Driver assistance devices

Abstract

A driver assistance device (10) includes an ECU (90). When a custom button (Btc) is touched while a surrounding monitoring screen (G3) including a surrounding image and a custom button (Btc) is displayed, the ECU (90) switches the surrounding monitoring screen (G3) to a custom screen (G4a) and displays it. When a predetermined condition is satisfied while the custom screen (G4a) is displayed, the ECU (90) switches the custom screen (G4a) to an attention-attracting screen (G5) and displays it.

Description

Technical Field

[0001] The present invention relates to a driver assistance device for assisting a driver in monitoring the surroundings of a vehicle. Background Art

[0002] This conventional driver assistance device (hereinafter referred to as "conventional device") displays a peripheral monitoring screen including a captured image (peripheral image) of the surrounding area of ​​the vehicle obtained by a camera mounted on the vehicle on a display device in order to assist the driver in monitoring the surrounding area of ​​the vehicle.

[0003] Patent document 1 discloses a navigation device that presents to the driver an operation screen for adjusting the navigation conditions and other settings of the navigation device. In conventional devices, an operation screen (hereinafter referred to as a "custom screen") for adjusting the working content of a driver assistance function (e.g., a parking assistance function) is also presented to the driver.

[0004] Patent Document 1: Japanese Patent Application Publication No. 2005-351868 Summary of the invention

[0005] When a custom screen is requested to be displayed while the surrounding monitoring screen is being displayed, the existing device switches the surrounding monitoring screen to the custom screen and displays it. Therefore, in the existing device, the driver cannot see the surrounding monitoring screen while the custom screen is displayed, so there is a possibility that the "function of assisting the driver in monitoring the surroundings of the vehicle" is reduced. In this case, it is difficult for the driver to grasp the changes in the situation of the surrounding area of ​​the vehicle (for example, changes in the situation such as a moving object and / or a pedestrian approaching the vehicle) based on the screen, which is undesirable.

[0006] The present invention is made to address the above-mentioned problems. That is, one of the purposes of the present invention is to provide a driver assistance device that can reduce the possibility of a decline in the function of assisting the driver in monitoring the surroundings of the vehicle. Hereinafter, the driver assistance device of the present invention is sometimes referred to as the "driver assistance device of the present invention".

[0007] The driver assistance device (10) of the present invention is mounted on a vehicle (100) and assists the driver in confirming the surroundings of the vehicle by presenting a surrounding monitoring screen to the driver.

[0008] The driver assistance device comprises: a detection device (30, 40, 50), including a photographing device (40) for acquiring image information by photographing the surroundings of the vehicle, wherein the detection device detects an attention-drawing object consisting of at least one of a stationary object and a moving object existing in the surrounding area of ​​the vehicle; a touch screen (60) configured to display an image; and a display control unit (90) for generating a surrounding image as an image of the surrounding area based on the image information, and controlling the display of a screen including the surrounding image displayed on the touch screen (60).

[0009] The display control unit is configured to be capable of executing attention-drawing screen display control for displaying an attention-drawing screen (G5) including the peripheral image while the attention-drawing object is detected and a predetermined condition is satisfied.

[0010] In addition, the display control unit is configured to switch the surrounding monitoring screen (G3) including the surrounding image and the custom button (Btc) to a custom screen (G4a) which is an operation screen for adjusting the working content of a predetermined driver assistance function possessed by the vehicle and display it (step 1220) when the surrounding monitoring screen (G3) including the surrounding image and the custom button (Btc) is displayed (judged as "Yes" in step 1210) and when the custom button is touched (judged as "Yes" in step 1215), and to switch the custom screen to the attention-drawing screen and display it (step 1330) when the predetermined condition is met when the custom screen is displayed (step 1310) (judged as "Yes" in step 1315).

[0011] According to the driver assistance device of the present invention, when a predetermined condition is satisfied while displaying a custom screen, the custom screen is switched to an attention-drawing screen and displayed. Thus, the driver assistance device of the present invention can reduce the possibility of a decline in the function of assisting the driver in monitoring the surroundings of the vehicle.

[0012] In the above-mentioned one embodiment, the display control unit is configured to switch the attention-drawing screen to the custom screen and display it only while the predetermined condition is satisfied, after the custom screen is switched to the attention-drawing screen and displayed (steps 1410, 1415, and 1420).

[0013] According to the above-mentioned one embodiment, when the custom screen is displayed, only during the period when the predetermined condition is satisfied, after the custom screen is switched to the attention-drawing screen and displayed, the attention-drawing screen is switched to the custom screen and displayed. Thus, the driver assistance device of the present invention can reduce the possibility of a decrease in the function of assisting the driver in monitoring the surroundings of the vehicle, and can ensure the convenience of the user related to the operation of the custom screen.

[0014] In one of the above-mentioned embodiments, the custom button is configured such that when the vehicle is in a stopped state, the custom button is set to a state capable of accepting the touch operation, and when the vehicle is not in a stopped state, the custom button is set to a state incapable of accepting the touch operation.

[0015] In the above-mentioned embodiment, the object to be noticed is the moving object in the vicinity of the vehicle approaching the vehicle, and the attention-drawing screen includes the surrounding image and a moving object direction mark superimposed on the surrounding image and indicating the approach direction of the moving object.

[0016] According to the above one embodiment, when the vehicle is not in a stopped state, the custom screen cannot be switched to, so the possibility of the function of assisting the driver to monitor the surroundings of the vehicle when the vehicle is moving can be reduced. In addition, according to the above one embodiment, when the vehicle is in a stopped state, even if the surrounding monitoring screen is switched to the custom screen and displayed, a moving object that particularly requires attention when the vehicle is in a stopped state can be detected, so the possibility of the function of assisting the driver to monitor the surroundings of the vehicle can be reduced.

[0017] In one of the above methods,

[0018] The periphery monitoring screen is a parking assistance screen that is permitted to be displayed when the parking assistance function of the vehicle is in an effective state (“Yes” is determined in step 1205 ), and the custom screen is an operation screen for adjusting the operation content of the parking assistance function.

[0019] According to the above aspect, it is possible to reduce the possibility that the function of assisting the driver in monitoring the surroundings of the vehicle will be degraded when the parking assist function is in operation.

[0020] In one of the above methods, the surrounding monitoring screen is a panoramic view monitor screen that is permitted to be displayed when the panoramic view monitor function of the vehicle is in a valid state (judged as "yes" in step 1505), and the custom screen is an operation screen for adjusting the working content of the panoramic view monitor function.

[0021] According to the above aspect, it is possible to reduce the possibility that the function of assisting the driver in monitoring the surroundings of the vehicle will be degraded when the surround view monitor function is operating.

[0022] In the above description, in order to help understand the present invention, for the configuration of the invention corresponding to the embodiment described later, the name and / or figure mark used in the embodiment are added in brackets. However, the various components of the present invention are not limited to the embodiment specified by the name and / or figure mark. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a diagram showing a driver assistance device according to an embodiment of the present invention and a vehicle to which the driver assistance device is applied.

[0024] Figure 2 It is a diagram showing the arrangement and detection range of the sonar sensor device.

[0025] Figure 3 It is a diagram showing the arrangement and imaging range of a camera sensor device.

[0026] Figure 4 is a diagram showing the configuration of a radar sensor device.

[0027] Figure 5A It is a schematic diagram showing an image displayed on the touch screen.

[0028] Figure 5B It is a schematic diagram showing an image displayed on the touch screen.

[0029] Figure 6 It is a schematic diagram showing an image displayed on the touch screen.

