JP2019053008A - State display method of traveling assist device, and state display device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a state display method of a traveling support device capable of displaying a state in which it is easy to perceive that the vehicle is being steered while the own vehicle is being steered, and a state display device. SOLUTION: A display angle of an icon of an own vehicle indicating a turning state of the own vehicle is based on a scene determination circuit 14 for determining a running environment around the own vehicle and a steering angle of steering control executed according to the running environment. A display controller 1 having an icon rotation determination circuit 113 for adjusting and a map rotation determination circuit 112 for determining whether or not the virtual viewpoint can be moved based on the steering control content executed according to the driving environment, and the determination. The display 2 is provided to display the own vehicle icon and the map image around the own vehicle according to the virtual viewpoint set based on the result and the adjusted display angle of the own vehicle icon. [Effect] Since the direction of the icon changes when the steering angle is small, it becomes easy to perceive that the steering is in progress. In addition, since the map image does not rotate unnecessarily, it is possible to suppress the discomfort felt by the occupants. [Selection diagram] Fig. 1

Description

  The present invention relates to a state display method for displaying a state of a driving support device that supports driving of a vehicle, and a state display device.

  Conventionally, a technique disclosed in Patent Document 1 is known as a technique for automatically switching the display of a navigation map. In patent document 1, when a pedestrian and an oncoming vehicle are present at the intersection when the host vehicle enters the intersection, by displaying both the pedestrian and the oncoming vehicle in the image with the target up, It is disclosed that both oncoming vehicles are easily displayed.

JP 2012-150791 A

  However, the conventional example disclosed in Patent Document 1 always displays the vehicle icon with a line of sight viewed from directly behind, so even when steering by turning left or right at an intersection, it is displayed in the same manner as when traveling straight Therefore, there is a problem that it is difficult to perceive that the host vehicle is being steered on the monitor display.

  The present invention has been made in order to solve the above-described conventional problems, and the object of the present invention is to provide a driving support capable of easily perceiving that the vehicle is being steered while the host vehicle is being steered. An object of the present invention is to provide an apparatus status display method and a status display apparatus.

  In order to achieve the above object, the present invention adjusts the display angle of the host vehicle icon indicating the turning status of the host vehicle based on the steering angle of the steering control executed according to the traveling environment around the host vehicle, Then, it is determined whether to change the virtual viewpoint based on the content of the steering control. Furthermore, the host vehicle icon and the map image around the host vehicle are displayed on the display screen based on the virtual viewpoint set based on the determination result and the adjusted display angle of the host vehicle icon.

  In the state display method according to the present invention, it is possible to display that it is easy to perceive that the vehicle is being steered during the steering of the host vehicle.

FIG. 1 is a block diagram showing a configuration of a status display device according to an embodiment of the present invention. FIG. 2A is an explanatory diagram showing the host vehicle, the rudder angle, and the virtual viewpoint when the host vehicle travels on a curve, and shows a straight traveling time before entering the curve. FIG. 2B is an explanatory diagram showing the host vehicle, the rudder angle, and the virtual viewpoint when the host vehicle travels on a curve, and shows the start of curve entry. FIG. 2C is an explanatory diagram showing the host vehicle, the steering angle, and the virtual viewpoint when the host vehicle travels on a curve, and shows a time when the vehicle passes through the curve. FIG. 2D is an explanatory diagram showing the host vehicle, the steering angle, and the virtual viewpoint when the host vehicle travels along a curve, and shows a time when the vehicle passes through the curve. FIG. 2E is an explanatory diagram showing the host vehicle, the rudder angle, and the virtual viewpoint when the host vehicle travels on a curve, and shows the end of passing the curve. FIG. 2F is an explanatory diagram showing the host vehicle, the rudder angle, and the virtual viewpoint when the host vehicle travels on a curve, and shows a straight traveling time after passing the curve. FIG. 3A is a display example of an overhead view of the host vehicle and surrounding images when the virtual viewpoint shown in FIG. 2A is used. FIG. 3B is a display example of an overhead view of the host vehicle and surrounding images when the virtual viewpoint shown in FIG. 2B is used. FIG. 3C is a display example of an overhead view of the host vehicle and surrounding images when the virtual viewpoint shown in FIG. 2C is used. FIG. 3D is a display example of an overhead view of the host vehicle and surrounding images when the virtual viewpoint shown in FIG. 2D is used. FIG. 3E is a display example of an overhead view of the host vehicle and surrounding images when the virtual viewpoint shown in FIG. 2E is used. FIG. 3F is a display example of an overhead view of the host vehicle and surrounding images when the virtual viewpoint shown in FIG. 2F is used. FIG. 4A is an explanatory diagram showing the host vehicle, the rudder angle, and the virtual viewpoint when the host vehicle changes lanes, and shows a straight traveling time before the lane change. FIG. 4B is an explanatory diagram showing the host vehicle, the steering angle, and the virtual viewpoint when the host vehicle changes lanes, and shows a state immediately after the start of lane change. FIG. 4C is an explanatory diagram showing the host vehicle, the steering angle, and the virtual viewpoint when the host vehicle changes lanes, and shows that the lane is being changed. FIG. 4D is an explanatory diagram showing the host vehicle, the steering angle, and the virtual viewpoint when the host vehicle changes lanes, and shows a state immediately before the lane change ends. FIG. 4E is an explanatory diagram showing the host vehicle, the rudder angle, and the virtual viewpoint when the host vehicle changes lanes, and shows the time of straight ahead after the lane change. FIG. 5A is a display example of an overhead view of the host vehicle and surrounding images in the traveling state shown in FIG. 4A. FIG. 5B is a display example of an overhead view of the host vehicle and surrounding images in the traveling state shown in FIG. 4B. FIG. 5C is a display example of an overhead view of the host vehicle and surrounding images in the traveling state shown in FIG. 4C. FIG. 5D is a display example of an overhead view of the host vehicle and surrounding images in the traveling state shown in FIG. 4D. FIG. 5E is a display example of an overhead view of the host vehicle and surrounding images in the traveling state shown in FIG. 4E. FIG. 6 is a flowchart showing a processing procedure of the state display device according to the first embodiment of the present invention. FIG. 7 is a flowchart showing a processing procedure of the state display device according to the first embodiment of the present invention. FIG. 8 is a flowchart showing a processing procedure of the state display device according to the first embodiment of the present invention. FIG. 9 is a zenith view when the host vehicle is traveling on a curve. FIG. 10 is a display example of a zenith diagram displayed by the display method according to the second embodiment when traveling at points p1 to p5 in FIG. FIG. 11 is a display example of a zenith diagram in which icons are fixedly displayed during traveling at points p1 to p5 in FIG. FIG. 12 is a display example of a zenith map in which the map is fixedly displayed when traveling at points p1 to p5 in FIG. FIG. 13A is a display example of a rudder angle and a zenith view when the host vehicle changes lanes, and shows a straight traveling time before changing lanes. FIG. 13B is a display example of a steering angle and a zenith view when the host vehicle changes lanes, and shows a state immediately after the start of lane change. FIG. 13C is a display example of a steering angle and a zenith view when the host vehicle changes lanes, and shows that the lane is being changed. FIG. 13D is a display example of the rudder angle and zenith when the host vehicle changes lanes, and shows a state immediately before the lane change ends. FIG. 13E is a display example of a rudder angle and a zenith view when the host vehicle changes lanes, and shows a straight-ahead direction after lane change. FIG. 14 is a flowchart showing a processing procedure of the state display device according to the second embodiment of the present invention. FIG. 15 is a flowchart showing a processing procedure of the state display device according to the second embodiment of the present invention. FIG. 16 is a flowchart showing a processing procedure of the state display device according to the second embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[Description of Configuration of First Embodiment]
FIG. 1 is a block diagram showing a configuration of a status display device according to an embodiment of the present invention. This state display device is mounted on a vehicle having an automatic driving function. In addition, the automatic driving | operation in this embodiment points out the state which is controlling at least an accelerator, without an operator's intervention among actuators, such as a brake, an accelerator, a steering, for example. Therefore, other actuators may be operated by the occupant's operation.

