JP2003291688A - Display method, driving support device and program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a display method, driving support device and program capable of calling a driver's attention without causing any disturbance in a visual field. <P>SOLUTION: This method is performed by attention calling display performed at a position shown by a mark of a star in the figure and by glance guide display wherein the display position is moved as shown by a mark of a triangle in the figure. At first, the attention calling display is performed at the position shown by the mark of the star, and then the glance guide display is performed as shown by the mark of the triangle wherein the display is gradually moved to an obstacle from a portion adjacent to the position shown by the mark of the star. The attention calling display is performed in a peripheral vision region outside a central vision region in the glance (viewpoint) of the driver at driving, especially at traveling. Especially, it is preferable that the attention calling display is displayed on a lower part of the front of the driver. By performing the attention calling display, the attention of the driver can be called without causing any disturbance in the glance of the driver at driving. Further, the central vision region can be moved to the obstacle by the glance guide display as shown by 'movement of the glance' in the figure. <P>COPYRIGHT: (C)2004,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile display device,
For example, the present invention relates to a display method for displaying information to the driver using a head-up display (HUD), a driving support device, and the like.

[0002]

2. Description of the Related Art The cause of a traffic accident is a driver's recognition error,
Most of them are caused by human factors such as operation mistakes, dozing, aimless driving, rushing, and tension (from Italda Information, Traffic Accident Analysis Center). Under these circumstances, currently, a head-up display that can recognize information without removing the line of sight from the front has been put into practical use in order to reduce recognition errors, and about the method of presenting information to such a head-up display. Has also been studied.

For example, as disclosed in Japanese Unexamined Patent Publication No. 2002-19491, the driver's line of sight is detected, and predetermined information is displayed in the line-of-sight direction and other directions depending on the type of information. Performance and displaying information on obstacles in the vicinity of the driver's line of sight, and then moving the display in the direction of the obstacle to guide the driver's line of sight to quickly and A display method that can be surely confirmed is known.

[0004]

[Patent Document 1] Japanese Unexamined Patent Publication No. 200
In the method disclosed in Japanese Laid-Open Patent Publication No. 2-19491, an alarm is displayed in the vicinity of the line of sight of the driver (driver). Therefore, it is dangerous if this display hinders the driver's field of view, and it is displayed because it hinders the field of view. I can't take a long time,
For example, it is difficult to perform display from a relatively early stage such as when an obstacle is detected. Therefore, such a method has a large practical problem that the object cannot always be recognized quickly. Furthermore, the conventional method has a problem in that the device is complicated because it is necessary to detect the line of sight of the driver, and the cost is higher than in the case of using only the display device.

In addition, such a driving support device realizes various driving support functions such as lane keeping vehicle control, headway keeping vehicle control, and various display controls such as the above-mentioned line-of-sight guidance display. Such a driving support device may cancel the driving support function depending on the state of the vehicle detected by various sensors. For example, when the brake operation by the driver is detected during the vehicle-interval maintaining control, the vehicle-interval maintaining control is released. Since the driver is not informed of the cancellation of the driving support function, it is difficult for the driver to know the cancellation of the driving support function. However, for example, if the display is made near the driver's line of sight as in the case of the above-described conventional line-of-sight guidance, there is a problem that this display obstructs the driver's field of view.

[0006] Therefore, an object of the present invention is to provide a display method, a driving support device and the like which can call the driver's attention without obstructing the driver's view as much as possible.

[0007]

According to the display method of claim 1, which is made to solve the above-mentioned problems, a guidance display for guiding the driver's line of sight to the position of the guidance target. Prior to performing, the warning display for calling the driver's attention is provided at a position that does not hinder the driver's line of sight while driving and is visible to the driving driver. Then, the guidance display is performed from the position where the caution is displayed or the position where the line of sight of the driver is not obstructed and visible to the driver to the position of the guidance target.

Further, according to the display method of the second aspect, which is made to solve the above-mentioned problems, prior to the guidance display for guiding the driver's line of sight to the position of the guidance target, A warning display is displayed at a position within the peripheral vision area in the line of sight taken by the driver while the vehicle is traveling to draw the driver's attention. Then, the guidance display is performed from the position where the attention display is performed or the position in the peripheral vision area to the position of the guidance target.

Therefore, according to the display method according to the first and second aspects, it is possible to perform the display that calls attention without hindering the driver's view. In addition, since the line of sight can be guided from a predetermined position that is not related to the direction of the line of sight of the driver, it is possible to eliminate the conventional line-of-sight detection mechanism, simplifying the device configuration, and reducing the cost. Can be reduced. Furthermore, since the driver's view is not obstructed, the display that calls attention can be performed earlier than in the conventional case. Therefore, the driver can recognize the object at a stage when he / she can drive, and the safety can be further enhanced as compared with the conventional method.

The driving support device according to a third aspect of the present invention, which has been made to solve the above-mentioned problems, is a position that does not hinder the driver's line of sight while driving and is visible to the driving driver. At the position, warning information, which is information for calling the driver's attention, is displayed. Then, after displaying this attention information, a guidance display is provided to guide the driver's line of sight to the position of the guidance target from a position that does not obstruct the driver's line of sight while driving and is visible to the driver. .

The position which does not hinder the driver's line of sight while driving and is visible to the driver while driving is, for example, as shown in claim 4, the periphery of the line of sight taken by the driver while the vehicle is traveling. It can be a position within the viewing area. For example, the maximum visual field for one eye of a person is as large as 150 ° in horizontal angle, but the entire visual field cannot be seen with uniform accuracy.
It has the largest visual acuity in central vision, which has a visual angle of about 1 ° 20 ', and has a function of gazing at an object to obtain detailed information. On the other hand, the portion other than the central vision is called peripheral vision, and has a function of obtaining information for recognizing blinking lights, moving objects, and the like. Therefore, instead of displaying the attention information in the central visual area such as the vicinity of the line of sight as in the past, by displaying the attention information in the peripheral visual area to call attention,
It is possible to avoid blocking the line of sight while driving.