[0030] Figure 7 It is a schematic diagram showing an image displayed on the touch screen.

[0031] Figure 8 It is a schematic diagram showing an image displayed on the touch screen.

[0032] Fig. 9 It is a schematic diagram showing an image displayed on the touch screen.

[0033] Fig. 10A It is a schematic diagram showing an image displayed on the touch screen.

[0034] Fig. 10B It is a schematic diagram showing an image displayed on the touch screen.

[0035] Fig.11 It is a schematic diagram showing an image displayed on the touch panel display unit.

[0036] Fig.12 This is a flowchart showing a routine executed by the CPU of the ECU.

[0037] Fig.13 This is a flowchart showing a routine executed by the CPU of the ECU.

[0038] Fig.14 This is a flowchart showing a routine executed by the CPU of the ECU.

[0039] Fig.15 This is a flowchart showing a routine executed by the CPU of the ECU.

[0040] Fig.16 This is a flowchart showing a routine executed by the CPU of the ECU.

[0041] Fig.17 This is a flowchart showing a routine executed by the CPU of the ECU. DETAILED DESCRIPTION

[0042] <Composition>

[0043] Hereinafter, a driver assistance device according to an embodiment of the present invention will be described with reference to the accompanying drawings. In all the drawings of the embodiment, the same reference numerals are given to the same or corresponding parts. Figure 1 A driver assistance device 10 according to an embodiment of the present invention and a vehicle 100 to which the driver assistance device 10 is applied are shown.

[0044] like Figure 1 As shown, the driver assistance device 10 includes an ECU 90. ECU is an abbreviation for an electronic control unit. The ECU 90 includes a microcomputer as a main component. The microcomputer includes a CPU, a ROM, a RAM, a non-volatile memory, an interface, etc. The CPU is configured to implement various functions by executing instructions, programs, or routines stored in the ROM. In addition, the ECU 90 may also be composed of a plurality of ECUs.

[0045] The vehicle 100 is equipped with a vehicle driving force generating device 11, a braking device 12, and a steering device 13. The vehicle driving force generating device 11 is a device for generating a driving force for driving the vehicle 100 and applying the driving force to the driving wheels of the vehicle 100. The vehicle driving force generating device 11 is, for example, an internal combustion engine, an electric engine, etc. The braking device 12 is a device for applying a braking force for braking the vehicle 100 to the wheels of the vehicle 100. The steering device 13 is a device for applying a steering torque for steering the vehicle 100 to the steering wheels of the vehicle 100.

[0046] The vehicle driving force generating device 11, the braking device 12, and the steering device 13 are electrically connected to the ECU 90. The ECU 90 controls the driving force applied to the driving wheels of the vehicle 100 by controlling the operation of the vehicle driving force generating device 11. In addition, the ECU 90 controls the braking force applied to the wheels of the vehicle 100 by controlling the operation of the braking device 12. In addition, the ECU 90 controls the steering torque applied to the steering wheels of the vehicle 100 by controlling the operation of the steering device 13.

[0047] (Sensors, etc.)

[0048] The driver assistance device 10 includes an accelerator pedal operation amount sensor 21, a brake pedal operation amount sensor 22, a steering angle sensor 23, a steering torque sensor 24, a vehicle speed sensor 25, a yaw rate sensor 26, a longitudinal acceleration sensor 27, a lateral acceleration sensor 28, a shift position sensor 29, a sonar sensor device 30, a camera sensor device 40, a radar sensor device 50, a touch screen display unit 60, a parking assist switch 70 and a camera switch 80.

[0049] The accelerator pedal operation amount sensor 21 is electrically connected to the ECU 90. The ECU 90 detects the operation amount AP of the accelerator pedal 14 via the accelerator pedal operation amount sensor 21 and acquires it as the accelerator pedal operation amount AP. The ECU 90 controls the operation of the vehicle drive force generation device 11 in such a manner that a driving force corresponding to the acquired accelerator pedal operation amount AP is given from the vehicle drive force generation device 11 to the drive wheels of the vehicle 100.

[0050] The brake pedal operation amount sensor 22 is electrically connected to the ECU 90. The ECU 90 detects the operation amount BP of the brake pedal 15 by the driver via the brake pedal operation amount sensor 22 and acquires it as the brake pedal operation amount BP. The ECU 90 controls the operation of the brake device 12 in such a manner that a braking force corresponding to the acquired brake pedal operation amount BP is applied from the brake device 12 to the wheels of the vehicle 100.

[0051] The steering angle sensor 23 is electrically connected to the ECU 90. The ECU 90 detects the rotation angle θst of the steering wheel 16 with respect to the neutral position via the steering angle sensor 23 and acquires the detected rotation angle θst as the steering angle θst.

[0052] The steering torque sensor 24 is electrically connected to the ECU 90. The ECU 90 detects the torque TQst input from the driver to the steering shaft 17 via the steering torque sensor 24 and acquires the torque TQst as the steering torque TQst.

[0053] The ECU 90 controls the operation of the steering device 13 so as to apply a steering torque corresponding to the acquired steering angle θst and steering torque TQst to the steered wheels of the vehicle 100 .

[0054] The vehicle speed sensor 25 is electrically connected to the ECU 90. The ECU 90 detects the rotation speed Vrot of each wheel of the vehicle 100 via the vehicle speed sensor 25 and acquires the rotation speed Vrot of each wheel. The ECU 90 acquires the running speed SPD of the vehicle 100 as the vehicle speed SPD based on the acquired rotation speed Vrot of each wheel.

[0055] The yaw rate sensor 26 is electrically connected to the ECU 90. The ECU 90 detects the yaw rate YR of the vehicle 100 via the yaw rate sensor 26, and acquires the yaw rate YR as the vehicle yaw rate YR.

[0056] The longitudinal acceleration sensor 27 is electrically connected to the ECU 90. The ECU 90 detects the longitudinal acceleration Gx of the vehicle 100 via the longitudinal acceleration sensor 27, and acquires it as the vehicle longitudinal acceleration Gx.

[0057] The lateral acceleration sensor 28 is electrically connected to the ECU 90. The ECU 90 detects the lateral acceleration Gy of the vehicle 100 via the lateral acceleration sensor 28, and acquires it as the vehicle lateral acceleration Gy.

[0058] The shift position sensor 29 is electrically connected to the ECU 90. The position of the shift lever (shift position) not shown is detected. In this example, the position of the shift lever is the parking position (P), the forward position (D), and the reverse position (R). The ECU 90 receives the position of the shift lever from the shift position sensor 29, and controls the transmission and / or the driving direction switching mechanism (not shown) of the vehicle 100 based on the position (i.e., controls the shift control of the vehicle 100). In addition, the ECU 90 can control the transmission and / or the driving direction switching mechanism (not shown) and switch the position of the shift lever without the driver's operation of the shift lever.

[0059] The sonar sensor device 30 includes a first clearance sonar 301 to a twelfth clearance sonar 312. Hereinafter, the first clearance sonar 301 to the twelfth clearance sonar 312 will be collectively referred to as a "clearance sonar 313" as needed.

[0060] like Figure 2 As shown, the first clearance sonar 301 is mounted on the vehicle 100 so as to radiate ultrasonic waves from the front left end portion of the vehicle 100 to the left front. The second clearance sonar 302 is mounted on the vehicle 100 so as to radiate ultrasonic waves from the left front end portion of the vehicle 100 to the front. The third clearance sonar 303 is mounted on the vehicle 100 so as to radiate ultrasonic waves from the front right end portion of the vehicle 100 to the right front. The fourth clearance sonar 304 is mounted on the vehicle 100 so as to radiate ultrasonic waves from the right front end portion of the vehicle 100 to the front.

