Vehicle driving assistance device

Abstract

A vehicle driving assistance device capable of displaying an appropriate limit speed as a limit speed applicable to the host vehicle on a display device is provided. The vehicle driving assistance device (10) acquires a sign limit speed from vehicle front information and acquires a database limit speed from a database (72). In a case where the vehicle front information includes information related to a road sign of a construction road section, the vehicle driving assistance device acquires a construction road section sign limit speed from the vehicle front information and displays it on the display device (22). In a case where the construction road section sign limit speed is being displayed in the display device when the database limit speed is acquired, in a case where a distance traveled by the host vehicle from the acquisition of the construction road section sign limit speed is shorter than a prescribed display change permission distance, the vehicle driving assistance device does not display the acquired database limit speed in the display device, but continues the display of the construction road section sign limit speed in the display device.

Description

Technical Field

[0001] This invention relates to vehicle driving assistance devices. Background Technology

[0002] A vehicle driving assistance device is known that displays a speed limit applicable to the vehicle on a display device such as a monitor installed in the vehicle. As such a vehicle driving assistance device, a known device identifies road signs based on image information captured and acquired by a camera, obtains the speed limit specified by the road sign, retrieves the speed limit from a database, appropriately selects one of these obtained speed limits, and displays the speed limit on the display device (for example, see Patent Document 1).

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2017-45194

[0006] Sometimes, road signs are set up on roads under construction to specify speed limits that differ from the usual speed limits. Therefore, if the speed limit obtained from the database and the usual road signs is displayed on the display device when the vehicle is traveling in a section of road under construction (construction zone), the displayed speed limit may sometimes differ from the speed limit that should apply to the vehicle traveling in the construction zone. Summary of the Invention

[0007] The purpose of this invention is to provide a vehicle driving assistance device that can display an appropriate speed limit as a speed limit applicable to the vehicle on a display device.

[0008] The vehicle driving assistance device of the present invention includes: a vehicle front information acquisition device for capturing images of the front of the vehicle and acquiring information related to the conditions in front of the vehicle as vehicle front information; and a control device for controlling the display of a speed limit applicable to the vehicle at the current time on a display device.

[0009] Furthermore, the control device is configured to: obtain the speed limit displayed on the road sign from the vehicle-ahead information as the sign-limited speed, and obtain the speed limit applicable to the vehicle at the current time from a database storing speed limits as the database-limited speed; if the vehicle-ahead information contains information related to a road sign displaying a speed limit for a construction section, obtain the speed limit displayed on the road sign for the construction section from the vehicle-ahead information as the road sign-limited speed for the construction section, and display the obtained road sign-limited speed for the construction section on the display device.

[0010] Furthermore, the control device is configured such that, when the display device is displaying the construction section sign speed limit at the time the database speed limit is obtained, and the distance traveled by the vehicle since obtaining the construction section sign speed limit displayed on the display device is shorter than the specified change permission distance, the obtained database speed limit is not displayed on the display device, but the display of the construction section sign speed limit on the display device continues.

[0011] When a speed limit is obtained from a road construction sign, there is a high probability that the applicable speed limit for this vehicle is the road construction sign speed limit from the time the speed limit is obtained until the vehicle has traveled a certain distance. Therefore, in such cases, even if the database speed limit is obtained, displaying the database speed limit on the display device may result in an incorrect speed limit being displayed.

[0012] According to the present invention, when a speed limit is obtained from a road construction sign, the speed limit from the time the road construction sign speed limit is obtained until the vehicle has traveled a certain distance (a predetermined distance for displaying the change permission) is continuously displayed on the display device, even if a database speed limit is obtained. Therefore, an appropriate speed limit can be displayed on the display device as a speed limit applicable to the vehicle.

[0013] It should be noted that, in one embodiment of the present invention, the control device is configured to: when the display device is displaying the construction section sign speed limit when the database speed limit is obtained, and the distance traveled by the vehicle from the time the construction section sign speed limit displayed on the display device is greater than or equal to the specified display change permission distance, stop displaying the construction section sign speed limit on the display device and display the obtained database speed limit on the display device.

