent lane near the host vehicle (step S403). Specifically, based on the position information of the other vehicle acquired from the other vehicle detection unit 16 and the position information of the own vehicle acquired from the own vehicle position detection device 22, the image creating unit 13 nears the own vehicle It is determined whether or not you are traveling in the adjacent lane. Here, the vicinity of the host vehicle is, for example, within a certain distance such as 100 m from the host vehicle. If the other vehicle is not traveling in the adjacent lane near the host vehicle, the image creating unit 13 creates a normal lane image (step S408).
　ステップＳ４０３において、他車両が自車両の近くで隣接車線を走行している場合、画像作成部１３は他車両の走行車線が自車両の走行車線より優先順位が高いか否かを判断する（ステップＳ４０４）。他車両の走行車線の優先順位が自車両の走行車線より低ければ、画像作成部１３は通常の車線画像を作成する（ステップＳ４０８）。 In step S403, when the other vehicle is traveling in the adjacent lane near the host vehicle, the image creating unit 13 determines whether the traveling lane of the other vehicle is higher in priority than the lane in which the host vehicle is traveling (step S404). If the priority order of the travel lanes of the other vehicles is lower than that of the own vehicle, the image creation unit 13 creates a normal lane image (step S408).
　他車両の走行車線の優先順位が自車両の走行車線より高ければ、画像作成部１３は車線オブジェクトに高低差を有する車線画像を作成する（ステップＳ４０５）。 If the priority of the travel lane of the other vehicle is higher than the travel lane of the own vehicle, the image creation unit 13 creates a lane image having a height difference in the lane object (step S405).
　次に、画像作成部１３は、他車両が自車両の走行車線に車線変更しようとしているか否かを判断する（ステップＳ４０６）。この判断は、他車両検出部１６により検出された他車両のウィンカーの動作状況に基づき行われる。すなわち、他車両のウィンカーが自車両の走行車線への車線変更を指示している場合に、画像作成部１３は他車両が自車両の走行車線に車線変更しようとしていると判断する。 Next, the image creating unit 13 determines whether another vehicle is about to change lanes to the traveling lane of the host vehicle (step S406). This determination is made based on the operating condition of the blinker of the other vehicle detected by the other vehicle detection unit 16. That is, when the winkers of the other vehicles instruct the lane change to the traveling lane of the own vehicle, the image creating unit 13 determines that the other vehicles are going to change the lane to the traveling lane of the own vehicle.
　他車両が自車両の走行車線に車線変更しようとしていなければ、画像作成部１３は処理を終了する。一方、他車両が自車両の走行車線に車線変更しようとしていれば、画像作成部１３は他車両の走行車線を表す車線オブジェクトの色を変更する（ステップＳ４０７）。これにより、運転者は他車両の車線変更に配慮して道路を譲る必要があることを認識することができる。以上で、画像作成部１３の画像作成処理は終了する。 If the other vehicle is not going to change lane to the traveling lane of the host vehicle, the image creating unit 13 ends the process. On the other hand, if the other vehicle is going to change the lane to the traveling lane of the own vehicle, the image creating unit 13 changes the color of the lane object representing the traveling lane of the other vehicle (step S407). Thus, the driver can recognize that it is necessary to give up the road in consideration of the lane change of the other vehicle. This is the end of the image creation process of the image creation unit 13.
　＜Ｄ－３．車線画像＞
　他車両が自車両を追い抜かして車線変更を行う一連の状況における車線画像の変化を図２１から図２４に示す。これらの図に示す車線画像には、ラウンドアバウトの各車線を表す車線オブジェクト５１Ａ，５１Ｂ，５１Ｃが表示される。自車両アイコン５４と他車両の位置を示す他車両アイコン５７が、車線オブジェクト５１Ａ，５１Ｂ，５１Ｃの適切な位置に重畳表示される。 <D-3. Lane image>
The change of the lane image in a series of situations where another vehicle overtakes the host vehicle and changes lanes is shown in FIG. 21 to FIG. Lane objects 51A, 51B, and 51C representing the lanes of the roundabout are displayed in the lane images shown in these figures. The own vehicle icon 54 and the other vehicle icon 57 indicating the position of the other vehicle are superimposed and displayed on the appropriate positions of the lane objects 51A, 51B, 51C.
　図２１において、自車両が中央の車線を走行しており、他車両が自車両の後方で左側の車線を走行しているものとする。他車両は自車両から一定距離以上離れているため、車線オブジェクト５１Ａ，５１Ｂ，５１Ｃに優先順位に応じた高低差は表現されない。図２１の車線画像は、図２０のステップＳ４０８で作成される。 In FIG. 21, it is assumed that the host vehicle is traveling in the center lane and the other vehicle is traveling behind the host vehicle in the left lane. Since the other vehicle is separated from the host vehicle by a predetermined distance or more, the lane objects 51A, 51B, 51C do not express the height difference according to the priority. The lane image of FIG. 21 is created in step S408 of FIG.
　その後、他車両が自車両に対して一定距離以内に近づくと、図２２に示すように他車両の走行車線を表す車線オブジェクト５１Ａと自車両の走行車線を表す車線オブジェクト５１Ｂとの間に高低差が表される。なお、全ての車線オブジェクト５１Ａ，５１Ｂ，５１Ｃの間に高低差が表されても良い。図２２の車線画像は、図２０のステップＳ４０５で作成される。 Thereafter, when the other vehicle approaches within a certain distance with respect to the host vehicle, as shown in FIG. 22, the height difference between the lane object 51A representing the lane of the other vehicle and the lane object 51B representing the lane of the host vehicle Is represented. A height difference may be expressed among all the lane objects 51A, 51B, 51C. The lane image of FIG. 22 is created in step S405 of FIG.
　その後、他車両の左側のウィンカーが点灯すると、図２３に示すように車線オブジェクト５１Ａの色が車線オブジェクト５１Ａ，５１Ｂと異なる色に変わる。図２３の車線画像は、図２０のステップＳ４０７で作成される。 Thereafter, when the winkers on the left side of the other vehicles light up, the color of the lane object 51A changes to a color different from that of the lane objects 51A and 51B as shown in FIG. The lane image of FIG. 23 is created in step S407 of FIG.
