JP2020095380A - Vehicle driving support program, vehicle driving support method, and vehicle driving support program - Google Patents

Abstract

To alert a driver of a vehicle in different ways depending on the type of a collision risk.SOLUTION: A vehicle driving support system includes: a display part 5 that superimposes an alert image on the actual landscape; a determination part 21 that determines the presence/absence of a collision risk between a vehicle and a dynamic obstacle that may occur at a front side of the vehicle traveling direction, and the type of an occurrence target object that becomes an occurrence cause of the collision risk; and a display mode deciding part 22 that decides a display mode of the alert image based on the result of determination made by the determination part 21. The display mode deciding part 22 decides the display mode in such a way that at least one of a shape, color, movement of the alert image, and a display position with respect to the occurrence target object differs depending on the type of the occurrence target object.SELECTED DRAWING: Figure 2

Description

The present invention relates to a vehicle driving assistance system, a vehicle driving assistance method, and a vehicle driving assistance program.

For example, Japanese Unexamined Patent Application Publication No. 2017-182563 (Patent Document 1) discloses a peripheral risk display device that displays an image of information about a risk around the vehicle to a driver of the vehicle. The reference numerals in parentheses in the description of the background art are those of Patent Document 1 below.

In the technique of Patent Document 1, an image display showing a risk potential (magnitude of risk) is displayed around the risk target. In the technology of Patent Document 1, depending on whether the risk target object is a passenger car (PC), a truck (T), a motorcycle (MC), or a pedestrian (PE), risk potentials displayed around these are shown. Although the distribution range of is partially widened or narrowed, the information about the risk around the vehicle is displayed as an image by a uniform expression method called contour lines (C) regardless of the type of risk target object. ..

JP, 2017-182563, A

By the way, there are various types of risk of collision between the own vehicle and a dynamic obstacle (another vehicle, a person, etc.) depending on an object to be generated which causes the collision. Depending on the type, the risk of collision may be high or low. However, in the configuration in which the risk information is image-displayed by the uniform expression method as in Patent Document 1, when the image display is performed with respect to the plurality of risk information, the height of the collision risk of the plurality of risk information and the kind of the risk are shown. Even if the values are different, it is difficult for the driver to easily distinguish them.

In view of the above situation, there is a demand for a technique capable of issuing a caution that is easily discriminated by a driver of a vehicle according to the type of collision risk.

The characteristic configuration of the vehicle driving assistance system in view of the above is
A display unit that superimposes the attention image on the actual landscape and displays it,
Whether or not there is a collision risk between the vehicle and a dynamic obstacle that may occur on the front side in the traveling direction of the vehicle, and a determination unit that determines the type of the target object that causes the collision risk,
A display mode determination unit that determines the display mode of the caution image based on the determination result by the determination unit,
The display mode determination unit changes the display mode so as to change at least one of the shape, color, and movement of the caution image and the display position for the generation target object according to the type of the generation target object. There is a decision point.

Further, the technical features of the vehicle driving assistance system in view of the above are also applicable to the vehicle driving assistance method and the vehicle driving assistance program. Therefore, the present invention makes such a method and a program subject to the rights. can do.

The characteristic configuration of the vehicle driving assistance method in that case is as follows.
A display step of displaying the attention image superimposed on the actual landscape,
Whether or not there is a collision risk between the vehicle and a dynamic obstacle that may occur on the front side in the traveling direction of the vehicle, and a determination step of determining the type of an object to be generated that causes the collision risk,
A display mode determination step of determining a display mode of the caution image based on the determination result of the determination step,
In the display mode determining step, the display mode is changed such that at least one of the shape, the color, and the movement of the caution image and the display position with respect to the generation target is changed according to the type of the generation target. There is a decision point.

In addition, the characteristic configuration of the vehicle driving assistance program in that case is as follows.
With a display function that superimposes the attention image on the actual landscape and displays it,
Whether or not there is a collision risk between the vehicle and a dynamic obstacle that may occur on the front side in the traveling direction of the vehicle, and a determination function that determines the type of the target object that causes the collision risk,
A display mode determining function that determines the display mode of the caution image based on the determination result of the determination function, and
In the display mode determination function, the display mode is changed so that at least one of the shape, the color, and the movement of the caution image and the display position with respect to the generation target object is changed according to the type of the generation target object. There is a decision point.

According to these configurations, it is possible to change the display mode of the caution image superimposed and displayed on the actual landscape depending on the type of collision risk. Therefore, it is possible to call a warning that is easy for the driver of the vehicle to distinguish according to the type of collision risk.

Further features and advantages of the vehicle driving assistance system, the vehicle driving assistance method, and the vehicle driving assistance program will be apparent from the following description of the embodiments described with reference to the drawings.

Perspective view showing an example near the driver's seat of the vehicle Block diagram showing an example of the system configuration of a vehicle driving assistance system Explanatory drawing which shows the display mode of the caution image when a generation|occurrence|production object is a blind spot product. Explanatory drawing showing a display mode of a caution image when the generation target is an intersection road Explanatory drawing which shows the display mode of a caution image when a generation target object is a dynamic object. Explanatory drawing which shows the display mode of a caution image when a plurality of generation target objects exist simultaneously. Explanatory drawing which shows the display mode of a caution image when a plurality of generation target objects exist simultaneously. Diagram showing an example of risk factors Flow chart showing the procedure for driving assistance

[Embodiment]
Hereinafter, an embodiment of a vehicle driving assistance system (including a vehicle driving assistance method and a vehicle driving assistance program) will be described with reference to the drawings.

