WO2020230613A1 - 表示制御方法及び表示制御装置 - Google Patents

表示制御方法及び表示制御装置 Download PDF

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Publication number
WO2020230613A1
WO2020230613A1 PCT/JP2020/017960 JP2020017960W WO2020230613A1 WO 2020230613 A1 WO2020230613 A1 WO 2020230613A1 JP 2020017960 W JP2020017960 W JP 2020017960W WO 2020230613 A1 WO2020230613 A1 WO 2020230613A1
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WO
WIPO (PCT)
Prior art keywords
lane
display
control system
vehicle
lane change
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/JP2020/017960
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
光 中尾
明 森本
宏亮 佐藤
中村　昌平
秀行 石丸
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nissan Motor Co Ltd
Original Assignee
Nissan Motor Co Ltd
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 Nissan Motor Co Ltd filed Critical Nissan Motor Co Ltd
Priority to EP20806633.2A priority Critical patent/EP3971006B1/en
Priority to CN202080032298.8A priority patent/CN113767025B/zh
Priority to JP2021519359A priority patent/JP7188575B2/ja
Priority to US17/608,687 priority patent/US12030511B2/en
Publication of WO2020230613A1 publication Critical patent/WO2020230613A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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    • G—PHYSICS
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    • G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
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    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
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    • B60K35/21—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor using visual output, e.g. blinking lights or matrix displays
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    • B60K35/28—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
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    • G09G—ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION
    • G09G5/00—Control arrangements or circuits for visual indicators common to cathode-ray tube indicators and other visual indicators
    • G09G5/36—Control arrangements or circuits for visual indicators common to cathode-ray tube indicators and other visual indicators characterised by the display of a graphic pattern, e.g. using an all-points-addressable [APA] memory
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/16—Type of output information
    • B60K2360/166—Navigation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
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    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
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    • B60K35/215—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor using visual output, e.g. blinking lights or matrix displays characterised by the combination of multiple visual outputs, e.g. combined instruments with analogue meters and additional displays
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Definitions

  • the present invention relates to a display control method and a display control device.
  • Patent Document 1 discloses a content of displaying a superimposed display image showing a traveling route when a lane change is performed by a control system on a head-up display device. Further, Patent Document 1 discloses a content indicating the progress of lane change in the traveling route on the superimposed display image.
  • the present invention has been made in view of such a problem, and an object of the present invention is to provide a display control method and a display control device in which a driver can grasp a control process performed by a control system.
  • the display control method displays an image representing an arrow on a display when the control system proposes a lane change to the driver of the own vehicle, and involves a plurality of processes included in the control performed by the control system.
  • the display method of the image representing the arrow is switched accordingly.
  • the driver can grasp the state of control performed by the control system that changes lanes.
  • FIG. 1 is a block diagram showing a control system to which the display control device according to the present embodiment is applied.
  • FIG. 2 is an explanatory view schematically showing a state in front of the driver's seat of the own vehicle.
  • FIG. 3 is an explanatory diagram for explaining the first information image and the second information image.
  • FIG. 4 is an explanatory diagram showing a series of movements of the own vehicle from the third lane to the exit road in a situation where the lane is changed along the route.
  • FIG. 5A is an explanatory diagram showing an example of a first information image and a second information image displayed when changing an automobile line along a route.
  • FIG. 5B is an explanatory diagram showing an example of a first information image and a second information image displayed when a car line is changed along a route.
  • FIG. 5C is an explanatory diagram showing an example of a first information image and a second information image displayed when the lane is changed along the route.
  • FIG. 5D is an explanatory diagram showing an example of a first information image and a second information image displayed when a car line is changed along a route.
  • FIG. 5E is an explanatory diagram showing an example of a first information image and a second information image displayed when the automobile line is changed along the route.
  • FIG. 5F is an explanatory diagram showing an example of a first information image and a second information image displayed when the automobile line is changed along the route.
  • FIG. 5G is an explanatory diagram showing an example of a first information image and a second information image displayed when a car line is changed along a route.
  • FIG. 5H is an explanatory diagram showing an example of a first information image and a second information image displayed when changing the lane along a route.
  • FIG. 5I is an explanatory diagram showing an example of a first information image and a second information image displayed when a car line is changed along a route.
  • FIG. 6 is an explanatory diagram showing a series of movements of the own vehicle from the first lane to the second lane in the situation where the driver proposes to change lanes.
  • FIG. 7A is an explanatory diagram showing an example of a first information image and a second information image displayed when the driver proposes to change the lane.
  • FIG. 7B is an explanatory diagram showing an example of a first information image and a second information image displayed when the driver proposes to change the lane.
  • FIG. 7C is an explanatory diagram showing an example of a first information image and a second information image displayed when the driver proposes to change the lane.
  • FIG. 8A is an explanatory diagram showing an example of the first information image and the second information image.
  • FIG. 8B is an explanatory diagram showing an example of the first information image and the second information image.
  • the display control device will be described by applying it to a control system (vehicle control system) that controls the behavior of the own vehicle to perform automatic driving.