[0061] Furthermore, the fifth clearance sonar 305 is mounted on the vehicle 100 so as to radiate ultrasonic waves from the rear left end portion of the vehicle 100 to the left rear. The sixth clearance sonar 306 is mounted on the vehicle 100 so as to radiate ultrasonic waves from the left rear end portion of the vehicle 100 to the rear. The seventh clearance sonar 307 is mounted on the vehicle 100 so as to radiate ultrasonic waves from the rear right end portion of the vehicle 100 to the right rear. The eighth clearance sonar 308 is mounted on the vehicle 100 so as to radiate ultrasonic waves from the right rear end portion of the vehicle 100 to the rear.

[0062] In addition, the ninth clearance sonar 309 is mounted on the vehicle 100 so as to radiate ultrasonic waves from the front left side portion of the vehicle 100 to the left. The tenth clearance sonar 310 is mounted on the vehicle 100 so as to radiate ultrasonic waves from the rear left side portion of the vehicle 100 to the left. The eleventh clearance sonar 311 is mounted on the vehicle 100 so as to radiate ultrasonic waves from the front right side portion of the vehicle 100 to the right. The twelfth clearance sonar 312 is mounted on the vehicle 100 so as to radiate ultrasonic waves from the rear right side portion of the vehicle 100 to the right.

[0063] The clearance sonar 313 receives ultrasonic waves reflected by objects.

[0064] The sonar sensor device 30 is electrically connected to the ECU 90. The sonar sensor device 30 transmits information related to ultrasonic waves emitted by the clearance sonar 313 and ultrasonic waves received by the clearance sonar 313 to the ECU 90. The ECU 90 acquires information related to objects existing around the vehicle 100 as “object information” based on the information received from the sonar sensor device 30.

[0065] exist Figure 2 , the direction indicated by the reference numeral Dx is the front-rear direction of the vehicle 100, hereinafter referred to as the “vehicle front-rear direction Dx”, and the direction indicated by the reference numeral Dy is the width direction of the vehicle 100, hereinafter referred to as the “vehicle width direction Dy”.

[0066] The camera sensor device 40 includes a front camera 41, a rear camera 42, a left camera 43, and a right camera 44. Hereinafter, the front camera 41, the rear camera 42, the left camera 43, and the right camera 44 are collectively referred to as "camera 45" as needed. The camera 45 is also referred to as "imaging device".

[0067] like Figure 3 As shown, the front camera 41 is installed at the center of the front end of the vehicle 100 in a manner to photograph the scenery in front of the vehicle 100, and its viewing angle 41A is approximately 180°. The rear camera 42 is installed at the center of the rear end of the vehicle 100 in a manner to photograph the scenery behind the vehicle 100, and its viewing angle 42A is also approximately 180°. The left camera 43 is installed at the left side of the vehicle 100 in a manner to photograph the scenery on the left side of the vehicle 100, and its viewing angle 43A is also approximately 180°. The right camera 44 is installed at the right side of the vehicle 100 in a manner to photograph the scenery on the right side of the vehicle 100, and its viewing angle 44A is also approximately 180°. In addition, the front camera 41 can also photograph the scenery in front of the vehicle 100 at a relatively small viewing angle, and the rear camera 42 can also photograph the scenery behind the vehicle 100 at a relatively small viewing angle.

[0068] The camera sensor device 40 is electrically connected to the ECU 90. The ECU 90 can acquire information related to the image of the scenery captured by each camera 45 via the camera sensor device 40.

[0069] Hereinafter, as required, information related to the image of the scenery photographed by the front camera 41 is referred to as “front image information IMG1”, information related to the image of the scenery photographed by the rear camera 42 is referred to as “rear image information IMG2”, information related to the image of the scenery photographed by the left camera 43 is referred to as “left image information IMG3”, and information related to the image of the scenery photographed by the right camera 44 is referred to as “right image information IMG4”. In addition, as required, hereafter, the front image information IMG1, the rear image information IMG2, the left image information IMG3, and the right image information IMG4 are collectively referred to as “image information IMG”.

[0070] Every time a predetermined time has passed, the ECU 90 generates peripheral image information using the front image information IMG1, the rear image information IMG2, the left image information IMG3, and the right image information IMG4. An image displayed (generated) based on the peripheral image information is called a "peripheral image". The peripheral image is an image corresponding to at least a portion of the area around the vehicle 100, including a camera viewpoint image and a composite image.

[0071] The camera viewpoint image is an image with the arrangement position of each lens of the camera 45 as a viewpoint.

[0072] One of the synthesized images is an image obtained by observing the surroundings of the vehicle SV from a virtual viewpoint set at an arbitrary position around the vehicle 100 (also referred to as a “virtual viewpoint image”).

[0073] The method for generating the virtual viewpoint image is well known (for example, see Japanese Patent Publication No. 2012-217000, Japanese Patent Publication No. 2016-192772, and Japanese Patent Publication No. 2018-107754). In addition, the ECU 90 may generate an image by further synthesizing (overlaying) a vehicle image (for example, a vehicle polygon SP showing the shape of the vehicle 100), graphic images such as lines that support parking actions, and text images such as messages that support parking actions, etc., for the camera viewpoint image and the virtual viewpoint image. Such an image is also referred to as a peripheral image.

[0074] The following briefly describes the outline of the method for generating virtual viewpoint image information as a basis for virtual viewpoint images. ECU 90 projects pixels included in front image information IMG1, rear image information IMG2, left image information IMG3, and right image information IMG4 onto a predetermined projection curved surface (e.g., a bowl-shaped curved surface) in a virtual three-dimensional space.

[0075] The center of the projection curved surface is defined as the position of the vehicle 100. The portion other than the center of the projection curved surface corresponds to the front image information IMG1, the rear image information IMG2, the left image information IMG3, and the right image information IMG4. The ECU 90 projects information of pixels included in the front image information IMG1, the rear image information IMG2, the left image information IMG3, and the right image information IMG4 onto the portion other than the center of the projection curved surface.

[0076] The ECU 90 places the "polygon representing the shape of the vehicle 100" at the center of the projection curved surface. Furthermore, the ECU 90 sets the virtual viewpoint in the virtual three-dimensional space, and cuts out a predetermined area of ​​the projection curved surface included in the predetermined visual angle when observed from the virtual viewpoint as image information (image). In addition, the "polygon representing the shape of the vehicle 100" included in the predetermined visual angle when observed from the virtual viewpoint is superimposed on the cut-out image information (image). Thus, virtual viewpoint image information is generated.

[0077] The radar sensor device 50 includes first to fifth radar sensors 51a to 51e. Hereinafter, the first to fifth radar sensors 51a to 51e are collectively referred to as "radar sensors 51" as needed.

[0078] The radar sensor 51 is a well-known sensor that uses radio waves in the millimeter wave band. The radar sensor 51 obtains radar sensor target information that determines the distance between the vehicle 100 and the three-dimensional object, the relative speed between the vehicle 100 and the three-dimensional object, the relative position (direction) of the three-dimensional object relative to the vehicle 100, etc., and outputs the "radar sensor target information" to the ECU 90.

[0079] The radar sensors 51 (51a to 51e) are provided at Figure 4 The predetermined position of the vehicle 100 shown in the figure acquires radar sensor target information of a three-dimensional object existing in a predetermined area described below.

[0080] The radar sensor 51 a acquires radar sensor target information of a three-dimensional object existing in the right front area of ​​the vehicle 100 .