The vehicle driving assistance system 10 is a system that provides the driver with information that assists driving, and in the present embodiment, a caution image (attention sign) MC is superimposed and displayed on the actual landscape. For example, the caution image MC serves as a guide for the driver to drive safely. As shown in FIGS. 3 to 7, the vehicle driving assistance system 10 superimposes and displays the attention image MC on the actual landscape, so that the vehicle driving assistance system 10 may occur on the front side in the traveling direction of the vehicle 100 (see FIG. 1 ). The driver is alerted regarding the risk of collision between a certain vehicle 100 and a dynamic obstacle. Here, the “dynamic obstacle” means an object that may collide with the vehicle 100 by moving, and examples of such a dynamic obstacle include a person (pedestrian), other animals, Vehicles (bicycles, two-wheeled vehicles, passenger cars, and others that are defined as "vehicles" under the Road Traffic Law) and the like.

The vehicle driving assistance method is a method of performing driving assistance using hardware or software that configures the vehicle driving assistance system 10 as described later with reference to FIG. 2 and the like. The vehicle driving assistance program is a program that is executed by, for example, a computer (for example, the arithmetic processing unit 4 described later with reference to FIG. 2) included in the vehicle driving assistance system 10 to realize the vehicle driving assistance function.

[Schematic configuration of vehicle driving assistance system]
Hereinafter, a schematic configuration of the vehicle driving assistance system 10 (vehicle driving assistance method, vehicle driving assistance program) will be described with reference to FIGS. 1 and 2.

As shown in FIG. 1, the actual landscape on which the attention image MC is superimposed may be a landscape that can be seen from the driver's seat 101 through the front window 50 of the vehicle 100, or an image capturing unit (front camera 1: see FIG. 2 in this example) described later. ), and the image may be displayed on the monitor 52. In the case where the real landscape is the landscape seen through the front window 50, the attention image MC is drawn on the head-up display 51 formed on the front window 50 and superimposed on the real landscape. The broken-line area shown in the front window 50 in FIG. 1 is an area in which the head-up display 51 is formed. Further, when the actual landscape is a video image displayed on the monitor 52, the caution image MC is superimposed on the video image.

As shown in FIG. 2, the vehicle driving assistance system 10 includes a front camera 1 (CAMERA) that captures an actual landscape and a display unit 5 (DISPLAY) that superimposes and displays a caution image MC on the actual landscape. There is. The display unit 5 includes the head-up display 51 and the monitor 52 described above.

The vehicle driving assistance system 10 determines whether or not there is a risk of collision between the vehicle 100 and a dynamic obstacle that may occur on the front side in the traveling direction of the vehicle 100, and an occurrence target T that causes the collision risk (see FIG. 3)) and a display mode determination unit 22 (DC) that determines the display mode of the caution image MC based on the determination result by the determination unit 21. .. In the present embodiment, the vehicle driving assistance system 10 includes an arithmetic processing unit 2 (CAL) and a graphic control unit 3 (GCU). For example, the arithmetic processing unit 2 and the graphic control unit 3 are a part of the arithmetic processing unit 4 configured as one processor (system LSI, DSP (Digital Signal Processor), etc.) or one ECU (Electronic Control Unit). Is configured as. In the illustrated example, the determination unit 21 and the display mode determination unit 22 are functional units of the arithmetic processing device 2. Of course, the arithmetic processing unit 4 may include other functional units (not shown).

In the present embodiment, the vehicle driving assistance system 10 further includes a sensor group 6 (detection unit: SEN), a database 7 (storage unit: db), and a viewpoint detection device 8 (EP_DTCT). The sensor group 6 can include a sonar, a radar, a vehicle speed sensor, a yaw rate sensor, a GPS (Global Positioning System) receiver, and the like.

The database 7 includes a navigation database, which stores map information, road information, feature information (information about road signs, road markings, facilities, etc.) and the like. In the present embodiment, the database 7 also stores information on the type of the generation target T (see FIG. 3, etc.) that causes the collision risk.

The viewpoint detection device 8 is configured to include, for example, a camera that images the head of the driver, and detects the viewpoint (eyes) of the driver. The attention image MC drawn on the head-up display 51 is preferably drawn at a position corresponding to the driver's viewpoint.

