WO2019065513A1

WO2019065513A1 - Control device, control method, program, and recording medium

Info

Publication number: WO2019065513A1
Application number: PCT/JP2018/035108
Authority: WO
Inventors: 伊藤　友二
Original assignee: パイオニア株式会社
Priority date: 2017-09-26
Filing date: 2018-09-21
Publication date: 2019-04-04
Also published as: JPWO2019065513A1; JP2023033301A; JP2021142977A; JP6878606B2

Abstract

Provided is a control device for presenting distance information between an own vehicle and peripheral vehicles to a user such that the user can intuitively recognize the distance. The control device performs control to output at least one of an image and voice with a pattern corresponding to the distance between the own vehicle and a peripheral vehicle, and outputs at least one of the image and the voice on the basis of the control in order to make the user recognize the distance between the own vehicle and the peripheral vehicle.

Description

CONTROL DEVICE, CONTROL METHOD, PROGRAM, AND RECORDING MEDIUM

The present invention relates to a control device, a control method, a program and a recording medium.

There is known a device for displaying a distance to an object on a meter panel or a display as a bar graph or a number when the vehicle is traveling.

Further, in Patent Document 1, according to movement information and position information of a moving object, the driver's perceived distance by the motion parallax of the driver-provided information image is changed, and the driving lane is controlled under the control of the image control device 250. An information providing device is disclosed that displays navigation images such as an instruction image 711, an inter-vehicle distance presentation image 712, a route specification image 721, a remaining distance image 722, an intersection etc. name image 723 in the upper display area of the display area 700.

Further, in Patent Document 2, three sub blocks that are constantly displayed and three blocks 40a to 40c that can switch the display state and the non-display state, between the own vehicle symbol 39a and the preceding vehicle symbol 39b 41a to 41c are arranged in correspondence with each other, and an on-vehicle display device showing "large", "medium" and "small" of the inter-vehicle distance is disclosed according to the number of lights of the three blocks 40a to 40c There is.

JP, 2016-203850, A JP 2001-63401 A

However, in the technology described in Patent Document 1, there is room for improvement from the viewpoint of informing the passenger of the distance between the own vehicle and the surrounding vehicles in an easily understandable manner.
Further, in the technology described in Patent Document 2, there is a problem that the driver or the like feels troublesome because the leading vehicle symbol, the sub block, and the like are always displayed.
Then, the problem mentioned above is mentioned as an example in the subject which this invention tends to solve.

The present invention has been made in view of the problems cited above as an example, and a control device, control method, program and recording medium for intuitively presenting the user with distance information between the host vehicle and surrounding vehicles. The main purpose is to provide.

According to the first aspect of the present invention, there is provided an output unit for outputting at least one of an image and a voice, and a control unit for controlling the output unit, in order to make the user recognize the distance between the own vehicle and the surrounding vehicles. The control unit is a control device that controls the output unit to output at least one of an image and a sound in a pattern according to the distance.

According to a tenth aspect of the present invention, there is provided an output unit for outputting at least one of an image and a voice, and a control unit for controlling the output unit, in order to make the user recognize the distance between the own vehicle and the surrounding vehicles. , And the control unit outputs at least one of an image and a sound in a pattern according to a time required for the vehicle to reach the position of the surrounding vehicle at a predetermined timing. It is characterized by being a control device which controls an output part.

The invention according to claim 11 is a control method in a control device including a control unit and an output unit, wherein at least one of an image and a sound is a pattern according to a distance between a host vehicle and a surrounding vehicle. In order to make the user recognize the distance between the host vehicle and the surrounding vehicle based on the control of the first step of controlling the output of the output unit so as to output And a second step of outputting one of an image and a sound.

The invention according to claim 12 is a program for causing a computer to execute the control method according to claim 11.

The invention according to claim 13 is a recording medium having the program according to claim 12 recorded thereon.

It is a figure showing an example of composition of a system concerning an example, and a control device. It is a figure showing an example of the circuit block of the control device concerning an example. It is a figure which shows an example of the image display which the output part in the control apparatus which concerns on an Example outputs. It is a figure which shows an example of the output timing of the output part in the control apparatus which concerns on an Example. It is the figure which showed the output timing of the output part in the control apparatus of FIG. 4 more concretely. It is the figure which showed the output timing of the output part in the control apparatus of FIG. 4 more concretely. It is a figure which shows an example of the image display position which the output part in the control apparatus which concerns on an Example outputs. It is a figure which shows an example of the image display position adjustment which the output part in the control apparatus which concerns on an Example outputs. In the control device according to the embodiment, it is a diagram showing an example of the timing of image display and sound output that the output unit outputs at the time of high speed traveling. The control apparatus which concerns on an Example WHEREIN: It is a figure which shows an example of the timing of the image display and audio | voice output which an output part outputs at the time of medium and low speed driving | running | working. FIG. 7 is a diagram showing an example of timing of image display and audio output which the output unit outputs when an interrupt occurs in the control device according to the embodiment. FIG. 7 is a diagram illustrating an example of timing of position control of an image display output by an output unit according to position information and a steering angle and timing of audio output in the control device according to the embodiment. The control apparatus which concerns on an Example WHEREIN: It is the figure which showed the modification of the image display method. The control apparatus which concerns on an Example WHEREIN: It is the figure which showed the modification of the image display method. It is a processing flow figure in a control device concerning an example.

Embodiment
Hereinafter, a control device according to an embodiment of the present invention will be described.

A control device according to an embodiment of the present invention includes an output unit and a control unit.
The output unit executes display of only an image, output of only sound, or both of display of an image and output of sound in order to make the user recognize the distance between the host vehicle and the surrounding vehicle.
The control unit controls the output unit. More specifically, the control unit executes the display of only the image, the output of only the sound, or both the display of the image and the output of the sound in a pattern according to the distance between the host vehicle and the surrounding vehicles. Control the output unit. Note that the display of only the image, the output of only the sound, or the execution of both the display of the image and the output of the sound may be made by the user, for example, according to the traveling condition of the vehicle and the surrounding environment. It may be done automatically.

According to the above configuration, the output unit displays only the image so that the user can recognize the distance between the host vehicle and the surrounding vehicle by the control unit in an individual pattern according to the distance between the host vehicle and the surrounding vehicle. , Audio-only output, or both image display and audio output. Here, the host vehicle and the surrounding vehicles include manually operated vehicles and autonomously operated vehicles. Further, the display of the image may be performed on a windshield, a meter panel, a display panel or the like.
Also, an output form that allows the user to recognize the distance between the host vehicle and the surrounding vehicle is not particularly limited, but a form that allows the user to intuitively recognize the distance between the host vehicle and the surrounding vehicle is preferable. .

Therefore, the output unit displays the image only, outputs only the sound so that the user can recognize the distance between the vehicle and the surrounding vehicle by using the individual pattern according to the distance between the vehicle and the surrounding vehicle. Alternatively, both image display and audio output are performed. Therefore, distance information between the host vehicle and the surrounding vehicle can be intuitively presented to the user.

In addition, the control unit of the control device according to another embodiment of the present invention displays only the image in a pattern according to the time required for the own vehicle to reach the position of the surrounding vehicle at a predetermined timing. The output unit is controlled to execute only the output of the image or the display of the image and the output of the sound. Note that the display of only the image, the output of only the sound, or the execution of both the display of the image and the output of the sound may be made by the user, for example, according to the traveling condition of the vehicle and the surrounding environment. It may be done automatically.

According to the above configuration, the output unit causes the control unit to provide the user with the vehicle and the surrounding vehicle in individual patterns according to the time required for the vehicle to reach the position of the surrounding vehicle at a predetermined timing. In order to recognize the distance, display of only the image, output of only the sound, or both of display of the image and output of the sound are performed.
An output form that allows the user to recognize the distance between the host vehicle and the surrounding vehicle is not particularly limited, but a form that allows the user to intuitively recognize the distance between the host vehicle and the surrounding vehicle is preferable. .

Therefore, the image is output so that the user can recognize the distance between the vehicle and the surrounding vehicle in a pattern according to the time required for the vehicle to reach the position of the surrounding vehicle at a predetermined timing. Perform only display, audio only output, or both image display and audio output. Therefore, distance information between the host vehicle and the surrounding vehicle can be intuitively presented to the user.