[0081] The radar sensor 51 b acquires radar sensor target information of a three-dimensional object existing in the area in front of the vehicle 100 .

[0082] The radar sensor 51 c acquires radar sensor target information of a three-dimensional object existing in the left front area of ​​the vehicle 100 .

[0083] The radar sensor 51 d acquires radar sensor target information of a three-dimensional object existing in the right rear area of ​​the vehicle 100 .

[0084] The radar sensor 51 e acquires radar sensor target information of a three-dimensional object existing in the left rear area of ​​the vehicle 100 .

[0085] The touch panel display unit 60 is disposed at a position of the vehicle 100 that can be visually recognized by the driver. In this example, the touch panel display unit 60 is a so-called touch panel type display provided with a navigation device.

[0086] The touch panel display unit 60 is electrically connected to the ECU 90. The ECU 90 can display (cause to be displayed) various screen images (also simply referred to as “screens”) including a peripheral monitoring screen image of a peripheral image on the touch panel display unit 60.

[0087] The parking assist switch 70 is a switch that is operated (pressed, depressed) by a user.

[0088] The camera switch 80 is a switch operated (pressed, depressed) by the user.

[0089] (Overview of driver assistance functions)

[0090] The vehicle 100 has at least one of a parking assist function and a panoramic view monitor function (hereinafter referred to as a "PVM function") (in this example, both functions) as a driver assistance function for assisting the driver. In addition, when a certain driver assistance function is set to an effective state (effective), execution of control corresponding to the driver assistance function is permitted. When a certain driver assistance function is set to an ineffective state (ineffective), execution of control corresponding to the driver assistance function is not permitted (i.e., prohibited).

[0091] (Parking assistance function)

[0092] The parking assist function is a function of assisting the driver in parking the vehicle (exiting the vehicle) by automatically driving the vehicle 100 when the vehicle 100 is parked or exiting the vehicle. In addition, the parking assist function also includes a function of presenting a surrounding monitoring screen including a surrounding image to the driver and assisting the driver in monitoring the surroundings of the vehicle during the parking or exiting operation.

[0093] The ECU 90 is configured to execute control for realizing the parking assist function. The control for realizing the parking assist function includes automatic parking control for setting the vehicle 100 to a parking state after automatically moving the vehicle 100 from a parking position to a target parking position and display control for displaying an appropriate surrounding monitoring screen on the touch panel display unit 60 .

[0094] (Panoramic View Monitor function)

[0095] When the vehicle 100 is traveling at a relatively low speed, the PVM function is a function to assist the driver in monitoring the surroundings of the vehicle by displaying a surrounding monitoring screen including a surrounding image such as a bird's-eye view on the touch screen display unit 60. The ECU 90 is configured to execute control for realizing the PVM function. The control for realizing the PVM function includes display control for displaying an appropriate surrounding monitoring screen on the touch screen display unit 60.

[0096] (Mobile alarm function)

[0097] The vehicle 100 has a moving object warning function as a function of calling attention. The moving object warning function is a function of calling attention to detect moving objects (other vehicles, pedestrians, etc.) around the entire vehicle 100 based on information (camera target information) related to an object specified based on radar sensor target information obtained by the radar sensor 51 and a captured image obtained by the camera 45, and when a moving object is detected, the driver of the vehicle 100 is called attention.

[0098] As a method of calling the driver's attention, there can be mentioned display of a screen calling attention including a peripheral image, etc. The ECU 90 is configured to execute control for realizing the mobile object alarm function.

[0099] When the radar sensor 51 and the camera 45 detect a moving object and the display condition of the attention-drawing screen (display condition of the moving object warning screen) is satisfied, the ECU 90 displays the moving object warning screen as the attention-drawing screen on the touch screen display unit 60. When the radar sensor 51 and the camera 45 can no longer detect a moving object and the display termination condition of the attention-drawing screen (display termination condition of the moving object warning screen) is satisfied, the ECU 90 terminates the display of the moving object warning screen displayed on the touch screen display unit 60.

[0100] The moving object warning screen includes a first moving object warning image and a second moving object warning image. The first moving object warning image includes Figure 5A The forward moving object warning image Ga1 and Figure 5B There are two types of rear moving object warning images Ga2 shown.

[0101] Figure 5AThe front moving body warning image Ga1 shown includes a camera viewpoint image Gfc of the front camera 41, and a first moving body direction mark MC1, a second moving body direction mark MC2, and a third moving body direction mark MC3 superimposed and displayed on the camera viewpoint image Gfc. The first moving body direction mark MC1, the second moving body direction mark MC2, and the third moving body direction mark MC3 indicate the approach direction of the detected moving body to the vehicle (the same applies to the fourth to fourteenth moving body direction marks MC4 to MC14 described later). Although not shown in the figure, the front moving body warning image Ga1 may also be an image obtained by superimposing and displaying a graphic image such as a line that supports the parking action on the camera viewpoint image Gfc.

[0102] The first moving body direction mark MC1 is superimposed and displayed at a predetermined position P1 in the front center of the vehicle 100 in the camera viewpoint image Gfc of the front camera 41. The second moving body direction mark MC2 is superimposed and displayed at a predetermined position P2 in the right front of the vehicle 100 in the camera viewpoint image Gfc of the front camera 41. The third moving body direction mark MC3 is superimposed and displayed at a predetermined position P3 in the left front of the vehicle 100 in the camera viewpoint image Gfc of the front camera 41.

[0103] In addition, Figure 5A In the front moving object warning image Ga1, all moving object direction marks MC1 to MC3 are displayed, but the display of these MC1 to MC3 may be controlled based on the detected direction of the moving object (direction based on the vehicle 100). That is, for example, moving object direction marks at positions having the same direction as the direction of the moving object detected in front of the vehicle 100 are displayed, and moving object direction marks at positions having different directions from the direction of the moving object detected in front of the vehicle 100 are not displayed.

[0104] Figure 5B The rearward moving object warning image Ga2 shown includes the camera viewpoint image Gbc of the rear camera 42 and the fourth moving object direction mark MC4, the fifth moving object direction mark MC5, and the sixth moving object direction mark MC6 superimposed and displayed on the camera viewpoint image Gbc. In addition, although not shown in the figure, the rearward moving object warning image Ga2 may also be an image in which a graphic image such as a line constituting a parking action support is superimposed and displayed on the camera viewpoint image Gbc.

[0105] The fourth moving body direction mark MC4 is superimposed and displayed at a predetermined position P4 at the rear center of the vehicle 100 in the camera viewpoint image Gbc of the rear camera 42. The fifth moving body direction mark MC5 is superimposed and displayed at a predetermined position P5 at the right rear of the vehicle 100 in the camera viewpoint image Gbc of the rear camera 42. The sixth moving body direction mark MC6 is superimposed and displayed at a predetermined position P6 at the left rear of the vehicle 100 in the camera viewpoint image Gbc of the rear camera 42.

[0106] In addition, Figure 5B In the rear moving object warning image Ga2, all the moving object direction marks MC4 to MC6 are displayed, but the display of these MC4 to MC6 is controlled based on the direction of the detected moving object. That is, for example, moving object direction marks at positions with the same direction as the moving object detected behind the vehicle 100 are displayed, and moving object direction marks at positions with different directions from the moving object detected behind the vehicle 100 are not displayed.