  As shown in FIG. 1, the status display device according to the present embodiment includes a display controller 1, a display device 2 that displays an image, a map database 3, a GPS device 4 (Global Positioning System), and a gyro sensor 5. , A camera 6 and a rudder angle sensor 7.

The display controller 1 includes an image display circuit 11, a host vehicle icon storage circuit 12, a host vehicle position determination circuit 13, and a scene determination circuit 14.
The image display circuit 11 includes a drawing control circuit 111, a map rotation determination circuit 112 (virtual viewpoint movement determination circuit), an icon rotation determination circuit 113, and an image composition circuit 114.

  The display controller 1 described above can be realized using a microcomputer including a CPU (Central Processing Unit), a memory, and an input / output unit. A computer program (display program) for causing the microcomputer to function as the display controller 1 is installed in the microcomputer and executed. Thereby, the microcomputer functions as a plurality of information processing circuits (11, 12, 13, 14) included in the display controller 1. Here, an example in which the display controller 1 is realized by software is shown, but it is of course possible to configure the display controller 1 by preparing dedicated hardware. Further, a plurality of circuits included in the display controller 1 may be configured by individual hardware. Further, the display controller 1 may also be used as an electronic control unit (ECU) used for other control related to the vehicle. Moreover, the map database 3 shown in FIG. 1 does not need to be mounted on the vehicle, and may be configured to acquire various data through communication with the base station.

The GPS device 4 shown in FIG. 1 detects the current position of the host vehicle and outputs the detected position information to the host vehicle position determination circuit 13.
The map database 3 stores three-dimensional map data including the periphery of the vehicle. The map data is output to the scene determination circuit 14 and the map rotation determination circuit 112.

  The gyro sensor 5 detects the change in the traveling direction of the vehicle by detecting the angular velocity in each direction of yaw, pitch, and roll, and specifies the current position of the host vehicle. Therefore, the current position of the host vehicle can be specified even in an area such as a tunnel where GPS signals cannot be received.

  The camera 6 includes a front camera 6a, a rear camera 6b, a right camera 6c, and a left camera 6d, and picks up images in the front and rear and left and right directions of the vehicle. Each camera 6 (6a-6c) is a camera provided with image pick-up elements, such as CCD and CMOS. The captured image data is output to the scene determination circuit 14.

  The steering angle sensor 7 detects the steering angle when the host vehicle is steered and outputs the detected steering angle to the scene determination circuit 14. In addition, the “steering angle” referred to in the present embodiment refers to a control signal calculated based on the sensor information by detecting the rotation amount and the rotational force of the steering wheel by a sensor other than the steering angle by mechanical steering. Is transmitted to a motor for controlling the turning angle of the wheel via a wire harness, that is, a steering angle by a so-called Steering by Wire.

  As the display device 2, for example, an image monitor having a display screen such as a liquid crystal display can be used. Further, various display methods such as a segment display provided with a plurality of light emitting diodes and a head-up display can be employed. For example, it can provide in the instrument panel vicinity of the own vehicle.

The own vehicle position determination circuit 13 includes the position data of the own vehicle detected by the GPS device 4, the angular velocity data of the own vehicle detected by the gyro sensor 5, and a map around the own vehicle stored in the map database 3. Based on the data, the current position of the host vehicle is determined. Data indicating the current position is output to the scene determination circuit 14 and the drawing control circuit 111.
The own vehicle icon storage circuit 12 stores three-dimensional data of an icon for displaying the own vehicle on a map.

  The scene determination circuit 14 determines a scene (traveling environment) in which the host vehicle is traveling based on the current position of the host vehicle, image data captured by the cameras 6 (6a to 6d), and map data. As a specific example, it is determined whether or not the scene is accompanied by steering such as turning left and right at an intersection, traveling on a curve, changing lanes, joining a highway, and branching. For example, in the case of traveling in an automatic driving in which a departure place and a destination are set, the scene can be determined based on the data on the travel route that has already been determined and the current position. Alternatively, the scene can be determined based on the map data and the current position even in the automatic driving without setting the destination. In addition, as will be described later, when changing lanes according to the situation of other vehicles and obstacles existing around the host vehicle, whether or not the scene is a lane change scene based on an image captured by each camera 6. Determine.

  Further, the scene determination circuit 14 determines that the rudder angle of the host vehicle is greater than or equal to a certain angle (this is a second predetermined angle) when driving a right or left turn or curve based on map data around the host vehicle. It is determined whether or not a steering angle is involved. Then, data indicating the current scene and the steering angle of the host vehicle are output to the map rotation determination circuit 112 and the icon rotation determination circuit 113.

  The icon rotation determination circuit 113 is a map image (in the first embodiment, an overhead view display, in the second embodiment, based on the current scene of the host vehicle, such as passing a curve or changing lanes), and the steering angle of the host vehicle. Then, the display angle of the vehicle icon displayed on the zenith map display) is adjusted. When the host vehicle is traveling straight, the host vehicle icon is directed in the straight direction (front of the display screen). That is, the display angle is set to zero. In addition, when the traveling path of the host vehicle is a curve that requires a steering angle greater than or equal to the second predetermined angle, or when the host vehicle is steered, and the host vehicle is steered, the host vehicle icon is displayed according to the steering angle. The angle is adjusted to an appropriate display angle (details will be described later).