　その後、他車両の車線変更が完了すると、図２４に示すように車線オブジェクト５１Ａの色は車線オブジェクト５１Ａ，５１Ｂと同じ色に戻り、車線オブジェクト間の高低差の表現もなくなる。図２４の車線画像は、図２０のステップＳ４０８で作成される。 Thereafter, when the lane change of another vehicle is completed, the color of the lane object 51A returns to the same color as that of the lane objects 51A and 51B as shown in FIG. 24, and the expression of the height difference between the lane objects is also lost. The lane image of FIG. 24 is created in step S408 of FIG.
　図２１から図２４では、他車両Ｂの走行車線の優先順位が自車両Ａの走行車線より高い場合について説明した。他車両Ｂの走行車線の優先順位が自車両Ａの走行車線より低い場合は、自車両が他車両に優先するため、運転者は他車両の挙動を注視する必要性が少ない。従って、この場合は他車両Ｂが自車両Ａから一定距離以内に近づいていても、図２５に示すように、車線オブジェクト間に高低差は表現されない。 The case where the priority of the travel lane of the other vehicle B is higher than the travel lane of the host vehicle A has been described with reference to FIGS. When the priority of the travel lane of the other vehicle B is lower than that of the host vehicle A, the driver has less need to watch the behavior of the other vehicle because the host vehicle has priority over the other vehicle. Therefore, in this case, even if the other vehicle B approaches within a certain distance from the host vehicle A, as shown in FIG.
　あるいは、図２６に示すように、画像作成部１３は車線オブジェクト５１Ｂを他の車線オブジェクト５１Ａ，５１Ｃと異なる色にすることで、自車両が他車両に優先することを示しても良い。また、図２７に示すように、画像作成部１３は各車線オブジェクト５１Ａ，５１Ｂ，５１Ｃの色を、それぞれ車線の優先順位に応じた異なる色とすることによって、各車線の優先順位を示しても良い。 Alternatively, as shown in FIG. 26, the image creating unit 13 may show that the host vehicle gives priority to another vehicle by making the lane object 51B different in color from the other lane objects 51A and 51C. Further, as shown in FIG. 27, even if the image creating unit 13 sets the color of each of the lane objects 51A, 51B, and 51C to a different color according to the priority order of the lanes, the priority order of each lane is indicated. good.
　＜Ｄ－４．ＨＵＤ＞
　図２８から図３１は、表示装置２１の一例としてＨＵＤを用いた場合の車線画像の表示例を示している。これらの例において、自車両はラウンドアバウトの３車線のうち中央の車線を走行しており、左側の車線ほど優先順位が高いものとする。ＨＵＤを用いる場合には、自車両の前方の風景に車線画像が重畳されるため、図２１から図２７で示したような車線オブジェクト、自車両アイコンおよび他車両アイコンは車線画像に含まれない。 <D-4. HUD>
FIGS. 28 to 31 show display examples of lane images when an HUD is used as an example of the display device 21. FIG. In these examples, it is assumed that the host vehicle travels in the center lane among the three roundabout lanes, and the lane on the left side has higher priority. When the HUD is used, the lane image is superimposed on the scenery in front of the host vehicle, so the lane object, the host vehicle icon and the other vehicle icon as shown in FIGS. 21 to 27 are not included in the lane image.
　図２８は、自車両の近くで隣接車線を走行する他車両がいない場合のＨＵＤの表示を示している。このとき、ＨＵＤは何も表示をせず、フロントガラス６０には自車両の前方の風景として道路の白線６１が表示されている。 FIG. 28 shows the display of the HUD when there is no other vehicle traveling in the adjacent lane near the host vehicle. At this time, the HUD does not display anything, and the white line 61 of the road is displayed on the windshield 60 as a landscape in front of the host vehicle.
　左側の車線を他車両が走行しており、他車両と自車両との距離が一定距離以内であるものとする。このとき、ＨＵＤでは図２９に示すように、左側の車線と中央の車線との境界の白線６１に段差６２が表示される。 It is assumed that another vehicle is traveling on the left lane and the distance between the other vehicle and the host vehicle is within a certain distance. At this time, in the HUD, as shown in FIG. 29, a step 62 is displayed on the white line 61 at the boundary between the left lane and the middle lane.
　図２９に示す状況で他車両が右側のウィンカーを点灯させたとする。このとき、ＨＵＤでは図３０に示すように、自車両の走行車線に対して青色の領域が重畳表示される。これにより、ユーザは自車両の走行車線が他車両の走行車線より優先度が低いことを把握することができる。なお、右側の車線に対しても青色の領域が重畳表示されても良い。また、ＨＵＤには他車両が自車両の走行車線へ車線変更することを示す矢印６３が重畳表示される。これにより、運転者は他車両の車線変更が自車両の走行より優先されることを把握することができる。 It is assumed that another vehicle lights the blinker on the right side in the situation shown in FIG. At this time, in the HUD, as shown in FIG. 30, a blue area is displayed superimposed on the traveling lane of the host vehicle. Thus, the user can grasp that the traveling lane of the host vehicle is lower in priority than the traveling lanes of other vehicles. Note that a blue area may be displayed superimposed also on the right lane. In addition, an arrow 63 indicating that the other vehicle changes lane to the traveling lane of the host vehicle is superimposed and displayed on the HUD. As a result, the driver can grasp that the lane change of the other vehicle is prioritized over the traveling of the own vehicle.
　図３１は、図２９に示す状況の後、自車両の走行車線に対する他車両の車線変更が完了したときのＨＵＤの表示を示している。このとき、ＨＵＤには何も表示されず、フロントガラス６０には自車両の前方の風景として道路の白線６１と他車両が表示されている。 FIG. 31 shows the display of the HUD when the lane change of the other vehicle with respect to the traveling lane of the host vehicle is completed after the situation shown in FIG. At this time, nothing is displayed on the HUD, and the white line 61 of the road and the other vehicle are displayed on the windshield 60 as a landscape in front of the host vehicle.