[0107] The second moving object alarm image is Figure 6 One type of the entire surrounding moving object warning image G1b is shown. Figure 6 As shown, the entire surrounding moving body warning image G1b includes the overhead image G1h, the vehicle polygon SP, and the seventh moving body direction mark MC7, the eighth moving body direction mark MC8, the ninth moving body direction mark MC9, the tenth moving body direction mark MC10, the eleventh moving body direction mark MC11, the twelfth moving body direction mark MC12, the thirteenth moving body direction mark MC13, and the fourteenth moving body direction mark MC14 superimposed and displayed on the overhead image G1h. In addition, although not shown in the figure, the entire surrounding moving body warning image G1b may also be an image in which a graphic image constituting a line supporting a parking action is superimposed and displayed on the overhead image G1h.

[0108] The 7th moving body direction mark MC7 is superimposed and displayed at a predetermined position P7 in the center of the front of the vehicle 100 in the overhead image G1h. The 8th moving body direction mark MC8 is superimposed and displayed at a predetermined position P8 in the right front of the vehicle 100 in the overhead image G1h. The 9th moving body direction mark MC9 is superimposed and displayed at a predetermined position P9 in the left front of the vehicle 100 in the overhead image G1h. The 10th moving body direction mark MC10 is superimposed and displayed at a predetermined position P10 on the right side of the vehicle 100 in the overhead image G1h. The 11th moving body direction mark MC11 is superimposed and displayed at a predetermined position P11 on the left side of the vehicle 100 in the overhead image G1h. The 12th moving body direction mark MC12 is superimposed and displayed at a predetermined position P12 in the center of the rear of the vehicle 100 in the overhead image G1h. The 13th moving body direction mark MC13 is superimposed and displayed at a predetermined position P13 in the right rear of the vehicle 100 in the overhead image G1h. The fourteenth moving object direction mark MC14 is superimposed and displayed at a predetermined position P14 on the left rear side of the vehicle 100 in the bird's-eye view image G1h.

[0109] In addition, Figure 6 In the present invention, all the moving body direction marks MC7 to MC14 are displayed in the entire surrounding moving body warning image G1b, but the display of these MC7 to MC14 is controlled based on the direction of the detected moving body. That is, for example, the moving body direction marks of the positions having the same direction as the detected moving body are displayed, and the moving body direction marks of the positions having the same direction as the detected moving body are not displayed.

[0110] <Outline of display control>

[0111] (Parking Assist Display Mode)

[0112] When the parking assist switch 70 is operated at a predetermined timing, the ECU 90 sets the display mode of the image displayed on the touch panel display unit 60 to the parking assist display mode. The parking assist display mode is the display mode of the image displayed on the touch panel display unit 60 when the parking assist function is set to the effective state.

[0113] In the parking assist display mode, when the shift position is "D" or "N", when the vehicle 100 is moving forward or stopped, the ECU 90 will, for example, Figure 7 The parking assistance screen G1 shown is displayed on the touch panel display unit 60 .

[0114] The parking assist screen G1 is divided into a left area (an area on the left side of the dotted line In) and a right area (an area on the right side of the dotted line In).

[0115] The left area of ​​the parking assist screen G1 includes a left assist image G1L, a custom button Btc, an icon Ic1 , an icon Ic2 , a message MS1 , and a message MS2 .

[0116] The left auxiliary image G1L includes a camera viewpoint image G1c of the front camera 41 and a supporting graphic image GS1L composed of lines etc. superimposed and displayed on the camera viewpoint image G1c. In addition, in this example, the types of the camera viewpoint image G1c include, for example, a normal angle image which is a camera viewpoint image with a relatively narrow angle, and a wide angle image which is a camera viewpoint image with a relatively wide angle. Figure 7 The illustrated camera viewpoint image G1 c is a normal angle of view image which is a relatively narrow-angle camera viewpoint image of the front camera 41 .

[0117] The custom button Btc is a button composed of an image that is touched and operated by the user in order to switch to a custom screen and display it. The user operates the custom button Btc by touching the custom button Btc displayed on the touch screen display unit 60. This operation is called a "touch operation". An operation signal corresponding to the touch operation is generated by the touch operation on the custom button Btc displayed on the touch screen display unit 60. The ECU 90 receives the generated operation signal.

[0118] When the vehicle 100 is stopped, the ECU 90 sets the custom button Btc to a state in which a touch operation on the custom button Btc can be accepted. When the vehicle 100 is not stopped (i.e., when the vehicle 100 is moving), the ECU 90 sets the custom button Btc to a state in which a touch operation on the custom button Btc cannot be accepted.

[0119] The ECU 90 displays the custom button Btc in any display form between the first display form and the second display form based on the acceptance state of the touch operation on the custom button Btc. When the touch operation on the custom button Btc can be accepted, the ECU 90 displays the custom button Btc in the first display form. When the touch operation on the custom button Btc cannot be accepted, the ECU 90 displays the custom button Btc in the second display form.

[0120] In addition, since the vehicle 100 is in a moving state (not stopped), the second display mode (for example, dimmed color (dark state)) is used to display the Figure 7 Custom Button Btc. Therefore, Figure 7 The parking assistance screen G1 is in a state where it cannot accept touch operations on the custom button Btc.

[0121] When the vehicle 100 stops, the ECU 90 sets the state in which the touch operation of the custom button Btc can be accepted, and switches the custom button Btc from the second display mode to the first display mode (for example, brightened color tone (brightened state)) shown in the block BR1 for display.

[0122] The icon Ic1 is displayed to indicate the operating state of the parking assist function. When the parking assist function is in an effective state, the ECU 90 displays the icon Ic1, and when the parking assist function is not in an effective state, the ECU 90 does not display the icon Ic1. The icon Ic2 indicates the type of camera of the camera viewpoint image G1c (which camera is the camera viewpoint image of the front camera 41 and the rear camera 42) and which camera viewpoint image G1c is a relatively narrow angle or a relatively wide angle. The ECU 90 displays an appropriate icon Ic2 according to the type of the camera viewpoint image G1c.

[0123] The message M1 and the message MS2 are messages (texts) displayed to inform the driver of the moving direction of the vehicle, to assist the driver in monitoring the surroundings of the vehicle, etc. The ECU 90 displays appropriate messages M1 and MS2 corresponding to the status of the vehicle 100. The support graphic image GS1L is displayed to assist the driver in monitoring the surroundings of the vehicle, etc.

[0124] The right area of ​​the parking assistance screen G1 includes a right auxiliary image G1R. The right auxiliary image G1R includes a top view image G1h, a support graphic image GS1R composed of lines and the like superimposed on the top view image G1h, and a vehicle polygon SP. Like the support graphic image GS1L, the support graphic image GS1R is a graphic image displayed to support the driver in monitoring the surroundings of the vehicle.

[0125] Furthermore, in the parking assist display mode, when the shift position is "R" and the vehicle 100 moves backward or stops, the ECU 90 controls, for example, Figure 8 The parking assistance screen G2 shown is displayed on the touch panel display unit 60 .

[0126] The left area of ​​the parking assist screen G2 includes a left assist image G2L, a custom button Btc, an icon Ic1 , an icon Ic2 , a message MS1 , and a message MS2 .

[0127] The left auxiliary image G2L includes a camera viewpoint image G2c of the rear camera 42 and a support graphic image GS1L composed of lines and the like superimposed and displayed on the camera viewpoint image G2c. Figure 8 The camera viewpoint image G2c is a normal viewing angle image of the rear camera 42.

[0128] The right area of ​​the parking assistance screen G2 includes a right auxiliary image G2R. The right auxiliary image G2R includes the bird's-eye view image G1h, a support graphic image GS1R composed of lines and the like superimposed and displayed on the bird's-eye view image G1h, and a vehicle polygon SP.