  The map rotation determination circuit 112 includes a storage unit (not shown) that stores the initially set virtual viewpoint position and angle. For example, when the steering angle of the host vehicle is zero, a point having a certain height from the center line in the front-rear direction of the host vehicle is stored in the storage unit as an initial virtual viewpoint. Further, the map rotation determination circuit 112 determines whether or not to move the virtual viewpoint based on the content of the steering control. Specifically, the virtual viewpoint is moved according to the steering angle in the steering control of the curve with the steering angle equal to or more than the second predetermined angle described above or the steering control of the left / right turn. The map image is rotated according to the movement of the virtual viewpoint. Further, as will be described later, the virtual viewpoint direction based on the virtual viewpoint stored in the storage unit is maintained until the steering angle of the host vehicle reaches the second predetermined angle. When the rudder angle is equal to or greater than the second predetermined angle, the virtual viewpoint is moved according to the change in the rudder angle of the host vehicle. As a result, the virtual viewpoint direction changes, so the map image rotates. When the steering angle of the host vehicle is returned to zero, the initially set virtual viewpoint is restored. In the lane change steering control, the direction from the virtual viewpoint toward the host vehicle is maintained in a certain direction. Therefore, the map image is not rotated.

  The “virtual viewpoint” shown in the first embodiment refers to a point set around the host vehicle (usually at a suitable location behind the host vehicle). A direction from the virtual viewpoint toward the host vehicle is defined as a virtual viewpoint direction. In this embodiment, as an example, as described above, when the steering angle of the host vehicle is zero (when the host vehicle is traveling straight), it is on an extension line that faces the center line in the front-rear direction of the host vehicle and has a certain height. A point having a virtual viewpoint is set. Therefore, when the host vehicle is traveling straight along a straight traveling path, when the host vehicle is viewed from a virtual viewpoint, an overhead view image of the host vehicle traveling forward is obtained. When the virtual viewpoint moves, the map image around the host vehicle is rotated (changed in angle) and displayed. For example, referring to FIG. 2B, FIG. 2C, FIG. 3B, and FIG. 3C, which will be described later, when the virtual viewpoint C1 changes from the state shown in FIG. 2B to the state shown in FIG. 3B and 3C, the map image around the host vehicle rotates.

  The drawing control circuit 111 identifies the current position of the host vehicle on the map image, and draws an image in which the icon of the host vehicle stored in the host vehicle icon storage circuit 12 is superimposed on the current position on the map image. To do. At this time, the direction of the icon set by the icon rotation determination circuit 113 is set. The drawn image is output to the image composition circuit 114. In 1st Embodiment, it shows about the example which displays a map image with an overhead view. The “overhead view” is a display mode in which the host vehicle and surrounding images are displayed so as to be looked down obliquely from above, and is sometimes referred to as a “bird's eye view”.

  The image composition circuit 114 synthesizes the icon image drawn by the drawing control circuit 111 with the map image in the direction set by the map rotation determination circuit 112 and outputs the combined image to the display 2.

  In the present embodiment, the virtual viewpoint is not changed if the rudder angle of the host vehicle detected by the rudder angle sensor 7 is less than a preset first predetermined angle (for example, 1 °). That is, if the rudder angle is less than 1 °, it is assumed that the vehicle is traveling straight, the icon is displayed while maintaining the virtual viewpoint when traveling straight, and the surrounding map image is displayed.

  On a curve with a rudder angle at which the travel scene is greater than or equal to the second predetermined angle, or on a travel road that is turning left or right, when steering is started and the rudder angle becomes greater than or equal to the first predetermined angle, The display angle of the vehicle icon indicating the turning situation is adjusted and displayed. That is, the display angle of the icon is displayed so as to face the steering direction without changing the virtual viewpoint direction. Furthermore, when the rudder angle is equal to or greater than a second predetermined angle (for example, 15 °), the virtual viewpoint is moved according to the rudder angle and a map image is displayed. The map image is rotated and displayed on the display screen. That is, a first display mode based on the adjusted display angle of the host vehicle icon with the virtual viewpoint direction fixed, and a second display mode based on the display angle of the adjusted host vehicle icon after moving the virtual viewpoint. The display is switched according to the steering angle.

  Furthermore, in this embodiment, the display method of the map image and the icon of the host vehicle is changed according to the scene in which the host vehicle travels. Details will be described below.

[Description of display method according to the scene the host vehicle is traveling]
Hereinafter, the display method of the map image and icon according to the scene where the own vehicle travels will be described. Specifically, an example in which the host vehicle travels on a curve (here, a curve having a small curvature radius and a steering angle greater than or equal to a second predetermined angle) and a lane change will be described.

(Display method when passing a curve)
Below, the display method when the host vehicle passes a curve in the case of displaying a map image as an overhead view will be described. In the following, when displaying the map image and the icon of the host vehicle on the display 2, the virtual viewpoint direction is fixed as the host vehicle moves, and the display angle of the icon is changed according to the steering angle. The display mode to be used is the map fixed display (first display mode). In addition, a display mode in which an icon whose display angle is changed by moving the virtual viewpoint is displayed as an icon fixed display (second display mode).

  2A to 2F are explanatory views showing a virtual viewpoint, an icon display angle, and a steering angle when the host vehicle travels on a curved road, and the host vehicle V1 is shown in FIGS. 2A, 2B, and 2C. 2C, FIG. 2D, FIG. 2E, and FIG. 3A to 3F show display examples of map images displayed on the display device 2 at the positions shown in FIGS. 2A to 2F. 2A to 2F indicates the rotation angle (corresponding to the steering angle) of the steering wheel, reference C1 indicates a virtual viewpoint, and reference Z1 indicates a straight line connecting the virtual viewpoint C1 and the host vehicle V1 on a horizontal plane. The projected direction (hereinafter referred to as “virtual viewpoint direction Z1”) is shown.

  As shown in FIG. 2A, when the host vehicle V1 is traveling on a straight road before entering the curve, the virtual viewpoint C1 is set at a certain height from a point on the center line in the front-rear direction of the host vehicle V1. Is done. That is, the virtual viewpoint C1 is an initial virtual viewpoint, and the traveling direction of the host vehicle V1 coincides with the virtual viewpoint direction Z1. As shown in FIG. 3A, the icon P1 of the host vehicle V1 is displayed so as to face forward with respect to the surrounding map image.

  As shown in FIG. 2B, when the host vehicle V1 enters the curve, the steering angle is small and smaller than a second predetermined angle (for example, 15 °). In this case, the virtual viewpoint direction Z1 is not changed (the virtual viewpoint C1 moves slightly to the right). Therefore, as shown in FIG. 3B, the icon P1 of the host vehicle V1 is displayed so as to face rightward. At this time, as can be seen from FIGS. 3A and 3B, the map image only slides upward, and the orientation of the map image does not change.

  In addition, it is preferable that the rotation center at the time of rotating icon P1 is a predetermined point set ahead of the center position of the icon. This is because the right side surface of the icon P1 is easily visible. The occupant can sensuously recognize that steering in the right direction is started by changing the direction of the icon P1.