  • Autonomous driving refers to a state in which at least one actuator among actuators such as a brake, an accelerator, and a steering wheel is controlled without the operation of an occupant. Therefore, other actuators may be operated by the operation of the occupant.
  • the automatic operation may be a state in which any control such as acceleration / deceleration control or lateral position control is executed.
  • the manual operation in the present embodiment refers to a state in which the occupant is operating the brake, the accelerator, and the steering, for example.
  • the own vehicle may be capable of switching between automatic driving and manual driving.
  • Lane change means that the control system controls the behavior of the vehicle, and the vehicle changes lanes from the vehicle in which the vehicle is traveling to the adjacent lane of the left and right adjacent lanes adjacent to the vehicle. To do.
  • the configuration of the control system will be described with reference to FIGS. 1 and 2.
  • the control system includes a controller 10, a vehicle position estimation device 20, a map acquisition device 21, an ambient information detection device 22, a vehicle speed sensor 23, a steering switch 24, a touch sensor 25, and a winker switch 26. ing. Further, the control system includes a steering actuator 30, an accelerator pedal actuator 31, and a brake actuator 32. Further, the control system includes a meter display 35 and a head-up display 40.
  • the steering wheel 1 In the interior of the own vehicle to which the control system is applied, the steering wheel 1 is arranged in front of the driver, and the instrument panel 3 is arranged in front of the steering wheel 1.
  • the instrument panel 3 is provided with a meter unit 5 that displays the instrument of the own vehicle to the driver.
  • a windshield 4 is arranged in front of the instrument panel 3.
  • the controller 10 is a general-purpose microcomputer including a CPU (central processing unit), a memory, and an input / output unit.
  • a computer program (display control program and control program) for functioning as a display control device and a control system is installed in the microcomputer.
  • the microcomputer By executing a computer program, the microcomputer functions as a plurality of information processing circuits included in the control system.
  • an example of realizing a plurality of information processing circuits included in the control system by software is shown, but of course, dedicated hardware for executing each information processing described later is prepared and the information processing circuit is provided. It is also possible to configure. Further, a plurality of information processing circuits may be configured by individual hardware. Details of the plurality of information processing circuits included in the controller 10 will be described later.
  • the own vehicle position estimation device 20 measures the position information of the own vehicle by using position estimation technology such as GPS (Global Positioning System) and odometry.
  • the own vehicle position estimation device 20 measures the absolute position of the own vehicle, that is, the position, vehicle speed, acceleration, steering angle, and posture of the own vehicle with respect to a predetermined reference point by using various sensors and the like.
  • the own vehicle position estimation device 20 includes a GPS receiver, an inertial navigation system, sensors provided on brake pedals and accelerator pedals, sensors for acquiring vehicle behavior such as wheel speed sensors and yaw rate sensors, laser radars, and cameras. It has been.
  • the own vehicle position estimation device 20 outputs the measured position information of the own vehicle to the controller 10.
  • the map acquisition device 21 acquires map information indicating the structure of the road on which the own vehicle travels.
  • the map information acquired by the map acquisition device 21 includes road structure information such as absolute lane positions, lane connection relationships, and relative positional relationships, traffic rules, road signs, and the like.
  • the map acquisition device 21 may own a map database that stores map information, or may acquire map information from an external map data server by cloud computing. Further, the map acquisition device 21 may acquire map information by using vehicle-to-vehicle communication and road-to-vehicle communication. The map acquisition device 21 outputs the acquired map information to the controller 10.
  • the surrounding information detection device 22 includes a plurality of different types of object detection sensors mounted on the own vehicle.
  • the object detection sensor is, for example, a laser range finder, a laser radar, a millimeter wave radar, a camera, or the like.
  • the surrounding information detection device 22 detects an object around the own vehicle by using these object detection sensors.
  • the surrounding information detection device 22 detects moving objects including other vehicles, motorcycles, bicycles, and pedestrians, and stationary objects including parked vehicles.
  • the surrounding information detection device 22 detects the position, posture (yaw angle), size, speed, acceleration, jerk, deceleration, and yaw rate of a moving object and a stationary object with respect to the own vehicle.
  • the surrounding information detection device 22 may acquire surrounding information by using vehicle-to-vehicle communication and road-to-vehicle communication.
  • the surrounding information detection device 22 outputs the detected information to the controller 10.
  • the vehicle speed sensor 23 detects the vehicle speed of the own vehicle.
  • the vehicle speed sensor 23 outputs the detected vehicle speed of the own vehicle to the controller 10.
  • the steering switch 24 outputs an operation signal according to the driver's operation.
  • the steering switch 24 is provided on the steering 1.
  • the steering switch 24 outputs an operation signal corresponding to the driver's operation to the controller 10.
  • the touch sensor 25 is provided on the steering wheel 1 and detects that the driver's hand is touching the steering wheel 1.
  • a capacitance type sensor that detects a change in capacitance can be used.
  • the touch sensor 25 outputs a predetermined detection signal to the controller 10.