[0129] <Overview of the work>

[0130] For example, when the display mode is the parking assist display mode, the driver of vehicle 100 performs a brake operation to stop vehicle 100 when the shift position is "D" or "N". In this case, the moving object alarm function is set to the effective state.

[0131] In this case, for example, it is assumed that the parking assistance screen G3 is displayed, wherein the parking assistance screen G3 is displayed only when Fig. 9 The custom button Btc shown is displayed in the first display mode. Figure 7 different.

[0132] In this case, if the custom button Btc displayed in the first display mode on the parking assistance screen G3 is touched, the ECU 90 switches the parking assistance screen G3 displayed on the touch screen display unit 60 to the first display mode. Fig. 10A The custom screen G4 a shown is displayed on the touch panel display unit 60 .

[0133] The custom screen G4a is an operation screen operated to adjust the working content of the parking assist function. The custom screen G4a includes the names of the functions whose settings can be changed and displayed in each of the plurality of frames FR, a function change button Bt1 that is touched to change the working content of the function and the setting value of the function, screen switching buttons Bt2 and Bt3 that are touched to switch the custom screen to another custom screen, and a return button Btr, etc.

[0134] in addition, Fig. 10B The custom screen G4b shown is an operation screen for adjusting the working contents of the PVM function. Fig. 10A When the custom screen G4a is displayed, if the screen switching button Bt3 is touched, the ECU 90 will Fig. 10A The custom screen G4a shown switches to Fig. 10B The custom screen G4b shown is displayed. Fig. 10B When the custom screen G4b is displayed, if the screen switching button Bt2 is touched, the ECU 90 will Fig. 10B The custom screen G4b shown switches to Fig. 10A The custom screen G4a shown is displayed.

[0135] In addition, it is envisaged that Fig. 10A When the custom screen G4a shown is displayed on the touch screen display unit 60, the attention-drawing function (in this example, the moving object alarm function) is in an effective state. In this situation, it is assumed that a moving object approaching the vehicle 100 from the right front side of the vehicle 100 is detected, and the attention-drawing screen display condition is met.

[0136] In this case, the ECU 90 switches the custom screen G4a to Fig.11 The moving object alarm screen G5 shown is displayed on the touch panel display unit 60 .

[0137] The left area of ​​the moving object warning screen G5 includes a forward moving object warning image Ga1 , a custom button Btc, an icon Ic1 , an icon Ic2 , a message MS1 , and a message MS2 .

[0138] The front moving body warning image Ga1 includes a camera viewpoint image G1c of the front camera 41, a support graphic image GS1L superimposed and displayed on the camera viewpoint image G1c, and a second moving body direction mark MC2. The camera viewpoint image G1c is a normal viewing angle image of the front camera 41. In addition, the camera viewpoint image G1c may also be a wide viewing angle image of the front camera 41. The second moving body direction mark MC2 is superimposed and displayed on the camera viewpoint image G1c at a predetermined position around the vehicle 100 (in this example, a predetermined position P2 in the right front of the vehicle 100 in the same direction as the moving body in the right front) having the same direction as the detected moving body (the direction based on the vehicle 100).

[0139] The right area of ​​the moving object warning screen G5 includes the entire surrounding moving object warning image G1b. The entire surrounding moving object warning image G1b includes the overhead image G1h, the supporting graphic image GS1R superimposed and displayed on the overhead image G1h, the eighth moving object direction mark MC8, and the vehicle polygon SP. The eighth moving object direction mark MC8 is superimposed and displayed on a predetermined position of the surrounding of the vehicle 100 in the overhead image G1h whose direction is common to the direction of the detected moving object (in this example, it is a predetermined position P8 in the right front of the vehicle 100 whose direction is common to the direction of the moving object in the right front).

[0140] After that, if the display termination condition of the mobile body alarm screen G5 is satisfied, the ECU 90 switches the screen currently being displayed on the touch screen display unit 60 to Fig.11 The mobile alarm screen G5 shown switches to Fig. 10A The custom screen G4a shown is displayed again on the touch panel display unit 60.

[0141] When the return button Btr of the custom screen G4a currently displayed on the touch screen display unit 60 is touched and the display termination condition of the custom screen G4a is satisfied, the ECU 90 switches the custom screen G4a displayed on the touch screen display unit 60 to the return button Btr. Fig. 9 The parking assistance screen G3 shown is displayed on the touch panel display unit 60 .

[0142] (PVM display mode)

[0143] When the camera switch 80 is operated when the vehicle 100 is in a predetermined state, the ECU 90 sets the display mode of the image displayed on the touch panel display unit 60 to the PVM display mode. The PVM display mode is a display mode of the image displayed when the PVM function is set to the effective state.

[0144] In the PVM display mode, a peripheral monitoring screen (hereinafter also referred to as "PVM screen") including a predetermined peripheral image is displayed according to the shift position when the camera switch 80 is operated. The PVM screen is, for example, a screen including both a composite image or a bird's-eye view image as if viewed from obliquely above the vehicle's periphery and a camera viewpoint image.

[0145] In addition, by touching a screen switching switch included in the PVM screen (not shown), the PVM screen (for example, a screen including an overhead view image and a camera viewpoint image) can be switched to another type of PVM screen (for example, a screen including a camera viewpoint image of the left camera 43 and a camera viewpoint image of the right camera 44).

[0146] <Overview of the work>

[0147] For example, assume that when the display mode is the PVM display mode, a user performs a brake operation with the shift position at “D” or “N”, thereby stopping vehicle 100 .

[0148] In this case, similar to the above-mentioned parking assist display mode, the ECU 90 displays a PVM screen (a screen including a bird's-eye view image and a camera viewpoint image (not shown)) including the custom button Btc. If the custom button Btc in the PVM screen is touched, the ECU 90 switches the PVM screen currently displayed on the touch screen display unit 60 to Fig. 10B The custom screen G4 b shown is displayed on the touch panel display unit 60 .

[0149] In addition, while the custom screen G4b is displayed on the touch screen display unit 60, when the attention-drawing function (in this case, the moving body alarm function) is in an effective state and the attention-drawing screen display conditions are met, the ECU 90 switches the custom screen G4b to the moving body alarm screen and displays the moving body alarm screen on the touch screen display unit 60.

[0150] Thereafter, if the display termination condition of the moving object alarm screen is satisfied, the ECU 90 switches the moving object alarm screen to Fig. 10B The custom screen G4 b shown is displayed again on the touch panel display unit 60 .

[0151] When the return button Btr of the custom screen G4b being displayed on the touch screen display unit 60 is touched and the custom screen display termination condition is satisfied, the ECU 90 switches the custom screen G4b being displayed on the touch screen display unit 60 to the PVM screen and displays the PVM screen on the touch screen display unit 60.

[0152] <Specific work>

[0153] The CPU of the ECU 90 (hereinafter referred to as "CPU") executes the following operation every time a predetermined time has passed. Fig.12 The routine shown.

[0154] Therefore, the CPU starts at a predetermined timing. Fig.12 The process starts at step 1200 and proceeds to step 1205 to determine whether the display mode is the parking assist display mode.

[0155] When the display mode is not the parking assist display mode, the CPU makes a "NO" determination in step 1205, proceeds to step 1295, and temporarily terminates this routine.

[0156] On the other hand, when the display mode is the parking assist display mode, the CPU makes a “YES” determination in step 1205 and proceeds to step 1210 to determine whether the parking assist screen is displayed on the touch panel display unit 60 .