  As shown in FIG. 2C, when the host vehicle V1 is traveling on a curve, the steering angle increases and becomes equal to or greater than a second predetermined angle. In this case, the virtual viewpoint C1 is moved without changing the display angle of the icon P1 any more. Since the virtual viewpoint direction Z1 is changed by moving the virtual viewpoint C1, the map image is rotated and displayed on the display screen of the display 2 as shown in FIG. 3C. Therefore, the icon P1 of the host vehicle V1 is displayed facing right, and in addition to this, the map image around the host vehicle V1 is rotated and displayed in the right direction.

  Thereafter, when the rudder angle is substantially constant and passes the curve, as shown in FIG. 2D, the angle of the host vehicle V1 with respect to the virtual viewpoint direction Z1 is maintained. Accordingly, as shown in FIG. 3D, the icon P1 of the host vehicle V1 is displayed facing the right direction, and further, a map image around the host vehicle V1 is rotated and displayed.

  As shown in FIG. 2E, when the host vehicle V1 finishes passing the curve, the rudder angle (see symbol Q1) is returned toward the neutral position (steering angle 0 °). As the rudder angle moves toward the neutral position, the virtual viewpoint direction Z1 is changed so as to face the straight traveling direction of the traveling road, and the straight traveling direction of the traveling road faces the front of the display screen. At the same time, the display angle of the host vehicle V1 is changed in the decreasing direction. That is, as shown in FIG. 3E, the display angle of the icon P1 is reduced and displayed to face forward.

  Thereafter, when the host vehicle V1 returns straight as shown in FIG. 2F, the virtual viewpoint direction Z1 becomes the traveling direction of the host vehicle V1. That is, the image is returned to the initially set virtual viewpoint, and as shown in FIG. 3F, the icon P1 returns to an image facing the front of the travel path.

  In the above-described example, when the rudder angle is returned toward the neutral position, the direction of the vehicle traveling path in the map image and the direction of the icon P1 are simultaneously directed to the front of the display screen. The example in which the virtual viewpoint C1 is moved and the display angle of the icon is changed has been described. However, the present invention is not limited to this, and when the steering angle is returned to the second predetermined angle, the virtual viewpoint C1 is moved so that the direction of the host vehicle traveling path in the map image faces the front of the display screen, When the steering angle is returned to the first predetermined angle, the display angle of the icon P1 may be changed so that the icon P1 faces the front of the display screen.

(Display method when changing lanes)
Next, a display method when the host vehicle changes lanes will be described. In the present invention, “lane change” refers to movement from a driving lane to an adjacent lane, merge from an acceleration lane to a driving lane on a highway, a diversion from a driving lane to a deceleration lane on a highway, and a width to a shoulder. It is a concept that includes an operation that deviates from the currently traveling lane, such as an operation that stops when the vehicle is stopped.
4A to 4E are explanatory views showing the virtual viewpoint C1 and the steering angle when the host vehicle changes lanes from the driving lane L1 to the adjacent lane L2 on the right side, and the host vehicle V1 is shown in FIGS. 4A, 4B, It moves in order of FIG. 4C, FIG. 4D, and FIG. 4E. 5A to 5E are explanatory diagrams showing a map image and an icon P1 displayed on the display device 2 when the host vehicle is traveling at the position shown in FIGS. 4A to 4E. Moreover, the code | symbol Q1 shown to FIG. 4A-FIG. 4E has shown the steering angle of the own vehicle V1.

In the present embodiment, the virtual viewpoint direction is fixed when the host vehicle V1 changes lanes. Therefore, in FIGS. 4A to 4E showing the lane change period, the direction from the virtual viewpoint C1 toward the host vehicle V1 does not change. As shown in FIG. 4A, the steering angle is zero when the host vehicle V1 is traveling on the travel lane L1. Therefore, as shown in FIG. 5A, the direction of the icon P1 of the host vehicle V1 coincides with the virtual viewpoint direction Z1. Therefore, it is displayed so as to face the surrounding map image.
As shown in FIG. 4B, a steering angle is generated when the host vehicle V1 steers and starts a lane change from the travel lane L1 to the adjacent lane L2.

  Therefore, as shown in FIG. 5B, the icon P1 indicating the turning state is displayed facing right. The map image does not rotate, and the display angle of the icon P1 is changed and displayed according to the steering angle. At this time, the rotation center of the icon P1 is preferably an arbitrary point set ahead of the center of the host vehicle.

  As shown in FIG. 4C, when the host vehicle V1 enters the adjacent lane L2, the host vehicle V1 is traveling straight, so that the rudder angle is returned to the neutral position (see reference sign Q1). As shown in FIG. 5C, since the map image does not rotate and the virtual viewpoint direction Z1 does not change, the icon P1 is displayed to face the right direction.

  As shown in FIG. 4D, when the host vehicle V1 enters the adjacent lane L2, the host vehicle V1 is steered in the left direction (see reference sign Q1). At this time, the direction of the icon is not changed regardless of whether the steering direction is reversed from right to left. Therefore, as shown in FIG. 5D, the icon P1 of the host vehicle V1 is displayed so as to face rightward.

  As shown in FIG. 4E, when the host vehicle V1 enters the adjacent lane L2 and goes straight, the traveling direction of the host vehicle V1 coincides with the virtual viewpoint direction Z1. As shown in FIG. 5D, the icon P1 is displayed so as to face the map image.

  As described above, in the case of a lane change scene, the virtual viewpoint direction Z1 is maintained in a constant direction from the start to the end of steering (note that the virtual viewpoint C1 slightly moves in the horizontal direction). The steering angle of the host vehicle V1 changes in the order of “neutral position → right steering → neutral position → left steering → neutral position” as indicated by the symbol Q1 in FIGS. 4A to 4E. As shown in FIGS. 5B to 5D, P1 is displayed so as to face the right direction, which is the direction of lane change. While the travel lane is being changed, the display angle of the icon P1 is changed only in the right direction (one direction).

  That is, when the host vehicle V1 changes lanes from the driving lane L1 to the right lane (adjacent lane L2), the vehicle V1 steers to the right by a slight angle (for example, 5 °), and then returns to the neutral position. Steer a slight angle to the left and go straight. However, the occupant of the vehicle recognizes that the steering is sensible to the right and then returned to the neutral position. In other words, when the lane change is actually finished, the vehicle is steered leftward, but the occupant generally does not recognize this operation. For this reason, when the direction of the icon P1 is changed according to the steering angle, the icon P1 is once turned rightward and then leftward, and is displayed so as to return to the neutral position (straight forward direction). If displayed in this way, it may be different from the occupant's feeling and may cause a sense of incongruity. In the present embodiment, in the case of a lane change (for example, in the case of a lane change in the right direction), the display angle of the icon P1 is set to the right direction, and the straight line is returned to the straight position without rotating in the left direction. That is, during the period from the start to the end of the lane change, the icon P1 is displayed so that the direction of the icon P1 becomes the direction of the lane change regardless of the steering direction. By doing so, the direction of the icon P1 can be displayed without causing the occupant to feel uncomfortable.