[0014] If, after the vehicle has traveled a certain distance from obtaining the speed limit from the road construction sign, and then obtains the database speed limit, there is a high probability that the applicable speed limit for this vehicle is the database speed limit, not the road construction sign speed limit. Therefore, in such a situation, if the obtained database speed limit is not displayed on the display device, but the road construction sign speed limit is continuously displayed, an incorrect speed limit may be displayed on the display device.

[0015] According to this scheme, after the vehicle has traveled a certain distance (the specified distance for displaying change permission) from the point where the speed limit is obtained from the construction zone sign, and then obtains the database speed limit, the database speed limit is displayed on the display device. Therefore, an appropriate speed limit can be displayed on the display device as the speed limit applicable to this vehicle.

[0016] Furthermore, in another embodiment of the invention, the control device is configured to: when the vehicle-ahead information includes information related to a general road sign displaying a speed limit for roads other than the construction zone, obtain the speed limit displayed on the general road sign from the vehicle-ahead information as the general sign speed limit. In this case, the control device is configured to: when the display device is displaying the construction zone sign speed limit at the time the general sign speed limit is obtained, even if the distance traveled by the vehicle from obtaining the construction zone sign speed limit displayed on the display device is shorter than the prescribed permitted change distance, terminate the display of the construction zone sign speed limit on the display device, and display the obtained general sign speed limit on the display device.

[0017] If a speed limit is obtained from a road construction sign, and a general speed limit is obtained between the time the vehicle obtains the speed limit from that sign and the time the vehicle has traveled a certain distance, it is highly likely that the applicable speed limit for the vehicle is the general speed limit. Therefore, in such a situation, it is preferable to display the general speed limit on the display device.

[0018] According to this scheme, when a speed limit is obtained from a road construction sign, and from the time the vehicle travels a certain distance (the specified distance for displaying the change permission), if a general speed limit is obtained, the general speed limit will be displayed. Therefore, an appropriate speed limit can be displayed on the display device as the speed limit applicable to the vehicle.

[0019] Furthermore, in another embodiment of the present invention, the control device is configured to: when the vehicle-ahead information includes information related to a general road sign displaying a speed limit for roads other than the construction zone, obtain the speed limit displayed on the general road sign from the vehicle-ahead information as the general sign speed limit. In this case, the control device is configured to: when the display device is displaying the construction zone sign speed limit at the time the general sign speed limit is obtained, and the distance traveled by the vehicle from obtaining the construction zone sign speed limit displayed on the display device is greater than or equal to the prescribed permitted change distance, terminate the display of the construction zone sign speed limit on the display device, and display the obtained general sign speed limit on the display device.

[0020] If, after traveling a certain distance from the speed limit indicated by the road construction sign, a general speed limit is subsequently obtained, it is highly likely that the applicable speed limit for this vehicle is the general speed limit, not the road construction sign speed limit. Therefore, in such a situation, if the obtained general speed limit is not displayed on the display device, but the road construction sign speed limit is continuously displayed, an incorrect speed limit may be displayed.

[0021] According to this scheme, after the vehicle has traveled a certain distance (the prescribed distance for displaying change permission) from the point where the speed limit is obtained from the construction zone sign, and then obtains a general sign speed limit, that general sign speed limit will be displayed on the display device. Therefore, an appropriate speed limit can be displayed on the display device as the speed limit applicable to this vehicle.

[0022] Furthermore, in the vehicle driving assistance device of the present invention, the control device is configured to: when the distance traveled by the vehicle from the acquisition of the construction zone sign speed limit reaches a predetermined display end distance longer than the predetermined display change permission distance, and the display device is currently displaying the construction zone sign speed limit, end the display of the construction zone sign speed limit in the display device.

[0023] Generally, road construction zones are limited to a certain length. Therefore, if the vehicle has traveled a considerable distance since acquiring the speed limit from the road construction zone sign, there is a high probability that the applicable speed limit for the vehicle will no longer be the same as the speed limit shown on the road construction zone sign. Therefore, in such cases, continuously displaying the speed limit from the road construction zone sign on the display device may result in displaying an incorrect speed limit.