The line of sight taken by the driver while the vehicle is traveling may be the line of sight when the driver looks at the front from the driver's seat. The position in the peripheral visual area may be set as the gaze group to be taken and the position in the common peripheral visual area in the visual line group.

The position which does not hinder the driver's line of sight while driving and is visible to the driving driver is, for example, as shown in claim 6, the edge of the windshield, the meter display portion, and the navigation. The position may be within the area of at least one of the display portions. This is because the meter display unit and the navigation display unit are usually installed at positions that can be visually recognized by the driver. The edge of the windshield is preferably the lower edge of the windshield. During normal traveling, a vehicle in front of the windshield is often visible from near the vertical center of the windshield. In such a case, the peripheral vision region is likely to be recognized because, for example, it is often the lower portion than the upper portion of the windshield.

As described above, according to the driving support device described in each of claims 1 to 6, it is possible to perform the display that calls attention without hindering the driver's view. In addition, since the line of sight can be guided from a predetermined position that is not related to the direction of the line of sight of the driver, it is possible to eliminate the conventional line-of-sight detection mechanism, simplify the configuration of the device, and reduce the cost. It can be reduced. Furthermore, since the driver's view is not obstructed, the display that calls attention can be performed earlier than in the conventional case. Therefore, the driver can recognize the object at a stage when he / she can drive, and the safety can be further enhanced as compared with the conventional method.

The attention information can be characters, figures, still images, moving images, or the like. Since the position that does not obstruct the field of view is often the peripheral visual field, it is particularly preferable to display a simple pattern instead of complicated information such as characters in the display image. For example, it is preferable to use an image that schematically shows the content of the attention to be drawn or a simple figure such as an ellipse or a triangle. The content of the caution to be issued can indicate, for example, the type of danger or the degree of danger.

Further, since the peripheral visual field is liable to change in color, brightness, shape, etc., as described in claim 7, at least one of the color, brightness and shape of the image displayed as the alert information. Should be changed during display. In this way, the driver can be more surely alerted.

On the other hand, the guidance display may be performed by moving the guidance image in the direction of the position of the guidance target, as shown in, for example, claim 8. For example, move a point or a figure. In addition,
The image of the moved locus may be erased or may be left. Further, the image for guidance may be the same as or similar to the image displayed by the alerting means, for example. For example, it is better to display smaller as the position is closer to the position of the guidance target. When the guidance display is started, for example, the attention display may be kept displayed as it is or may be deleted.

The guidance display may be performed using, for example, the entire windshield of the windshield, and guidance may be performed to a position corresponding to the position of the object seen through the windshield. With this configuration, it is possible to more reliably guide the line of sight to the position of the target object. On the other hand, when using part of the windshield or the above-mentioned meter,
It is advisable to perform a guidance display in the direction of the object. In this case, the driver can recognize the object by moving the line of sight in the guidance display direction.

The guidance display is performed after the attention display, but the guidance display may be started when, for example, a predetermined condition is satisfied. For example, the predetermined condition may be, for example, when a predetermined time has elapsed, when predetermined information is input from the sensor, or when the result of the calculation is a predetermined value.

For example, as described in claim 9, there is provided a risk judging means for judging the danger of the object, and the guiding means is
The guidance display may be started when the risk level of the object determined by the risk level determination unit exceeds a predetermined level.
For example, when the target object is a detected obstacle, it is preferable to perform a display for guiding the line of sight to the obstacle when the distance to the obstacle becomes equal to or less than a certain distance. By doing so, it is possible to call attention without obstructing the visual field for driving until reaching a predetermined level, and to guide the line of sight when danger approaches.

Further, as described in claim 10, when the danger level of the object exceeds a predetermined level, it is preferable to display an image which gives a driver a feeling of oppression in the direction of the object. For example, when it is detected that a curve or the like is approaching, an image such as a wall that gives a driver a sense of oppression is displayed at a position corresponding to the outer peripheral portion of the curve. By displaying an image that gives a feeling of pressure in this way, the driver's reflexive avoidance behavior can be obtained.

The display of the image giving the driver a feeling of oppression may be performed when the level exceeds the level requiring the avoidance action by the driver, as described in claim 11.
According to the driving support device of the eleventh aspect, which is made in order to solve the above-mentioned problems, a video image that gives a feeling of pressure is displayed when the level exceeds a level that requires avoidance behavior by the driver. Therefore, it is possible to call attention to the driver without hindering the driver's view as much as possible.

Further, as described in claim 12 and claim 13, the support function of the driving support device is released at a position which does not hinder the driver's line of sight while driving and is visible to the driving driver. It is good to display the information. Conventionally, the cancellation of the support function has not been notified at all, but in this way, the cancellation of the support function can be easily notified by peripheral vision or the like. Therefore, it is possible to call attention to the driver without hindering the driver's view as much as possible. The “position that does not hinder the driver's line of sight while driving and is visible to the driving driver” in the driving support device of claim 13 is, for example, the position described in claims 4 to 6. be able to.

Further, each means of the driving support device can be realized by a circuit, or can be realized by a computer such as a microcomputer. When it is realized by a computer, it can be provided as a program started by a computer as described in claim 14. In the case of such a program, for example, a flexible disk, a magneto-optical disk, a CD-ROM, a hard disk,
It can be used by recording it in a computer-readable recording medium such as a ROM or a RAM and loading it into a computer and starting it as necessary. It can also be used by loading and starting it via a network. For example, it is possible to upgrade the program via a communication line.

[0025]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing the configuration of the driving support device of the present embodiment, and FIG. 2 is a diagram showing an example of the arrangement of each part of the driving support device of the present embodiment in a vehicle 100.