[0157] When the parking assistance screen is not displayed on the touch panel display unit 60, the CPU makes a "No" determination in step 1210 and proceeds to step 1295 to temporarily terminate the present routine.

[0158] When the parking assistance screen is displayed on the touch panel display unit 60, the CPU makes a "YES" determination in step 1210 and proceeds to step 1215 to determine whether the custom button Btc (the custom button Btc displayed in the first display mode) is touched.

[0159] When it is determined that the custom button Btc has not been touched, the CPU makes a "No" determination in step 1215 and proceeds to step 1295 to temporarily terminate this routine.

[0160] On the other hand, when it is determined that the custom button Btc is touched, the CPU makes a "yes" determination in step 1215, performs the processing of step 1220 described below, and then proceeds to step 1095 to temporarily terminate this routine.

[0161] Step 1220 : The CPU switches the parking assistance screen to the custom screen G4 a , and displays the custom screen G4 a on the touch screen display unit 60 .

[0162] The CPU is configured to execute the Fig.13 Therefore, the CPU starts at a predetermined timing. Fig.13 The process starts at step 1300 and proceeds to step 1305 to determine whether the display mode is the parking assist display mode.

[0163] When the display mode is not the parking assist display mode, the CPU determines "No" in step 1305 and proceeds to step 1395 to temporarily terminate this routine. On the other hand, when the display mode is the parking assist display mode, the CPU determines "Yes" in step 1305 and proceeds to step 1310 to determine whether the custom screen G4a is displayed on the touch screen display unit 60.

[0164] When the custom screen G4a is not displayed on the touch panel display unit 60, the CPU makes a "No" determination in step 1310 and proceeds to step 1395 to temporarily terminate the present routine.

[0165] On the other hand, when the custom screen G4a is displayed on the touch panel display unit 60, the CPU makes a "yes" determination in step 1310 and proceeds to step 1315 to determine whether the display condition of the moving object alarm screen is satisfied.

[0166] When the display condition of the moving object alarm screen is not satisfied, the CPU makes a "yes" determination in step 1315 and proceeds to step 1320 to determine whether the display termination condition of the custom screen G4a is satisfied.

[0167] When the display termination condition of the custom screen G4a is not satisfied, the CPU makes a "NO" determination in step 1320 and proceeds to step 1395 to temporarily terminate the present routine.

[0168] On the other hand, when the display termination condition of the custom screen G4a is satisfied, the CPU performs the processing of step 1325 described below, and then proceeds to step 1395 to temporarily terminate this routine.

[0169] Step 1325 : The CPU switches the custom screen G4 a to the parking assistance screen, and displays the parking assistance screen on the touch screen display unit 60 .

[0170] At the time point of executing the processing of step 1315, if the display conditions of the moving body alarm screen are met, the CPU judges as "yes" in step 1315, and after executing the processing of steps 1330 and 1335 described below in sequence, proceeds to step 1395 and temporarily terminates this routine.

[0171] Step 1330 : The CPU switches the custom screen G4 a to the moving object alarm screen, and displays the moving object alarm screen on the touch screen display unit 60 .

[0172] Step 1335: Set the value of the flag Xf to "1". In addition, the flag Xf is set to "0" in the initialization routine executed by the CPU when the ignition key switch (not shown) of the vehicle 100 is changed from the OFF position to the ON position. In addition, the flag Xf can also be set to "0" by the processing of step 1425 described later. The flag Xf indicates that the display of the custom screen G4a is switched to the mobile body alarm screen.

[0173] The CPU is configured to execute the Fig.14 Therefore, the CPU starts at a predetermined timing. Fig.14 The process starts at step 1400 and proceeds to step 1405 to determine whether the display mode is the parking assist display mode.

[0174] When the display mode is not the parking assist display mode, the CPU makes a "NO" determination in step 1405 and proceeds to step 1495 to temporarily terminate the present routine.

[0175] In a case where the display mode is the parking assist display mode, the CPU makes a "yes" determination in step 1405 and proceeds to step 1410 to determine whether the value of the flag Xf is "1".

[0176] When the value of the flag Xf is not "1", the CPU makes a "No" determination in step 1410 and proceeds to step 1495 to temporarily terminate the present routine.

[0177] On the other hand, when the value of the flag Xf is "1", the CPU determines "yes" in step 1410 and proceeds to step 1415 to determine whether the re-display condition of the custom screen G4a is satisfied. For example, when the display termination condition of the moving object alarm screen is satisfied, the re-display condition of the custom screen G4a is satisfied.

[0178] When the redisplay condition of the custom screen G4a is not satisfied, the CPU makes a "No" determination in step 1415 and proceeds to step 1495 to temporarily terminate this routine.

[0179] On the other hand, when the redisplay condition of the custom screen G4a is satisfied, the CPU makes a "yes" determination in step 1415 and after sequentially performing the processes of steps 1420 and 1425 described below, proceeds to step 1495 and temporarily terminates this routine.

[0180] Step 1420: The CPU switches the moving object alarm screen to the custom screen G4a and displays the custom screen G4a on the touch screen display unit 60. In addition, at this time, the CPU displays the custom screen G4a on the touch screen display unit 60 in the same state as the custom screen G4a before switching to the moving object alarm screen in step 1330.

[0181] Therefore, when switching to the custom screen G4a in step 1420, the user can operate the custom screen G4a in the same state as before switching to the moving object alarm screen in step 1330. Thus, user convenience in operating the custom screen G4a can be ensured.

[0182] Step 1425: The CPU sets the value of the flag Xf to "0".

[0183] The CPU is configured to execute the Fig.15 The flow chart shows the routine. Fig.15 The routine is only at the following points, with Fig.12 The routines are different.

[0184] A point where the processing of step 1505 is executed instead of step 1205. That is, instead of determining whether the display mode is the parking assist display mode, the CPU determines whether the display mode is the PVM mode.

[0185] A point where the processing of step 1510 is executed instead of step 1210. That is, instead of determining whether the parking assistance screen is being displayed, the CPU determines whether the PVM screen is being displayed.

[0186] A point where the process of step 1520 is executed instead of step 1220 . That is, a point where the custom screen G4 b is displayed on the touch panel display unit 60 instead of switching the PVM screen to the custom screen G4 b.

[0187] The CPU is configured to execute the Fig.16 The flow chart shows the routine. Fig.16 The routine is only at the following points, with Fig.13 The routines are different.

[0188] A point where the processing of step 1605 is executed instead of step 1305. That is, instead of determining whether the display mode is the parking assist display mode, the CPU determines whether the display mode is the PVM mode.

[0189] A point at which the processing of step 1625 is executed instead of step 1325. That is, a point at which the CPU displays the PVM screen instead of displaying the parking assistance screen.

[0190] The CPU is configured to execute the Fig.17 The flow chart shows the routine. Fig.17 The flowchart is only relevant at the following points Fig.14 The flow chart is different.

[0191] A point where the processing of step 1705 is executed instead of step 1405. That is, instead of determining whether the display mode is the parking assist display mode, the CPU determines whether the display mode is the PVM mode.

[0192] <Effect>

[0193] As described above, according to the driver assistance device (driver assistance device 10) according to the embodiment of the present invention, when the custom screen is displayed, when a moving object approaching the vehicle 100 is detected and a predetermined condition is satisfied, the custom screen is switched to a moving object warning screen including a surrounding image and displayed. Therefore, the driver assistance device according to the embodiment of the present invention can reduce the possibility of a decrease in the function of assisting the driver in monitoring the surroundings of the vehicle.

[0194] <Modification>

[0195] The present invention is not limited to the above-described embodiment, and various modifications can be adopted within the scope of the present invention.