　自車両の近くで隣接車線を走行する他車両がいない場合、図２８ではＨＵＤは何も表示をしない。しかし、図３２に示すように、隣り合う車線のうち優先順位の低い方の車線において、両車線の境界となる白線に沿った所定幅の領域に色の付いた線６４を重畳しても良い。この場合、運転者は線６４が白線に対して右側または左側のいずれに表示されているかによって、隣り合う車線のうちどちらの車線の優先順位が低いかを把握することができる。 When there is no other vehicle traveling in the adjacent lane near the host vehicle, the HUD does not display anything in FIG. However, as shown in FIG. 32, in the lane having the lower priority among the adjacent lanes, a colored line 64 may be superimposed on a region of a predetermined width along the white line that is the boundary of both lanes. . In this case, the driver can grasp which of the adjacent lanes has the lower priority, depending on whether the line 64 is displayed on the right side or the left side with respect to the white line.
　＜Ｄ－５．効果＞
　実施の形態４の画像作成部１３は、自車両の走行車線に隣接する車線を走行する他車両が自車両から予め定められた距離以内にいる場合に、他車両の走行車線と自車両の走行車線とを、優先順位に応じた態様で表す車線画像を作成する。従って、該当する他車両が存在しない場合には、車線画像をシンプルに表示することができる。 <D-5. Effect>
When the other vehicle traveling in the lane adjacent to the traveling lane of the own vehicle is within a predetermined distance from the own vehicle, the image creating unit 13 of the fourth embodiment travels the traveling lane of the other vehicle and the own vehicle A lane image is created that represents lanes in a manner depending on priority. Therefore, when there is no corresponding other vehicle, it is possible to simply display the lane image.
　実施の形態４において、他車両検出部１６は、自車両の走行車線に隣接する車線を走行する他車両のウィンカーの動作状況を検出する他車両ウィンカー検出部として動作する。また、画像作成部１３は、他車両が自車両の走行車線の方向にウィンカーを出した場合に、他車両の走行車線と自車両の走行車線とを、優先順位に応じた態様で表す車線画像を作成する。従って、運転者は他車両が自車両の走行車線に車線変更する際に、他車両を優先すべきか否かを容易に把握することができる。 In the fourth embodiment, the other-vehicle detection unit 16 operates as an other-vehicle winker detection unit that detects the operation status of the winkers of the other vehicles traveling in the lane adjacent to the traveling lane of the own vehicle. Further, when the other vehicle outputs a blinker in the direction of the traveling lane of the own vehicle, the image creating unit 13 is a lane image that represents the traveling lane of the other vehicle and the traveling lane of the own vehicle according to the priority order. Create Therefore, the driver can easily grasp whether or not the other vehicle should be prioritized when the other vehicle changes the lane to the traveling lane of the own vehicle.
　また、実施の形態４において第１表示装置である表示装置２１をＨＵＤとする場合、自車両の運転者は視線を大きく動かすことなく車線画像を視認することができる。従って自車両の運転者は容易にラウンドアバウトの各車線の優先順位を把握することができる。 Further, in the case where the display device 21 which is the first display device in the fourth embodiment is a HUD, the driver of the host vehicle can visually recognize the lane image without significantly moving the line of sight. Therefore, the driver of the own vehicle can easily grasp the priority of each lane of the roundabout.
　＜Ｅ．実施の形態５＞
　＜Ｅ－１．構成＞
　図３３は、実施の形態５に係る表示制御システムの構成を示すブロック図である。実施の形態５に係る表示制御システムは、自車両Ａに搭載された表示装置２１Ａにおける車線画像の表示制御を行う表示制御装置１０５Ａと、他車両Ｂに搭載された表示装置２１Ｂにおける車線画像の表示制御を行う表示制御装置１０５Ｂとを備えている。 E. Fifth Embodiment>
<E-1. Configuration>
FIG. 33 is a block diagram showing the configuration of the display control system according to the fifth embodiment. In the display control system according to the fifth embodiment, a display control device 105A for performing display control of a lane image in the display device 21A mounted on the host vehicle A and a display of a lane image in the display device 21B mounted on the other vehicle B And a display control device 105B that performs control.
　表示制御装置１０５Ａは、実施の形態４に係る表示制御装置１０４の構成に加えて、画像作成部１３で作成した車線画像を表示制御装置１０５Ｂに送信する通信部１７Ａを備えている。通信部１７Ａ以外の表示制御装置１０５Ａの構成は表示制御装置１０４と同様である。 In addition to the configuration of the display control device 104 according to the fourth embodiment, the display control device 105A includes a communication unit 17A that transmits the lane image created by the image creation unit 13 to the display control device 105B. The configuration of the display control device 105A other than the communication unit 17A is the same as that of the display control device 104.
　図３３において、他の実施の形態と同一または対応する構成には同一の参照符号を付している。但し、表示制御装置１０５Ａの各構成には参照符号に添え字のＡを付し、表示制御装置１０５Ａの各構成には参照符号に添え字のＢを付して、両者を区別する。 In FIG. 33, the same reference numerals as in the other embodiments denote the same or corresponding parts. However, for each configuration of the display control device 105A, the subscript A is added to the reference numeral, and for each configuration of the display control device 105A, the subscript B is added to the reference numeral to distinguish the two.
　表示制御装置１０４は、表示装置２１Ａ、自車位置検出装置２２、車線変更入力装置２３および周辺検出装置２４と接続され、これらを利用可能に構成されている。 The display control device 104 is connected to the display device 21A, the vehicle position detection device 22, the lane change input device 23, and the periphery detection device 24, and is configured to be able to use these.
　表示制御装置１０５Ｂは、地図データ取得部１１Ｂ、画像作成部１３Ｂ、表示制御部１４Ｂ、走行車線推定部１５Ｂ、および通信部１７Ｂを備えている。 The display control device 105B includes a map data acquisition unit 11B, an image creation unit 13B, a display control unit 14B, a traveling lane estimation unit 15B, and a communication unit 17B.
　画像作成部１３Ｂは、自車両の周辺道路の車線画像を作成する。画像作成部１３Ｂが作成する車線画像では各車線の優先順位は表されない。 The image creating unit 13B creates a lane image of a road around the vehicle. In the lane image created by the image creation unit 13B, the priority of each lane is not represented.