As shown in FIG. 1, the driving support apparatus of the present invention includes an information input unit 205, an information output unit 206, an external storage device 207, and a control unit 200 for controlling them.
With. The information input unit 205 monitors the front of the vehicle 100 and detects the shape of the road ahead, the position and relative speed of the front vehicle / obstacle, and the front radar 101,
The front monitoring camera 115 that obtains a front image and the vehicle 100
Rear radar 119 that monitors the rear of the vehicle and detects the shape of the rear road and the positions and relative speeds of vehicles and obstacles in the rear.
And a rear monitoring camera 116 for obtaining a rear image, and the vehicle 1
Side monitoring cameras 106 and 111 for obtaining a side image of 00
With. The information input unit 205 also detects a vehicle speed sensor 103 that detects a vehicle speed, a throttle sensor 105 that detects a throttle opening, a brake oil pressure sensor 104 that detects a brake oil pressure, a steering torque sensor 113 that detects a steering torque, and a steering angle. A steering angle sensor 114 for detecting, a solar sensor 112 for detecting the amount of solar radiation, a light switch 109a, an ignition switch 109b, a wiper switch 109c,
A direction indicator switch 109d, a microphone 107, and an automatic operation switch 120 are provided.

The information output section 206 mainly outputs an image and sound based on image information and sound information generated by the control unit 200, a multi-display 131, a head-up display 132, a meter display 133,
A speaker 134, a throttle 135 that is an actuator that operates based on a control signal generated by the control unit 200, a brake 136, and a steering 137 are provided.

The external storage device 207 is a device such as a DVDROM or a hard disk storing map data, and the control unit 200 reads the map data in the vicinity of the current position detected by the GPS antenna 117 from the external storage device 207 and multi-displays. It has a navigation function to display. Further, the map data includes data on the road shape, and, for example, the position coordinates of the curve and the curvature of the curve are recorded.

The control unit 200 includes a CPU 203, R
It is composed of a memory 202 such as OM / RAM, a microcomputer having I / O such as an input port 201 and an output port 204, and the like. The control unit 200 includes the information input unit 20.
The signal obtained from the signal No. 5 is collected via the input port 201 and stored in the memory 202. That is, FIG.
As shown in FIG. 5, the front radar 101 determines the front road shape and the relative speed, the rear radar 119 determines the rear road shape and the relative speed, the vehicle speed sensor 103 outputs the vehicle speed V, the throttle sensor 105 outputs the throttle opening So, and the brake is applied. The brake oil pressure Bp is supplied from the oil pressure sensor 104, and the steering torque Wt is supplied from the steering torque sensor 113.
The steering angle Wa is input from the steering angle sensor 114 and the ambient light brightness S is input from the solar radiation sensor 112 and stored. Further, the light switch 109a, the ignition switch 109b, the wiper switch 109c,
Direction indicator switch 109d, automatic operation switch 120
Enter and store the switch status such as. The value of the variable L indicating the state of the light switch 109a is 1
The value of the variable I / G indicating the state of the ignition switch 109b is set to 0 when the 09a is off, 1 when it is small, and 2 when it is high.
When 9b is off, it is set to 0, and when it is on, it is set to 1. The value of the variable Wp indicating the state of the wiper switch 109c is
When the wiper switch 109c is off, it is 0, when it is low, it is 1, and when it is high, it is 2.
The value of the variable Wi indicating the state of 9d is 0 when the direction indicator switch 109d is off, 1 when it is on the right, and 2 when it is on the left. The value of the variable Fas indicating the state of the automatic driving switch is 0 when the automatic driving switch 120 is off, 1 when the inter-vehicle distance maintaining control is a state of maintaining the inter-vehicle distance, and the lane in addition to the inter-vehicle distance maintaining control. Set to 2 in the case of vehicle-to-vehicle / lane-maintenance control, which is a state in which maintenance control is also performed. Also,
The audio signal from the microphone 107, the front image from the front monitoring camera 115, the side image from the side monitoring cameras 106 and 111, the rear image from the rear monitoring camera 116, and the GPS
The current position, traffic congestion information, etc. (VICS, etc.) are acquired and stored from the signals received by the antenna 117, FM antenna 118a, telephone antenna 118b, and beacon receiving element 118c.

Then, the CPU 203 reads out necessary information from the information stored in the memory 202, judges the situation, determines the control target and the control method, and outputs the information output unit via the control output port 204. 206 is a multi-display 131, a head-up display 13
2, H of meter display 133, speaker 134, etc.
MI (Human Machine Interfac
Various driving support functions are realized by outputting control signals to e), the throttle 135, the brake 136, and the steering 137.

Of these driving support functions, the multi-display 131 and the head-up display 1 are mainly used.
32, functions related to display on the meter display 133 will be described. FIG. 4 shows the vehicle 100 as seen from the driver's seat.
The inside of the vehicle, the navigation display area which is the display area of the multi-display 131, and the windshield 4 which is the display area of the head-up display 132.
4 shows the position of the meter display area of the meter display 133.

The head-up display 132 is shown in FIG.
The image projector 42, the screen 43, the windshield 44, and the Fresnel mirror 45 are provided as shown in FIG. The control unit 200 sends a video signal to the video projector 42 via the video data signal line 41, and the video projector 42 converts this video signal into light and projects it on the screen 43. The screen 43 reflects the light projected from the image projector 42 toward the Fresnel mirror 45, and the Fresnel mirror 45 further reflects the light toward the windshield 44. Then, the windshield 44 reflects the light reflected by the Fresnel mirror 45 toward the driver's viewpoint,
Form a virtual image visible to the driver. The windshield 44 presents this virtual image on the light in front of the vehicle 100 passing through the windshield.

The control unit 200 includes an information input section 205.
As shown in FIG. 6, based on the information input from FIG. 3, while outputting an alarm sound by voice or the like, a frame is displayed on the windshield 44 so as to surround the obstacle and the obstacle is displayed. Highlighting, symbol display such as rear warning, and character display such as vehicle speed and distance to the vehicle ahead are displayed in the character / symbol display area. Further, a caution / gaze guidance display, which is a display indicated by a shaded ellipse in FIG. 6, is performed.