[0024] According to this scheme, the display of the speed limit for the construction zone sign will stop when the vehicle has traveled a relatively long distance (the predetermined end distance) since acquiring the speed limit from the construction zone sign. Therefore, it avoids displaying inappropriate speed limits as applicable to the vehicle on the display device.

[0025] Furthermore, in another embodiment of the present invention, the control device is configured to: when the database speed limit is obtained but the construction section sign speed limit is not displayed on the display device, display the obtained database speed limit on the display device.

[0026] If the speed limit for a road construction zone is not displayed on the device, the likelihood that the vehicle is traveling on a road construction zone is low. Therefore, if a database speed limit is obtained under such circumstances, it is highly likely that the database speed limit is applicable to this vehicle.

[0027] According to this scheme, if the speed limit is obtained from the database when the speed limit sign for a construction zone is not displayed on the display device, the obtained speed limit will be displayed on the display device. Therefore, an appropriate speed limit can be displayed on the display device as the speed limit applicable to this vehicle.

[0028] Furthermore, in another embodiment of the invention, the control device is configured to: when the vehicle-ahead information includes information related to a general road sign displaying a speed limit for roads other than the construction zone, obtain the speed limit displayed on the general road sign from the vehicle-ahead information and use it as the general sign speed limit. In this case, the control device is configured to: if the general sign speed limit is obtained when the construction zone sign speed limit is not displayed on the display device, display the obtained general sign speed limit on the display device.

[0029] If the speed limit for a road construction zone sign is not displayed on the display device, the likelihood that the vehicle is traveling on a road construction zone is low. Therefore, if a general speed limit sign is obtained under such circumstances, it is highly likely that the general speed limit sign applies to this vehicle.

[0030] According to this scheme, when a general road sign speed limit is obtained but not displayed on the display device, the obtained general road sign speed limit will be displayed on the display device. Therefore, an appropriate speed limit can be displayed on the display device as the speed limit applicable to this vehicle.

[0031] Furthermore, in another aspect of the invention, the control device is configured to: when the vehicle-ahead information includes information related to a general road sign displaying speed limits for roads other than the construction zone, obtain the speed limit displayed on the general road sign from the vehicle-ahead information as the general sign speed limit. In this case, the control device is configured to: when the database speed limit is being displayed on the display device and the general sign speed limit is obtained, stop displaying the database speed limit on the display device and display the obtained general sign speed limit on the display device. Moreover, in this case, the control device is configured to: when the database speed limit is being displayed on the display device and the database speed limit is obtained, stop displaying the general sign speed limit on the display device and display the obtained database speed limit on the display device.

[0032] According to this scheme, if a general flag speed limit is obtained while the database speed limit is being displayed on the display device, the display of the speed limit on the display device is switched to the general flag speed limit; conversely, if a database speed limit is obtained while the general flag speed limit is being displayed on the display device, the display of the speed limit on the display device is switched to the database speed limit. Therefore, the latest speed limit can be displayed on the display device.

[0033] The constituent elements of this invention are not limited to the embodiments described below with reference to the accompanying drawings. Other objects, features, and accompanying advantages of this invention will be readily understood from the description of the embodiments. Attached Figure Description

[0034] Figure 1 The diagram illustrates a vehicle driving assistance device according to an embodiment of the present invention and a vehicle equipped with the vehicle driving assistance device.

[0035] Figure 2 This is one of the display patterns showing the speed limit of a vehicle driving assistance device according to an embodiment of the present invention.

[0036] Figure 3 This is another diagram in the display pattern showing the speed limit of a vehicle driving assistance device according to an embodiment of the present invention.

[0037] Figure 4 This is yet another of the display patterns showing the speed limit of a vehicle driving assistance device according to an embodiment of the present invention.

[0038] Figure 5 This is yet another of the display patterns showing the speed limit of a vehicle driving assistance device according to an embodiment of the present invention.

[0039] Figure 6 This is yet another of the display patterns showing the speed limit of a vehicle driving assistance device according to an embodiment of the present invention.