The vehicle driving assistance system 10 further includes an image capturing unit that captures an image of the front side in the traveling direction of the vehicle 100. In the illustrated example, the image capturing unit is configured as the front camera 1. The arithmetic processing unit 2 identifies the generation target T existing around the vehicle 100 by image recognition using the image captured by the front camera 1 (see FIG. 3 and the like). In the present example, the arithmetic processing unit 2 is configured to specify the plurality of generation target objects T when there are a plurality of generation target objects T existing around the vehicle 100. For example, as will be described later, the identified generation target T is a blind spot product T1 (see FIG. 3) that produces a blind spot from the driver of the vehicle 100, a road on which the vehicle 100 is in progress (hereinafter, a road in progress). (Referred to as “R”), an intersection road T2 (see FIG. 4) connected at an intersection where there is no stop or signal, and a dynamic object T3 (the traveling direction of which may intersect the traveling direction of the vehicle 100). 5) and the like. In addition, in this embodiment, the arithmetic processing unit 2 is configured to identify one or a plurality of generation objects T. For example, the arithmetic processing device 2 may be configured to improve recognition accuracy by using information provided by the sensor group 6 such as sonar and radar in addition to the captured image.

The determination unit 21 determines whether there is a risk of collision between the vehicle 100 and a dynamic obstacle that may occur on the front side in the traveling direction of the vehicle 100, and an object T to be generated that causes the collision risk (FIG. 3, etc.). (See) is a functional unit that determines the type. In the present embodiment, the determination unit 21 acquires the information on the type of the generation target T stored in the database 7, and based on the information and the image captured by the front camera 1, the generation target T in the captured image. Determine the type of.

The display mode determination unit 22 is a functional unit that determines the display mode of the caution image MC based on the determination result of the determination unit 21. The display mode determination unit 22 determines the display mode such that at least one of the shape, color, and movement of the attention image MC and the display position with respect to the generation target T is different according to the type of the generation target T. To do. As shown in FIGS. 3 to 5, in the present embodiment, the display mode determination unit 22 changes both the shape of the attention image MC and the display position with respect to the generation target T according to the type of the generation target T. The display mode is determined as follows.

In the present embodiment, the display mode determination unit 22 is configured to determine the display mode for each of the plurality of generation objects T, including whether or not to display the caution image MC. As described above, the arithmetic processing unit 2 is configured to identify the plurality of generation objects T around the vehicle 100, but of the plurality of generation objects T, it is necessary to call attention to the driver. If the attention image MC is displayed even for a relatively low object, the attention of the driver may be dispersed due to the large number of attention images MC displayed. Therefore, in the present embodiment, the display mode determination unit 22 determines the risk of the collision risk of the generation target T based on the type of the generation target T and the distance between the vehicle 100 and the generation target T. The caution image MC is configured not to be displayed for the generation target T that determines the level and meets the preset non-display standard for the risk level. It is determined that the higher the risk level, the higher the need for alerting the driver, and the lower the risk level, the lower the need. In the present embodiment, the display mode determination unit 22 digitizes the risk level to calculate the risk level value and presets the non-display reference value in which the non-display standard is digitized. However, the non-display reference value does not have to be set by the display mode determination unit 22 and may be stored in the database 7 in advance. Then, in this example, the display mode determination unit 22 determines that the risk level satisfies the non-display standard when the risk level value is less than the non-display standard value (or less than the non-display standard value). The details of determining the risk level (calculating the risk level value) will be described later.

[Display mode of caution image]
Next, a specific example of the display mode of the caution image MC will be described. As described above, in the present embodiment, the types of the generation target object T include the blind spot product T1 that generates a blind spot from the driver of the vehicle 100, a temporary stop with respect to the road R in progress, and an intersection where there is no signal. An intersection road T2 to be connected and a dynamic object T3 whose traveling direction may intersect with the traveling direction of the vehicle 100 are included. In this example, the display mode determination unit 22 determines the display mode so that both the shape of the attention image MC and the display position with respect to the generation target T differ depending on the type of the generation target T. Hereinafter, a display mode of the caution image MC according to each situation will be described with reference to FIGS. 3 to 7.

[When the generation target is a blind spot product]
FIG. 3 shows a display mode of the caution image MC when the generation target T is the blind spot product T1. Here, the "blind spot product T1" refers to an object that produces a blind spot (hereinafter, also referred to as a blind spot region) from the driver of the vehicle 100. For example, such a blind spot product T1 is used when traveling or Other vehicles parked, buildings and fences and other structures and artifacts, trees and rocks and other natural objects. A region on the rear side (back side) of the blind spot product T1 as viewed from the driver is blocked by the blind spot product T1, and the blocked region becomes a blind spot region. In FIG. 3, another vehicle being parked is illustrated as the blind spot product T1.

In the present embodiment, when the generation target T is the blind spot product T1, the display mode determination unit 22 displays the caution image around the boundary portion BA between the visible area and the blind spot area visible to the driver. Display MC. In the illustrated example, the boundary portion BA is an end portion of the blind spot product T1 (another vehicle being parked) closer to the traveling route of the vehicle 100 (own vehicle). In the present embodiment, when the generation target T is the blind spot product T1, the display mode determination unit 22 determines the position including the area closer to the traveling route of the vehicle 100 than the boundary portion BA as the attention image MC. Is displayed. This facilitates alerting the driver of the vehicle 100 of the possibility that a dynamic obstacle will fly out from the blind spot toward the traveling route of the vehicle 100.