The attention and line-of-sight guidance display is performed by the attention display displayed at the position indicated by a star in FIG. 7 and the line-of-sight guidance displayed by moving the display position as indicated by a triangle in FIG. Be seen. First, after displaying a warning at the position marked with ★,
The line-of-sight guidance display that gradually moves the display from the vicinity to the position of the obstacle as indicated by Δ is displayed. The alerting display is performed in a peripheral visual area as shown in FIG. 7 outside the central visual area in the line of sight (viewpoint) of the driver while driving (particularly running). In particular, it is recommended to display it on the lower front of the driver substantially like the position of the star. By thus displaying the reminder, the driver's attention can be attracted without hindering the driver's line of sight while driving, and the line-of-sight guidance display allows, for example, the central vision as shown in "Movement of line of sight" in FIG. Encourage the area to move to obstacles. In this way, it is possible to assist the driver in recognizing obstacles and assist driving. Although FIG. 7 shows an example of supporting the movement of the line of sight to the obstacle, not only the obstacle but also a display for moving to an object that can support driving by moving the line of sight of the driver. To do.

The driving support process including the alerting / gaze guidance display will be described with reference to the flowcharts of FIGS. 8 to 17 and the display examples of FIGS. Figure 8
As shown in FIG. 1, first, in step 301, it is determined whether the I / G (ignition switch 109b) is on. If the I / G is off (step 301: N
O), this process ends. On the other hand, if the I / G is on (step 301: YES), step 302
Move to.

In step 302, the data shown in FIG. 3 is input from the information input unit 205 and stored in the memory 202, and the value of the input data is set in the variable shown in the column of “symbol” in FIG. In the following step 303, the variable Fas
It is determined whether or not = 0. That is, it is determined whether or not the detected state of the automatic driving switch 120 is off. When Fas = 0, that is, when the state of the automatic operation switch 120 obtained in step 302 is off (step 303: YES), the process proceeds to step 304, and when Fas ≠ 0, that is, the automatic operation switch 12
If the state of 0 is not off (step 303: N
O), and proceeds to step 309.

At step 304, the obstacle data is analyzed. The detailed contents of the processing in step 304 are shown in FIG. First, the front radar 101 and the rear radar 11
9, front monitoring camera 115, side monitoring cameras 106, 1
11, rear monitoring camera 116, various infrastructure data and the like are read from the memory 202 (step 3041), and the presence or absence of an obstacle is determined based on the read data, for example, by a known obstacle determination method (step 30).
42). If it is determined that there is an obstacle (step 3042: YES), a caution / warning level is determined in step 3043. This level has three levels: a caution level (Fd = 1) for performing a caution display, a caution level (Fd = 2) for performing gaze guidance display, and a warning level (Fd = 3) for performing a danger avoidance display, The warning level is the most urgent level, followed by the alert level,
Continue with attention level. This level may be determined based on the possibility of collision with an obstacle, for example. For example, as the vehicle approaches an obstacle, the level is gradually increased from the caution level to the alert level and the warning level. On the other hand, when it is determined that there is no obstacle (step 3042: N
O), proceeding to step 3044, and setting Fd = 0 (indicating that there is no obstacle).

At step 305 in FIG. 8, Fd = 0
It is determined whether (no obstacle). When Fd = 0 (step 305: YES), the process proceeds to step 317. On the other hand, if Fd ≠ 0 (step 30
5: NO), and proceeds to step 306.

At step 306, a caution / warning is displayed. FIG. 10 shows the detailed processing contents of step 306. First, in step 3061, the process branches depending on the value of Fd (attention / warning level). When Fd = 1 (attention level) (step 3061: Fd = 1), the process moves to step 3062 and a caution is displayed. Also Fd =
In the case of 2 (attention level) (step 3061:
Fd = 2), the process proceeds to step 3063, and the line-of-sight guidance display is performed. If Fd = 3 (warning level) (step 3061: Fd = 3), the process proceeds to step 3064 and a warning display is performed.

The caution display in step 3062 corresponds to the processing as a warning calling means. This warning display is shown in FIG.
As shown in FIG. 7, a figure such as a shaded ellipse is displayed in a predetermined color such as yellow in the caution display area set on the edge of the windshield. During the display, this figure is blinked, changed in color, changed in brightness, or changed in shape. By setting the position such as the edge of the windshield within the peripheral vision area in the line of sight that the driver normally takes while driving the vehicle (for example, in the front direction), the line of sight of the driver during driving and the central vision area can be set. It is possible to inform the driver of the presence of an obstacle without hindering it. The position of the alert display area may be changed according to the detected position of the obstacle.
For example, when the detected position of the obstacle is below the front of the driver, as shown in FIG. 19, the attention is paid to the edges of the windshield below (on both sides) to the left and right of the front of the driver. It is advisable to display a caution as a display area. on the other hand,
When the detected position of the obstacle is other than below the front of the driver, as shown in FIG. 18, a caution display is performed with the edge of the windshield below the front of the driver as a caution display area. Good.

On the other hand, the line-of-sight guidance display in step 3063 corresponds to the processing as the guidance display means, for example, as shown in FIG.
20, the shaded elliptical figure is gradually reduced and moved toward the position of the obstacle as shown in FIG. In this way, the line of sight of the driver can be moved to the obstacle.

FIG. 10 shows the detailed processing contents of the line-of-sight guidance display in step 3063. In step 30631, the direction of the obstacle is first determined based on the data shown in FIG. 3 (information from the front radar 101, the rear radar 119, the front monitoring cameras 115, the side monitoring cameras 106 and 111, and the rear monitoring cameras 116). To do. When the direction of the obstacle is determined to be in front of the vehicle 100 (step 30631: front), the process proceeds to step 30632,
FIG. 20 on the head-up display (HUD) 132.
The line-of-sight guidance display as shown in FIG.