[Description of Operation of First Embodiment]
Next, the state display method according to the first embodiment configured as described above will be described with reference to the flowcharts shown in FIGS. FIGS. 6-8 is a flowchart which shows the procedure of the display process in the case of carrying out the bird's-eye view display of the map image around the own vehicle, and icon P1.

Initially, the host vehicle travels straight on a straight traveling path, and a point having a certain height is set as a virtual viewpoint on an extension of the center line in the front-rear direction of the host vehicle. Accordingly, initially, an image in which the host vehicle icon goes straight on a straight traveling road is displayed on the display 2 (see FIG. 3A).
In step S <b> 11 of FIG. 6, the vehicle position determination circuit 13 determines the position of the vehicle based on data obtained from the GPS device 4, the map database 3, and the gyro sensor 5. Furthermore, the scene determination circuit 14 determines the scene (traveling environment) of the host vehicle.

  In step S12, the scene determination circuit 14 determines whether or not the driving environment is a steering environment. Further, in the scene of turning left or right with a rudder angle of a second predetermined angle or more, entering a curve, or changing lanes. It is determined whether or not there is. If it is a lane change scene, the process proceeds to step S28 in FIG. If it is a scene of turning left or right at an intersection or entering a curve, the scene determination circuit 14 acquires the steering angle of the host vehicle detected by the steering angle sensor 7 in step S13.

  In step S14, the scene determination circuit 14 determines whether or not the steering angle of the host vehicle is equal to or greater than a first predetermined angle set in advance. The first predetermined angle is, for example, 1 °, and it is assumed that a slight amount of steering is detected.

  In step S15, the map rotation determination circuit 112 fixes the orientation of the map image displayed on the display 2 without moving the virtual viewpoint. Furthermore, in step S16, the icon rotation determination circuit 113 changes the display angle of the icon P1 according to the steering angle. Specifically, as shown in FIG. 2A described above, when the host vehicle V1 is traveling on a straight road, the steering angle is approximately 0 °. Thereafter, as shown in FIG. 2B, when entering the curve, the steering angle becomes equal to or greater than the first predetermined angle, so that the display angle of the icon P1 is changed and displayed according to the steering of the host vehicle V1. That is, as shown in FIG. 3B, an image in which the icon P1 faces rightward is displayed on the display 2.

  In step S17, the scene determination circuit 14 determines whether or not the steering angle is equal to or greater than a second predetermined angle (for example, 15 degrees). If it is less than the second predetermined angle (NO in step S17), the process returns to step S15. On the other hand, as shown in FIG. 2C, if the steering angle is not less than the second predetermined angle while passing through the curve (YES in step S17), in step S18, the icon rotation determination circuit 113 displays the display angle of the icon P1. To fix. In step S19, the map rotation determination circuit 112 moves the virtual viewpoint according to the steering angle. Specifically, the virtual viewpoint C1 is moved as shown in FIGS. 2B to 2C. As a result, as shown in FIG. 3C, the surrounding map image is rotated and displayed with the direction of the icon P1 being constant.

  In step S20, the scene determination circuit 14 detects the steering direction, and further determines in step S21 whether or not the steering is return steering. Return steering means that the steering direction is reversed to the neutral position when passing a curve or the like. For example, in the case of passing through a right curve, an operation of returning from the maximum steering angle to the neutral position as the vehicle approaches the exit of the curve after steering to the right side is shown. If it is determined that it is not return steering (NO in step S21), the process returns to step S18, and if it is determined that it is return steering (YES in step S21), the process proceeds to step S22 in FIG.

In step S22, the icon rotation determination circuit 113 detects the virtual viewpoint direction of the icon P1 and the rotation angle of the map. Further, in step S23, the scene determination circuit 14 acquires the steering angle detected by the steering angle sensor 7, and in step S24, determines whether or not the steering angle is equal to or greater than a second predetermined angle.
If the angle is equal to or greater than the second rudder angle, in step S25, the map rotation determination circuit 112 rotates the map image to return to the original angle. Specifically, the vehicle is rotated so that the traveling path of the host vehicle in the map image faces the front direction on the display screen.

  In step S26, the icon rotation determination circuit 113 restores the display angle of the icon P1. In step S27, the virtual viewpoint is returned to the initially set position and angle. As a result, the map image is displayed so that the traveling direction of the traveling road faces the front direction of the screen, and further, the icon P1 is displayed so as to face the upward direction of the screen. That is, in the case where the steering control is return steering to the neutral position, the direction of the vehicle traveling path in the map image is directed to the front of the display screen, and the icon is directed to the front of the display screen. The orientation of the image and the display angle of the icon P1 change.

  Next, processing when the host vehicle changes lanes will be described. If it is determined in the process shown in step S12 of FIG. 6 that the scene is a lane change, the process proceeds to step S28 of FIG.

  In step S <b> 28, the scene determination circuit 14 acquires the steering angle of the host vehicle detected by the steering angle sensor 7. In step S29, the map rotation determination circuit 112 fixes the virtual viewpoint direction Z1 during the lane change period and displays the map image to be displayed on the display unit 2 in a fixed direction.

  In step S30, the icon rotation determination circuit 113 displays on the display device 2 such that the direction of the icon P1 changes according to the steering angle. Specifically, as shown in FIG. 4B, when the host vehicle V1 starts steering to change the lane from the driving lane L1 to the adjacent lane L2, as shown in FIG. 5B, the icon P1 turns to the right. To display.

  In step S31, the scene determination circuit 14 detects the steering direction, and in step S32, determines whether or not it is return steering. If it is not return steering, the process returns to step S30. If it is return steering, in step S33, the icon rotation determination circuit 113 maintains the direction in which the icon P1 faces (in this case, the right direction). Further, the display angle of the icon P1 is changed according to the steering angle. Specifically, the angle is gradually changed so that the icon P1 faces forward. That is, as shown by reference numeral Q1 in FIG. 4D, even when the steering direction is set to the left at the end of the lane change, as shown in FIG. 5D, the icon P1 is displayed so as to face right. To do.

  Next, in step S34, the icon rotation determination circuit 113 fixes the display of the icon P1 so that the direction of the icon P1 is parallel to the direction of the travel path.

[Description of Effects of First Embodiment]
In this way, the state display method for the driving assistance apparatus according to the first embodiment can achieve the following operations and effects.
(1) In the state display method of the driving support apparatus according to the present embodiment, the display angle of the host vehicle icon indicating the turning state of the host vehicle is adjusted based on the steering control executed according to the driving environment, and the steering is further performed. It is determined whether to move the virtual viewpoint based on the control content, and the virtual viewpoint set based on the determination result and the display angle of the adjusted own vehicle icon are set. Therefore, the passenger of the own vehicle can recognize the content of the control of the own vehicle and the current traveling state, and can reduce the uncomfortable feeling with respect to the driving support device.