In another embodiment of the present invention, in the control method, the output of the output unit is controlled to output at least one of an image and a sound in a pattern according to the distance between the host vehicle and the surrounding vehicle. A second step of outputting at least one of an image and a voice in order to make the user recognize the distance between the own vehicle and the surrounding vehicle based on the first step and the control of the first step; including. Thus, distance information between the host vehicle and the surrounding vehicle can be intuitively presented to the user.

Moreover, in another embodiment of the present invention, the program executed by the computer is an output of the output unit so as to output at least one of an image and a sound in a pattern according to the distance between the host vehicle and the surrounding vehicles. A second step of outputting at least one of an image and a voice to make the user recognize the distance between the own vehicle and the surrounding vehicle based on the first step of controlling the first step and the control of the first step Making the computer execute the steps. Thus, distance information between the host vehicle and the surrounding vehicle can be intuitively presented to the user.

Further, in another embodiment of the present invention, a recording medium storing a program to be executed by a computer outputs at least one of an image and a sound in a pattern according to the distance between the host vehicle and a surrounding vehicle. In order to make the user recognize the distance between the own vehicle and the surrounding vehicles based on the first step of controlling the output of the output unit and the control of the first step, at least one of the image and the voice Recording a program for causing the computer to execute a second step of outputting Thus, distance information between the host vehicle and the surrounding vehicle can be intuitively presented to the user.

<Example>
Embodiments of the present invention will be described below with reference to FIGS. 1 to 15. In the following, mainly performing time control and performing various controls will be described as an example, but it is also possible to perform various controls using the distance between the own vehicle and the surrounding vehicles as a measure.

<System configuration>
As shown in FIG. 1, a system including a control device according to the present embodiment includes a control device 100, a vehicle information acquisition device 200, and a display device 300.

The control device 100 is configured to include a control unit 110 and an output unit 120.
The control unit 110 is an output unit described later so as to execute display of only an image, output of only sound, or both of display of image and output of sound in a pattern according to the distance between the host vehicle and the surrounding vehicles. Control 120 Under the control of the control unit 110, the output unit 120 performs display processing of only an image, output processing of only voice, in order to cause a user (hereinafter referred to as an occupant) to recognize the distance between the own vehicle and surrounding vehicles. Alternatively, both image display processing and audio output processing are performed.
In the following, the case of only images is referred to as “display”, the case of only voices is referred to as “output”, and the case of both image and sound or both of image and sound is referred to as “presentation”. Express.

The control unit 110 includes a beat time setting unit 111 and a presentation information control unit 112. The presentation information control unit 112 is configured to include a presentation information beat control unit 113, an attention presentation ON / OFF unit 114, a warning presentation ON / OFF unit 115, and a presentation information ON / OFF unit 116.

The heartbeat time setting unit 111 sets a display or output heartbeat time for at least one of an image and a sound at a point determined in advance according to the arrival time of the host vehicle.
In addition, points determined in advance by the arrival time of the vehicle, specific beat time, display patterns of images, and output patterns of sound will be described in detail later.

The presentation information beat control unit 113 receives information from the peripheral vehicle relative speed acquisition unit 206 and time information until the host vehicle obtained from the peripheral vehicle position arrival time acquisition unit 204 in the vehicle information acquisition apparatus 200 described later reaches the peripheral vehicle. A presentation target is determined based on the obtained relative speed information of the own vehicle and the surrounding vehicles. Then, the presentation information and beat control unit 113 controls the attention presentation ON / OFF unit 114 and the warning presentation ON / OFF unit 115 so that the presentation target is presented by the phrase time set in the phrase time setting unit 111. Do.

The attention presentation ON / OFF unit 114, for example, pays attention to the occupant of the own vehicle regarding the approach to the surrounding vehicle among points predetermined by the arrival time of the own vehicle set by the heartbeat time setting unit 111. Presentation of a predetermined range (attention presentation range) as a target range to be prompted is performed based on the control of the presentation information and beat control unit 113.
The warning presentation ON / OFF unit 115 executes, for example, presentation (warning presentation) of information notifying an abnormal approach between the host vehicle and the surrounding vehicle to the occupant of the host vehicle based on the control of the presentation information beat control unit 113. Do.
The presentation information ON / OFF unit 116 controls the output unit 120 regarding ON / OFF of presentation information output.

The output unit 120 includes an audio processing unit 121, an image processing unit 122, and a presentation position adjustment unit 123.

The voice processing unit 121 controls the presentation information and beat control unit 113 in the control unit 110 to output from the voice output unit 403 described later a voice for causing the occupant of the own vehicle to recognize the distance between the own vehicle and the surrounding vehicles. The audio signal is output to the audio output unit 403 at a predetermined timing and for a predetermined period based on the control signal input from the controller. An audio output unit 403 configured by an audio output device such as a speaker outputs audio based on the audio signal from the audio processing unit 121. Here, "period" means time length. The same applies to the case of an image to be described later.

The image processing unit 122 uses the presentation information beat control unit 113 in the control unit 110 to display an image for causing the occupant of the own vehicle to recognize the distance between the own vehicle and the surrounding vehicle on the display device 300 described later. Based on the input control signal, an image signal is output to the display device 300 at a predetermined timing and for a predetermined period.
The presentation position adjustment unit 123 outputs the speed and position of the own vehicle acquired from the own vehicle speed acquisition unit 201 or the own vehicle position acquisition unit 202 in the vehicle information acquisition apparatus 200 described later, and the output signal of the inclination sensor 308 in the display device 300. And outputs a control signal for adjusting the display position of the image to the display angle control unit 306 in the display device 300.

Vehicle information acquisition apparatus 200 includes host vehicle speed acquisition unit 201, host vehicle position acquisition unit 202, peripheral vehicle position acquisition unit 203, peripheral vehicle position arrival time acquisition unit 204, peripheral vehicle speed acquisition unit 205, and peripherals. A vehicle relative speed acquisition unit 206 is included.

The host vehicle speed acquisition unit 201 acquires the speed of the host vehicle based on the output pulse signal from the vehicle speed pulse generator 401, and the presentation position adjustment unit 123 in the output unit 120, the peripheral vehicle position arrival time acquisition unit 204 described later, The acquired vehicle speed information is output to the peripheral vehicle speed acquisition unit 205 and the peripheral vehicle relative speed acquisition unit 206. The vehicle speed pulse generator 401 generates a pulse signal from, for example, a magnet fixed to a wheel or the like of a car and a sensor such as a Hall element provided opposite to the magnet.

The host vehicle position acquisition unit 202 acquires position information of the host vehicle from, for example, a sensor such as a gyro sensor or a geomagnetic sensor, a signal from a GPS satellite, or the like.
The surrounding vehicle position acquisition unit 203 acquires position information of a surrounding vehicle based on sensor information from the surrounding vehicle positioning sensor 402, for example. In addition, the surrounding vehicle positioning sensor 402 may be an infrared sensor, an ultrasonic sensor or the like. In addition, the surrounding vehicle positioning sensor 402 may be a distance measuring sensor using an electromagnetic wave. In this case, the peripheral vehicle positioning sensor 402 emits an electromagnetic wave in a predetermined direction (for example, the traveling direction of the host vehicle), receives the electromagnetic wave reflected by the peripheral vehicle, and analyzes the light reception signal to measure the peripheral vehicle. It becomes possible to acquire distance information between the sensor 402 and the surrounding vehicle that reflected the electromagnetic wave (that is, distance information between the own vehicle and the surrounding vehicle). The acquired distance information may be output to the presentation position adjustment unit 123.