When it is determined that the direction of the obstacle is the side of the vehicle 100 (step 30631: side), the process proceeds to step 30633, and the line-of-sight guidance display is performed on the side mirror or the side image. For example, as shown in FIG. 21, the shaded elliptical shape is gradually reduced while being moved toward the side mirror in the direction in which the obstacle is present, or is displayed below the front of the driver as shown in FIG. In the side image display area provided on the edge of the windshield near the left and right of
The images of the side monitoring cameras 111 and 116 on the corresponding sides are displayed in advance, and the shaded elliptical figure is gradually reduced from the attention display area to the side image display area on the side where the obstacle is detected. And display it. FIG. 21 shows an example of line-of-sight guidance display on the right side image. In this way, the driver's line of sight can be moved to the side mirror or the side image.

If it is determined that the direction of the obstacle is behind the vehicle 100 (step 30631: rearward), the process proceeds to step 30634, and similarly, the line-of-sight guidance display is performed on the rearview mirror or the rear image. For example, as shown in FIG. 23, the line-of-sight guidance is displayed on the rear-view mirror, or as shown in FIG. 24, the line-of-sight guidance is provided to the rear image display area for displaying the image of the rear monitoring camera 116 provided below the front of the driver. To do. When performing line-of-sight guidance display to the rearview mirror as shown in FIG. 23, it is advisable to move the display along a route that does not obstruct the field of view in front of the driver as much as possible. Also,
As shown in FIG. 24, when the driver is guided downward in front of the driver, it is advisable to simultaneously perform line-of-sight guidance display from the warning display areas on both the left and right sides shown in FIG. 19 toward the position of the obstacle.

The warning display in step 3064 corresponds to danger avoidance image display means, for example, a display is made such that an object pops out from the direction of an obstacle to obtain a driver's reflexive danger avoidance operation. . In this way, when the distance to the obstacle is relatively large, the attention display is performed without obstructing the line of sight of the driver (step 306).
2) At the stage when the risk of collision becomes high, the gaze guidance display is performed (step 3063), and the danger avoidance display is performed when the urgency of the collision is high (step 3064). .

In step 307 of FIG. 8, it is determined whether vehicle control is necessary. If vehicle control is not required (step 307: NO), the process proceeds to step 317, and if vehicle control is required (step 307: YE).
S), and shifts to step 308.

In step 308, vehicle control for avoiding obstacles is performed. FIG. 12 shows the detailed processing contents of step 308.
Shown in. In step 3081, a display indicating that the vehicle control is to be operated is displayed on the head-up display 132,
In step 3082, the brake 136 or the like is controlled to perform emergency braking. When the process of step 308 is completed, the process proceeds to step 317. In this way, driving can be supported.

Next, when Fas ≠ 0 is determined in step 303, that is, the state of the automatic operation switch 120 input in step 302 is the inter-vehicle distance maintenance control state (Fas).
= 1) or the inter-vehicle distance / lane keeping control state (Fas = 2) (step 303: NO) will be described.

At step 309, the automatic driving data is analyzed. FIG. 13 shows the detailed processing contents of step 309.
Shown in. First, in step 3091, the information shown in FIG. 3 is read from the memory 202. In the following step 3092, the inter-vehicle distance is obtained from these pieces of information, and it is determined whether or not the obtained inter-vehicle distance is within a range where automatic driving is possible. If the inter-vehicle distance is within the range where automatic driving is possible, set the variable Fa to Fa =
Set to 0, and if the inter-vehicle distance is not within the automatic driving range, F
Set a = 1.

Next steps 3093 to 3099
The same process as in step 3092 is performed for. That is, in step 3093, the speed of the vehicle 100 is obtained, and it is determined whether or not the speed is within the automatic driving range. If the speed is within the automatic driving range, then Fa2 = 0, and if not within the range, Fa2 is set. = 1.

In the following step 3094, it is determined whether or not there is an accelerator operation, and if there is no accelerator operation, F
If a3 = 0, and if there is an access operation, Fa3 = 1
And In the following step 3095, it is determined whether or not there is a brake operation, and if there is no brake operation, Fa4
= 0, and if there is a brake operation, Fa4 = 1.

In the following step 3096, it is determined whether or not there is a transmission operation, and if there is no transmission operation, Fa5
= 0, and Fa5 = 1 when the transmission is operated. In a succeeding step 3097, it is determined whether or not the white line can be detected by a known white line detection process or the like. If the white line can be detected, Fa6 = 0 is set. If the white line cannot be detected, Fa6 = 1 is set. .

In the following step 3098, the vehicle can travel based on the current position obtained based on the signal from the GPS antenna 117 and the position coordinates and curvature of the curve included in the map data stored in the external storage device 207. It is determined whether or not the curve curvature in a range up to a predicted point (for example, several hundred meters ahead) is within a preset range. If it is within the preset range, Fa7 = 0, and if it is not within the range, Fa7 = 1.

At the following step 3099, it is determined whether or not the steering control torque is within a preset range. If it is within the preset range, Fa8 = 0 is set. If it is not within the range, Fa8 = 1 is set. To do. Then, in the subsequent step 310 of FIG. 8, it is determined whether or not the values of the variables Fa1 to Fa5 set in step 309 are all 0. If all are 0 (step 310: YES),
The process proceeds to step 313, and if any one is 1 (step 310: NO), the process proceeds to step 311.

At step 311, a caution warning display or the like is displayed in the character / symbol display area or the like. This step 31
FIG. 14 shows the contents of detailed processing of No. 1. As shown in FIG. 14, when Fa1 = 1 (step 31101: YE
S) An inter-vehicle distance warning is displayed (step 31102),
When Fa2 = 1 (step 31103: YES), a speed caution display is performed (step 31104), when Fa3 = 1 (step 31105: YES), an accelerator operation display is performed (step 31106), and when Fa4 = 1 (step 31107). : YES), the brake operation display is performed (step 31108), and when Fa5 = 1 (step 31109: YES), the transmission operation display is performed (step 31110).