[0040] Figure 7 This is a flowchart illustrating the routines executed by the vehicle driving assistance device according to an embodiment of the present invention.

[0041] Figure 8 This is a flowchart illustrating the routines executed by the vehicle driving assistance device according to an embodiment of the present invention.

[0042] Figure 9 This is a flowchart illustrating the routines executed by the vehicle driving assistance device according to an embodiment of the present invention.

[0043] Figure 10 This is a flowchart illustrating the routines executed by the vehicle driving assistance device according to an embodiment of the present invention.

[0044] Explanation of reference numerals in the attached figures:

[0045] 10: Vehicle driving assistance device; 22: Display device; 41: Vehicle speed detection device; 60: Vehicle forward information acquisition device; 61: Image sensor; 70: Database information acquisition device; 71: GPS device; 72: Database; 73: Receiving device; 90: ECU; 100: This vehicle; 200G: General road sign; 200C: Road construction zone sign. Detailed Implementation

[0046] Hereinafter, a vehicle driving assistance device according to an embodiment of the present invention will be described with reference to the accompanying drawings. Figure 1 As shown, the vehicle driving assistance device 10 of the present invention is mounted on a vehicle (the vehicle 100).

[0047] The vehicle driving assistance device 10 includes an ECU (Electronic Control Unit) 90 as a control device. The ECU 90 has a microcomputer as its main component. The ECU 90 includes a CPU (Central Processing Unit), ROM (Read-Only Memory), RAM (Random Access Memory), non-volatile memory, and interfaces. The CPU performs various functions by executing instructions (programs, routines) stored in the ROM.

[0048] <Directional Indicator Lights>

[0049] In addition, the vehicle 100 is equipped with turn indicator lights 21. Turn indicator lights 21 are devices used to indicate to persons other than the vehicle 100 the direction in which the vehicle 100 will turn. Turn indicator lights 21 are located at the right front corner, left front corner, right rear corner, and left rear corner of the vehicle 100. Turn indicator lights 21 are electrically connected to the ECU 90. The ECU 90 activates the turn indicator lights 21 by operating the turn indicator light control lever 31 (described later).

[0050] <Display Device>

[0051] Furthermore, the vehicle 100 is equipped with a display device 22. The display device 22 is a device that displays various images in a manner that allows the driver (DR) of the vehicle 100 to visually recognize them while driving the vehicle 100, such as a combination instrument cluster or a head-up display (HUD). The display device 22 is electrically connected to the ECU 90. The ECU 90 enables the display device 22 to display various images.

[0052] <Sensors, etc.>

[0053] Furthermore, the vehicle 100 is equipped with a turn indicator lever 31, a turn indicator lever sensor 32, a vehicle speed detection device 41, a yaw rate sensor 51, a vehicle front information acquisition device 60, and a database information acquisition device 70.

[0054] <Direction indicator joystick sensor>

[0055] The turn signal lever sensor 32 is a sensor that detects the operating position of the turn signal lever 31. The turn signal lever 31 is a device operated by the driver (DR) to activate the turn signal 21. The turn signal lever sensor 32 is electrically connected to the ECU 90. When the ECU 90 receives a signal from the turn signal lever sensor 32 indicating that the turn signal lever 31 has been operated clockwise, the ECU 90 causes the turn signal 21 located at the right front corner and the right rear corner to flash respectively. On the other hand, when the ECU 90 receives a signal from the turn signal lever sensor 32 indicating that the turn signal lever 31 has been operated counterclockwise, the ECU 90 causes the turn signal 21 located at the left front corner and the left rear corner to flash respectively.

[0056] <Vehicle speed detection device>

[0057] The vehicle speed detection device 41 is a device for detecting the driving speed of the vehicle 100, such as a wheel speed sensor. The vehicle speed detection device 41 is electrically connected to the ECU 90. The vehicle speed detection device 41 sends the detected driving speed information of the vehicle 100 to the ECU 90. The ECU 90 obtains the driving speed of the vehicle 100 (vehicle speed V100) based on this information.