　通信部１７Ｂは、通信部１７Ａから車線画像を取得する。 The communication unit 17B acquires a lane image from the communication unit 17A.
　表示制御部１４Ｂは、画像作成部１３Ｂが作成した車線画像または通信部１７Ｂから取得した車線画像を表示装置２１Ｂに表示させる。 The display control unit 14B causes the display device 21B to display the lane image created by the image creation unit 13B or the lane image acquired from the communication unit 17B.
　＜Ｅ－２．動作＞
　図３４は、表示制御装置１０５Ａの動作を示すフローチャートである。図３４のフローは、図２に示した実施の形態１のフローのステップＳ１０４の後にステップＳ１０５を設けたものである。表示制御部１４ＡがステップＳ１０４で車線画像の表示制御処理を行った後、画像作成部１３Ａがフィードバック処理を行う（ステップＳ１０５）。 E-2. Operation>
FIG. 34 is a flowchart showing the operation of the display control device 105A. In the flow of FIG. 34, step S105 is provided after step S104 of the flow of the first embodiment shown in FIG. After the display control unit 14A performs display control processing of the lane image in step S104, the image generation unit 13A performs feedback processing (step S105).
　図３５は図３４のステップＳ１０５の詳細を示すフローチャートである。図３５のフローにおいてステップＳ５０１からステップＳ５０３は、図２０のステップＳ４０１からステップＳ４０３と同様である。ステップＳ５０１からステップＳ５０３のいずれかでＮｏであればフィードバック処理は終了する。ステップＳ５０３でＮｏであるとき、表示装置２１Ｂには図３６に示すような車線画像が表示される。 FIG. 35 is a flowchart showing details of step S105 in FIG. Steps S501 to S503 in the flow of FIG. 35 are similar to steps S401 to S403 of FIG. If No in any of steps S501 to S503, the feedback processing ends. When No in step S503, a lane image as shown in FIG. 36 is displayed on the display device 21B.
　図３６において、車線画像はラウンドアバウトの各車線を表す車線オブジェクト５１Ａ，５１Ｂ，５１Ｃと、自車両Ａの位置を表す自車両アイコン５４と、他車両Ｂの位置を表す他車両アイコン５７を含む。自車両アイコン５４は左側の車線を表す車線オブジェクト５１Ｃに重畳され、他車両アイコン５７は中央の車線を表す車線オブジェクト５１Ｂに重畳されている。これらのアイコンの位置は実際の車両の位置を反映している。すなわち、自車両は左側の車線を走行し、他車両は自車両の前方で中央の車線を走行している。ここで、他車両は自車両から一定距離以上離れているため、車線オブジェクト５１Ａ，５１Ｂ，５１Ｃに優先順位に応じた高低差は表現されない。 In FIG. 36, the lane image includes lane objects 51A, 51B, 51C representing each lane of the roundabout, an own vehicle icon 54 representing the location of the own vehicle A, and another vehicle icon 57 representing the location of the other vehicle B. The own vehicle icon 54 is superimposed on a lane object 51C representing a left lane, and the other vehicle icon 57 is superimposed on a lane object 51B representing a middle lane. The positions of these icons reflect the actual position of the vehicle. That is, the host vehicle travels in the left lane, and the other vehicles travel in the center lane ahead of the host vehicle. Here, since the other vehicle is separated from the host vehicle by a predetermined distance or more, the lane objects 51A, 51B, and 51C do not express the height difference according to the priority.
　図３５のステップＳ５０３において他車両が自車両の近くで隣接車線を走行していれば、画像作成部１３Ａは自車両の走行車線の優先順位が他車両の走行車線より高いか否かを判断する（ステップＳ５０４）。自車両の走行車線の優先順位が他車両の走行車線より低ければ、他車両は自車両の挙動に注目する必要性が小さい。従って、フィードバック処理は終了する。このとき、表示装置２１Ｂに表示される車線画像では図３７に示すように各車線オブジェクト間の高低差が表現されない。 If, in step S503 in FIG. 35, the other vehicle is traveling in the adjacent lane near the host vehicle, the image creating unit 13A determines whether the priority of the travel lane of the host vehicle is higher than that of the other vehicle. (Step S504). If the priority of the traveling lane of the own vehicle is lower than that of the other vehicles, the other vehicles need not pay attention to the behavior of the own vehicle. Thus, the feedback process ends. At this time, in the lane image displayed on the display device 21B, the height difference between the lane objects is not represented as shown in FIG.
　一方、自車両の走行車線の優先順位が他車両の走行車線より高ければ、画像作成部１３Ａは車線オブジェクトに高低差を表すよう表示制御装置１０５Ｂへフィードバックする（ステップＳ５０５）。具体的には、画像作成部１３Ａは、自車両の走行車線と他車両の走行車線の優先順位に応じた高低差を車線オブジェクトに表現するように指示するフィードバック信号を作成する。そして、通信部１７Ａがフィードバック信号を通信部１７Ｂに送信する。 On the other hand, when the priority order of the traveling lane of the own vehicle is higher than that of the other vehicle, the image creating unit 13A feeds back to the display control device 105B so as to show the difference in elevation on the lane object (step S505). Specifically, the image creating unit 13A creates a feedback signal that instructs the lane object to express the height difference according to the priority of the traveling lane of the own vehicle and the traveling lane of the other vehicle. Then, the communication unit 17A transmits a feedback signal to the communication unit 17B.
　通信部１７Ｂは、通信部１７Ａから受信したフィードバック信号を画像作成部１３Ｂに送る。画像作成部１３Ｂはフィードバック信号に基づき、車線画像において車線オブジェクトに車線の優先順位に応じた高低差を表す。そして、表示制御部１４Ｂは当該車線画像を表示装置２１Ｂに表示する。このとき表示装置２１Ｂには図３８に示すような車線画像が表示される。 The communication unit 17B sends the feedback signal received from the communication unit 17A to the image creation unit 13B. Based on the feedback signal, the image creating unit 13B represents the height difference according to the priority of the lane in the lane object in the lane image. Then, the display control unit 14B displays the lane image on the display device 21B. At this time, a lane image as shown in FIG. 38 is displayed on the display device 21B.