  • the winker switch 26 is a switch that outputs an operation signal for operating the winker (direction indicator) 34, and is operated by the driver. When the winker switch 26 is operated by the driver, the winker switch 26 outputs an operation signal of the winker 34 to the controller 10.
  • the steering actuator 30 controls the steering angle of the steering 1.
  • the steering actuator 30 is controlled by the controller 10.
  • the accelerator pedal actuator 31 controls the amount of depression of the accelerator pedal.
  • the accelerator pedal actuator 31 is controlled by the controller 10.
  • the brake actuator 32 adjusts the amount of depression of the brake pedal.
  • the brake actuator 32 is controlled by the controller 10.
  • the meter display 35 is arranged in the meter unit 5.
  • the meter display 35 visually displays a predetermined image to the driver.
  • the driver can recognize various information from the image displayed on the meter display 35.
  • the meter display 35 is composed of, for example, a liquid crystal panel.
  • the image displayed on the meter display 35 is controlled by the controller 10.
  • the meter display 35 displays an image showing the instrument of the own vehicle.
  • the image showing the instrument includes a tachometer image 36 showing a tachometer and a speedometer image 37 showing a speedometer.
  • the tachometer image 36 is displayed in the left area of the entire area of the meter display 35.
  • the speedometer image 37 is displayed in the right area of the entire area of the meter display 35.
  • the meter display 35 displays a second information image 38 showing information that the control system notifies the driver.
  • the second information image 38 is displayed in the central region of the entire region of the meter display 35. That is, the second information image 38 is displayed between the tachometer image 36 and the speedometer image 37.
  • the tachometer and the speedometer may be composed of an analog instrument, and the meter display 35 may display only the second information image 38.
  • the head-up display 40 is arranged in the instrument panel 3.
  • the head-up display 40 visually displays a predetermined image to the driver by displaying a distance from a virtual image.
  • the display light emitted from the head-up display 40 is projected onto the windshield 4 through an opening (not shown) provided in the instrument panel 3. This display light is reflected by the windshield 4 and reaches the driver's eye point. As a result, the driver visually recognizes the virtual image on the outside of the windshield 4. In this way, the head-up display 40 illuminates the image toward the windshield 4 to superimpose it on the scenery in front of the own vehicle and display a virtual image (image).
  • the head-up display 40 displays a first information image 41 showing information that the control system notifies the driver.
  • the driver can simultaneously visually recognize the first information image 41 displayed by the head-up display 40 and the scene in front of the own vehicle seen through the windshield 4.
  • a first information image 41 displayed on the head-up display 40 and a second information image 38 displayed on the meter display 35 will be described with reference to FIG.
  • the first information image 41 is mainly composed of a preceding vehicle icon 41a, a first character string 41b, a mode display icon 41c, a first lane marker icon 41d, and an arrow icon 41e.
  • the preceding vehicle icon 41a is a figure indicating a preceding vehicle traveling in the same lane as the own vehicle.
  • the first character string 41b includes one or more characters such as hiragana, kanji, numbers, and symbols, and is, for example, a sentence. Further, the first character string 41b may include a pictogram that plays a role equivalent to that of the character.
  • the first character string 41b indicates the content that the control system notifies the driver.
  • the content of the first character string 41b is the content of an operation instruction to the driver for executing a request from the control system, for example, a lane change, or what the control system wants to do, for example, the lane to be executed. It may be the control content of the change. That is, the control system uses the first character string 41b to notify the driver of the request from the control system or what the control system wants to do.
  • the first character string 41b has the same relationship as a part of the second character string 38b described later.
  • the first character string 41b is arranged above the preceding vehicle icon 41a. More specifically, the first character string 41b is arranged on the uppermost side among the elements constituting the first information image 41.
  • the mode display icon 41c is a figure indicating whether it is in the hands-off mode or the hands-on mode.
  • the hands-off mode is a mode (first mode) in which the driver can take his / her hand off the steering wheel 1 during automatic driving.
  • the hands-on mode is a mode (second mode) in which the driver must touch the steering wheel 1 during automatic driving.
  • the mode display icon 41c is provided with two types, a first steering figure showing only the steering and a second steering figure showing the steering and the hand attached to the steering.
  • the first steering figure is used when the current mode is the hands-off mode.
  • the second steering figure is used when the current mode is a hands-on mode.
  • the first steering figure is displayed in blue, for example, and the second steering figure is displayed in green (only the steering portion), for example.
  • the first lane marker icon 41d is a figure indicating the left and right lane markers indicating the boundary of the own lane.
  • the left lane marker indicated by the first lane marker icon 41d indicates the boundary between the own lane and the adjacent lane or shoulder adjacent to the left side of the own lane.
  • the right lane marker indicated by the first lane marker icon 41d indicates the boundary between the own lane and the adjacent lane or shoulder adjacent to the right side of the own lane.
  • the arrow icon 41e is an arrow that guides the change of lane.
  • the arrow icon 41e has a shape that bends in the middle from the base end side of the arrow (lower side of the figure) to the tip end side of the arrow (upper side of the figure), and straddles the first lane marker icon 41d from the own lane.