In the present embodiment, the display mode determination unit 22 displays the first caution image MC1 as the caution image MC when the generation target T is the blind spot product T1. In the illustrated example, the first caution image MC1 has a frame image portion MC11 and an arrow image portion MC12. In this example, the frame image portion MC11 is formed in a rectangular shape and is displayed so as to surround the boundary portion BA. However, without being limited to this, the frame image portion MC11 may be formed in a polygonal shape other than a rectangular shape, a circular shape, an elliptical shape, or the like. The arrow image portion MC12 is displayed so as to extend from the frame image portion MC11 toward the traveling route of the vehicle 100. The arrow image portion MC12 may be displayed in a stationary state in a state of being connected to the frame image portion MC11, or may be displayed in a moving state.

[When the target object is an intersection road]
FIG. 4 shows a display mode of the caution image MC when the generation target T is the intersection road T2. Here, the "intersection road T2" refers to a road where the vehicle 100 intersects the road in progress (road R in progress). By displaying the caution image MC on the intersection road T2, the driver can be made aware of the existence of the intersection road T2, and a dynamic obstacle may pop out from the intersection road T2 in the traveling direction of the vehicle 100. It becomes easier to alert the driver of the vehicle 100.

Here, for example, at an intersection having a stop or a signal, even if the driver of the vehicle 100 does not clearly recognize the existence of the intersection road T2, the traffic between the ongoing road R and the intersection road T2 may be lost. Since the adjustment (progress or stop) is performed, the risk of collision with a dynamic obstacle (in this case, another vehicle or the like traveling on the intersection road T2) is relatively low. In addition, the intersection road T2 that is connected to an intersection having a stop or a signal often has a relatively wide road width, and is easily recognized by the driver of the vehicle 100. Therefore, it is also a condition that the “intersection road T2” in the present embodiment is a road that is connected to an ongoing road R at an intersection where there is a stop or no signal. Here, "no stop" means that there is no stop sign or stop sign. At the intersection road T2 that is connected to an intersection where there is no stop or traffic light, the traffic volume is often small and the width of the road is often narrow. Such an intersection road T2 is often difficult for the driver of the vehicle 100 to recognize, and in addition to this, since there is no temporary stop or signal, there is a high risk that a dynamic obstacle will suddenly pop out. .. In the present embodiment, by displaying the caution image MC regarding such an intersection road T2, the driver can be appropriately warned. Further, a road connected to an intersection having a stop and a signal can be excluded from the target of displaying the caution image MC, and the attention of the driver is dispersed by displaying a large number of caution images MC. The possibility can be reduced. However, the configuration is not limited to the above-described configuration, that is, all roads intersecting with the road R in progress may be targets for displaying the caution image MC irrespective of whether there is a temporary stop or a signal. ..

In the present embodiment, when the generation target T is the intersection road T2, the display mode determination unit 22 displays the caution image MC at a position overlapping the intersection road T2. In this example, the display mode determination unit 22 sets the position including at least the connecting portion between the intersection road T2 and the road R in progress as the display position of the caution image MC.

In the present embodiment, the display mode determination unit 22 displays the second caution image MC2 as the caution image MC when the generation target T is the intersection road T2. In this example, the second caution image MC2 is in the form of a strip that is in contact with the road surface of the intersection road T2 and extends along the extending direction of the intersection road T2. In the illustrated example, the second caution image MC2 has a rectangular shape extending upward from the road surface of the intersection road T2 by a predetermined height. This makes it easier for the driver of the vehicle 100 to recognize the existence of the intersection T2. The prescribed height at which the second caution image MC2 spreads upward from the road surface is preferably set lower than that of people and other vehicles. As a result, it is possible to prevent people and other vehicles from completely overlapping the second caution image MC2 on the image and hiding them behind the caution image MC2. Therefore, even when the second caution image MC2 is displayed, it is possible to make the driver easily recognize the person, another vehicle, or the like existing at the same position as the second caution image MC2.

[When the blind spot product is a dynamic object]
FIG. 5 shows a display mode of the caution image MC when the generation target T is the dynamic object T3. Here, the “dynamic object T3” refers to a moving object. For example, such a dynamic object T3 is a moving person or vehicle (bicycle, two-wheeled vehicle, passenger car, or other road traffic law). (Defined as "vehicle") and the like. In FIG. 5, another vehicle traveling in front of the vehicle 100 (own vehicle) is illustrated as the dynamic object T3.

In the present embodiment, when the generation target T is the dynamic object T3, the display mode determination unit 22 sets the attention image MC at the position where the traveling direction of the vehicle 100 and the traveling direction of the dynamic object T3 intersect. Is displayed. In other words, when the generation target T is the dynamic object T3, the display mode determination unit 22 displays the position where the dynamic object T3 is expected to enter on the road R in progress, displaying the caution image MC. The position is. The moving direction of the dynamic object T3 can be specified by image recognition based on the image captured by the front camera 1. However, the traveling direction of the dynamic object T3 may be specified by another method.

In the present embodiment, the display mode determination unit 22 displays the third caution image MC3 as the caution image MC when the generation target T is the dynamic object T3. In the illustrated example, the third caution image MC3 has a circular shape (double circular shape) centered on a point where the traveling direction of the vehicle 100 and the traveling direction of the dynamic object T3 intersect. However, without being limited to such a configuration, the third caution image MC3 may have, for example, an elliptical shape or a polygonal shape.