(2) In particular, in the case of an autonomous driving vehicle, there are many cases where the occupant does not grasp the surrounding situation, so it is possible to reduce a sense of discomfort with respect to driving support.
(3) Since a point on the central axis in the front-rear direction of the own vehicle when the rudder angle of the own vehicle is zero or a point having a certain height from the center line is set as the virtual viewpoint before moving, When the vehicle is traveling straight ahead, the vehicle is displayed so as to face forward, and a sense of discomfort with respect to driving support can be reduced.

(4) Moreover, since it displays in either the 1st display mode which changes and displays the display angle of an icon, and the 2nd display mode which displays the icon which moved the virtual viewpoint and the display angle changed, The occupant of the own vehicle can accurately recognize the control contents and the driving situation of the own vehicle, and can reduce the uncomfortable feeling with respect to the driving support device. In the first display mode, the icon display angle is changed when traveling on a curve with a steering angle greater than or equal to the second predetermined angle, or when traveling on an intersection. For this reason, since the display angle of the icon does not change with a gentle curve, it is possible to prevent the passenger from unnecessarily recognizing the curve.

(5) A map displayed on the display unit 2 when the vehicle is in a scene where the vehicle turns right or left at an intersection or passes through a curve, and the steering angle is greater than or equal to a first predetermined angle. The image is fixed and displayed so that the display angle of the icon of the host vehicle displayed on the map image changes. Furthermore, when the rudder angle becomes larger than the second predetermined angle, the map image is rotated by moving the virtual viewpoint.
Therefore, when the steering angle is small, the steering state and steering direction of the host vehicle can be intuitively recognized. In addition, the map image can be prevented from rotating unnecessarily, and the passenger can be prevented from feeling annoying. For this reason, a passenger | crew becomes able to grasp | ascertain correctly the control content and driving | running | working condition of the own vehicle, and can reduce the discomfort which a passenger | crew feels.

(6) In the case of a traveling environment in which the traveling lane of the host vehicle is changed, the direction of the map image is fixed and the icon display angle is changed during the period in which the traveling lane is changed. Therefore, unnecessary rotation of the map image can be suppressed, and the occupant can easily recognize that the lane has been changed.

(7) Since the display angle of the icon changes only in one of the left direction and the right direction during the lane change period, it is possible to suppress the passenger from feeling uncomfortable with the movement of the icon.

(8) When returning the rudder angle from the steered rudder angle to the neutral position by the steering control, the direction of the travel path included in the map image changes so as to face the front direction of the display screen of the indicator 2; In addition, since the direction of the icon changes so as to face the front of the display screen, the occupant can immediately recognize that he / she has returned straight from the steered state, and can reduce discomfort felt by the occupant.

(9) When the steering angle is returned from the steered steering angle to the neutral position by the steering control, the direction of the travel path included in the map image is displayed in front of the display screen during the period when the steering angle is returned to the second predetermined angle. It changes to face the direction. Further, during the period of returning to the first predetermined angle, the direction of the icon changes so as to face the front direction of the display screen. Therefore, the occupant can recognize that the vehicle has returned straight from the steered state in a more easily understandable manner, and can further reduce the sense of discomfort felt by the occupant.

(10) When changing the display angle of the icon, the rotation center of the icon is set to an arbitrary point ahead of the center of the vehicle, so that the side of the icon displayed three-dimensionally can be easily recognized. Further, it is possible to easily recognize the map image after passing the curve or the intersection and the situation of the curve exit.

[Description of Second Embodiment]
Next, a second embodiment of the present invention will be described. In the first embodiment described above, an example in which a map image is displayed in an overhead view has been described. In the second embodiment, the map image is displayed in a zenith view. Since the apparatus configuration is the same as that shown in FIG. In the second embodiment, the “virtual viewpoint” is a point set on a horizontal plane around the host vehicle, and the direction in which the host vehicle is viewed from the virtual viewpoint is the “virtual viewpoint direction”.
Hereinafter, a display method according to the scene in which the host vehicle travels will be described. Specifically, an example in which the host vehicle passes a curve and a lane change will be described.

(Display method when passing a curve)
A description will be given of a display method in a case where the map image is displayed in a zenith view and the own vehicle passes a curve. As in the first embodiment described above, the display mode in which the virtual viewpoint is fixed and the display angle of the host vehicle icon is changed is the map fixed display (first display mode). In addition, a display mode in which the own vehicle icon is displayed by moving the virtual viewpoint direction is an icon fixed display (second display mode).

  FIG. 9 is an explanatory diagram illustrating a situation where the host vehicle V1 travels on a travel path L11 from the straight path toward the curve, and FIG. 10 illustrates the host vehicle V1 when the display method according to the present embodiment is used. 9 shows a display example when passing through the passing points p1 to p5 shown in FIG. As a comparative example, FIGS. 11 and 12 show display examples when the host vehicle V1 passes through the passing points p1 to p5 shown in FIG. 9 when icon fixed display and map fixed display are used, respectively. .

  When the host vehicle V1 passes the point p1 in FIG. 9, the host vehicle V1 travels straight and the steering angle is approximately 0 °. As shown in the image D1 of FIG. 10, the surrounding map image is displayed so that the traveling direction of the travel path L11 of the host vehicle V1 is upward, and the icon P1 is directed upward. In other words, the display form is the same as the icon fixed display image shown in the image D11 of FIG. The icon P1 is displayed almost at the center of the screen.

  When the host vehicle V1 reaches the point p2 shown in FIG. 9, steering is started. As shown in the image D2 in FIG. 10, the icon P1 is displayed at the center of the screen, and the direction of the surrounding map image is not changed. The display angle of the icon P1 is adjusted and displayed. That is, the map is displayed in a fixed display. By looking at this image, the passenger of the host vehicle can recognize that the direction of the icon P1 has changed, and can intuitively recognize that the host vehicle is steering leftward. In the image D12 of FIG. 11, it is difficult to intuitively recognize the steering direction. In addition, in the image D22 of FIG. 12, the map image around the host vehicle rotates greatly, which makes the user feel uncomfortable and annoying.

  When the host vehicle V1 reaches a point p3 shown in FIG. 9, the rudder angle increases. When the steering angle reaches the second predetermined angle, the display angle of the icon P1 is maintained (same as the image D2) and the virtual viewpoint direction is changed as shown in the image D3 of FIG. The icon display is fixed so that the surrounding map image rotates.

  When the host vehicle V1 reaches the point p4 shown in FIG. 9, the steering angle is returned to the neutral position and is steered. As shown in images D4 and D5 in FIG. 10, the display angle of the icon P1 and the virtual viewpoint are returned to the original state. Thereafter, when the point p5 is reached, the display goes straight and is displayed in an icon fixed display. That is, the image D5 has the same display mode as the image D15 in FIG.