  • the arrow is directed toward the adjacent lane. That is, the arrow icon 41e is an arrow schematically showing how the own vehicle changes lanes due to the lane change, thereby guiding the lane change.
  • the first information image 41 shows the traveling situation in front of the own vehicle by the preceding vehicle icon 41a and the first lane marker icon 41d.
  • the first information image 41 is generated so as to represent a traveling situation in front of the own vehicle when the driver looks ahead.
  • the traveling situation in front of the own vehicle is shown two-dimensionally. This is because the first information image 41 is displayed on the head-up display 40. That is, by using a two-dimensional representation, the amount of information is limited and the visibility of the first information image 41 is improved.
  • the first information image 41 is generated at a predetermined timing, and every time a new first information image 41 is generated, the first information image 41 displayed on the head-up display 40 is updated.
  • the first information image 41 does not always need to include all of the preceding vehicle icon 41a, the first character string 41b, the mode display icon 41c, the first lane marker icon 41d, and the arrow icon 41e.
  • the first information image 41 may include a part or all of the preceding vehicle icon 41a, the first character string 41b, the mode display icon 41c, the first lane marker icon 41d, and the arrow icon 41e.
  • the traveling condition in front of the own vehicle shown in the first information image 41 reflects the actual traveling condition in which the own vehicle is actually traveling. Therefore, when the preceding vehicle does not actually exist, the first information image 41 does not include the preceding vehicle icon 41a.
  • control contents of the control system are reflected in the first character string 41b and the arrow icon 41e. That is, unless requested by the control system, the first information image 41 does not include the first character string 41b and the arrow icon 41e.
  • the second information image 38 is mainly composed of the own vehicle icon 38a, the second character string 38b, the second lane marker icon 38c, and the surrounding vehicle icon 38d.
  • the own vehicle icon 38a is a figure indicating the own vehicle.
  • the second character string 38b includes one or more characters such as hiragana, kanji, numbers, and symbols, and is, for example, a sentence. Further, the second character string 38b may include a pictogram that plays a role equivalent to that of the character.
  • the second character string 38b indicates the content notified by the control system to the driver.
  • the second character string 38b includes the first character string 41b and other character strings (third character string).
  • the content of the third character string is the reason for notifying the first character string 41b. That is, the control system uses the second character string 38b to notify the driver of the request from the control system, what the control system wants to do, the reason, and the like.
  • the second character string 38b has a larger amount of information than the first character string 41b in that it includes a third character string in addition to the first character string 41b.
  • the second character string 38b includes the first character string 41b.
  • the meaning that the second character string 38b includes the first character string 41b means that the element (first character string 41b) displayed on the first information image 41 is regarded as a part of the second character string 38b. It does not mean that the second character string 38b includes a character string in which the sequence of characters is the same as that of the first character string 41b.
  • the above-mentioned second character string 38b is merely an example, and can be composed of any character without being bound by such conditions.
  • the second character string 38b is arranged below the own vehicle icon 38a. In other words, the second character string 38b is arranged at the lowest side among the elements constituting the second information image 38.
  • the second lane marker icon 38c is a figure indicating a lane marker indicating the boundary of one or more lanes included in the road on which the own vehicle travels.
  • the surrounding vehicle icon 38d is a figure indicating a surrounding vehicle traveling around the own vehicle. Surrounding vehicles include a preceding vehicle and an adjacent vehicle traveling in an adjacent lane.
  • the second information image 38 shows the traveling situation of the own vehicle and the surroundings of the own vehicle by the own vehicle icon 38a, the second lane marker icon 38c, and the surrounding vehicle icon 38d.
  • the circumference of the own vehicle includes the front of the own vehicle, the left and right sides of the own vehicle, and the rear of the own vehicle.
  • the second information image 38 is generated so as to represent the traveling situation around the own vehicle when the own vehicle is viewed from above and behind. Since it is only necessary to know the traveling conditions around the own vehicle, the viewpoint representing the traveling conditions may be at least above the own vehicle.
  • the traveling situation around the own vehicle is shown three-dimensionally.
  • the amount of information increases compared to a two-dimensional expression. Therefore, the second information image 38 can convey more diverse information to the driver than the first information image 41.
  • the second information image 38 is generated at a predetermined timing, and every time a new second information image 38 is generated, the second information image 38 displayed on the meter display 35 is updated.
  • the second information image 38 does not always have to include all of the own vehicle icon 38a, the second character string 38b, the second lane marker icon 38c, and the surrounding vehicle icon 38d.
  • the second information image 38 may include a part or all of the own vehicle icon 38a, the second character string 38b, the second lane marker icon 38c, and the surrounding vehicle icon 38d.
  • the running situation around the own vehicle on the second information image 38 reflects the actual running situation in which the own vehicle is actually running. Therefore, when the surrounding vehicle does not actually exist, the second information image 38 does not include the surrounding vehicle icon 38d. Further, the second lane marker icon 38c corresponds to the number of lanes on the road on which the own vehicle is actually traveling.