[0058] <Yaw Rate Sensor>

[0059] The yaw rate sensor 51 is a sensor that detects the yaw rate YR of the vehicle 100. The yaw rate sensor 51 is electrically connected to the ECU 90. The yaw rate sensor 51 sends the detected yaw rate YR of the vehicle 100 to the ECU 90. The ECU 90 uses this information to obtain the yaw rate YR of the vehicle 100.

[0060] <Vehicle Forward Information Acquisition Device>

[0061] The vehicle front information acquisition device 60 is a device for detecting the situation in front of the vehicle 100, and in this example it includes an image sensor 61.

[0062] <Image Sensor>

[0063] Image sensor 61 is a sensor, such as a camera, used to capture images of the front of the vehicle 100. Image sensor 61 is electrically connected to ECU 90. Image sensor 61 captures images of the front of the vehicle 100 and sends the captured image information to ECU 90. ECU 90 can use this information (image information IC or image data) to obtain information related to the situation in front of the vehicle 100 (vehicle front information IF).

[0064] <Database Information Acquisition Device>

[0065] The database information acquisition device 70 includes a GPS (Global Positioning System) device 71, a database 72, and a receiving device 73.

[0066] <GPS device>

[0067] GPS device 71 is a device for receiving so-called GPS signals. GPS device 71 is electrically connected to ECU 90. GPS device 71 sends the received GPS signals to ECU 90. ECU 90 uses the GPS signals to obtain the current location of the vehicle 100.

[0068] <Database>

[0069] Database 72 is a device that pre-stores various information; in this example, it stores map information IM and road information IR as various information. It should be noted that the vehicle driving assistance device 10 can also be configured to wirelessly acquire map information IM or road information IR from an external database of the vehicle 100.

[0070] Database 72 is electrically connected to ECU 90. ECU 90 compares the current position of vehicle 100 with the map information IM stored in database 72 to determine the location on the map where vehicle 100 is currently traveling. Based on this location, it determines the road that vehicle 100 is traveling on and retrieves various information (database information ID) related to that road from road information IR. In this example, road information IR contains at least information related to the speed limit applicable to the vehicle. Therefore, ECU 90 can retrieve information related to the speed limit (database information ID) from road information IR.

[0071] <Receiving device>

[0072] The receiving device 73 is a device for receiving wireless signals representing information transmitted from transmitters such as roadside units installed on the road. The information represented by the wireless signal includes at least information related to speed limits applicable to vehicles. The receiving device 73 is electrically connected to the ECU 90. The receiving device 73 transmits the received wireless signal to the ECU 90. The ECU 90 can obtain the speed limit-related information (database information ID) represented by the wireless signal.

[0073] <Summary of the operation of vehicle driver assistance devices>

[0074] Next, the operation of the vehicle driving assistance device 10 will be explained.

[0075] When the vehicle 100 is in motion, if the information IF in front of the vehicle contains information related to a road sign (general road sign 200G) that is normally placed on the road, the vehicle driving assistance device 10 performs processing based on the information to obtain the speed limit displayed on the general road sign 200G as the general sign speed limit VG.

[0076] Furthermore, while the vehicle 100 is in motion, if the current position of the vehicle 100 can be compared with the map information IM stored in the database 72 to obtain the speed limit information applicable to the vehicle 100 at that time, the vehicle driving assistance device 10 will process the acquisition of the speed limit as the database speed limit VD.

[0077] Furthermore, when the vehicle 100 is in motion, if the information IF in front of the vehicle contains information related to a road sign for a construction section on the road and a road sign that displays the speed limit for that construction section (construction section road sign 200C), the vehicle driving assistance device 10 performs processing based on that information to obtain the speed limit displayed on the construction section road sign 200C as the construction section sign speed limit VC.

[0078] When the general sign speed limit VG, the database speed limit VD, or the construction zone sign speed limit VC are obtained, the vehicle driving assistance device 10 displays the speed limit in the display device 22 according to the speed limit display status at this time, as follows.