In the subsequent step 312 of FIG. 8, the automatic operation is canceled and the process proceeds to step 317. This step 3
In 12, the control release display is first performed (step 3121) and the control is released (step 3122), as shown in FIG. This control release display is performed by displaying an image accompanied by a color change or movement on the edge of the windshield, which is the peripheral vision area of the driver who is driving, as shown as a system release display in FIG. By doing so, it is possible to surely notify the driver of the cancellation of the automatic driving without hindering the driver's view during driving.

On the other hand, when all of Fa1 to Fa5 are 0 (step 310: NO), the process proceeds to step 313. In step 313, it is determined whether Fas = 1. That is, it is determined whether the automatic driving switch 120 is in the following distance maintenance control state (Fas = 1) or the following distance / lane maintenance control state (Fas = 2) (see FIG. 3). When Fas = 1 (vehicle distance maintenance control state) (step 313: YES), the process proceeds to step 315, and when Fas = 2 (vehicle distance / lane maintenance control state) (step 313: NO), Go to step 314.

In step 314, lane keeping vehicle control is performed. FIG. 16 shows the detailed processing contents of step 314.
Shown in. As shown in FIG. 16, in step 31401, it is determined whether all of Fa6, Fa7, and Fa8 are 0. If all are 0 (step 31
(401: YES), the process proceeds to step 31402, and lane keeping control for controlling the steering 137 and the like is performed using the result of white line recognition, for example. On the other hand, Fa6, Fa
If either 7 or Fa8 is 1, (step 314
01: NO), and proceeds to step 31403.

In step 31403, it is determined whether Fa6 = 1. When Fa6 = 1, white line detection caution display is displayed in the character / symbol display area (step 31).
404), and the control release display shown in FIG. 25 is displayed (step 31405). In step 31406, Fa
It is determined whether 7 = 1. When Fa7 = 1, a curve curvature caution display is displayed (step 3140).
7), the control release display shown in FIG. 25 and the line-of-sight guidance display shown in FIG. 26 are displayed (step 31411). This gaze guidance display is based on the current position obtained based on the signal from the GPS antenna 117, the position coordinates of the curve and the curvature of the curve included in the map data stored in the external storage device 207, and the point to be guided. Is determined, and the gaze guidance display is performed toward the point of the guidance target. It should be noted that it is advisable to perform a caution display prior to this gaze guidance display. If the white line on the road can be recognized, the point to be guided may be obtained based on the result of the white line recognition.

Then, in step 31409, Fa8
It is determined whether or not = 1. If Fa8 = 1,
The steering torque warning is displayed (step 3141).
0), the control release display shown in FIG. 25 and the pressure wall display shown in FIG. 27 (step 3141).
1). This pressure wall displays, for example, a red wall along the recognized white line. By displaying an image that gives a feeling of oppression in this way, the driver's reflexive avoidance behavior can be obtained.

Then, in the following step 315 of FIG. 7, inter-vehicle distance maintaining vehicle control is performed. This inter-vehicle distance maintenance vehicle control is shown in FIG.
As shown in FIG. 5, the process is also executed when Fas = 1 is determined in step 313. FIG. 17 is a flowchart showing the detailed processing contents of the headway distance maintenance control of step 315. As shown in FIG. 17, in step 3151, it is determined whether or not there is a preceding vehicle that can be followed. If there is a preceding vehicle that can follow (step 3151: YES), S3
If there is no preceding vehicle that can follow up (154: NO), the process proceeds to step 3152.

In step 3152, automatic speed control operation display is performed in the character / symbol display area, and the following step 31
At 53, the throttle 135, the brake 136, etc. are controlled to perform automatic speed control. On the other hand, in step 3154,
The tracking type automatic speed control operation is displayed in the character / symbol display area to perform the tracking type automatic speed control (step 315).
5). Then, it is determined whether or not the tracking vehicle has been replaced (step 3156), and if there is replacement (step 3156: YES), a tracking vehicle replacement notification display is performed. On the other hand, if there is no change in the tracking vehicle, this process ends and the process proceeds to step 317 in FIG. 7. The tracking vehicle replacement notification display in step 3157 is a warning display when, for example, the side monitoring cameras 106 and 111 detect a vehicle that is interrupting between the vehicle that has been tracked so far and the host vehicle. After that, the gaze guidance display is performed for the position of the interrupting vehicle.

On the other hand, in step 313 of FIG. 8, Fas =
If it is determined to be 1, after the execution of step 315 described above, a caution warning is displayed in the character / symbol display area (step 316), and the process proceeds to step 317. In step 317, it is determined whether I / G is off or not, and I / G is turned off.
If G is off (step 317: YES), the process ends, and if I / G is on, the process returns to step 302.

In this way, various recognition processing and determination processing are performed based on the data input by the information input unit 205, and alert display, line-of-sight guidance display,
Driving can be assisted by displaying a danger avoidance image or controlling the vehicle.

In particular, since the alerting display is performed in the peripheral visual area, it is possible to perform the alerting display from a relatively early stage without hindering the driver's line of sight or the central visual area. In addition, if a predetermined position is determined as the alert display area according to the detected state,
Since it is not necessary to detect the line of sight of the driver, the driving support device can be configured at low cost. Then, by performing the line-of-sight guidance display from the vicinity of the attention display region, the line of sight of the driver can be easily guided to an object such as an obstacle or a traveling direction.

It is needless to say that the embodiment of the present invention is not limited to the above-mentioned embodiment and various forms can be adopted within the technical scope of the present invention.
For example, in the above-described embodiment, the head-up display 132 shown in FIG. 5 is used to perform display using the entire surface of the windshield 44 as shown in FIGS. 4 and 18 to 27, but the present invention is not limited to this. Various display methods can be adopted.