In the present embodiment, when the generation target T is the dynamic object T3, the display mode determination unit 22 further displays the identification image MR for identifying the dynamic object T3 in addition to the third attention image MC3. .. In the illustrated example, the display mode determination unit 22 displays the identification image MR at a position overlapping the dynamic object T3. The identification image MR has a frame shape surrounding the dynamic object T3, and has a rectangular frame shape in the illustrated example. However, without being limited to such a configuration, the identification image MR may have a polygonal shape other than a rectangular shape, a circular shape (including an elliptical shape), or the like. As described above, by displaying the identification image MR in addition to the third attention image MC3, it becomes possible for the driver to recognize the third attention image MC3 and the identification image MR in association with each other. That is, by making the driver recognize the dynamic object T3 corresponding to the displayed third attention image MC3, it is possible to call the driver more appropriate attention.

[When multiple target objects are present at the same time]
In the present embodiment, when the display positions of the plurality of caution images MC overlap, the display mode determination unit 22 does not display the caution image MC of the occurrence target T having a low risk level among these caution images MC. Is configured. In other words, when a plurality of generation objects T are present at the same position at the same time, the display mode determination unit 22 preferentially displays the high risk level and does not display the low risk level.

For example, FIG. 6 shows a state in which a parked vehicle, which is a blind spot product T1, and an intersection road T2 are present at the same position at the same time. The blind spot product T1 itself is often visible to the driver, but the intersection road T2 (here, the intersection road T2 that is difficult to recognize as described above) is relatively invisible to the driver. .. Therefore, in this embodiment, the risk level of the collision risk due to the intersection road T2 is set higher than the risk level of the collision risk due to the blind spot product T1 (see FIG. 8). Therefore, in the example shown in FIG. 6, the display mode determination unit 22 displays only the caution image MC (second caution image MC2) for the intersection road T2, and the caution image MC (first caution image for the blind spot product T1). MC1) is not displayed. As a result, it is possible to display only the caution image MC that has a higher risk level and that requires more attention to the driver, and by displaying a large number of caution images MC, the attention of the driver is dispersed. The possibility can be reduced.

Further, for example, FIG. 7 shows a state in which a parked vehicle that is a blind spot product T1, an intersection road T2, and another vehicle that is a moving object T3 that is running are present at the same position at the same time. ing. Unlike the blind spot product T1 and the intersection road T2, the dynamic object T3 itself can be a dynamic obstacle that may collide with the vehicle 100 (own vehicle). Therefore, in this embodiment, the risk level of the collision risk due to the dynamic object T3 is set higher than the risk level of the collision risk due to each of the blind spot product T1 and the intersection road T2 (see FIG. 8). Therefore, in the example shown in FIG. 7, the display mode determination unit 22 displays both the attention image MC (third attention image MC3) of the dynamic object T3 and the identification image MR for identifying the dynamic object T3, The attention image MC (first attention image MC1) regarding the blind spot product T1 and the attention image MC (second attention image MC2) regarding the intersection road T2 are not displayed.

[Determination of risk level]
Next, the determination of the risk level will be described with reference to FIG.

As shown in FIG. 8, in the present embodiment, the type-specific risk coefficient α, which is a risk coefficient corresponding to the type of the generation target T, and the distance L between the vehicle 100 (own vehicle) and the generation target T are determined. The risk coefficient β for each distance is set in advance.

FIG. 8A shows a correspondence diagram between the type-specific risk coefficient α and the type of the generation target T. In the present embodiment, the type-specific risk coefficient α (risk level) is set to increase in the order of the blind spot product T1, the intersection road T2, and the dynamic object T3. In the illustrated example, the type-specific risk coefficient α for the blind spot product T1 is “α1”, the type-specific risk coefficient α for the intersection road T2 is “α2”, and the type-specific risk coefficient for the dynamic object T3 is α is set to “α3”, and the relationship between these types of risk coefficients α is “α1<α2<α3”. In this example, the type-specific risk coefficient α is digitized, and specific numerical values are substituted for α1, α2, and α3. The numerical values assigned to these are set appropriately according to the necessity of alerting.

FIG. 8B shows a correspondence diagram of the risk coefficient β for each distance and the distance L between the generation target T and the vehicle 100. In the present embodiment, as the risk coefficient β for each distance, the short distance risk coefficient β1 when the distance L between the vehicle 100 and the generation target T is a relatively short distance L1, and the vehicle 100 and the generation target T. A long distance risk coefficient β3 when the distance L is a relatively long distance L3, and an intermediate distance when the distance L between the vehicle 100 and the generation target T is an intermediate distance L2 between the short distance L1 and the long distance L3. The risk coefficient β2 and are set.

In the present embodiment, the short distance L1 is set smaller than X1 (L1<X1). X1 may be, for example, 8 meters. The intermediate distance L2 is set to be X1 or more and smaller than X2 (X1≦L2<X2). X2 may be, for example, 14 meters. The long distance L3 is set to X2 or more (L3≧X2). It is preferable that the short distance L1, the intermediate distance L2, and the long distance L3 are set to different values according to the traveling state of the vehicle 100 and the like. For example, it is preferable that the distances L1 to L3 be set to be longer as the traveling speed increases in accordance with the traveling speed of the vehicle 100. The above example where X1 is 8 meters and X2 is 14 meters is suitable, for example, when the traveling speed of the vehicle 100 is 30 [km/hour]. Alternatively, the distances L1 to L3 may be set to different values depending on the road environment in which the vehicle 100 is traveling. For example, on an expressway having a relatively high legal speed, the short distance L1, the intermediate distance L2, and the long distance L3 may be set to be relatively long, and the legal speed of a road around a residential area or a downtown area may be set. For roads with relatively low values, it is advisable to set them relatively short.