[0079] If the speed limit VC of the construction section sign is not displayed in the display device 22, but the speed limit VG of the general sign is obtained, the vehicle driving assistance device 10 will display the obtained speed limit VG of the general sign on the display device 22.

[0080] Furthermore, if the construction zone sign speed limit VC is being displayed on the display device 22, but the distance traveled by the vehicle 100 from the acquisition of the construction zone sign speed limit VC (the distance traveled by the vehicle Dmove) is greater than a specified distance (the specified change permission distance Dth_1), and a general sign speed limit VG is acquired, the vehicle driving assistance device 10 will display the acquired general sign speed limit VG on the display device 22 instead of the construction zone sign speed limit VC.

[0081] The vehicle driving assistance device 10 obtains the vehicle's travel distance Dmove based on the time elapsed since the speed limit VC of the construction section sign was obtained and the vehicle's speed V100.

[0082] The specified change permit distance Dth_1 is set as "the length of the construction section to which the speed limit displayed on the construction section road sign 200C applies", or as "the length of the construction section presumed to be the length of the construction section to which the speed limit displayed on the construction section road sign 200C applies". Alternatively, the specified change permit distance Dth_1 may also be set as "the general length of the construction section to which the speed limit displayed on the construction section road sign 200C applies". Furthermore, the specified change permit distance Dth_1 may also be set as a distance that varies depending on the country in which the vehicle 100 is currently traveling.

[0083] It should be noted that when the general sign speed limit VG is displayed on the display device 22, and the database speed limit VD or the general sign speed limit VG is being displayed on the display device 22, the vehicle driving assistance device 10 will display the newly acquired general sign speed limit VG on the display device 22 instead of the database speed limit VD or the general sign speed limit VG.

[0084] Similarly, if the speed limit VC of the construction section sign is not displayed in the display device 22 but the speed limit VD in the database is obtained, the vehicle driving assistance device 10 will display the obtained speed limit VD in the database on the display device 22.

[0085] Furthermore, if the construction zone sign speed limit VC is being displayed on the display device 22, but the distance traveled by the vehicle 100 from the time the construction zone sign speed limit VC is obtained (the distance traveled by the vehicle Dmove) is greater than a specified distance (the specified change permission distance Dth_1), and the database speed limit VD is obtained, the vehicle driving assistance device 10 will display the obtained database speed limit VD on the display device 22 instead of the construction zone sign speed limit VC.

[0086] It should be noted that when the database-limited speed VD is displayed on the display device 22, and the display device 22 is currently displaying the general sign-limited speed VG or the database-limited speed VD, the vehicle driving assistance device 10 will display the newly acquired database-limited speed VD on the display device 22 instead of the general sign-limited speed VG or the database-limited speed VD.

[0087] On the other hand, if the speed limit VC of the construction section sign is obtained but not displayed on the display device 22, the vehicle driving assistance device 10 will of course display the obtained speed limit VC of the construction section sign on the display device 22. However, if the general sign speed limit VG or the database speed limit VD is being displayed on the display device 22, the vehicle driving assistance device 10 will also display the obtained speed limit VC of the construction section sign on the display device 22 instead of the general sign speed limit VG or the database speed limit VD.

[0088] Furthermore, if a new speed limit VC for a construction section sign is acquired while the construction section sign speed limit VC is being displayed on the display device 22, the vehicle driving assistance device 10 will also display the newly acquired speed limit VC for the construction section sign on the display device 22.

[0089] Furthermore, if the distance traveled by the vehicle 100 from the time the construction zone sign speed limit VC is obtained (the distance traveled by the vehicle Dmove) is shorter than the specified change permission distance Dth_1, and the general sign speed limit VG is obtained, the vehicle driving assistance device 10 stops displaying the construction zone sign speed limit VC in the display device 22 and displays the obtained general sign speed limit VG in the display device 22.

[0090] On the other hand, even if the distance traveled by the vehicle 100 from the time the construction zone sign speed limit VC is obtained (the distance traveled by the vehicle Dmove) is shorter than the specified change permission distance Dth_1, the vehicle driving assistance device 10 will not display the database speed limit VD on the display device 22, but will continue to display the construction zone sign speed limit VC on the display device 22.