For example, the head-up display 132
28 may be configured as shown in FIG. 28 and displayed as shown in FIGS. The head-up display 132 shown in FIG. 28 includes a video projector 42 provided in the instrument panel and a windshield 44 provided on the windshield. The control unit 200 sends a video signal to the video projector 42 via the video data signal line 41,
A display unit included in the image projector 42 outputs this image signal as light, and the output light is reflected by a reflecting mirror and projected onto a part of the windshield 44. The display area by this projection is the area shown by the broken line in FIGS. This area includes the peripheral vision area shown in FIG. 7, and the alert display is performed within this peripheral vision area. Instead of the windshield 44, for example, a combiner may be provided in the area indicated by the broken line and projected onto the combiner.

For example, the warning display and the gaze guidance display for the obstacle shown in FIG. 20 of the above embodiment are shown in FIG.
As shown in. That is, first, a caution is displayed below the front of the driver, and then a line-of-sight guidance display in the direction of the obstacle is displayed. Further, the attention display and the line-of-sight guidance display on the side mirror shown in FIG.
Do like 0. That is, in order to guide the line of sight, as shown in FIG. 30, the attention display is performed as much as possible at the edge of the display area. For example, when guiding to the right side mirror, the attention display is performed at the leftmost position, and then the line-of-sight guidance display is performed in the direction of the right side mirror. Similarly, the alerting display and the line-of-sight guidance display on the rearview mirror shown in FIG. 23 of the above embodiment are performed as shown in FIG. Furthermore, the system release display shown in FIG. 25 of the above embodiment is performed at the bottom of the display area as shown in FIG. Further, the line-of-sight guidance display shown in FIG. 26 of the above embodiment is performed as shown in FIG. The display of the pressure wall shown in FIG. 27 of the above embodiment is shown in FIG.
As shown in. In this way, it is possible to call the driver's attention without hindering the driver's line of sight or the central vision area.

The warning display and the gaze guidance display are
Instead of the head-up display 132, the meter display 133 or the multi-display 131 can be used. For example, a meter display 133 for performing meter display by various displays (liquid crystal, plasma, etc.) as shown in FIG. 35 is provided, and the line of sight guidance display as shown in FIG. Meter display 1
The system release display may be performed by blinking the entire surface of 33 with a predetermined color. Meter display 133
Is driving the driver (for example, while driving or gazing forward)
Since it becomes the peripheral vision area, it can be displayed without obstructing the line of sight of the driver while driving. When the guidance display is performed by superimposing the original display contents, such as the guidance display on the meter display 133, the guidance display is, for example, a semitransparent display (transparent color display) as shown in FIGS. 36 and 37. It should be done so that the original display contents can be confirmed. By doing so, the original display content can be confirmed even during the guidance display.

Further, the multi display 131, the head-up display 132, the meter display 133.
You may display by combining several displays, such as. At this time, the alert display is performed in the display area within the peripheral vision area of FIG. 7. By doing so, it is possible to call attention without hindering the central vision region and support driving.

[Brief description of drawings]

FIG. 1 is a block diagram illustrating a configuration of a driving support device according to an embodiment.

FIG. 2 is an explanatory diagram showing an arrangement of devices forming the driving support device of the embodiment in a vehicle.

FIG. 3 is an explanatory diagram showing data input from an information input unit and stored in a memory.

FIG. 4 is an explanatory diagram showing a display area.

FIG. 5 is an explanatory diagram showing a configuration of a head-up display.

FIG. 6 is an explanatory diagram showing an example of driving support.

FIG. 7 is a diagram illustrating a relationship between a driver's field of view and display.

FIG. 8 is a flowchart showing a control flow of the driving support device of the embodiment.

FIG. 9 is a flowchart showing a control flow of analysis of obstacle data.

FIG. 10 is a flowchart showing a control flow of caution / warning display.

FIG. 11 is a flowchart showing a gaze guidance control flow.

FIG. 12 is a flowchart showing a control flow for obstacle avoidance.

FIG. 13 is a flowchart showing an analysis flow of automatic driving data.

FIG. 14 is a flowchart showing a control flow of caution / warning display.

FIG. 15 is a flowchart of control release.

FIG. 16 is a flowchart showing a vehicle control flow for lane keeping.

FIG. 17 is a flowchart showing a vehicle control flow for maintaining the following distance.

FIG. 18 is a diagram showing an example of an alert display.

FIG. 19 is a diagram showing another example of an alert display.

FIG. 20 is a diagram showing an example of a display for guiding the line of sight to an obstacle.

FIG. 21 is a diagram showing an example of line-of-sight guidance to a side mirror.

FIG. 22 is a diagram showing an example of gaze guidance to a side image.

FIG. 23 is a diagram showing an example of line-of-sight guidance to a rearview mirror.

FIG. 24 is a diagram illustrating an example of gaze guidance to a rear image.

FIG. 25 is a diagram showing an example of a display for notifying system cancellation.

FIG. 26 is a diagram showing an example of a display for guiding the line of sight in the traveling direction.

FIG. 27 is a diagram showing an example of a display (pressure wall) for inducing an avoidance action.

FIG. 28 is an explanatory diagram showing a configuration of another example of a head-up display.

FIG. 29 is a diagram showing another example of a display for guiding the line of sight to an obstacle.

FIG. 30 is a diagram showing another example of line-of-sight guidance to a side mirror.

FIG. 31 is a diagram showing another example of line-of-sight guidance to the rearview mirror.

FIG. 32 is a diagram showing another example of a display for notifying the system cancellation.

FIG. 33 is a diagram showing an example of a display for guiding the line of sight in the traveling direction.

FIG. 34 is a diagram showing another example of a display (pressure wall) for inducing an avoidance action.

FIG. 35 is a diagram showing an example of a normal display state of a meter.

FIG. 36 is a diagram showing an example of a display for guiding the line of sight on the meter.

FIG. 37 is a diagram showing an example of a display for notifying the system cancellation on the meter.