　図３８は、自車両Ａが他車両Ｂから一定距離内で他車両Ｂの前方を走行している状態に表示装置２１Ｂに表示される車線画像を示している。ここで、車線オブジェクト５１Ａは車線オブジェクト５１Ｂよりも高く表現される。従って、他車両Ｂの運転者は他車両Ｂの走行車線より自車両Ａの走行車線の優先順位が高いことを把握することができる。 FIG. 38 shows a lane image displayed on the display device 21B in a state where the host vehicle A is traveling in front of the other vehicle B within a certain distance from the other vehicle B. Here, the lane object 51A is expressed higher than the lane object 51B. Therefore, the driver of the other vehicle B can grasp that the priority of the traveling lane of the own vehicle A is higher than that of the other vehicle B.
　ステップＳ５０５の後、画像作成部１３Ａは車線変更入力装置２３の車線変更情報に基づき、自車両が車線変更を行うか否かを判断する（ステップＳ５０６）。自車両が車線変更を行わない場合、フィードバック処理は終了する。 After step S505, the image creating unit 13A determines, based on the lane change information of the lane change input device 23, whether or not the host vehicle changes lanes (step S506). If the host vehicle does not change lanes, the feedback process ends.
　自車両が車線変更を行う場合、画像作成部１３Ａは車線オブジェクトの色を変えるよう他車両へフィードバックする（ステップＳ５０７）。具体的には、画像作成部１３Ａは、自車両の走行車線と他車両の走行車線のうち優先順位の高い車線を表す車線オブジェクトの色を変えるように指示するフィードバック信号を作成する。そして、通信部１７Ａがフィードバック信号を通信部１７Ｂに送信する。以上で、表示制御装置１０５Ａのフィードバック処理が終了する。 When the host vehicle changes lanes, the image creation unit 13A feeds back the other vehicle to change the color of the lane object (step S507). Specifically, the image creating unit 13A creates a feedback signal instructing to change the color of the lane object representing the lane with the highest priority among the traveling lane of the own vehicle and the traveling lane of the other vehicle. Then, the communication unit 17A transmits a feedback signal to the communication unit 17B. This is the end of the feedback processing of the display control device 105A.
　通信部１７Ｂは、通信部１７Ａから受信したステップＳ５０７のフィードバック信号を画像作成部１３Ｂに送る。画像作成部１３Ｂはフィードバック信号に基づき、車線画像において、自車両の走行車線と他車両の走行車線のうち優先順位の高い車線を表す車線オブジェクトの色を変える。そして、表示制御部１４Ｂは当該車線画像を表示装置２１Ｂに表示する。このとき表示装置２１Ｂには図３９に示すような車線画像が表示される。 The communication unit 17B sends the feedback signal of step S507 received from the communication unit 17A to the image creation unit 13B. The image creating unit 13B changes the color of the lane object representing the lane with the highest priority among the traveling lane of the own vehicle and the traveling lane of the other vehicle in the lane image based on the feedback signal. Then, the display control unit 14B displays the lane image on the display device 21B. At this time, a lane image as shown in FIG. 39 is displayed on the display device 21B.
　図３９は、自車両Ａと他車両Ｂの位置関係が図３７と同じ状況において、自車両Ａが他車両Ｂの走行車線の方向へウィンカーを出した場合に、表示装置２１Ｂに表示される車線画像を示している。自車両Ａの走行車線を表す車線オブジェクト５１Ｃは、車線オブジェクト５１Ａ，５１Ｂと異なる色で表示される。従って、他車両Ｂの運転者は他車両Ｂの走行車線より自車両Ａの走行車線の優先順位が高く、自車両Ａの車線変更を他車両Ｂの走行に優先させるべきことを把握することができる。その結果、自車両Ａの運転者はスムーズに車線変更を行うことができる。 FIG. 39 shows the lane displayed on the display device 21B when the host vehicle A moves out the winker in the direction of the lane of the other vehicle B in the same situation as in FIG. 37 in the positional relationship between the host vehicle A and the other vehicle B. The image is shown. The lane object 51C representing the traveling lane of the host vehicle A is displayed in a color different from that of the lane objects 51A and 51B. Therefore, the driver of the other vehicle B is aware that the priority of the traveling lane of the own vehicle A is higher than that of the other vehicle B, and that the lane change of the own vehicle A should be prioritized over the traveling of the other vehicle B. it can. As a result, the driver of the host vehicle A can change lanes smoothly.
　図４０は、自車両Ａが他車両Ｂの走行車線への車線変更を完了したときの、表示装置２１Ｂに表示される車線画像を示している。このとき、表示制御装置１０５Ａから表示制御装置１０５Ｂへのフィードバックは行われず、車線オブジェクト５１Ａ，５１Ｂ，５１Ｃは同じ色で表示され、これらの間に高低差は表現されない。 FIG. 40 shows a lane image displayed on the display device 21B when the host vehicle A completes the lane change to the travel lane of the other vehicle B. At this time, feedback from the display control device 105A to the display control device 105B is not performed, and the lane objects 51A, 51B, and 51C are displayed in the same color, and the height difference is not expressed between them.
　なお、自車両Ａが優先順位の低い車線から他車両Ｂに近づく際、表示制御装置１０５Ａから表示制御装置１０５Ｂへのフィードバックを行われない。従って、図３７に示したように、表示装置２１Ｂに表示される車線画像では各車線オブジェクト間に色の区別または高低差が設けられない。しかし、図４１に示すように、表示装置２１Ｂに表示される車線画像において、他車両Ｂの走行車線を表す車線オブジェクト５１Ｂを他の車線オブジェクト５１Ａ，５１Ｃと異なる色で表示しても良い。これにより、他車両Ｂの運転者は他車両Ｂが自車両Ａに優先することを把握することができる。 In addition, when the own vehicle A approaches the other vehicle B from the lane with a low priority, feedback from the display control apparatus 105A to the display control apparatus 105B is not performed. Therefore, as shown in FIG. 37, in the lane image displayed on the display device 21B, no distinction of color or height difference is provided between the lane objects. However, as shown in FIG. 41, in the lane image displayed on the display device 21B, the lane object 51B representing the traveling lane of the other vehicle B may be displayed in a color different from that of the other lane objects 51A and 51C. Thereby, the driver of the other vehicle B can grasp that the other vehicle B gives priority to the own vehicle A.