The peripheral vehicle position arrival time acquisition unit 204 receives the position information of the host vehicle from the host vehicle position acquisition unit 202, the position information of the peripheral vehicle from the peripheral vehicle position acquisition unit 203, and the local vehicle relative speed acquisition unit 206 described later. Based on the relative speed information between the vehicle and the surrounding vehicle, the time until the own vehicle reaches the surrounding vehicle is acquired, and the acquired time to reach the peripheral vehicle position is output to the presentation information beat control unit 113 in the control unit 110 .
The surrounding vehicle speed acquisition unit 205 acquires the speed information of the surrounding vehicle by the speed information of the own vehicle from the own vehicle speed acquisition unit 201 and the position information of the surrounding vehicle from the peripheral vehicle position acquisition unit 203, and the acquired surroundings The speed information of the vehicle is output to the peripheral vehicle relative speed acquisition unit 206. The peripheral vehicle speed acquisition unit 205 may acquire the speed information of the peripheral vehicle by performing communication between the peripheral vehicle and the vehicle, for example, and the present invention is not limited to the above-described acquisition method.
The peripheral vehicle relative speed acquisition unit 206 uses the speed information of the host vehicle from the host vehicle speed acquisition unit 201 and the speed information of the peripheral vehicle from the peripheral vehicle speed acquisition unit 205 to obtain relative speed information between the host vehicle and the peripheral vehicle. The acquired relative velocity information is output to the presentation information beat control unit 113 in the control unit 110.

The display device 300 includes a projector 301, a light diverging member 302, a first lens 303, a second lens 304, a concave mirror 305, a display angle control unit 306, a motor 307, and a tilt sensor 308. It is done.

The projector 301 is a so-called light source unit, and for example, an optical element including a laser light source (not shown) is unitized by an optical housing. The light diverging member 302 is, for example, a microlens array, and an intermediate image is formed on the surface thereof. The first lens 303 and the second lens 304 are so-called light reflecting members, and guide the light emitted from the projector 301 to the concave mirror 305. The concave mirror 305 is a so-called projection mirror, which reflects incident light and projects it on the front window glass 404. Thereby, the magnified image of the intermediate image is visually recognized as a virtual image G by the occupant of the host vehicle.

The display angle control unit 306 also outputs a signal for adjusting the display angle of the image to the motor 307 based on the control signal output from the presentation position adjustment unit 123 in the control device 100. The motor 307 rotationally drives the concave mirror 305 in order to adjust the angle of the concave mirror 305. The tilt sensor 308 is a sensor for detecting the tilt of the display device 300.

The display device 300 according to the present embodiment has a front window through an optical system including the projector 301 for causing an occupant of the own vehicle to recognize the distance between the own vehicle and the surrounding vehicle, which the image processing unit 122 outputs. It is projected as a virtual image G on a glass 404. That is, the display device 300 superimposes the virtual image G on a surrounding vehicle that the occupant of the host vehicle visually views, and displays it as an AR image.
Moreover, as an example of the virtual image G, an image etc. which consist of an individual pattern according to the distance of self-vehicles and a surrounding vehicle are mentioned.
An AR image may be displayed by superimposing an image obtained by capturing an image of a surrounding vehicle with an imaging device on a virtual image G projected on the front window glass 404.

<Configuration of Circuit Block of Control Device>
As shown in FIG. 2, the circuit block of the presentation information control unit 112 in the control device 100 includes a presentation information beat control unit 113, an attention presentation ON / OFF unit 114, and a warning presentation ON / OFF unit 115. It consists of
The presented information beat control unit 113 includes seven comparators (CMP1 to CMP7), one OR circuit (OR1), three XOR circuits (XOR1 to XOR3), and two AND circuits (AND5, AND7). , And a presentation information timing counter 113a.
The attention presentation ON / OFF unit 114 is composed of four AND circuits (AND1 to AND4).
The warning presentation ON / OFF unit 115 is configured of one AND circuit (AND 6).

The comparator CMP1 of the presented information beat control unit 113 inputs the arrival time information from the peripheral vehicle position arrival time acquisition unit 204 to one terminal (minus terminal), and sets the phrase time to the other terminal (plus terminal) The b presentation time information from the unit 111 is input, these are compared, and the result is output to the AND 6 of the warning presentation ON / OFF unit 115. CMP2 inputs the a presentation time information from the beat time setting unit 111 to one terminal (minus terminal), inputs the count value of the presentation information timing counter 113a to the other terminal (plus terminal), and compares them And output the result to XOR1. CMP3 inputs the b presentation time information from the beat time setting unit 111 to one terminal (minus terminal), inputs the count value of the presentation information timing counter 113a to the other terminal (plus terminal), and compares them And outputs the result to XOR1, XOR2 and AND5.

CMP4 inputs the c presentation time information from the beat time setting unit 111 into one terminal (minus terminal), inputs the count value of the presentation information timing counter 113a into the other terminal (plus terminal), and compares them And output the result to XOR2 and XOR3. CMP5 inputs the d presentation time information from the beat time setting unit 111 to one terminal (minus terminal), inputs the count value of the presentation information timing counter 113a to the other terminal (plus terminal), and compares them Then, the result is output to the AND 4 of the XOR 3 and the caution presentation ON / OFF unit 114. The CMP 6 inputs presentation upper limit time information from the beat time setting unit 111 into one terminal (minus terminal), inputs the count value of the presentation information timing counter 113a into the other terminal (plus terminal), and compares these And output the result to OR1. The CMP 7 inputs arrival time information from the peripheral vehicle position arrival time acquisition unit 204 into one terminal (minus terminal), inputs the count value of the presentation information timing counter 113a into the other terminal (plus terminal), Compare and output the result to AND7.

The AND circuit AND5 inputs the output signal of CMP1 and the output signal of CMP3, performs an AND operation on these signals, and outputs the result to OR1. The AND 7 performs an AND operation on the output signal of the CMP 1 with the signal input via the NOT circuit and the output signal of the CMP 7, and outputs the result to the OR 1. The OR circuit OR1 performs an OR operation on the output signal of the CMP6, the output signal of the AND5, and the output signal of the AND7, and outputs the result to the presentation information timing counter 113a as a reset signal.

The XOR 1 inputs the comparison result of CMP 2 and the comparison result of CMP 3, performs an exclusive OR operation, and outputs the operation result to the AND 1 of the caution presentation ON / OFF unit 114. The XOR 2 inputs the comparison result of the CMP 3 and the comparison result of the CMP 4, performs an exclusive OR operation, and outputs the operation result to the AND 2 of the caution presentation ON / OFF unit 114. The XOR 3 inputs the comparison result of the CMP 4 and the comparison result of the CMP 5, performs an exclusive OR operation, and outputs the operation result to the AND 3 of the caution presentation ON / OFF unit 114. In addition, the presentation information timing counter 113 a acquires relative speed information between the own vehicle and the surrounding vehicle from the peripheral vehicle relative speed acquisition unit 206 of the vehicle information acquisition device 200. Then, based on the relative speed information from the peripheral vehicle relative speed acquisition unit 206, when the inter-vehicle distance between the host vehicle and the surrounding vehicle has not reached the warning presentation range, for example, the presentation information of the presentation information beat control unit 113 The timing counter 113a executes count-up processing.

The AND 1 of the caution presentation ON / OFF unit 114 performs an AND operation of the signal that is the operation result of the XOR 1 and the signal that is input through the NOT circuit to the comparison result of the CMP 1. And when the said calculation result is "1", AND1 outputs the control signal for outputting a presentation signal which is a caution signal to the output part 120. FIG. The AND 2 performs an AND operation of a signal which is the operation result of the XOR 2 and a signal which is input through the NOT circuit to the comparison result of the CMP 1. And when the said calculation result is "1", AND2 outputs the control signal for outputting b presentation signal which is a caution signal to the output part 120. FIG. The AND 3 performs an AND operation on the signal that is the operation result of the XOR 3 and the signal that is input through the NOT circuit on the comparison result of the CMP 1. And when the said calculation result is "1", AND3 outputs the control signal for outputting c presentation signal which is a caution signal to the output part 120. FIG. The AND 4 performs an AND operation on the comparison result of the CMP 5 and the signal input through the NOT circuit on the comparison result of the CMP 1. And when the said calculation result is "1", AND4 outputs the control signal for outputting d presentation signal which is an attention signal to the output part 120. FIG.

The AND 6 configuring the warning presentation ON / OFF unit 115 performs an AND operation of the comparison result of the CMP 1 and the signal input through the NOT circuit on the operation result of the XOR 1. Then, when the calculation result is “1”, the AND 6 outputs a control signal for outputting an x presentation signal which is a warning signal to the output unit 120.

<Image display example and voice output example>
An image display example and an audio output example according to the present embodiment will be described using FIGS. 3 to 12.

FIG. 3 shows an example of image display according to the present embodiment.
Here, a vehicle S shown in this figure is a real image of a surrounding vehicle that the occupant of the host vehicle sees, and the others are virtual images G output by the output unit 120.