[Explanation of symbols]

41 ... Image data signal line 42 ... Image projector 43 ... Screen 44 ... Windshield 45 ... Fresnel mirror 100 ... Vehicle 101 ... Front radar 103 ... Vehicle speed sensor 104 ... Brake oil pressure sensor 105 ... Throttle sensor 106 ... Side monitoring camera 107 ... Microphone 109 ... Switches 109a ... Light switch 109b ... Ignition switch 109c ... Wiper switch 109d ... Direction indicator switch 111 ... Side monitoring camera 112 ... Solar radiation sensor 113 ... Steering torque sensor 114 ... Steering angle sensor 115 ... Front monitoring camera 116 ... Rear monitoring camera 117 ... GPS antenna 118a ... FM antenna 118b ... Telephone antenna 118c ... Beacon receiving element 119 ... Rear radar 120 ... Automatic operation switch 131 ... Multi Display 132 ... Head-up display 133 ... Meter display 134 ... Speaker 135 ... Throttle 136 ... Brake 137 ... Steering 200 ... Control unit 201 ... Input port 202 ... Memory 204 ... Control output port 205 ... Information input section 206 ... Information output section 207 ... External storage device

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁷ Identification code FI theme code (reference) G08G 1/16 G08G 1/16 C (72) Inventor Takuyuki Fujikawa 1-chome, Showa-cho, Kariya city, Aichi prefecture In stock company DENSO (72) Inventor Katsuzaki Katsu 1-1 Showa-cho, Kariya city, Aichi prefecture DENSO stock company (72) Inventor Hitoshi Hayashi 1-chome, Showa-cho, Aichi prefecture stock company DENSO ( 72) Inventor Hirofumi Kiyohara 1-1, Showa-cho, Kariya city, Aichi Prefecture, Denso Co., Ltd. (72) Inventor Kaname Nagyama 1-1-1-1, Showa-cho, Kariya city, Aichi prefecture, Denso (72) Inventor Kamiya Rero 1-chome, Showa-cho, Kariya city, Aichi F-term in stock company DENSO (reference) 3D044 BA20 BA21 BA26 BB01 BC25 BD01 5H180 AA01 BB13 CC04 CC14 FF05 FF25 FF2 7 FF32 LL01 LL04 LL07 LL09

Claims (14)

[Claims] 1. A display method for performing a guidance display for guiding a driver's line of sight to a position of a guidance target, which is a position that does not hinder the driver's line of sight while driving prior to the guidance display. A warning display is displayed at a position visible to the driver who is driving to warn the driver, and the position where the warning is displayed or a position that does not hinder the driver's line of sight while driving And displaying the guidance from the position visible to the driver to the position of the guidance target. 2. A display method for performing a guidance display for guiding a driver's line of sight to a position of a guidance target, wherein, prior to the guidance display, a peripheral visual area in the line of sight taken by the driver while the vehicle is traveling. An alerting display for alerting the driver to an inside position, and performing the guidance display from the position where the alerting display is performed or a position within the peripheral vision area to the guidance target position, Display method characterized by. 3. A driving support device comprising a guidance display means for performing guidance display for guiding the driver's line of sight to the position of the guidance target, which is a position that does not hinder the driver's line of sight while driving. At a position visible to the driver who is driving, the device includes a reminder information display unit that displays reminder information that is information for calling the driver's attention, and the guide display unit includes the reminder information display unit. After the display of the alert information by the driver, the guidance display is performed from a position that does not hinder the driver's line of sight while driving and is visible to the driver. 4. The driving support device according to claim 3, wherein a position that does not hinder the driver's line of sight while driving and is visible to the driving driver while the driver is running the vehicle. A driving assistance device, which is a position within a peripheral vision region in the line of sight of the vehicle. 5. The driving support device according to claim 3, wherein the driver does not obstruct the line of sight of the driver while driving and is visible to the driver while driving. A driving support device, which is a position within a peripheral vision region in a line of sight when a user looks at a vehicle. 6. The driving assistance device according to claim 3, wherein a position that does not hinder the driver's line of sight while driving and is visible to the driver during driving is the windshield. The driving support device is located at a position within at least one of the edge portion, the meter display portion, and the navigation display portion. 7. The driving assistance device according to claim 3, wherein the alerting information display means includes at least one of color, brightness, and shape of an image displayed as the alerting information. A driving assistance device characterized in that it changes during display. 8. The driving support device according to claim 3, wherein the guidance display unit performs the guidance display by moving a guidance image in the direction of the guidance target position. A driving support device characterized by the above. 9. The driving support device according to claim 3, further comprising a risk determining unit that determines a risk of the object to be guided, the guiding unit including the risk determining unit. The driving assistance device, wherein the guidance display is started when the degree of danger of the object determined by the above exceeds a predetermined level. 10. The driving support apparatus according to claim 9, wherein, when the risk level of the object determined by the risk level determining means exceeds a predetermined level, the driver moves toward the target object. A driving assistance apparatus comprising: a danger avoidance image display unit that displays an image that gives a feeling of pressure to the driver. 11. A driving support device for supporting a driver's driving by performing a display for calling attention to an object, comprising: risk determining means for determining the risk of the object; and When the risk determined by the determination means exceeds a level that requires avoidance behavior by the driver,
A driving assistance device comprising: a display unit that displays an image that gives a feeling of pressure to the driver in the direction of the object. 12. The driving assistance device according to any one of claims 3 to 10, wherein the alerting information display means provides a display for notifying the cancellation of the assistance function of the driving assistance device to the driver's line of sight during driving. The driving support device is provided at a position that does not hinder driving and is visible to a driver who is driving. 13. A driving assistance device having a driving assistance function, wherein a display for notifying the cancellation of the driving assistance function is located at a position that does not hinder the driver's line of sight while driving and is visible to the driving driver. A driving support device comprising: a display unit that performs 14. A program for causing a computer to function as each unit in the driving support device according to any one of claims 3 to 13.