  By adopting such a display method, when the host vehicle is traveling straight on the road, the icon is displayed in a fixed display, so that the icon faces upward on the screen. When the steering is started and the steering angle becomes equal to or greater than a first predetermined angle (for example, 1 °), the display angle of the icon P1 changes according to the steering angle. That is, it is displayed as an image D2. Therefore, the occupant can intuitively recognize that the steering of the host vehicle has started by visually recognizing the change in the direction of the icon P1. Thereafter, when the steering angle becomes equal to or larger than a second predetermined angle (for example, 15 °), the direction of the icon P1 is fixed, and the virtual viewpoint direction is moved according to the steering angle. That is, the map image rotates. By setting it as such a display, since the exit of a curve is displayed on the upper side of a screen, it becomes easy to recognize the situation ahead of the running path L11, and the situation of a curve exit. Furthermore, when approaching the exit of the curve and the steering angle is returned to the neutral position, the direction of the icon P1 and the map image are simultaneously returned to the direction at the time of straight travel, so that the display mode at the time of straight travel is quickly set. Can do.

(Display method when changing lanes)
Next, a display method when the host vehicle changes lanes will be described. 13A to 13E are zenith views when the host vehicle V1 is traveling on a straight two-lane road and the lane is changed from the traveling lane L12 to the adjacent lane L13 on the right side. When the lane is changed, the vehicle moves from the point q1 shown in FIG. 13A to the point q2 in FIG. 13B, q3 in FIG. 13C, q4 in FIG. 13D, and q5 in FIG. In this case, since the virtual viewpoint is not changed, the direction of the traveling path of the host vehicle V1 does not change, and the display angle of the icon P1 changes. Thus, when the host vehicle V1 changes lanes, only the direction of the icon P1 is changed, and the map is fixedly displayed to fix the direction of the map image.

  Further, when the host vehicle enters the adjacent lane L13 and returns straight, a steering angle in the left direction is generated, as indicated by reference sign Q1 in FIG. 13D. In the present embodiment, the icon P1 is displayed while maintaining the direction on the right side. By doing so, it is possible to prevent the passenger from feeling uncomfortable as in the first embodiment described above.

[Description of Operation of Second Embodiment]
Next, the operation of the state display device according to the second embodiment will be described with reference to the flowcharts of FIGS. FIGS. 14-16 is a flowchart which shows the procedure of the display process in the case of displaying the map image around the own vehicle, and the icon P1 at the zenith figure.

  Initially, the host vehicle travels straight on a straight traveling path, and a point on the extension line of the center line in the front-rear direction of the host vehicle is set as a virtual viewpoint. Therefore, initially, an image is displayed on the display device 2 in which the host vehicle icon goes straight upward on the display screen on a straight road. In FIG.14 S51, the icon rotation determination circuit 113 sets the display angle of the icon P1 to zero, and displays the map image and the icon P1 on the display device 2 by icon fixed display.

  In step S <b> 52, the host vehicle position determination circuit 13 determines the position of the host vehicle based on data obtained from the GPS device 4, the map database 3, and the gyro sensor 5. Furthermore, the scene determination circuit 14 determines the scene (traveling environment) of the host vehicle.

  In step S53, the scene determination circuit 14 determines whether or not the driving environment is a steering environment. Further, in the scene of turning right or left with a rudder angle of a second predetermined angle or more, entering a curve, or changing lanes. It is determined whether or not there is. If it is a lane change scene, the process proceeds to step S70 in FIG. If it is a scene of turning left or right at an intersection or entering a curve, the scene determination circuit 14 acquires the steering angle of the host vehicle detected by the steering angle sensor 7 in step S54.

  In step S55, the scene determination circuit 14 determines whether or not the rudder angle of the host vehicle is equal to or greater than a first predetermined angle set in advance. The first predetermined angle is, for example, 1 °, and it is assumed that a slight amount of steering is detected.

  In step S56, the map rotation determination circuit 112 fixes the orientation of the map image displayed on the display 2 without moving the virtual viewpoint. Further, in step S57, the icon rotation determination circuit 113 changes the direction of the icon P1 according to the steering angle as shown in the image D2 of FIG. That is, the map is fixedly displayed.

  In step S58, the scene determination circuit 14 determines whether or not the steering angle is equal to or greater than a second predetermined angle (for example, 15 degrees). If it is less than the second predetermined angle (NO in step S58), the process returns to step S56. On the other hand, if the steering angle is greater than or equal to the second predetermined angle while passing through the curve as in the case of passing through the point p3 in FIG. 9 (YES in step S58), the icon rotation determination circuit 113 displays the map image in step S59. The direction of the icon P1 displayed above is fixed. In step S60, the map rotation determination circuit 112 rotates and displays the map image according to the steering angle. As a result, as shown in the image D3 of FIG. 10, the surrounding map image is rotated and displayed with the direction of the icon P1 being constant.

  In step S <b> 61, the scene determination circuit 14 acquires the steering direction detected by the steering angle sensor 7.

  In step S62, the scene determination circuit 14 determines whether or not the steering is return steering. Return steering means that the steering direction is reversed to the neutral position when passing a curve or the like. For example, in the case of passing through a right curve, an operation of returning to the neutral position from the maximum rudder angle as the vehicle approaches the exit of the curve after steering to the right side is shown. If it is determined that it is not return steering (NO in step S62), the process returns to step S59. If it is determined that return steering is selected (YES in step S62), the process proceeds to step S63 in FIG.

In step S63, the icon rotation determination circuit 113 detects the display angle of the icon P1 and the rotation angle of the map image. Furthermore, in step S64, the scene determination circuit 14 acquires the steering angle detected by the steering angle sensor 7, and in step S65, determines whether the steering angle is equal to or greater than a second predetermined angle.
If the angle is equal to or greater than the second steering angle, in step S66, the map rotation determination circuit 112 rotates the map image to return it to the original angle.

  In step S67, the icon rotation determination circuit 113 returns the display angle of the icon P1 to zero. In step S68, the virtual viewpoint is returned to the initially set virtual viewpoint. As a result, the map image is displayed so that the traveling direction of the traveling path of the host vehicle is directed upward in the screen, and the icon P1 is displayed so as to be directed upward in the screen. That is, when the steering control is return steering to the neutral position, the direction of the traveling path of the vehicle in the map image is directed upward in the display screen, and the icon P1 is directed upward in the display screen. The direction of the map image and the display angle of the icon P1 change.

  In step S69, the icon rotation determination circuit 113 sets the display angle of the icon P1 to zero, displays the map image and the icon P1 on the display unit 2 in the icon fixed display, and ends this processing.

Next, processing when the host vehicle changes lanes will be described. If it is determined in the process shown in step S53 in FIG. 14 that the scene is a lane change scene, the process proceeds to step S70 in FIG.
In step S <b> 70, the scene determination circuit 14 acquires the steering angle of the host vehicle detected by the steering angle sensor 7. In step S <b> 71, the map rotation determination circuit 112 fixes the virtual viewpoint and displays the map image displayed on the display device 2 in a fixed direction.