[0091] Furthermore, as mentioned above, when the vehicle travels a distance Dmove that exceeds the prescribed display change permission distance Dth_1 and obtains a general sign speed limit VG or a database speed limit VD, the vehicle driving assistance device 10 will display the obtained general sign speed limit VG or database speed limit VD on the display device 22 instead of the construction section sign speed limit VC.

[0092] Furthermore, after the vehicle's travel distance Dmove reaches a specified display change permission distance Dth_1 or more, and while the general sign speed limit VG, database speed limit VD, and new road construction sign speed limit VC are not acquired, if the vehicle's travel distance Dmove reaches a specified distance (specified display end distance Dth_2) longer than the specified display change permission distance Dth_1, the vehicle driving assistance device 10 will stop displaying the road construction sign speed limit VC in the display device 22.

[0093] Therefore, the vehicle driving assistance device 10 displays the speed limit on the display device 22 as follows.

[0094] For example, such as Figure 2 As shown, at time t20, if the speed limit of 40 km / h (general sign speed limit VG) displayed on the general road sign 200G is obtained based on the vehicle's forward information IF, the construction section sign speed limit VC is not displayed on the display device 22 at that time. Therefore, the vehicle driving assistance device 10 displays the obtained general sign speed limit VG of 40 km / h on the display device 22.

[0095] Subsequently, at time t21, when the speed limit of 60 km / h (database speed limit VD) is obtained based on the database information ID, the construction section sign speed limit VC is not displayed on the display device 22 at that time. Therefore, the vehicle driving assistance device 10 displays the obtained database speed limit VD of 60 km / h on the display device 22 instead of the general sign speed limit VG of 40 km / h that is currently displayed on the display device 22 at that time.

[0096] Subsequently, at time t22, if a new speed limit of 40 km / h (general sign speed limit VG) is acquired based on the vehicle's forward information IF and displayed on the general road sign 200G, and the construction zone sign speed limit VC is not displayed on the display device 22 at that time, the vehicle driving assistance device 10 will display the newly acquired general sign speed limit VG of 40 km / h on the display device 22 instead of the database speed limit VD of 60 km / h that is currently displayed on the display device 22 at that time.

[0097] In addition, such as Figure 3 As shown, at time t30, if the speed limit of 40 km / h (general sign speed limit VG) displayed on the general road sign 200G is obtained based on the vehicle's forward information IF, the construction section sign speed limit VC is not displayed on the display device 22 at that time. Therefore, the vehicle driving assistance device 10 displays the obtained general sign speed limit VG of 40 km / h on the display device 22.

[0098] Subsequently, at time t31, if the vehicle obtains the speed limit of 30 km / h (road construction sign speed limit VC) displayed on the road sign 200C for the construction section based on the vehicle's forward information IF, the vehicle driving assistance device 10 will display the obtained road construction sign speed limit VC of 30 km / h on the display device 22 instead of the general sign speed limit VG of 40 km / h that is currently displayed on the display device 22 at that time.

[0099] Subsequently, at time t32, the vehicle's travel distance Dmove exceeds the prescribed change permission distance Dth_1. Then, at time t33, when the speed limit of 60 km / h (database speed limit VD) is obtained based on the database information ID, the construction road sign speed limit VC is being displayed on the display device 22 at that time. However, since the vehicle's travel distance Dmove exceeds the prescribed change permission distance Dth_1, the vehicle driving assistance device 10 displays the obtained database speed limit VD of 60 km / h on the display device 22 instead of the construction road sign speed limit VC of 30 km / h that is being displayed on the display device 22 at that time.

[0100] In addition, such as Figure 4As shown, at time t40, if the vehicle obtains the speed limit of 40 km / h (general sign speed limit VG) displayed on the general road sign 200G based on the vehicle's forward information IF, the construction section sign speed limit VC is not displayed on the display device 22 at that time. Therefore, the vehicle driving assistance device 10 displays the obtained general sign speed limit VG of 40 km / h on the display device 22.