In this embodiment, the risk coefficient β (risk level) by distance is set to decrease in the order of the short distance risk coefficient β1, the intermediate distance risk coefficient β2, and the long distance risk coefficient β3. That is, the relationship between the risk factors β by distance is “β1>β2>β3”. In other words, the long distance risk coefficient β3, the intermediate distance risk coefficient β2, and the short distance risk coefficient β1 are set so that the risk coefficient β for each distance becomes higher. That is, in the present embodiment, the display mode determination unit 22 determines to increase the risk level as the distance between the vehicle 100 and the generation target T decreases. In this example, the distance-based risk coefficient β is digitized, and specific numerical values are substituted for β1, β2, and β3. The numerical values assigned to these are set appropriately according to the necessity of calling attention.

In the present embodiment, the display mode determination unit 22 determines the risk level by multiplying the risk coefficient α by type and the risk coefficient β by distance. As described above, since the type-specific risk coefficient α and the distance-specific risk coefficient β are quantified, by multiplying them, the risk level can be quantified and the risk level value can be calculated. For example, when the identified generation target T is the blind spot product T1 and the distance L between the blind spot product T1 and the vehicle 100 is the short distance L1, the risk by type corresponding to the blind spot product T1. The value (α1×β1) calculated by multiplying the coefficient α1 and the risk coefficient β1 for each distance corresponding to the short distance L1 is the risk level value in this case. When a plurality of generation targets T are specified, the display mode determination unit 22 calculates a risk level value for each generation target T and compares the plurality of risk level values to generate each generation target T. Judge the high risk level of the object T. As described above, for example, when a plurality of generation objects T are present at the same position at the same time, the display mode determination unit 22 displays a high risk level and hides a low risk level. (See FIGS. 6 and 7).

Further, as described above, in the present embodiment, the caution image MC is not displayed for the occurrence target T whose risk level satisfies the preset non-display standard. In this example, the display mode determination unit 22 determines that the risk level satisfies the non-display standard when the risk level value calculated as described above is equal to or less than the preset non-display standard value. Note that the configuration is not limited to such an example, and it may be configured to determine whether to display the caution image MC according to another condition based on the risk level. For example, when a plurality of generation targets T are specified, the display mode determination unit 22 calculates a risk level value for each generation target T, and a specified number (for example, three) in descending order of the risk level value. It is also preferable to have a configuration in which the caution image MC for the generation target T in (1) is displayed and the caution image MC for the other generation target T is not displayed.

[Procedure for driving assistance]
Next, the procedure of driving assistance by the vehicle driving assistance system 10 (vehicle driving assistance method, vehicle driving assistance program) will be described with reference to the flowchart in FIG. 9.

The vehicle driving assistance system 10 acquires map information from the database 7 (#1: map information acquisition step, map information acquisition function). As a result, the vehicle driving assistance system 10 can grasp, for example, the position of an intersection where there is no temporary stop or traffic light, and can appropriately identify such an intersection road T2. After that, the vehicle driving assistance system 10 acquires the image information captured by the front camera 1 (#2: image information acquisition step, image information acquisition function).

The vehicle driving assistance system 10 identifies the generation target T in the image based on the image information obtained in the image information acquisition step (#2) (#3: generation target identification step, generation target identification function). ). After that, the vehicle driving assistance system 10 determines the type of the generation target T in the image based on the information of the type of the generation target T stored in the database 7 (#4: type determination step, type determination function). ). The identification of the generation target T and the determination of the type of the generation target T can be performed by using image recognition processing such as pattern matching. Further, the vehicle driving assistance system 10 determines the distance L between the vehicle 100 (own vehicle) and the generation target T using the image captured by the front camera 1 and the information detected by the sensor group 6 (#5: Distance judgment step, distance judgment function).

The vehicle driving assistance system 10 determines the risk level for the identified generation target T based on the type of the generation target T and the distance between the vehicle 100 and the generation target T (#6: risk level determination). Step, risk level determination function). As described above with reference to FIG. 8, the risk level is determined using the type-specific risk coefficient α and the distance-specific risk coefficient β for the identified generation target T.

Next, the vehicle driving assistance system 10 determines the shape of the caution image MC including whether or not to display the caution image MC according to the type of the generation target object T and the distance between the vehicle 100 and the generation target object T. The display mode is determined so that both the display positions with respect to the generation target T are different (#7: display mode determination step, display mode determination function). Then, the vehicle driving assistance system 10 superimposes and displays the caution image MC on the actual landscape based on the determined display mode (#8: caution image display step, caution image display function).

[Other Embodiments]
Next, another embodiment of the vehicle driving assistance system, the vehicle driving assistance method, or the vehicle driving program will be described.