As shown in FIG. 3, a virtual image G is displayed at the upper center of the display area (enclosed by a dashed dotted line in the figure), and further, a d presentation line, c presentation line, b presentation line, a presentation Line is set. Each of the lines for presentation a to the lines for presentation d indicates positions where it is predicted that the host vehicle has arrived after the elapse of predetermined times a to d. In the example of FIG. 3, the predetermined time is after a = 1 second, b = 2 seconds, c = 2.5 seconds, and d = 2.75 seconds, respectively. That is, for example, a-present is a line indicating a position where it is predicted that the host vehicle has arrived after one second. With this configuration, the occupant can intuitively determine the distance between the vehicle and the surrounding vehicle based on the positional relationship between the real image of the surrounding vehicle and the line.
In addition, the display area A is divided into the upper and lower directions of the caution presentation range and the warning presentation range. In addition, as shown in FIG. 3, a bar-type blinking presentation area (La, Lb, Lc, Ld) is also provided on the presentation line to the presentation line d, as shown in FIG. There is.

In FIG. 3, the blinking presentation area is exemplified as a bar form, but each blinking presentation area may be in a form in which a plurality of dots are linearly arranged. In this case, the blinking form may be, for example, a form in which the dots are sequentially repeated from the dots arranged at one end of the linear shape to the dots arranged at the other end of the linear shape. In addition, a plurality of dots are divided into two, and the form is controlled so as to sequentially and repeatedly blink from the linear central portion toward the one end and the other end simultaneously, or conversely, the linear one end At the same time, it may be controlled so as to repeatedly blink from the part and the other end toward the central part.

The presentation timing of each blinking presentation area in FIG. 3 is determined as shown in FIG.
That is, if the presentation upper limit time is 3 seconds and the peripheral vehicle is ahead of d presentation as shown in FIG. 3, as shown in FIG. Presentation is performed, b is presented after the end of a presentation (after 2 seconds from the current time), c presentation is performed after the end of b presentation (after 2.5 seconds from the current time), c after the end of c presentation ( It is a timing setting at which d presentation is made at 2.75 seconds after the current time). Also in the case of voice, voice output is performed at the same timing as described above. Furthermore, here, the presentation timing will be described based on FIG. 3, and the presentation mode when the surrounding vehicle approaches the host vehicle and the beat of each presentation will be described later with reference to FIG.

FIG. 5 and FIG. 6 show the presentation state by the distance interval between the host vehicle and the surrounding vehicles. In the following, the conditions in FIG. 5A to FIG. 5C are referred to as condition 1 to condition 3, and the patterns output when the respective conditions are satisfied are described corresponding to pattern 1 to pattern 3 in FIG. Do.
The details of the presentation process will be described later.

For example, as shown in FIG. 5A, if the time required for the vehicle to reach the position of the surrounding vehicle at this time is between 2.75 seconds and 3 seconds (condition 1), as shown in FIG. As in pattern 1 of 6, the presentation is made. In other words, in the condition 1, there are surrounding vehicles between the position where the host vehicle is expected to arrive after 2.75 seconds and the position where the host vehicle is expected to reach after 3 seconds. It shows the case. Furthermore, in other words, in the condition 1, the position of the surrounding vehicle estimated from the distance information (distance information from the own vehicle to the other vehicle) obtained by the surrounding vehicle positioning sensor 402 travels in 2.75 seconds by the own vehicle It shows a case where the distance between the current position and the position where the vehicle travels in three seconds is different from the current position.
Specifically, when condition 1 is satisfied, a presentation is given for 1 second after 1 second from the current time (0 seconds), and then b presentation is given for 0.5 seconds after the end of a presentation. , B presentation is performed for 0.25 seconds, and c presentation is performed for 0.125 seconds. When the presentation is only an image, the blinking presentation area of a presentation lights up at the above timing, that is, a presentation period of a presentation, and the blinking presentation area of a presentation turns off, b presentation period of b presentation Such presentation is sequentially performed up to d presentation so that the blinking presentation area lights up. In addition, even when the presentation is audio only, the audio is output at the same timing and presentation period. Furthermore, in the case of image and audio presentation, the image and audio are displayed and output at the same timing and presentation period. In addition, when the time required for the own vehicle to reach the position of the surrounding vehicle is 3 seconds or more (in other words, the other vehicle exists only further away than the position where the own vehicle is expected to arrive after 3 seconds) In the case of), any presentation may not be made.

Also, as shown in FIG. 5B, it takes 2 to 2.5 seconds for the vehicle to reach the position of a nearby vehicle at the present time (3 seconds after the timing of FIG. 5A described above). If the time is between seconds (condition 2), a presentation is made as shown in pattern 2 of FIG. In other words, at the present time, there are surrounding vehicles between the position where the host vehicle is expected to arrive after 2 seconds and the position where the host vehicle is expected to reach after 2.5 seconds. It shows the case. Furthermore, in other words, in the condition 2, the position of the surrounding vehicle with respect to the host vehicle estimated from the distance information (distance information from the host vehicle to the other vehicle) obtained by the The figure shows the case where the distance between the current position and the position where the vehicle travels in 2.5 seconds is the distance from the current position.
Specifically, assuming that 3 seconds after the present time (0 second), a presentation is given for 1 second after 1 second, and then b presentation is given for 0.5 seconds after completion of a presentation, c presentation And d presentation is not done. That is, in this case, the blinking areas of c presentation and d presentation are not displayed because they are superimposed on the surrounding vehicles when viewed from the occupant. In other words, the time required for the vehicle to reach the nearby vehicle is shorter than in the situation of FIG. 5A described above (in other words, the distance between the vehicle and the nearby vehicle is shortened) Accordingly, the display pattern is switched to a display pattern that does not display a part of the presentation (in this case, c presentation and d presentation) that is viewed from the occupant and superimposed on the surrounding vehicle.

Furthermore, as shown in FIG. 5C, the time required for the vehicle to reach a nearby vehicle at the present time (after 5.5 seconds from the timing of FIG. 5A described above) is less than 2 seconds. In the case (condition 3), presentation is made as in pattern 3 of FIG. In other words, Condition 3 indicates that a nearby vehicle is present (in the side of the host vehicle) before the position where the host vehicle is predicted to arrive in 2 seconds.
Specifically, a warning image is displayed as x-presentation without presenting all of a-present to d-present.

As described above, the display of only the image, the output of only the sound, or the display of the image and the output of the sound are executed by a plurality of patterns according to the distance between the host vehicle and the surrounding vehicles. Also, the plurality of patterns are output patterns by intermittent images or intermittent audio, respectively, and the intermittent image or intermittent audio output patterns are output as intermittent images or intermittent audio. Output periods are different from each other. For example, as the pattern corresponding to a short distance is short, the output period is set. Therefore, the audio output changes, for example, as “Peen” in a presentation, “Pee” in b presentation, “Pi” in c presentation, and “Pi” in d presentation. In the case of outputting a sound, for example, the pitch may be sequentially increased or decreased from a presentation to d presentation, or the volume may be changed. Here, the "period" refers to the "fixed time" when exactly the same phenomenon is repeated in the same manner every fixed time.

Further, the image is composed of a plurality of images, and the plurality of images are images indicating positions where it is estimated that the vehicle will arrive after different times. Further, the image is an AR image in which the image forming the pattern is superimposed on the peripheral vehicle that the occupant views. In this AR image, when a surrounding vehicle that the occupant visually perceives and a part of the image that forms the pattern overlap, this pattern is switched to a pattern that does not overlap the surrounding vehicle.

<Setting of image display position and adjustment of image display position>
The setting of the image display position and the adjustment of the image display position will be described with reference to FIGS. 7 and 8.
The image display position is calculated from the distance from the ground to the viewpoint position (Leye) of the occupant and the respective distances (La, Lb, Lc, Ld) from the a presentation position to the d presentation position determined by the moving speed of the vehicle. Determine θa to θd, and set the display position of the image so that the images (that is, all from a presentation to d presentation) that constitute each pattern fall within a predetermined display area (for example, display area A in FIG. 3) Set
Specifically, according to the traveling speed of the host vehicle, the depression angle between the a presentation position and the d presentation position changes as shown in FIG. In the example of FIG. 8, when the traveling speed of the host vehicle is 60 km / h or less, the a presenting position exceeds the display lower end angle, so the curve a shown by a dotted line is a adjusted curve a shown by a solid line.