  • control content of the control system is reflected in the second character string 38b. That is, the second information image 38 does not include the second character string 38b unless requested by the control system.
  • the details of the controller 10 will be described with reference to FIG. 1 again.
  • the controller 10 includes a route generation unit 11, an automatic driving processing unit 12, a vehicle control unit 13, an image generation unit 14, a display control unit 15, a speaker control unit 16, and a blinker control as a plurality of information processing circuits. It is provided with a unit 17.
  • the route generation unit 11 generates a route to a destination preset by the driver.
  • the route generation unit 11 outputs the generated route to the automatic driving processing unit 12.
  • the route generation unit 11 may acquire the route generated by the external device.
  • the automatic driving processing unit 12 performs various processes necessary for changing the lane.
  • the lane change includes the status of a system proposal in which the automatic driving processing unit 12 (control system) proposes to the driver to change the lane, and the status of the driver proposal to change the lane in response to the driver's proposal.
  • the lane change proposed by the system occurs when it is determined that a lane change is necessary to overtake the preceding vehicle.
  • the lane change proposed by the system occurs when it is determined that the lane change is necessary in order to maintain the route generated by the route generation unit 11.
  • the lane change proposed by the driver occurs when the driver operates the winker switch 26 in the direction in which the lane change is desired.
  • the automatic traveling processing unit 12 includes the position of the own vehicle, the position of the surrounding vehicle, and the own vehicle based on the information output from the own vehicle position estimation device 20, the map acquisition device 21, the surrounding information detection device 22, and the vehicle speed sensor 23. Calculate the relative speed with the preceding vehicle.
  • the automatic traveling processing unit 12 performs necessary calculations based on the position of the own vehicle, the positions of surrounding vehicles, the relative speed between the own vehicle and the preceding vehicle, the route generated by the route generation unit 11, and the like. Information output from the steering switch 24, the touch sensor 25, and the winker switch 26 is also used for the calculation of the automatic driving processing unit 12. Then, the automatic driving processing unit 12 issues control commands necessary for changing the lane and processing associated therewith to the vehicle control unit 13, the image generation unit 14, the display control unit 15, the speaker control unit 16, and the winker control unit 17. Output.
  • the vehicle control unit 13 controls the steering actuator 30 and the like in response to a control command from the automatic driving processing unit 12.
  • the steering actuator 30 or the like By operating the steering actuator 30 or the like in response to the control of the vehicle control unit 13, the behavior of the own vehicle is controlled, whereby the lane can be changed.
  • the image generation unit 14 generates the first information image 41 and the second information image 38.
  • the first information image 41 is generated so as to represent the traveling situation in front of the own vehicle based on the information output from the own vehicle position estimation device 20, the map acquisition device 21, the surrounding information detection device 22, and the vehicle speed sensor 23.
  • the second information image 38 represents the traveling situation around the own vehicle based on the information output from the own vehicle position estimation device 20, the map acquisition device 21, the surrounding information detection device 22, and the vehicle speed sensor 23. Is generated in.
  • the image generation unit 14 generates the first information image 41 so as to include the first character string 41b based on the control command from the automatic driving processing unit 12, that is, the information notified to the driver.
  • the image generation unit 14 generates the second information image 38 so as to include the second character string 38b based on the control command from the automatic driving processing unit 12, that is, the information notified to the driver.
  • the display control unit 15 displays the first information image 41 generated by the image generation unit 14 on the head-up display 40. Further, the display control unit 15 displays the second information image 38 generated by the image generation unit 14 on the meter display 35.
  • the speaker control unit 16 controls the speaker 33 in response to a control command from the automatic driving processing unit 12. By being controlled by the speaker control unit 16, a notification sound for the driver is output from the speaker 33.
  • the winker control unit 17 controls the winker 34 in response to a control command from the automatic driving processing unit 12. By controlling the winker 34 by the speaker control unit 16, either the left or right winker 34 operates.
  • the image generation unit 14 and the display control unit 15 constitute the display control device according to the present embodiment.
  • various processes performed by the image generation unit 14 and the display control unit 15 constitute the display control method according to the present embodiment.
  • the flow of changing the lane of the system proposal will be described by taking as an example the situation of maintaining the route generated by the route generation unit 11. Since the own vehicle 100 heads for the exit road L4 branching from the main lane, the lane is changed from the third lane L3 to the second lane L2, the lane is changed from the second lane L2 to the first lane L1, and the first lane L1. Change lane to exit road L4.
  • the control flow of the automatic driving processing unit 12 includes the following. (1) Propose a lane change to the driver (timing tb1) (2) Accept the driver's consent for changing lanes (timing tb2) (3) Prior to the start of the lane change to the second lane L2, the winker 34 in the direction of changing lanes is operated (timing tb3). (4) Complete the lane change to the second lane L2 (first lane change) (timing tb4) (5) Prior to the start of the lane change to the first lane L1, the winker 34 in the direction of changing lanes is operated (timing tb5).