　＜Ｅ－３．効果＞
　実施の形態５の表示制御装置１０５Ａは、自車両の走行車線の隣接車線を走行する他車両を検出する他車両検出部１６Ａを備える。そして、表示制御装置１０５Ａは他車両検出部１６Ａが他車両を検出した場合には表示制御装置１０５Ｂにフィードバックを行うことにより、車線画像を他車両に搭載された第２表示装置である表示装置２１Ｂに表示させる。従って、実施の形態５によれば、自車両の運転者だけでなく、他車両の運転者にもラウンドアバウトの各車線の優先順位を把握させることができる。その結果、自車両は他車両の近くでスムーズに車線変更を行うことができる。 E-3. Effect>
The display control device 105A of the fifth embodiment includes the other vehicle detection unit 16A that detects another vehicle traveling in a lane adjacent to the travel lane of the own vehicle. Then, when the other vehicle detection unit 16A detects another vehicle, the display control device 105A performs feedback to the display control device 105B to display a lane image on the other vehicle as a second display device 21B. Display on. Therefore, according to the fifth embodiment, not only the driver of the host vehicle but also the driver of another vehicle can be made to grasp the priority of each lane of the roundabout. As a result, the vehicle can change lanes smoothly near other vehicles.
　＜Ｆ．ハードウェア構成＞
　上述した表示制御装置１０１，１０２，１０３，１０４，１０５Ａ，１０５Ｂにおける、地図データ取得部１１，１１Ａ，１１Ｂ、優先順位設定部１２，１２Ａ，１２Ｂ、画像作成部１３，１３Ａ，１３Ｂ、表示制御部１４，１４Ａ，１４Ｂ、走行車線推定部１５，１５Ａ，１５Ｂ、他車両検出部１６、通信部１７Ａ，１７Ｂは、図４２に示す処理回路８１により実現される。すなわち、処理回路８１は、地図データ取得部１１，１１Ａ，１１Ｂ、優先順位設定部１２，１２Ａ，１２Ｂ、画像作成部１３，１３Ａ，１３Ｂ、表示制御部１４，１４Ａ，１４Ｂ、走行車線推定部１５，１５Ａ，１５Ｂ、他車両検出部１６、通信部１７Ａ，１７Ｂ（以下、画像作成部１３等と称する）を備える。処理回路８１には、専用のハードウェアが適用されても良いし、メモリに格納されるプログラムを実行するプロセッサが適用されても良い。プロセッサは、例えば中央処理装置、処理装置、演算装置、マイクロプロセッサ、マイクロコンピュータ、ＤＳＰ（Digital Signal Processor）等である。 <F. Hardware configuration>
Map data acquisition unit 11, 11A, 11B, priority setting unit 12, 12A, 12B, image creation unit 13, 13A, 13B, display control unit in the display control device 101, 102, 103, 104, 105A, 105B described above Reference numerals 14, 14A, 14B, traveling lane estimation units 15, 15A, 15B, other vehicle detection unit 16, and communication units 17A, 17B are realized by a processing circuit 81 shown in FIG. That is, the processing circuit 81 includes the map data acquisition unit 11, 11A, 11B, the priority setting unit 12, 12A, 12B, the image creation unit 13, 13A, 13B, the display control unit 14, 14A, 14B, the traveling lane estimation unit 15 , 15A, 15B, another vehicle detection unit 16, and communication units 17A, 17B (hereinafter referred to as the image creation unit 13 etc.). Dedicated hardware may be applied to the processing circuit 81, or a processor that executes a program stored in a memory may be applied. The processor is, for example, a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, a DSP (Digital Signal Processor) or the like.
　処理回路８１が専用のハードウェアである場合、処理回路８１は、例えば、単一回路、複合回路、プログラム化したプロセッサ、並列プログラム化したプロセッサ、ＡＳＩＣ（Application Specific Integrated Circuit）、ＦＰＧＡ（Field-Programmable Gate Array）、またはこれらを組み合わせたものが該当する。画像作成部１３等の各部の機能それぞれは、複数の処理回路８１で実現されてもよいし、各部の機能をまとめて一つの処理回路で実現されてもよい。 When the processing circuit 81 is dedicated hardware, the processing circuit 81 may be, for example, a single circuit, a complex circuit, a programmed processor, a parallel programmed processor, an application specific integrated circuit (ASIC), an FPGA (field-programmable) Gate Array) or a combination thereof is applicable. The functions of the respective units such as the image creating unit 13 may be realized by a plurality of processing circuits 81, or the functions of the respective units may be collectively realized by one processing circuit.