In the example of FIG. 8, the position b may be further adjusted in the direction of the display upper end angle. As described above, by performing the position adjustment, it is possible to set the margin at the time of high speed traveling less.
In addition, a range from the presentation position a to the presentation position d may be fixed within the range of the display lower end angle and the display upper end angle with respect to the entire traveling speed of the host vehicle assumed. At this time, a preset beat may be adjusted. By doing this, it is possible to prevent the display interval from the a presentation position to the c presentation position from being narrowed at the time of high speed traveling.

<Example of image display and sound output according to the situation>
An image display example and an audio output example according to the situation will be described using FIGS. 9 to 12. Below, the conditions shown in FIGS. 9 to 12 (for example, when traveling at high speed in FIG. 9) are regarded as conditions, and the output modes output when the respective conditions are satisfied are patternized (for example, in FIG. The output mode at the time of presentation, and the output mode at the time of warning presentation will be described.
Each figure shows the case of the caution presentation range and the case of the warning presentation range. The display area A is divided into, for example, a lower area displaying the first position information and an upper area displaying the second position information. The first position information is a presentation or warning presentation, and the second position information is b presentation to d presentation. In the lower area of the display area, the traveling speed of the vehicle and the distance to the turning point are also displayed. Further, with the horizon at infinity taken as the vanishing point, the width of the blinking display area is set longer in the order of d presentation, c presentation, b presentation, and a presentation.

FIG. 9 exemplifies an output mode under the conditions when the traveling speed of the vehicle is, for example, 100 km / h at high speed, that is, a pattern example of image display and audio output.
When the surrounding vehicle is within the caution presentation range for the subject vehicle, as shown in the upper part of FIG. 9, a presentation is made for 1 second after 1 second has passed, then, after the a presentation is finished, b presentation is 0 .5 seconds and b. After the end of the presentation, c. Presentation is made for 0.25 seconds and c. After the end of presentation, d. Presentation is made for 0.125 seconds. Also in the case of voice, voice output is performed at the same timing as described above.

On the other hand, as shown in the lower part of FIG. 9, when the surrounding vehicle is within the warning presentation range for the own vehicle, for example, the time required for the own vehicle to reach the location of the surrounding vehicle is less than 2 seconds When it becomes, the b presentation to the d presentation (second position information group) is extinguished, and instead of the a presentation as the first position information, the warning information (warning presentation) blinks in a 2-second cycle, for example indicate. Also in the case of voice, voice output is performed at the same timing as described above.

FIG. 10 exemplifies an output mode under the conditions when the traveling speed of the host vehicle is, for example, 60 km / h at a medium low speed, that is, a pattern example of image display and audio output.
If the surrounding vehicle is within the caution presentation range for the subject vehicle, as shown at the top of FIG. 10, a presentation is made for 1 second after 1 second has passed, then, after the a presentation is completed, b presentation is 0 .5 seconds and b. After the end of the presentation, c. Presentation is made for 0.25 seconds and c. After the end of presentation, d. Presentation is made for 0.125 seconds. Although the display form when the surrounding vehicle is within the caution presenting range is the same as the case of FIG. 9, it is characterized in that the display position of the surrounding vehicle is varied according to the speed.

On the other hand, as shown in the lower part of FIG. 10, when the surrounding vehicle is within the warning presentation range for the own vehicle, for example, the time required for the own vehicle to reach the position of the surrounding vehicle is less than 2 seconds When it becomes, the b presentation to the d presentation (second position information group) is extinguished, and instead of the a presentation as the first position information, the warning information (warning presentation) blinks in a 2-second cycle, for example indicate. Also in the case of voice, voice output is performed at the same timing as described above.

FIG. 11 shows an output mode under the condition when an interruption of a nearby vehicle is generated when the traveling speed of the vehicle is, for example, 60 km / h at a low speed, that is, image display and audio output. The pattern example is illustrated.
It is the same as the case where the surrounding vehicle is within the caution presenting range with respect to the own vehicle before the occurrence of the interruption of the surrounding vehicle. Therefore, as shown in the upper part of FIG. 11, after one second, a presentation is performed for one second, subsequently, after a presentation is completed, b presentation is performed for 0.5 seconds, and after b presentation is completed, c presentation is performed. It is done for 0.25 seconds, and after the end of c presentation, d presentation is done for 0.125 seconds. Also in the case of voice, voice output is performed at the same timing as described above.

On the other hand, as shown in the lower part of FIG. 11, when the surrounding vehicle interrupts within the warning presentation range of the own vehicle, b presentation to d presentation (second position information group) is extinguished, and the first position As information, instead of a presentation, warning information (alert presentation) is displayed in a blinking manner, for example, in a cycle of 2 seconds. Also in the case of voice, voice output is performed at the same timing as described above.

FIG. 12 exemplifies an output mode under the conditions when the traveling speed of the vehicle is, for example, 60 km / h at a low speed, that is, a pattern example of image display and audio output. In the present example, the display position of the surrounding vehicle is varied by the position information of the own vehicle acquired by the own vehicle position acquisition unit 202, the angle of the steering wheel, and the like. For this reason, unlike the above example, since the vanishing point changes, the display positions of b presentation to d presentation are also changed.

Also in this case, if the surrounding vehicle is within the caution presentation range for the subject vehicle, as shown in the upper part of FIG. b presentation is done for 0.5 seconds, b presentation is finished, c presentation is done for 0.25 seconds, c presentation is finished, d presentation is done for 0.125 seconds. Also in the case of voice, voice output is performed at the same timing as described above.

On the other hand, as shown in the lower part of FIG. 12, when the surrounding vehicle is within the warning presentation range with respect to the vehicle, for example, the time required for the vehicle to reach the position of the surrounding vehicle is less than 2 seconds When it becomes, the b presentation to the d presentation (second position information group) is extinguished, and instead of the a presentation as the first position information, the warning information (warning presentation) blinks in a 2-second cycle, for example indicate. Also in the case of voice, voice output is performed at the same timing as described above.

As the image display method, as shown in FIG. 13, the depression angle may be changed according to the velocity so that the first position information and the second position information fall within the display range. Specifically, the depression angle at medium and low speed traveling may be changed based on the depression angle at high speed traveling. By such a change operation, regardless of the traveling speed, the passenger can always visually recognize the first position information and the second position information accurately and intuitively.

Also, the first position information and the second position information may be displayed separately in the depth direction. Specifically, as shown in FIG. 14, the second position information may be displayed at the position Z1, and the first position information may be displayed at the position Z2. By executing such a display method, the occupant can easily grasp the distance to the surrounding vehicle.

<Processing of control device>
The processing of the control device according to the present embodiment will be described using FIG. 15 and FIG.

First, the control unit 110 acquires the speed information of the own vehicle from the own vehicle speed acquisition unit 201 in the vehicle information acquisition device 200, and determines the display position of the ad presentation line (step S101). Next, the control unit 110 acquires the time required for the host vehicle obtained from the peripheral vehicle position arrival time acquisition unit 204 in the vehicle information acquisition device 200 to reach the position of the peripheral vehicle (step S102).

Control unit 110 determines whether the time required for the host vehicle obtained from peripheral vehicle position arrival time acquisition unit 204 in vehicle information acquisition apparatus 200 to reach the position of the peripheral vehicle is longer than the presentation upper limit time. (Step S103). At this time, when control unit 110 determines that the time taken for the own vehicle to reach the position of the surrounding vehicle is longer than the presentation upper limit time ("Yes" in step S103), the virtual image is not displayed (step S104). ), Undo the process.

On the other hand, when control unit 110 determines that the time required for the own vehicle to reach the position of the surrounding vehicle is shorter than the presentation upper limit time (“No” in step S101), image processing unit 122 in output unit 120 And causes the display device 300 to output data for displaying the virtual image G. The virtual image G at this time includes, for example, first position information, vehicle information, and second position information as shown in the upper stage of FIG. 9, and the second position information indicates that the arrival time of the vehicle is, for example, 3 The line of seconds, the line of 2 seconds, and the first position information are images having a line of arrival time of the vehicle, for example, 1 second.