  • Timing tb6 Complete the lane change to the first lane L1 (second lane change) (timing tb6) (7) It is determined that the distance between the branch point of the exit road L4 and the own vehicle 100 has reached a predetermined first distance (timing tb7). (8) Prior to changing the lane to the exit road L4, the winker 34 in the direction of going to the exit road L4 is operated (timing tb8). (9) It is determined that the own vehicle 100 has reached the branch point (timing tb9). (10) Complete the lane change to the exit road L4 (third lane change) (timing tb10)
  • the control performed by the automatic driving processing unit 12 in connection with the lane change and the processing associated therewith includes a plurality of processes as described above.
  • the first information image 41 displayed on the head-up display 40 and the second information image 38 displayed on the meter display 35 transition according to each process of control.
  • the first information image 41 and the second information image 38 transition according to the process of 10.
  • the first information image 41 and the second information image 38 are mainly composed of contents showing the traveling situation (not shown).
  • the first information image 41 and the second information image 38 are mainly composed of the content showing the driving situation and the content suggesting the driver to change the lane (FIG. FIG. 5A).
  • the first information image 41 and the second information image 38 mainly include the content indicating the driving situation and the content indicating that the driver's consent for the lane change has been accepted. It is configured (Fig. 5B).
  • the first information image 41 and the second information image 38 are mainly composed of the content indicating the traveling situation and the content indicating that the lane change is being executed. (Fig. 5C).
  • the first information image 41 and the second information image 38 are mainly composed of the content showing the driving situation and the content for notifying the second lane change.
  • the first information image 41 and the second information image 38 are mainly composed of a content indicating a driving situation and a content indicating that the lane change is being executed.
  • the first information image 41 and the second information image 38 mainly include the content indicating the driving situation and the content indicating that the lane change is continuously performed. It is configured (Fig. 5F).
  • the first information image 41 and the second information image 38 are mainly composed of a content showing the traveling situation and a content for notifying the progress to the exit road L4 ( FIG. 5G).
  • the first information image 41 and the second information image 38 are mainly composed of a content indicating a driving situation and a content indicating that the lane change is being executed. (Fig. 5H).
  • the first information image 41 and the second information image 38 are mainly composed of contents showing a traveling situation (FIG. 5I).
  • the first information image 41 includes the preceding vehicle icon 41a and the first lane marker icon 41d, and shows the traveling situation in front of the own vehicle.
  • the second information image 38 includes the own vehicle icon 38a, the second lane marker icon 38c, and the surrounding vehicle icon 38d, and shows the traveling situation around the own vehicle.
  • the first information image 41 includes the first character string 41b
  • the second information image 38 includes the second character string 38b.
  • an example of the first character string 41b and the second character string 38b will be described.
  • the first character string 41b consists of "going to the exit with (pictogram)".
  • the pictograms included in the first character string 41b correspond to the pictograms marked on the steering switch 24, and have the meaning of prompting the operation of the steering switch 24 (the same applies hereinafter).
  • "Go to the exit with (pictogram)” indicates the content of suggesting the driver to change lanes.
  • the second character string 38b consists of "This is the exit to the left", "Please check the safety” and “Go to the exit with (pictogram)". "Go to the exit with (pictogram)” indicates the content of suggesting the driver to change lanes. "Future, left exit” gives the reason for the proposal to change lanes. "Please check safety” indicates the content of suggesting safety check to the driver.
  • the second character string 38b includes the first character string 41b ("(pictogram) goes to the exit”). In other words, the first character string 41b is the same as a part of the second character string 38b.
  • the first information image 41 includes the arrow icon 41e.
  • the arrow icon 41e is displayed at the timing of proposing a lane change to the driver.
  • the display scene of FIG. 5A corresponds to the process (timing tb1 to timing tb2) from the proposal of the driver to change the lane to the acceptance of the driver's consent for the lane change.
  • the arrow icon 41e is blinked in white.
  • the display scene in FIG. 5B corresponds to the process (timing tb2 to tb3) from the acceptance of the driver's consent for the lane change to the operation of the winker 34 in the direction of changing the lane.
  • the arrow icon 41e is lit in white. Further, in the arrow icon 41e, the lighting area to be lit in white is dynamically changed in the figure representing the arrow. Specifically, in the arrow icon 41e, the lighting area lit in the arrow gradually increases from the base end side of the arrow (lower side of the figure) to the tip side of the arrow (upper side of the figure), and the lighting area When reaches the tip of the arrow (that is, when all of the arrows are lit), all of the arrows are turned off.
  • the black-painted range indicated by the arrow icon 41e conveniently represents the lit area that is lit in white
  • the white-painted range conveniently represents the non-lit area (described later). Same for FIGS. 5D and 5G).
  • the display scene of FIG. 5C corresponds to the process (timing tb3 to timing tb4) from the operation of the winker 34 in the direction of changing the lane to the completion of the first lane change.
  • the arrow icon 41e is blinked in green, which is the same as the display color of the mode display icon 41c.
  • the black paint shown by the arrow icon 41e conveniently expresses the state of blinking in green (the same applies to FIGS. 5E, 5H, and 7B described later).