[0196] For example, in this embodiment, the vehicle 100 may include at least one of the following functions and a moving object alarm function as the attention-attracting function. In addition, the vehicle 100 may include at least one of the following functions as the attention-attracting function instead of the moving object alarm function.

[0197] (Clearance Sonar Function)

[0198] The clearance sonar function is a function of detecting the distance between the vehicle 100 and a stationary object by the clearance sonar 313 and, when the stationary object is detected (when the detected distance is equal to or less than a predetermined distance), drawing the attention of the driver of the vehicle 100. The ECU 90 is configured to execute control for realizing the clearance sonar function.

[0199] When the clearance sonar 313 detects a stationary object (obstacle) and the display condition of the attention-drawing screen is satisfied, the ECU 90 displays the attention-drawing screen for drawing attention to the existence of the obstacle on the touch screen display unit 60. When the clearance sonar 313 can no longer detect the stationary object (obstacle) and the display termination condition of the attention-drawing screen is satisfied, the ECU 90 terminates the display of the attention-drawing screen currently being displayed on the touch screen display unit 60.

[0200] (Front Cross Traffic Warning function)

[0201] The front cross traffic alert function (hereinafter referred to as "FCTA (front cross traffic alert) function") is a function that detects the approach of other vehicles crossing from the left and right in front of the vehicle 100 based on radar sensor target information obtained by the radar sensor 51a provided at the right front end of the vehicle 100 and the radar sensor 51c provided at the left front end, and when the other vehicles are detected, draws the attention of the driver of the vehicle 100. The ECU 90 is configured to execute control for realizing the FCTA function.

[0202] When at least one of the radar sensor 51a and the radar sensor 51c detects another vehicle approaching and the display condition of the attention-drawing screen is satisfied, the ECU 90 displays the attention-drawing screen for drawing attention to the approaching other vehicle on the touch screen display unit 60. When both the radar sensor 51a and the radar sensor 51c can no longer detect the other vehicle and the display termination condition of the attention-drawing screen is satisfied, the ECU 90 terminates the display of the attention-drawing screen currently being displayed on the touch screen display unit 60.

[0203] (Rear Cross Traffic Warning function)

[0204] The rear cross traffic alert (hereinafter referred to as the "RCTA (rear cross traffic alert) function") is a function that detects the approach of other vehicles crossing from the left and right behind the vehicle 100 based on radar sensor target information obtained by the radar sensor 51d provided at the right rear end of the vehicle 100 and the radar sensor 51e provided at the left rear end, and draws the attention of the driver of the vehicle 100 when the other vehicles are detected. The ECU 90 is configured to execute control for realizing the RCTA function.

[0205] When at least one of the radar sensor 51d and the radar sensor 51e detects another vehicle approaching and the display condition of the attention-drawing screen is satisfied, the ECU 90 displays the attention-drawing screen for drawing attention to the approaching other vehicle on the touch screen display unit 60. When at least one of the radar sensor 51d and the radar sensor 51e can no longer detect the other vehicle and the display termination condition of the attention-drawing screen is satisfied, the display of the attention-drawing screen currently being displayed on the touch screen display unit 60 is terminated.

[0206] (Rear camera detection function)

[0207] The rear camera detection function (hereinafter referred to as "RCD (rear camera detection) function") is a function that detects pedestrians existing in a predetermined range behind the vehicle 100 based on camera target information acquired by the rear camera 42 when the vehicle 100 moves backward, and draws the attention of the driver of the vehicle 100 when pedestrians are detected. The ECU 90 is configured to execute control for realizing the RCD function.

[0208] When the rear camera 42 detects a pedestrian and the attention-drawing screen display condition is satisfied, the ECU 90 displays the attention-drawing screen for drawing attention to the presence of the pedestrian at the rear on the touch screen display unit 60. When the rear camera 42 can no longer detect a pedestrian and the attention-drawing screen display termination condition is satisfied, the ECU 90 terminates the display of the attention-drawing screen currently being displayed on the touch screen display unit 60.

[0209] In the above-mentioned attention-drawing function, when the function is in the effective state, the operation is similar to the above-mentioned embodiment. That is, when the custom screen is being displayed, if the display condition of the attention-drawing screen is satisfied, the ECU 90 switches from the custom screen to the attention-drawing screen, and displays the attention-drawing screen on the touch screen display unit 60. When the attention-drawing screen is switched from the custom screen and displayed, if the display termination condition of the attention-drawing screen is satisfied, the ECU 90 switches the attention-drawing screen to the custom screen, and displays the custom screen on the touch screen display unit 60.

[0210] For example, in the present embodiment, the custom button may also be formed by a physical button. In this case, the parking assist screen and the PVM screen may not include the custom button Btc. In addition, in this case, the touch screen display unit 60 may also be a display of other types other than a touch screen display.

[0211] Description of the label

[0212] 10: driver assistance device; 11: vehicle driving force generation device; 12: braking device; 13: steering device, 30: sonar sensor device; 40: camera sensor device; 50: radar sensor device, 60: touch screen display unit.

Claims

1. A driver assistance device, mounted on a vehicle, assisting the driver in checking the surroundings of the vehicle by presenting a surrounding monitoring screen to the driver, the driver assistance device comprising: A detection device including a camera that acquires image information by photographing the surroundings of the vehicle, wherein the detection device detects an attention-getting object consisting of at least one of a stationary object and a moving object existing in a peripheral area of ​​the vehicle; A touch screen configured to display an image; as well as a display control unit that generates a peripheral image as an image of the peripheral area based on the image information and controls display of a screen displayed on the touch screen, The display control unit is configured to execute attention-attracting screen display control for displaying an attention-attracting screen including the peripheral image while the attention-attracting object is detected and a predetermined condition is satisfied. Furthermore, the display control unit is configured to switch the surrounding monitoring screen to a custom screen that does not include the surrounding image and is an operation screen for adjusting the working content of a predetermined driver assistance function of the vehicle and is displayed when the custom button is touched while the surrounding monitoring screen including the surrounding image and the custom button is displayed, and display the custom screen, If the predetermined condition is satisfied while the custom screen not including the surrounding image is displayed, the custom screen not including the surrounding image is switched to the attention-drawing screen including the surrounding image and displayed.

2. The driver assistance device according to claim 1, wherein: The display control unit is configured to switch the attention-drawing screen to the custom screen and display it only while the predetermined condition is satisfied, after the custom screen is switched to the attention-drawing screen and displayed.

3. The driver assistance device according to claim 1 or claim 2, wherein: The custom button is configured so that when the vehicle is in a stopped state, the custom button is set to a state in which the touch operation can be accepted, and when the vehicle is not in a stopped state, the custom button is set to a state in which the touch operation cannot be accepted.

4. The driver assistance device according to claim 1 or claim 2, wherein: The object to be noticed is the moving object approaching the vehicle, The attention-drawing screen includes the surrounding image and a moving object direction mark indicating an approach direction of the moving object that is displayed superimposed on the surrounding image.

5. The driver assistance device according to claim 1 or claim 2, wherein: The surrounding monitoring screen is a parking assistance screen that is permitted to be displayed when a parking assistance function provided in the vehicle is in an effective state. The custom screen is an operation screen for adjusting the operation content of the parking assist function.

6. The driver assistance device according to claim 1 or claim 2, wherein: The surrounding monitoring screen is a panoramic view monitor screen that is permitted to be displayed when a panoramic view monitor function provided in the vehicle is in an effective state. The custom screen is an operation screen for adjusting the working contents of the panoramic view monitor function.

Images