Next, the control unit 110 determines whether the time required for the own vehicle to reach the position of the surrounding vehicle is shorter than the presentation upper limit time and longer than the d presentation time (step S105). At this time, the control unit 110 requires a shorter time for the own vehicle to reach the position of the surrounding vehicle than the presentation upper limit time and a longer time than the d presentation time (for example, the arrival time of the own vehicle is 3 seconds). When it is determined that “Yes” in step S105, the presentation information beat control unit 113 of the control unit 110 is caused to execute presentation control from a presentation to d presentation (step S106).

Specifically, in step S106, when the count value of the presentation information timing counter 113a in the presentation information beat control unit 113 reaches a presentation time, the output signal of CMP2 becomes "1". This signal is output to one input terminal of XOR1. At this time, since “0” is input to the other input terminal of XOR 1, XOR 1 outputs “1”, and this signal is input to one input terminal of AND 1. The output signal of CMP1 is input to the other input terminal of AND1 via the NOT circuit. However, since the output of CMP1 is "0" at this time, "1" is also input to the other input terminal of AND1. Thereby, a presentation is started by outputting "1" from AND1. This a presentation is continued until the output of XOR 1 becomes “0”, that is, until the start of b presentation where the output of CMP 3 becomes “1”.

When the count value of the presentation information timing counter 113a in the presentation information beat control unit 113 reaches b presentation time, the output signal of CMP3 becomes "1". This signal is output to one input terminal of XOR2. At this time, since “0” is input to the other input terminal of XOR 2, XOR 2 outputs “1”, and this signal is input to one input terminal of AND 2. The output signal of CMP1 is input to the other input terminal of AND2 via the NOT circuit. However, since the output of CMP1 is “0” at this time, the other input terminal of AND2 is also "1" is input. Thus, b presentation is started by outputting "1" from AND2. This b presentation is continued until the output of XOR 2 becomes “0”, that is, the start of c presentation where the output of CMP 4 becomes “1”.

In addition, when the count value of the presentation information timing counter 113a in the presentation information beat control unit 113 becomes c presentation time, the output signal of CMP4 becomes "1". This signal is output to one input terminal of XOR3. At this time, since “0” is input to the other input terminal of XOR 3, XOR 3 outputs “1”, and this signal is input to one input terminal of AND 3. The output signal of CMP1 is input to the other input terminal of AND3 via the NOT circuit. However, since the output of CMP1 is "0" at this time, "1" is also input to the other input terminal of AND3. As a result, c presentation is started by outputting "1" from AND3. This c presentation is continued until the output of XOR 3 becomes “0”, that is, the start of d presentation where the output of CMP 5 becomes “1”.

In addition, when the count value of the presentation information timing counter 113a in the presentation information beat control unit 113 becomes d presentation time, the output signal of the CMP 5 becomes "1". This signal is output to one input terminal of AND4. The output signal of CMP1 is input to the other input terminal of AND4 via the NOT circuit. However, at this time, since the output of CMP1 is "0", "1" is also input to the other input terminal of AND4. Thereby, d presentation is started by outputting "1" from AND4. This d presentation is output to the OR 1 until the presentation information timing counter 113 a is reset, that is, the count value of the presentation information timing counter 113 a becomes the presentation upper limit time, the output signal of CMP 6 becomes “1”, It is continued until the reset signal is output to the presentation information timing counter 113a.

On the other hand, when control unit 110 determines that the time taken for the own vehicle to reach the position of the surrounding vehicle is shorter than the presentation upper limit time and shorter than the d presentation time ("No" in step S105), the own vehicle It is determined whether the time required to reach the position of the surrounding vehicle is shorter than the d presentation time and longer than the c presentation time (step S107). At this time, when it is determined that the time required for the own vehicle to reach the position of the surrounding vehicle is shorter than d presentation time and longer than c presentation time (for example, the arrival time is 2.75 seconds). (“Yes” in step S107), the presentation information beat control unit 113 of the control unit 110 is caused to execute presentation control from a presentation to c presentation (step S108).

Specifically, in step S108, when the count value of the presentation information timing counter 113a in the presentation information beat control unit 113 reaches a presentation time, the output signal of CMP2 becomes "1". This signal is output to one input terminal of XOR1. At this time, since “0” is input to the other input terminal of XOR 1, XOR 1 outputs “1”, and this signal is input to one input terminal of AND 1. The output signal of CMP1 is input to the other input terminal of AND1 via the NOT circuit. However, since the output of CMP1 is "0" at this time, "1" is also input to the other input terminal of AND1. Thereby, a presentation is started by outputting "1" from AND1. This a presentation is continued until the output of XOR 1 becomes “0”, that is, until the start of b presentation where the output of CMP 3 becomes “1”.

In addition, when the count value of the presentation information timing counter 113a in the presentation information beat control unit 113 becomes c presentation time, the output signal of CMP4 becomes "1". This signal is output to one input terminal of XOR3. At this time, since “0” is input to the other input terminal of XOR 3, XOR 3 outputs “1”, and this signal is input to one input terminal of AND 3. The output signal of CMP1 is input to the other input terminal of AND3 via the NOT circuit. However, since the output of CMP1 is "0" at this time, "1" is also input to the other input terminal of AND3. As a result, c presentation is started by outputting "1" from AND3. In this c presentation, until the presentation information timing counter 113 a is reset, that is, the count value of the presentation information timing counter 113 a becomes d presentation time, the output signal of CMP 7 becomes “1”, and the output signal of AND 7 becomes It becomes “1” (at this time, “1” is also input to the other input terminal of AND 7 because the output of CMP 1 is “0”), and is output to OR 1 to the presentation information timing counter 113 a It is continued until the reset signal is output.

On the other hand, when control unit 110 determines that the time required for the own vehicle to reach the position of the surrounding vehicle is shorter than d presentation time and shorter than c presentation time (“No” in step S107), own vehicle It is determined whether the time it takes to reach the position of the surrounding vehicle is shorter than c presentation time and longer than b presentation time (step S109). At this time, when it is determined that the time required for the own vehicle to reach the position of the surrounding vehicle is shorter than c presentation time and longer than d presentation time (for example, arrival time is 2.5 seconds). (“Yes” in step S109), the presentation information beat control unit 113 of the control unit 110 is caused to execute presentation control up to a presentation and b presentation (step S110).

Specifically, in step S110, when the count value of the presentation information timing counter 113a in the presentation information beat control unit 113 reaches a presentation time, the output signal of CMP2 becomes "1". This signal is output to one input terminal of XOR1. At this time, since “0” is input to the other input terminal of XOR 1, XOR 1 outputs “1”, and this signal is input to one input terminal of AND 1. The output signal of CMP1 is input to the other input terminal of AND1 via the NOT circuit. However, since the output of CMP1 is "0" at this time, "1" is also input to the other input terminal of AND1. Thereby, a presentation is started by outputting "1" from AND1. This a presentation is continued until the output of XOR 1 becomes “0”, that is, until the start of b presentation where the output of CMP 3 becomes “1”.

When the count value of the presentation information timing counter 113a in the presentation information beat control unit 113 reaches b presentation time, the output signal of CMP3 becomes "1". This signal is output to one input terminal of XOR2. At this time, since “0” is input to the other input terminal of XOR 2, XOR 2 outputs “1”, and this signal is input to one input terminal of AND 2. The output signal of CMP1 is input to the other input terminal of AND2 via the NOT circuit. However, since the output of CMP1 is “0” at this time, the other input terminal of AND2 is also "1" is input. Thus, b presentation is started by outputting "1" from AND2. This b presentation is until the presentation information timing counter 113a is reset, that is, the count value of the presentation information timing counter 113a becomes c presentation time, the output signal of CMP7 becomes "1", and the output signal of AND7 becomes It becomes “1” (at this time, “1” is also input to the other input terminal of AND 7 because the output of CMP 1 is “0”), and is output to OR 1 to the presentation information timing counter 113 a It is continued until the reset signal is output.

On the other hand, when control unit 110 determines that the time taken for the own vehicle to reach the position of the surrounding vehicle is shorter than c presentation time and shorter than d presentation time ("No" in step S109), own vehicle It is determined whether the time required for the vehicle to reach the position of the surrounding vehicle is less than the b presentation time (step S111), and the time required for the vehicle to reach the position of the nearby vehicle is less than the presentation time b If it is determined that the warning presentation has not been received ("Yes" in step S111), the presentation control of the warning presentation is executed (step S112), and the process is ended.