  • the display scene in FIG. 5D corresponds to the process (timing tb4 to timing tb5) from the completion of the first lane change to the operation of the winker 34 for the second lane change.
  • the arrow icon 41e is lit in white. Further, in the arrow icon 41e, the lighting area to be lit in white is dynamically changed in the figure representing the arrow.
  • the display scene of FIG. 5E corresponds to the process (timing tb5 to timing tb6) from the operation of the winker 34 in the direction of performing the second lane change to the completion of the second lane change. ..
  • the arrow icon 41e is blinked in green.
  • the display scenes of FIGS. 5G and 5H relate to the third lane change, and the details thereof are the same as those of the display scenes of FIGS. 5D and 5E. From the second lane change to the third lane change, a display scene of FIG. 5F showing that the lane change is continuously performed is provided.
  • the display scene of FIG. 5I corresponds to the case where the third lane change, that is, all lane changes are completed.
  • the display of the arrow icon 41e ends.
  • the image generation unit 14 and the display control unit 15 generate and display the first information image 41 and the second information image 38 as described above in response to the control command from the automatic driving processing unit 12. At this time, the display control unit 15 displays the first information image 41 and the second information image 38 so that the first character string 41b and the second character string 38b are displayed at the same time.
  • the control flow of the automatic driving processing unit 12 includes the following. (1) The driver operates the blinker switch 26 (timing ta1) (2) completes the lane change to the second lane L2 (timing ta2).
  • the control performed by the automatic driving processing unit 12 in connection with the lane change and the processing associated therewith includes a plurality of processes as described above.
  • the first information image 41 displayed on the head-up display 40 and the second information image 38 displayed on the meter display 35 transition according to each process of control.
  • the first information image 41 and the second information image 38 transition according to the process of 3.
  • the first information image 41 and the second information image 38 are mainly composed of the contents showing the traveling situation (FIG. 7A).
  • the first information image 41 and the second information image 38 are mainly composed of the content indicating the driving situation and the content indicating that the lane change is being executed. (Fig. 7B).
  • the first information image 41 and the second information image 38 are mainly composed of the contents showing the traveling situation (FIG. 7C).
  • the first information image 41 includes the preceding vehicle icon 41a and the first lane marker icon 41d, and shows the traveling situation in front of the own vehicle.
  • the second information image 38 includes the own vehicle icon 38a, the second lane marker icon 38c, and the surrounding vehicle icon 38d, and shows the traveling situation around the own vehicle.
  • the first information image 41 includes the first character string 41b
  • the second information image 38 includes the second character string 38b.
  • an example of the first character string 41b and the second character string 38b will be described.
  • the first character string 41b consists of "Please check the safety”. "Please check the safety” indicates the content that prompts the driver to check the safety.
  • the second character string 38b consists of "Please check the safety” and “Cancel by pressing and holding (pictogram)".
  • "Please check the safety” indicates the content that prompts the driver to check the safety.
  • "Cancel by pressing and holding (pictogram)” indicates the content of notifying how to cancel the lane change.
  • the second character string 38b includes the first character string 41b ("Please confirm the safety").
  • the first character string 41b is the same as a part of the second character string 38b.
  • the first information image 41 includes the arrow icon 41e.
  • the arrow icon 41e will be described.
  • the arrow icon 41e is displayed when the driver operates the winker switch 26.
  • the display scene in FIG. 7B corresponds to the process (timing ta1 to ta2) from the driver operating the winker switch 26 to the completion of the automatic line change.
  • the arrow icon 41e is blinked in green.
  • the automatic driving processing unit 12 performs interlocking control (navigation interlocking control) in which the own vehicle travels in conjunction with the route generated by the route generation unit 11.
  • the automatic driving processing unit 12 changes the lane as described above in this interlocking control.
  • the automatic driving processing unit 12 prohibits the function of changing the lane when it determines a predetermined condition, for example, a traffic jam.
  • the second information image 38 has a form as shown in FIG. 8A. That is, the second information image 38 includes the second lane marker icon 38c (first lane image) composed of the own lane in which the own vehicle travels and the adjacent lane adjacent to the own lane. On the other hand, when it corresponds to the period during which the lane change cannot be performed, the second information image 38 has a form as shown in FIG. 8B. That is, the second information image 38 includes the second lane marker icon 38c (second lane image) composed of only the own lane in which the own vehicle travels.
  • the display control method heads up an image (arrow icon 41e) representing an arrow for guiding the lane change when the control system proposes the lane change to the driver of the own vehicle.
  • the display method of the arrow icon 41e is switched according to a plurality of processes included in the control performed by the control system displayed on the display 40.
  • the driver can grasp the status of control performed by the control system from the change in the display method of the arrow icon 41e. As a result, it is possible to perform a display that is easy for the driver to understand and a display that gives the driver a sense of security.
  • the display control method according to the present embodiment is the first process included in a plurality of processes, and after the control system proposes the driver to change the lane, the control system gives the driver consent to the lane change.
  • the arrow icon 41e is blinked.