(1) In the above embodiment, an example in which the caution image MC is not displayed for the occurrence target T whose risk level satisfies the non-display standard, that is, the occurrence target T whose risk level value is less than the non-display standard value explained. Further, an example has been described in which, when the display positions of a plurality of caution images MC overlap, the caution images MC of the occurrence target T having a low risk level among these caution images MC are not displayed. However, without being limited to these examples, the vehicle driving assistance system 10 displays the caution image MC for all the specified generation target objects T regardless of whether the display positions overlap. Good. In this case, the caution image MC of the occurrence target T having a low risk level may be displayed in a less noticeable manner by, for example, making it smaller or lighter in color.

(2) In the above embodiment, the types of the generation target T include the blind spot product T1, the intersection road T2, and the dynamic object T3, and the type-specific risk coefficient α is set for each of these. I explained the example. However, without being limited to such an example, the generation target T may be further finely classified, and the type-specific risk coefficient α may be set for each classified. For example, the blind spot product T1 can be classified into another vehicle that is running or parked, a structure or an artificial object such as a building or a fence, or a natural object such as a tree or a rock. The intersection road T2 can be classified into a road having no temporary stop, a road having no signal, or the like, or can be classified according to the road width. The dynamic object T3 can be classified into a person, a bicycle, a two-wheeled vehicle, a passenger car, a large vehicle, and the like.

(3) In the above embodiment, an example in which the display mode determination unit 22 determines to increase the risk level as the distance L between the vehicle 100 and the generation target T becomes shorter has been described. However, without being limited to such an example, the distance L between the vehicle 100 and the generation target T may not be considered when determining the risk level.

(4) Note that the configurations disclosed in the above-described embodiments can be applied in combination with the configurations disclosed in other embodiments as long as no contradiction occurs. Regarding other configurations, the embodiments disclosed in the present specification are merely examples in all respects. Therefore, various modifications can be appropriately made without departing from the spirit of the present disclosure.

[Outline of the above embodiment]
Hereinafter, an outline of the vehicle driving assistance system, the vehicle driving assistance method, and the vehicle driving assistance program described above will be described.

The vehicle driving assistance system (10)
A display unit (5) for superimposing and displaying a caution image (MC) on the actual landscape;
Whether or not there is a risk of collision between the vehicle (100) and the dynamic obstacle that may occur on the front side in the traveling direction of the vehicle (100), and the occurrence target (T) that causes the collision risk. A determination unit (21) for determining the type,
A display mode determining unit (22) that determines a display mode of the caution image (MC) based on a determination result by the determination unit (21),
The display mode determination unit (22) at least the shape, color, and movement of the caution image (MC) and the display position with respect to the generation target (T) according to the type of the generation target (T). The display mode is determined so that one is different.

According to this configuration, it is possible to change the display mode of the caution image (MC) displayed in a superimposed manner on the actual landscape depending on the type of collision risk. Therefore, the driver of the vehicle (100) can be alerted according to the type of collision risk.

here,
The display mode determination unit (22) is configured to determine the display mode for each of the plurality of generation objects (T), including whether to display the caution image (MC).
The display mode determination unit (22), based on the type of the generation target (T) and the distance (L) between the vehicle (100) and the generation target (T), the generation target ( The risk level indicating the height of the collision risk is determined for T), and the caution image (MC) is not displayed for the generation target (T) in which the risk level satisfies a preset non-display standard. Is suitable.

According to this configuration, the caution image (MC) is not displayed for all of the plurality of target objects (T), but the caution image (MC) for some target objects (T) is displayed according to the risk level. Can be turned off. Therefore, for example, it is possible to display only the caution image (MC) of the generation target object (T) for which it is highly necessary to call the driver's attention. Therefore, it is possible to prevent the attention of the driver from being dispersed by displaying a large number of attention images (MC), and also to prevent the driver from feeling annoyed.

Also,
When the display positions of a plurality of the caution images (MC) overlap, the display mode determination unit (22) selects the occurrence target (T) having a low risk level from the caution images (MC). It is preferable not to display the caution image (MC) of the above.

With this configuration, it is possible to prevent the driver from having difficulty in recognizing the attention image (MC) by displaying the plurality of attention images (MC) at the same place.

Also,
The type of the generation target (T) includes a blind spot product (T1) that produces a blind spot from the driver of the vehicle (100), a temporary stop and a signal to the road on which the vehicle (100) is in progress. An intersection road (T2) that is connected at an intersection that does not exist, and a dynamic object (T3) whose traveling direction may intersect with the traveling direction of the vehicle (100),
It is preferable that the risk level is set to increase in the order of the blind spot product (T1), the intersection road (T2), and the dynamic object (T3).

According to this configuration, the risk level can be appropriately determined according to a specific cause of a collision risk that may occur around the vehicle, and an appropriate caution image (MC) can be displayed according to the determined risk level. it can.

Also,
It is preferable that the display mode determination unit (22) determines to increase the risk level as the distance (L) between the vehicle (100) and the generation target (T) becomes shorter.

According to this configuration, it is possible to easily preferentially display the caution image (MC) of the generation target (T) whose distance (L) from the vehicle (100) is short. Thereby, the collision risk in the place near the vehicle (100) can be prioritized, and the driver can be more appropriately alerted.