  In step S72, the icon rotation determination circuit 113 sets the display angle so that the direction of the icon P1 changes according to the steering angle, and displays the icon P1 on the display 2. Specifically, as shown in FIGS. 13B to 13D, when the host vehicle V1 starts steering in order to change the lane from the travel lane L1 to the adjacent lane L2, the icon P1 is displayed so as to face rightward.

  In step S73, the scene determination circuit 14 detects the steering direction. In step S74, the scene determination circuit 14 determines whether or not it is return steering. If it is not return steering, the process returns to step S72. If it is return steering, in step S75, the icon rotation determination circuit 113 maintains the direction in which the icon P1 faces (in this case, the right direction). Further, the display angle of the icon P1 is changed according to the steering angle. Specifically, the angle is gradually changed so that the icon P1 faces forward. That is, as indicated by reference sign Q1 in FIG. 13D, the icon P1 is displayed so as to face rightward even when the steering direction is leftward at the end of the lane change.

  Next, in step S76, the icon rotation determination circuit 113 fixes the display angle of the icon P1 so that the direction of the icon P1 is parallel to the direction of the travel path. Thereafter, this process is terminated. Thus, also in the state display method according to the second embodiment, the same effect as in the first embodiment described above can be obtained.

[Explanation of changes]
In the first and second embodiments described above, the scene determination circuit 14 determines the scene in which the host vehicle travels based on the map data and the current position data or the automatic driving route information. Other than this, for example, the present invention can be applied when switching to automatic driving only while traveling on a highway. Specifically, the present invention is applied to a scene in which a lane change is performed while acquiring an image around the own vehicle captured by the camera 6 (6a to 6d), detecting an obstacle such as another vehicle, and avoiding the obstacle. Applicable. Instead of the camera 6, an obstacle around the host vehicle may be detected using an LRF (laser range finder).

  Further, the “lane change” shown in the above-described embodiment includes stopping the vehicle on the road shoulder. For example, when an automated driving bus stops at a shoulder stop, the direction of the icon (in this case, the bus icon) changes only in one direction, which makes the passengers looking at the display screen feel uncomfortable Can be avoided.

  In each of the above-described embodiments, the case where the host vehicle is an autonomous driving vehicle has been described. However, the present invention is not limited to this, and can be applied to a general vehicle that does not have an autonomous driving function. It is.

  Further, in each of the above-described embodiments, the example in which the surrounding map image and the icon P1 of the own vehicle are displayed on the indicator 2 arranged in the vicinity of the instrument panel of the own vehicle has been described. It is also possible to apply to a display mode (a so-called electronic mirror) that captures an image and displays a rear image and an icon of the own vehicle on the rearview mirror. In this case, the virtual viewpoint direction is the direction when the host vehicle icon is viewed from the front.

  As mentioned above, although embodiment of this invention was described, it should not be understood that the description and drawing which form a part of this indication limit this invention. From this disclosure, various alternative embodiments, examples and operational techniques will be apparent to those skilled in the art.

DESCRIPTION OF SYMBOLS 1 Display controller 2 Display 3 Map database 4 GPS apparatus 5 Gyro sensor 6a Camera (front)
6b Camera (rear)
6c Camera (right)
6d camera (left)
7 Steering angle sensor 11 Image display circuit 12 Vehicle icon storage circuit 13 Vehicle position determination circuit 14 Scene determination circuit 111 Drawing control circuit 112 Map rotation determination circuit 113 Icon rotation determination circuit 114 Image composition circuit P1 Icon V1 Own vehicle

Claims (11)

A state display method for setting a virtual viewpoint, displaying a map image of the host vehicle and surroundings based on the virtual viewpoint, and displaying a state of a travel support device that controls the travel of the host vehicle,
Detecting the driving environment around the vehicle,
Adjusting the display angle of the host vehicle icon indicating the turning situation of the host vehicle based on the steering angle of the steering control executed according to the traveling environment;
Determining whether or not to move the virtual viewpoint based on the steering angle of the steering control executed according to the traveling environment;
The state of the driving support device, wherein the vehicle icon and the map image around the vehicle are displayed on a display screen based on the virtual viewpoint set based on the determination result and the display angle of the adjusted vehicle icon. Display method. The state display method of the driving support device according to claim 1, wherein the own vehicle is an automatic driving vehicle in which driving is controlled without occupant intervention. The point on the center line in the front-rear direction of the host vehicle when the rudder angle is zero or a point having a certain height from the center line is set as the virtual viewpoint before moving. The state display method of the driving assistance apparatus of 2.   A first display mode based on a display angle of the adjusted host vehicle icon, with a virtual viewpoint direction facing the host vehicle from the virtual viewpoint, and a display angle of the adjusted host vehicle icon by moving the virtual viewpoint The state display method of the driving assistance device according to any one of claims 1 to 3, wherein the second display mode is switched and displayed according to the steering angle. The steering angle by the steering control is equal to or larger than a first predetermined angle set in advance and less than a second predetermined angle larger than the first predetermined angle, and the traveling environment is equal to or larger than the second predetermined angle. When the travel path is accompanied by a display in the first display mode,
The driving support device status display method according to claim 4, wherein when the steering angle is equal to or greater than the second predetermined angle, the steering angle is displayed in the second display mode. Determine whether the vehicle changes its lane,
The travel support apparatus according to claim 4 or 5, wherein when the travel lane is determined to be changed, the first display mode is displayed during the period in which the travel lane is changed. Status display method. The state of the driving support device according to claim 6, wherein the display angle of the icon is changed only in one of the left direction and the right direction during the period in which the travel lane is changed. Display method. When the steering control is return steering to a neutral position, the display angle of the icon is adjusted so that the direction of the host vehicle traveling path in the map image matches the direction of the icon of the host vehicle. The state display method of the driving assistance apparatus as described in any one of Claims 5-7. In the case of return steering to the neutral position, switching from the second display mode to the first display mode when the steering angle is returned to the second predetermined angle.
The state display method of the driving assistance apparatus of any one of Claims 5-7 characterized by these. The said 1st display mode WHEREIN: When changing the virtual viewpoint direction of the said icon, it rotates centering on the predetermined point set ahead rather than the center position of the said icon. A state display method of the driving support device. A state display device that sets a virtual viewpoint, displays a map image of the host vehicle and surroundings based on the virtual viewpoint, and displays a state of a travel support device that controls the travel of the host vehicle;
A scene determination circuit for determining a running environment around the host vehicle;
An icon rotation determination circuit that adjusts a display angle of an icon of the host vehicle that indicates a turning situation of the host vehicle based on a steering angle of steering control that is executed according to the traveling environment;
A virtual viewpoint movement determination circuit that determines whether or not to move the virtual viewpoint based on a steering angle of steering control executed according to the traveling environment;
A display that displays the vehicle icon and a map image around the host vehicle based on the virtual viewpoint set based on the determination result and the display angle of the adjusted host vehicle icon;
A state display device for a driving support device, comprising:

Images