　処理回路８１がプロセッサである場合、画像作成部１３等の機能は、ソフトウェア等（ソフトウェア、ファームウェアまたはソフトウェアとファームウェア）との組み合わせにより実現される。ソフトウェア等はプログラムとして記述され、メモリに格納される。図４３に示すように、処理回路８１に適用されるプロセッサ８２は、メモリ８３に記憶されたプログラムを読み出して実行することにより、各部の機能を実現する。すなわち、表示制御装置１０１，１０２，１０３，１０４，１０５Ａは、処理回路８１により実行されるときに、複数車線を有するラウンドアバウトの地図データを取得するステップと、ラウンドアバウトの各車線の優先順位を設定するステップと、地図データを基にラウンドアバウトの各車線を優先順位に応じた態様で表す車線画像を作成するステップと、車線画像を自車両に搭載された第１表示装置に表示させるステップと、が結果的に実行されることになるプログラムを格納するためのメモリ８３を備える。換言すれば、このプログラムは、画像作成部１３等の手順や方法をコンピュータに実行させるものであるともいえる。ここで、メモリ８３には、例えば、ＲＡＭ（Random Access Memory）、ＲＯＭ（Read Only Memory）、フラッシュメモリ、ＥＰＲＯＭ（Erasable Programmable Read Only Memory）、ＥＥＰＲＯＭ（Electrically Erasable Programmable Read Only Memory）などの、不揮発性または揮発性の半導体メモリ、ＨＤＤ（Hard Disk Drive）、磁気ディスク、フレキシブルディスク、光ディスク、コンパクトディスク、ミニディスク、ＤＶＤ（Digital Versatile Disk）及びそのドライブ装置等、または、今後使用されるあらゆる記憶媒体であってもよい。 When the processing circuit 81 is a processor, the functions of the image creating unit 13 and the like are realized by a combination of software and the like (software, firmware or software and firmware). Software and the like are described as a program and stored in a memory. As shown in FIG. 43, the processor 82 applied to the processing circuit 81 reads out and executes the program stored in the memory 83 to realize the function of each part. That is, when executed by the processing circuit 81, the display control devices 101, 102, 103, 104, and 105A acquire the map data of the roundabout having a plurality of lanes, and the priority of each lane of the roundabout The steps of setting, creating a lane image representing each lane of the roundabout according to the priority based on the map data, and displaying the lane image on the first display device mounted on the vehicle , A memory 83 for storing a program that is to be executed as a result. In other words, it can be said that this program causes a computer to execute the procedures and methods of the image creation unit 13 and the like. Here, the memory 83 is, for example, non-volatile, such as random access memory (RAM), read only memory (ROM), flash memory, erasable programmable read only memory (EPROM), electrically erasable programmable read only memory (EEPROM), etc. Or volatile semiconductor memory, HDD (Hard Disk Drive), magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD (Digital Versatile Disk) and its drive device etc., or any storage medium used in the future It may be.
　以上、画像作成部１３等の各機能が、ハードウェア及びソフトウェア等のいずれか一方で実現される構成について説明した。しかしこれに限ったものではなく、画像作成部１３等の一部を専用のハードウェアで実現し、別の一部をソフトウェア等で実現する構成であってもよい。例えば、画像作成部１３については専用のハードウェアとしての処理回路でその機能を実現し、それ以外についてはプロセッサ８２としての処理回路８１がメモリ８３に格納されたプログラムを読み出して実行することによってその機能を実現することが可能である。 In the above, the structure by which each function of the image creation part 13 grade | etc., Is implement | achieved by either hardware, software, etc. was demonstrated. However, the present invention is not limited to this, and a part of the image creating unit 13 or the like may be realized by dedicated hardware, and another part may be realized by software or the like. For example, the function of the image creating unit 13 is realized by a processing circuit as dedicated hardware, and the processing circuit 81 as the processor 82 reads and executes the program stored in the memory 83 for other than that. It is possible to realize the function.
　以上のように、処理回路は、ハードウェア、ソフトウェア等、またはこれらの組み合わせによって、上述の各機能を実現することができる。 As described above, the processing circuit can implement each of the functions described above by hardware, software, etc., or a combination thereof.
　また、上記ではナビゲーション装置１を車載装置として説明したが、車載装置、ＰＮＤ（Portable Navigation Device）、通信端末（例えば携帯電話、スマートフォン、およびタブレットなどの携帯端末）、およびこれらにインストールされるアプリケーションの機能、並びにサーバなどを適宜に組み合わせてシステムとして構築されるシステムにも適用することができる。この場合、以上で説明した表示制御装置１０１，１０２，１０３，１０４，１０５Ａ，１０５Ｂの各機能または各構成要素は、システムを構築する各機器に分散して配置されてもよいし、いずれかの機器に集中して配置されてもよい。 Furthermore, although the navigation apparatus 1 has been described above as an in-vehicle apparatus, the in-vehicle apparatus, a portable navigation device (PND), a communication terminal (for example, a portable terminal such as a mobile phone, a smartphone, and a tablet) and applications installed in these The present invention can also be applied to a system configured as a system by appropriately combining functions, servers, and the like. In this case, the functions or components of the display control devices 101, 102, 103, 104, 105A, and 105B described above may be distributed and disposed in the devices constituting the system, or any one of them. It may be placed centrally on the device.
　図４４は、自車両ＡとサーバＳに表示制御装置１０１の構成が分散して配置された例を示している。この構成において、表示制御部１４と表示装置２１が自車両Ａに配置され、地図データ取得部１１、優先順位設定部１２、および画像作成部１３がサーバＳに配置される。 FIG. 44 shows an example in which the configuration of the display control device 101 is distributed and arranged between the host vehicle A and the server S. In this configuration, the display control unit 14 and the display device 21 are disposed in the host vehicle A, and the map data acquisition unit 11, the priority setting unit 12, and the image creation unit 13 are disposed in the server S.
　なお、本発明は、その発明の範囲内において、各実施の形態を自由に組み合わせたり、各実施の形態を適宜、変形、省略したりすることが可能である。 In the present invention, within the scope of the invention, each embodiment can be freely combined, or each embodiment can be appropriately modified or omitted.
　この発明は詳細に説明されたが、上記した説明は、すべての態様において、例示であって、この発明がそれに限定されるものではない。例示されていない無数の変形例が、この発明の範囲から外れることなく想定され得るものと解される。 Although the present invention has been described in detail, the above description is an exemplification in all aspects, and the present invention is not limited thereto. It is understood that countless variations not illustrated are conceivable without departing from the scope of the present invention.
　１１，１１Ａ，１１Ｂ　地図データ取得部、１２，１２Ａ，１２Ｂ　優先順位設定部、１３，１３Ａ，１３Ｂ　画像作成部、１４，１４Ａ，１４Ｂ　表示制御部、１５，１５Ａ，１５Ｂ　走行車線推定部、１６，１６Ａ　他車両検出部、１７Ａ，１７Ｂ　通信部、２１，２１Ａ，２１Ｂ　表示装置、２２　自車位置検出装置、２３　車線変更入力装置、２４　周辺検出装置、５１Ａ，５１Ｂ，５１Ｃ　車線オブジェクト、５４　自車両アイコン、５５　車線変更経路、５６，６３　矢印、５７　他車両アイコン、６０　フロントガラス、６１　白線、６２　段差、６４　線、８１　処理回路、８２　プロセッサ、８３　メモリ、１０１，１０２，１０３，１０４，１０５Ａ，１０５Ｂ　表示制御装置。 11, 11A, 11B map data acquisition unit, 12, 12A, 12B priority setting unit, 13, 13A, 13B image creation unit, 14, 14A, 14B display control unit, 15, 15A, 15B traveling lane estimation unit 16, 16, 16A Other Vehicle Detection Unit, 17A, 17B Communication Unit, 21, 21A, 21B Display Device, 22 Own Vehicle Position Detection Device, 23 Lane Change Input Device, 24 Peripheral Detection Device, 51A, 51B, 51C Lane Object, 54 Own Vehicle Icon , 55 lane change path, 56, 63 arrow, 57 other vehicle icon, 60 front glass, 61 white line, 62 step, 64 line, 81 processing circuit, 82 processor, 83 memory, 101, 102, 103, 104, 105A, 105B Display control device.