The various technical features of the vehicle driving assistance system described above are also applicable to a vehicle driving assistance method and a vehicle driving assistance program. For example, the vehicle driving assistance method may be a method including the features of the vehicle driving assistance system described above. Further, the vehicle driving assistance program can cause a computer to realize a function corresponding to the features of the vehicle driving assistance system described above. As a matter of course, these vehicle driving assistance method and vehicle driving assistance program can also exhibit the operational effects of the vehicle driving assistance system described above. Furthermore, it is possible to incorporate various additional features exemplified as a preferable aspect of the vehicle driving assistance system into these vehicle driving assistance methods and vehicle driving assistance programs, and the method and the program have respective additional features. Corresponding effects can also be achieved.

Such a vehicle driving assistance method is
A display step of displaying the attention image (MC) superimposed on the actual landscape,
Whether or not there is a risk of collision between the vehicle (100) and the dynamic obstacle that may occur on the front side in the traveling direction of the vehicle (100), and the occurrence target (T) that causes the collision risk. A determination step for determining the type,
A display mode determining step of determining a display mode of the caution image (MC) based on the determination result of the determination step,
In the display mode determination step, at least one of the shape, color, and movement of the caution image (MC) and the display position with respect to the generation target (T) is set according to the type of the generation target (T). The display mode is determined so as to be different.

In addition, such a vehicle driving assistance program,
A display function that superimposes and displays a caution image (MC) on the actual landscape,
Whether or not there is a risk of collision between the vehicle (100) and the dynamic obstacle that may occur on the front side in the traveling direction of the vehicle (100), and the occurrence target (T) that causes the collision risk. A judgment function to judge the type,
A display mode determining function for determining a display mode of the caution image (MC) based on a determination result by the determination function,
In the display mode determining function, at least one of the shape, color, and movement of the caution image (MC) and the display position with respect to the generation target (T) is displayed according to the type of the generation target (T). The display mode is determined so as to be different.

The technology according to the present disclosure can be used for a vehicle driving assistance system, a vehicle driving assistance method, and a vehicle driving assistance program.

100: Vehicle 10: Vehicle driving assistance system 5: Display unit 21: Judgment unit 22: Display mode determination unit MC: Attention image T: Target object T1: Blind spot product T2: Cross road T3: Dynamic object L: Distance ( (Distance between vehicle and target)

Claims (7)

A display unit that superimposes the attention image on the actual landscape and displays it,
Whether or not there is a collision risk between the vehicle and a dynamic obstacle that may occur on the front side in the traveling direction of the vehicle, and a determination unit that determines the type of the target object that causes the collision risk,
A display mode determination unit that determines the display mode of the caution image based on the determination result by the determination unit,
The display mode determination unit changes the display mode so as to change at least one of the shape, color, and movement of the caution image and the display position for the generation target object according to the type of the generation target object. Determining the vehicle driving assistance system. The display mode determining unit is configured to determine the display mode including whether or not to display the caution image for each of the plurality of generation objects.
The display mode determination unit determines the risk level indicating the height of the collision risk for the generation target based on the type of the generation target and the distance between the vehicle and the generation target, The vehicle driving assistance system according to claim 1, wherein the caution image is not displayed for the generation target object in which the risk level satisfies a preset non-display criterion. The display mode determination unit does not display the caution image of the occurrence target object having a low risk level among the caution images when the display positions of the caution images overlap each other. The vehicle driving assistance system according to. The type of the object to be generated, a blind spot product that generates a blind spot from the driver of the vehicle, an intersection road that is connected at an intersection where there is a stop and no signal for the road where the vehicle is in progress, and A dynamic object whose traveling direction may intersect with the traveling direction of the vehicle,
The vehicle driving assistance system according to claim 2 or 3, wherein the risk level is set to increase in the order of the blind spot product, the intersection road, and the dynamic object. The vehicle driving assistance system according to any one of claims 2 to 4, wherein the display mode determination unit determines to increase the risk level as a distance between the vehicle and the object to be generated becomes shorter. .. A display step of displaying the attention image superimposed on the actual landscape,
Whether or not there is a collision risk between the vehicle and a dynamic obstacle that may occur on the front side in the traveling direction of the vehicle, and a determination step of determining the type of an object to be generated that causes the collision risk,
A display mode determination step of determining a display mode of the caution image based on the determination result of the determination step,
In the display mode determining step, the display mode is changed such that at least one of the shape, the color, and the movement of the caution image and the display position with respect to the generation target is changed according to the type of the generation target. Vehicle driving assistance method to determine. With a display function that superimposes the attention image on the actual landscape and displays it,
Whether or not there is a collision risk between the vehicle and a dynamic obstacle that may occur on the front side in the traveling direction of the vehicle, and a determination function that determines the type of the target object that causes the collision risk,
A display mode determining function that determines the display mode of the caution image based on the determination result of the determination function, and
In the display mode determination function, the display mode is changed so that at least one of the shape, the color, and the movement of the caution image and the display position with respect to the generation target object is changed according to the type of the generation target object. A vehicle driving assistance program to be decided.

Images