  • the display control method is a second process included in a plurality of processes, from the time when the control system accepts the driver's consent for the lane change to the time when the control system operates the winker 34 in the direction of changing the lane.
  • the arrow icon 41e is changed so that the lighting area increases from the base end side of the arrow to the tip end side of the arrow.
  • the display control method is a third process included in a plurality of processes, from the time when the control system operates the winker 34 in the direction of changing the lane to the time when the control system completes the lane change.
  • the arrow icon 41e is blinked. The display control method ends the display of the arrow icon 41e when the lane change by the control system is completed.
  • the display mode of the arrow icon 41e is switched at the timing of transition from the first process to the second process. Therefore, the driver can understand that the driver's consent has been accepted by the control system. Further, the display mode of the arrow icon 41e is switched at the timing of transition from the second process to the third process. Therefore, the driver can know that the lane change is started, that is, the behavior control of the own vehicle is started. Further, when the display of the arrow icon 41e is completed, it can be grasped that the lane change by the control system is completed.
  • the arrow icon 41e is displayed in the first display color
  • the arrow icon 41e is different from the first display color. It is displayed in 2 display colors.
  • the display color of the arrow icon 41e will be switched. As a result, the driver can know in advance from the display color of the arrow icon 41e that the behavior control of the own vehicle is started.
  • the first display color is white and the second display color is green.
  • the proposal for changing the lane by the control system includes the first lane change and the second lane change following the first lane change.
  • the display control method is an arrow in the fourth process from the completion of the first lane change by the control system to the time when the control system operates the winker 34 for the second lane change.
  • the arrow icon 41e is changed so that the lighting area increases from the base end side of the arrow to the tip end side of the arrow.
  • the display control method is an arrow in the fifth process from the control system operating the winker 34 for the second lane change to the completion of the second lane change by the control system.
  • the icon 41e blinks.
  • the driver's consent is accepted prior to the first lane change, the driver's consent is not required for the second lane change. As a result, the control specifications can be made with less burden on the driver. Then, by omitting the blinking white state of the arrow icon 41e, it is possible to understand from the display the control process in which consent to the second lane change is omitted.
  • the display control method displays the arrow icon 41e when the control system determines that the driver has activated the winker 34 in order to start the lane change by the control system. Further, in the display control method, the arrow icon 41e is displayed in a blinking state from the time when the driver operates the winker 34 to the time when the lane change by the control system is completed.
  • the display control method is the first lane indicating the own lane in which the own vehicle is traveling and the adjacent lane adjacent to the own lane when the condition for changing the lane is satisfied.
  • the image (second lane marker icon 38c) is further displayed.
  • the display control method further displays a second lane image (second lane marker icon 38c) showing only the own lane when the condition for changing the lane is not satisfied.
  • the driver can determine from the displayed lane status whether or not the vehicle can change lanes.
  • the display control device has a controller 10 that controls a head-up display 40 that can be visually recognized by the driver of the own vehicle.
  • the controller 10 displays an arrow icon 41e representing an arrow for guiding the lane change on the head-up display 40, and is included in the control performed by the control system.
  • the display method of the arrow icon 41e is switched according to a plurality of processes.
  • the display control device has technical features corresponding to the above-mentioned display control method, and has the same effect as the display control method.
  • the vehicle icon in the first image displayed on the head-up display, the vehicle icon may be a figure representing the vehicle and is not limited to the one indicating the preceding vehicle. Further, in the second image displayed on the meter display, the vehicle icon may be a figure representing the vehicle and is not limited to the one showing the own vehicle.
  • an arrow icon is displayed on the head-up display, and the control according to the present embodiment is applied to the arrow icon.
  • similar control may be performed on the meter display.
  • switching between the first lane image and the second lane image may be applied to the display of the head-up display.
  • Controller 11 Route generation unit 12 Automatic driving processing unit 13
  • Vehicle control unit 14 Image generation unit 15
  • Display control unit 16 Speaker control unit 17
  • Winker control unit 20 Own vehicle position estimation device 21
  • Map acquisition device 22 Surrounding information detection device 23
  • Vehicle speed sensor 24 Steering switch 25
  • Touch sensor 26 Winker switch 30
  • Steering actuator 31 Accelerator pedal actuator 32
  • Brake actuator 33 Speaker 34 Winker 35
  • Meter display 40 Head-up display

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PCT/JP2020/017960 2019-05-15 2020-04-27 表示制御方法及び表示制御装置 Ceased WO2020230613A1 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP20806633.2A EP3971006B1 (en) 2019-05-15 2020-04-27 Display control method and display control device
CN202080032298.8A CN113767025B (zh) 2019-05-15 2020-04-27 显示控制方法及显示控制装置
JP2021519359A JP7188575B2 (ja) 2019-05-15 2020-04-27 表示制御方法及び表示制御装置
US17/608,687 US12030511B2 (en) 2019-05-15 2020-04-27 Display control method and display control device

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CN113767025B (zh) 2024-12-31
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CN113767025A (zh) 2021-12-07
JP7188575B2 (ja) 2022-12-13
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EP3971006A1 (en) 2022-03-23
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