Here, in step S110, since the arrival time of the host vehicle is equal to or less than the b presentation time, the output of CMP1 is "1". The output signal of this CMP1 is input to AND6. At this time, since both input signals of XOR1 are "1", the output signal becomes "0" and "1" is also input to the other terminal of AND6, so that the output of AND6 is "1". Warning is presented. On the other hand, when it is determined that the arrival time of the host vehicle is not b presentation ("No" in step S111), the process returns to step S103.

As described above, according to the present embodiment, the control unit 110 displays only the image, outputs only the sound, or displays the image and the sound in the pattern according to the distance between the host vehicle and the surrounding vehicles. The output unit 120 is controlled to execute both the output and the output. Then, under the control of control unit 110, output unit 120 displays only an image, outputs only sound, or displays an image and outputs sound in order to make the occupant recognize the distance between the host vehicle and the surrounding vehicles. Run both sides. Therefore, distance information between the host vehicle and the surrounding vehicle can be intuitively presented to the occupant.

Further, according to the present embodiment, for example, when the arrival time of the host vehicle is longer than the presentation upper limit time, the display of the virtual image G is not performed. In other words, the display of the virtual image G is not always performed, but is performed when the arrival time of the host vehicle becomes equal to or less than the presentation upper limit time. That is, the display of the virtual image G is performed only when the inter-vehicle distance between the own vehicle and the surrounding vehicle is the attention presenting range, that is, when the attention of the occupant is to be called out. It does not happen. For this reason, compared with the case where the virtual image G is displayed, the driver does not always feel the annoyance felt by the occupant.

According to the present embodiment, the control unit 110 further displays the image only, outputs the sound only, or displays the image and the sound according to a plurality of patterns according to the distance between the host vehicle and the surrounding vehicles. The output unit 120 is controlled to execute both. That is, according to the distance between the own vehicle and the surrounding vehicle, as exemplified in the above, not only one unique pattern according to the distance between the own vehicle and the surrounding vehicle, for example, from a presentation to d presentation Image display and audio output. Therefore, the occupant can intuitively recognize the distance information between the own vehicle and the surrounding vehicle by the unique image display and voice output according to the distance between the own vehicle and the surrounding vehicle.

According to the present embodiment, further, under the control of the control unit 110, the plurality of patterns output by the output unit 120 are respectively output patterns of intermittent images or intermittent audio. That is, as exemplified in the above, for example, according to the distance between the host vehicle and the surrounding vehicle, after the pattern in which only a presentation is presented, the pattern in which b presentation to d presentation are presented sequentially in sequence Are presented intermittently and perform image display and audio output. For this reason, it is possible for the occupant to more intuitively recognize the distance information between the own vehicle and the surrounding vehicles by watching the intermittent image or listening to the intermittent voice.

According to the present embodiment, the output by which the intermittent image or the intermittent audio is output in the intermittent image or the intermittent audio output pattern output by the output unit 120 is further controlled by the control unit 110. Each period is different. That is, the display of the image and the output of the sound are performed with a unique rhythm according to the distance between the own vehicle and the surrounding vehicles. Therefore, since the output period in which the intermittent image or the intermittent sound is output is different, the occupant can more intuitively recognize the distance information between the own vehicle and the surrounding vehicle from the difference in the rhythm. Can. In addition, it does not give an excessive sense of urgency to the occupants.

Further, according to the present embodiment, the image is composed of a plurality of images, and the plurality of images are images indicating positions where it is estimated that the host vehicle will arrive after different times. Therefore, by visually recognizing the plurality of images and the surrounding vehicle, the occupant can accurately and intuitively recognize the distance information between the own vehicle and the surrounding vehicle.

According to this embodiment, the output cycle of the plurality of patterns is set to be shorter as the pattern corresponding to the shorter distance. That is, as illustrated in the above, for example, the output period is sequentially shortened from the output period of a presentation to the output period of d presentation, and the rhythms thereof are different. That is, the rhythm is shorter as the arrival time of the host vehicle is longer and longer as the arrival time is shorter. For this reason, from the difference in the rhythm, the occupant can more intuitively recognize the distance information between the own vehicle and the surrounding vehicles. In addition, it does not give an excessive sense of urgency to the occupants.

Further, according to the present embodiment, the image is an AR image in which the image forming the pattern is superimposed on the surrounding vehicle that the occupant sees. Then, in the AR image, when a peripheral vehicle that the occupant sees substantially and a part of the image that forms the pattern overlap, the control unit 110 configures the pattern with the peripheral vehicles that the occupant substantially views the pattern. Switch to a pattern that does not include a pattern that overlaps with part of the image you That is, as illustrated in the above, from the state in which a presentation to d presentation were initially presented sequentially, the state in which a presentation to c presentation were presented sequentially from a presentation to b presentation However, since the vehicle sequentially transitions to the presented state, the occupant can more intuitively recognize the distance information between the host vehicle and the surrounding vehicle. In addition, it does not give an excessive sense of urgency to the occupants.

According to the present embodiment, when the distance falls within the range of the predetermined threshold, the control unit 110 outputs a warning image instead of the intermittent output pattern of the image. That is, as illustrated in the above, from the state in which a presentation to d presentation were initially presented sequentially, the state in which a presentation to c presentation were presented sequentially from a presentation to b presentation Sequentially transition to the presented state. Then, when the distance is within the range of a predetermined threshold, all the display from a presentation to d presentation and the audio output are stopped, and a warning image is displayed. Therefore, the occupant can be notified of the danger promptly and accurately.

In the present embodiment, it is exemplified that the output period is set shorter as the a presentation to the d presentation correspond to a shorter distance, but the output cycle is longer as the one corresponding to a longer distance. It may be set.

Further, in the present embodiment, it has been described that the warning presentation (x presentation) is performed when the arrival time of the own vehicle reaches the b presentation, but in actuality, the timing of reaching the warning presentation is the speed or the road surface condition, It changes due to factors such as the degree of tire wear and the weather conditions. For this reason, the control device 100 is added with a function capable of detecting change factors such as speed, road surface conditions, tire wear, weather conditions, etc., and the above change along with the condition that the arrival time of the host vehicle has reached b. The timing at which the warning presentation (x presentation) with the factor added may be determined. By adopting such a configuration, it is possible to present a more realistic warning to the occupant.

Further, in the present embodiment, the presentation information timing counter 113a is illustrated as a counter that counts up. However, the presentation information timing counter 113a is configured to be able to acquire the arrival time information and the presentation upper limit time information from the peripheral vehicle position arrival time acquisition unit 204, and the shorter one of the arrival time information and the presentation upper limit time information The time may be set to a default value, and the presentation information timing counter 113a may be counted down from the default value. By setting the presentation information timing counter 113a as described above, for example, assuming that the default value is 2.4 seconds, in the embodiment, in the embodiment, the transition is made from a presentation to b presentation, when the surrounding vehicle is approaching. It is possible to make a transition from b presentation to a presentation. That is, in the embodiment, since the presentation which has been transited from the host vehicle side to the peripheral vehicle side can be transited from the peripheral vehicle side to the host vehicle side, the passenger can more intuitively determine the inter-vehicle distance from the peripheral vehicle Can be recognized.

Further, in the present embodiment, it has been described that a warning presentation (x presentation) is given when the arrival time of the own vehicle reaches b presentation, but, for example, to an approaching road falling object or a large crack on the road surface It is assumed that a warning should be issued other than the distance between vehicles, such as the approach of the vehicle. Therefore, when the control device 100 receives a warning signal from the outside and receives the warning signal, the warning presentation may be performed regardless of the distance between the vehicle and the surrounding vehicle.

<Modification 1>
In the present embodiment, the attention presentation range is used as a presentation range for urging the occupant to warn. Instead of this, this caution presenting range may be used as a presenting range for promoting an inter-vehicle distance for safe operation when traveling at the current speed. Specifically, an image may be displayed as "Please drive within the caution presentation range" or voice guidance may be provided. If the user is about to deviate from the caution presentation range, the user may be reminded by image display or voice guidance again.