Claims (10)

  1. 　複数車線を有するラウンドアバウトの地図データを取得する地図データ取得部と、
    　前記ラウンドアバウトの各車線の優先順位を設定する優先順位設定部と、
    　前記地図データを基に、前記ラウンドアバウトの各車線を前記優先順位に応じた態様で表す車線画像を作成する画像作成部と、
    　前記車線画像を自車両に搭載された第１表示装置に表示させる表示制御部と、
    を備える、
    表示制御装置。     A map data acquisition unit that acquires map data of a roundabout having multiple lanes;
    A priority setting unit that sets a priority of each lane of the roundabout;
    An image creation unit that creates a lane image representing each lane of the roundabout in a mode according to the priority based on the map data;
    A display control unit configured to display the lane image on a first display device mounted on the host vehicle;
    Equipped with
    Display control device.
  2. 　前記優先順位に応じた態様とは、優先順位が高い車線ほど高く優先順位が低い車線ほど低く見える態様である、
    請求項１に記載の表示制御装置。     The mode according to the priority is a mode in which the higher the priority lane is, the higher the lower priority lane is.
    The display control device according to claim 1.
  3. 　前記画像作成部は、前記自車両がラウンドアバウト内で車線変更を行う際、車線変更前後の車線に跨り、車線変更前後の車線の優先順位の変化を表す車線変更線を前記車線画像に付加する、
    請求項２に記載の表示制御装置。     When the vehicle changes lanes in a roundabout, the image creating unit straddles the lanes before and after the lane change, and adds a lane change line representing a change in priority of the lanes before and after the lane change to the lane image ,
    The display control device according to claim 2.
  4. 　前記車線変更線は、前記車線変更前後の車線の前記車線画像における高低差に応じた傾斜を有するように表される、
    請求項３に記載の表示制御装置。     The lane change line is expressed so as to have a slope according to the height difference in the lane image of the lane before and after the lane change.
    The display control device according to claim 3.
  5. 　前記車線変更線は、前記車線変更前後の車線の優先順位の変化方向に応じた色で表される、
    請求項３に記載の表示制御装置。     The lane change line is represented by a color according to the change direction of the priority of the lane before and after the lane change.
    The display control device according to claim 3.
  6. 　前記画像作成部は、前記自車両の走行車線に隣接する車線を走行する他車両が前記自車両から予め定められた距離以内にいる場合に、前記他車両の走行車線と前記自車両の走行車線とを、前記優先順位に応じた態様で表す前記車線画像を作成する、
    請求項１に記載の表示制御装置。     When the other vehicle traveling in a lane adjacent to the traveling lane of the own vehicle is within a predetermined distance from the own vehicle, the image creating unit is configured to travel the traveling lane of the other vehicle and the traveling lane of the own vehicle Creating the lane image in which the image is represented in a manner according to the priority,
    The display control device according to claim 1.
  7. 　前記自車両の走行車線に隣接する車線を走行する他車両のウィンカー動作状況を検出する他車両ウィンカー検出部をさらに備え、
    　前記画像作成部は、前記他車両が前記自車両の走行車線の方向にウィンカーを出した場合に、前記他車両の走行車線と前記自車両の走行車線とを、前記優先順位に応じた態様で表す前記車線画像を作成する、
    請求項１に記載の表示制御装置。     The vehicle further includes an other-vehicle blinker detection unit that detects a blinker operating condition of another vehicle traveling in a lane adjacent to the traveling lane of the own vehicle.
    When the other vehicle outputs a winker in the direction of the traveling lane of the own vehicle, the image creating unit is configured to match the traveling lane of the other vehicle and the traveling lane of the own vehicle according to the priority order. Create said lane image to represent
    The display control device according to claim 1.
  8. 　前記第１表示装置はＨＵＤである、
    請求項１に記載の表示制御装置。     The first display device is a HUD,
    The display control device according to claim 1.
  9. 　前記自車両の走行車線の隣接車線を走行する他車両を検出する他車両検出部をさらに備え、
    　前記他車両検出部が前記他車両を検出した場合に前記車線画像を前記他車両に搭載された第２表示装置に表示させる、
    請求項１に記載の表示制御装置。     The vehicle further includes an other-vehicle detection unit that detects another vehicle traveling in a lane adjacent to the traveling lane of the vehicle.
    When the other vehicle detection unit detects the other vehicle, the lane image is displayed on a second display device mounted on the other vehicle.
    The display control device according to claim 1.
  10. 　複数車線を有するラウンドアバウトの地図データを取得し、
    　前記ラウンドアバウトの各車線の優先順位を設定し、
    　前記地図データを基に、前記ラウンドアバウトの各車線を前記優先順位に応じた態様で表す車線画像を作成し、
    　前記車線画像を自車両に搭載された第１表示装置に表示させる、
    表示制御方法。     Obtain map data of roundabouts with multiple lanes,
    Set the priority of each lane of the roundabout,
    Based on the map data, a lane image representing each lane of the roundabout in a mode according to the priority is created.
    Displaying the lane image on a first display device mounted on the host vehicle;
    Display control method.
PCT/JP2017/033678 2017-09-19 2017-09-19 Display control device and display control method WO2019058414A1 (en)

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CN112923935A (en) * 2021-01-28 2021-06-08 腾讯科技（深圳）有限公司 Method, device and equipment for drawing roundabout route and storage medium

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