Further, in the present embodiment, although the host vehicle is mainly described as a manually driven vehicle, the present invention can be applied even when the host vehicle is an automatically driven vehicle. That is, in the present embodiment, the distance between the own vehicle and the surrounding vehicle is presented to the occupant by ad presentation etc., but the inter-vehicle distance between the own vehicle and the surrounding vehicle is safe, You may make it apply to the vehicle control apparatus which controls the own vehicle. For example, as described above, the warning presentation range is set as a presentation range that promotes an inter-vehicle distance for safe operation when traveling at the current speed. In other words, the inter-vehicle distance at the time when the above-mentioned attentional presentation by the virtual image is started (when the condition 1 is satisfied) is set as the inter-vehicle distance for safe operation. Then, when the surrounding vehicle cuts in or approaches the set caution presentation range (within the inter-vehicle distance), the surrounding vehicle is out of the caution presentation range (that is, it becomes the set inter-vehicle distance) ) May automatically control the traveling speed of the vehicle.

Further, in the case of a manually driven vehicle, even if the vehicle is within the caution presentation range, the driver is driving by himself, so it is not necessary to display a very large warning display until the warning presentation range is reached. On the other hand, in the case of an autonomous driving vehicle, since the vehicle is controlled irrespective of the intention of the occupant, a sense of security can be given to the occupant if the inter-vehicle distance has more margin than in the case of a manually driving vehicle. Can. Therefore, in the case of an autonomous driving vehicle, it is preferable to control the speed of the own vehicle so that the inter-vehicle distance is larger than the caution presentation range.

Further, in the present embodiment, although both the image display and the sound output are mainly illustrated, the image display and the sound output may be selectively switched. In this case, in an autonomous driving vehicle, it is assumed that the occupant is doing something other than driving (for example, watching a television, reading a book, etc.). Therefore, even if an image is displayed, there is a high possibility that the display will not be noticed. Therefore, when the host vehicle is switched from the manual driving mode to the automatic driving mode, the image display may be automatically switched to the audio output.
Also, in the automatic driving mode, when it is detected that the occupant is listening to music (for example, it is detected that the audio device is turned on, or it is detected that the microphone is collecting music) In the case of etc.), even if voice output is performed, it may not be transmitted to the passenger. Therefore, audio output may not be performed, and switching to image display may be performed.

Further, as described above, in the case of automatically controlling the inter-vehicle distance, it may be considered that it is not necessary to perform image display or audio output with respect to the inter-vehicle distance. On the other hand, when the inter-vehicle distance is automatically controlled, if the driver's interest is in "when is it going to the destination" or "where are you traveling now?" The control may be processed in the background without using image display or voice output, and for example, display of a navigation image or voice guidance may be performed by the selection of the occupant.

<Modification 2>
In the present embodiment, an example is shown in which a presentation to d presentation is performed only when a surrounding vehicle enters or approaches the attention presentation range. However, it is also assumed that the occupant wants to confirm the front inter-vehicle distance even if the surrounding vehicles have not entered or approached the caution presentation range. For example, in the expressway, there is a section in which the inter-vehicle distance can be confirmed, but the section is not set at a short interval. For this reason, it is not always possible for a passenger to travel in a section where the inter-vehicle distance can be confirmed at a timing when the inter-vehicle distance is to be confirmed. In addition, some passengers may wish to always check the inter-vehicle distance while traveling.

Therefore, even if the surrounding vehicles have not entered or approached the caution presentation range by the operation of the occupant, an operation unit is added to the control device 100 to enable execution of the a presentation from the a presentation. Good. Specifically, when the driver operates the operation unit, the process described in the above embodiment is forcibly performed.
In addition, it is also assumed that the distance between vehicles which feels safe differs depending on the occupant. Therefore, when the operation unit is operated, a selection screen on which image display and audio output can be customized may be displayed. By displaying the selection screen, the presentation upper limit time can be changed from 3 seconds to 5 seconds, or the type of audio can be selected.
Also, as shown in the first modification, when the host vehicle is a manually driven vehicle, a presentation range that promotes an inter-vehicle distance for safe operation when traveling at the current speed at the caution presentation range set by the occupant. It may be used as For example, an image may be displayed as "Please drive within the caution presentation range" or voice guidance may be provided. If the user is about to deviate from the caution presentation range, the user may be reminded by image display or voice guidance again.

By adding such a function, even if there is no surrounding vehicle ahead, it is possible to display the caution presenting range by the intention of the occupant.
As a result, the driver can travel by using this display to cultivate a sense of safe inter-vehicle distance according to speed, such as how much position in the field of view is a safe inter-vehicle distance.

The control device of the present invention can be realized by recording the processing of the control device on a recording medium readable by a computer system, reading the program recorded on the recording medium into the control device, and executing the program. The computer system referred to here includes hardware such as an OS and peripheral devices.

In addition, the “computer system” also includes the provision environment (or display environment) of the home page if the WWW (World Wide Web) system is used. The program may be transmitted from a computer system in which the program is stored in a storage device or the like to another computer system via a transmission medium or by transmission waves in the transmission medium. Here, the “transmission medium” for transmitting the program is a medium having a function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line.

Further, the program may be for realizing a part of the functions described above. Furthermore, it may be a so-called difference file (difference program) that can realize the above-described functions in combination with a program already recorded in the computer system.

Although the embodiments and examples of the present invention have been described in detail with reference to the drawings, the specific configuration is not limited to these embodiments or examples, and the scope of the present invention is within the scope of the present invention. Design etc. are also included.

100; control device 110; control unit 111; heartbeat time setting unit 112; presentation information control unit 113; presentation information beat control unit 114; attentional presentation ON / OFF unit 115; warning presentation ON / OFF unit 116; presentation information ON / OFF unit 120; output unit 121; audio processing unit 122; image processing unit 123; presentation position adjustment unit

Claims

An output unit that outputs at least one of an image and a sound to cause a user to recognize the distance between the host vehicle and the surrounding vehicle;
A control unit that controls the output unit;
Equipped with
The control unit controls the output unit to output at least one of an image and a sound in a pattern according to the distance.
The control device according to claim 1, wherein the control unit controls the output unit to output at least one of the image and the sound by a plurality of the patterns according to the distance.
The control device according to claim 2, wherein each of the plurality of patterns is an output pattern of intermittent image or intermittent audio.
The control device according to claim 3, wherein the output pattern by the intermittent image or the intermittent audio has different output periods in which the intermittent image or the intermittent audio is output.
The control device according to claim 4, wherein the image is composed of a plurality of images, and the plurality of images are images indicating positions estimated to be reached by the vehicle after different times.
The control device according to claim 2, wherein the output cycle of the plurality of patterns is set shorter as the pattern corresponding to the shorter distance.
The image is an AR image in which the image forming the pattern is superimposed on the surrounding vehicle that the user visually views,
In the AR image, when the surrounding vehicle that the user virtually views and a part of the image that configures the pattern overlap, the control unit causes the user to stereoscopically view the pattern. The control device according to claim 2, wherein the control device switches to the pattern not including a pattern in which a surrounding vehicle and a part of an image forming the pattern overlap.
The control device according to claim 3, wherein when the distance falls within a predetermined threshold range, the control unit outputs a warning image instead of the output pattern of the intermittent image.
The image is an AR image in which the image forming the pattern is superimposed on the surrounding vehicle that the user visually views,
The said control part controls the said output part so that the said image may be displayed in a predetermined display area by adjusting the display position of the said image based on the speed of the said own vehicle. The control device according to any one of 8.
An output unit that outputs at least one of an image and a sound to cause a user to recognize the distance between the host vehicle and the surrounding vehicle;
A control unit that controls the output unit;
Equipped with
The control unit controls the output unit to output at least one of an image and a sound in a pattern according to a time required for the host vehicle to reach the position of the surrounding vehicle at a predetermined timing. Control device.
A control method in a control device comprising a control unit and an output unit, the control method comprising:
A first step of controlling the output of the output unit to output at least one of an image and a sound in a pattern according to the distance between the host vehicle and the surrounding vehicle;
A second step of outputting at least one of an image and a voice to make the user recognize the distance between the host vehicle and the surrounding vehicle based on the control of the first step;
Control method including:
A program for causing a computer to execute the control method according to claim 11.
A recording medium on which the program according to claim 12 is recorded.