[0101] Subsequently, at time t41, if the vehicle obtains the speed limit of 30 km / h (road construction sign speed limit VC) displayed on the road sign 200C for the construction section based on the vehicle's forward information IF, the vehicle driving assistance device 10 will display the obtained road construction sign speed limit VC of 30 km / h on the display device 22 instead of the general sign speed limit VG of 40 km / h that is currently displayed on the display device 22 at that time.

[0102] Subsequently, at time t42, the vehicle's travel distance Dmove exceeds the prescribed change permission distance Dth_1. Then, at time t43, based on the vehicle's forward information IF, the vehicle obtains a speed limit of 60 km / h displayed on the general road sign 200G (general sign speed limit VG). At this time, the road construction sign speed limit VC is being displayed on the display device 22. However, since the vehicle's travel distance Dmove exceeds the prescribed change permission distance Dth_1, the vehicle driving assistance device 10 displays the obtained general sign speed limit VG of 60 km / h on the display device 22 instead of the road construction sign speed limit VC of 30 km / h that is being displayed on the display device 22 at this time.

[0103] In addition, such as Figure 5 As shown, at time t50, if the speed limit of 40 km / h (general sign speed limit VG) displayed on the general road sign 200G is obtained based on the vehicle's forward information IF, the construction section sign speed limit VC is not displayed on the display device 22 at that time. Therefore, the vehicle driving assistance device 10 displays the obtained general sign speed limit VG of 40 km / h on the display device 22.

[0104] Subsequently, at time t51, if the vehicle obtains the speed limit of 30 km / h (road construction sign speed limit VC) displayed on the road sign 200C for the construction section based on the vehicle's forward information IF, the vehicle driving assistance device 10 will display the obtained road construction sign speed limit VC of 30 km / h on the display device 22 instead of the general sign speed limit VG of 40 km / h that is currently displayed on the display device 22 at that time.

[0105] Subsequently, at time t52, when the speed limit of 60 km / h (database speed limit VD) is obtained based on the database information ID, the construction road sign speed limit VC is being displayed on the display device 22 at that time. Furthermore, the distance traveled by the vehicle, Dmove, is shorter than the specified change permission distance, Dth_1. Therefore, the vehicle driving assistance device 10 does not display the obtained database speed limit VD of 60 km / h on the display device 22, but instead continues to display the construction road sign speed limit VC of 30 km / h on the display device 22.

[0106] It should be noted that, in Figure 5 In the example shown, at time t53, the vehicle's travel distance Dmove exceeds the prescribed display change permission distance Dth_1. Subsequently, while maintaining the state where the general sign speed limit VG, database speed limit VD, and construction zone sign speed limit VC are not acquired, at time t54, the vehicle's travel distance Dmove reaches the prescribed display end distance Dth_2. Therefore, the vehicle driving assistance device 10 ends the speed limit display in the display device 22 at time t54 (in... Figure 5 The example shown displays the speed limit VC sign for a construction section with a speed limit of 30 km / h.

[0107] In addition, such as Figure 6 As shown, at time t60, if the vehicle obtains the speed limit of 40 km / h (general sign speed limit VG) displayed on the general road sign 200G based on the vehicle front information IF, the construction section sign speed limit VC is not displayed in the display device 22 at that time. Therefore, the vehicle driving assistance device 10 displays the obtained general sign speed limit VG of 40 km / h in the display device 22.

[0108] Subsequently, at time t61, if the vehicle obtains the speed limit of 30 km / h (road construction sign speed limit VC) displayed on the road sign 200C for the construction section based on the vehicle's forward information IF, the vehicle driving assistance device 10 will display the obtained road construction sign speed limit VC of 30 km / h on the display device 22 instead of the general sign speed limit VG of 40 km / h that is currently displayed on the display device 22 at that time.

[0109] Subsequently, at time t62, if the vehicle obtains a speed limit of 60 km / h (general sign speed limit VG) based on the vehicle's forward information IF, even if the construction road sign speed limit VC is being displayed on the display device 22 at that time and the vehicle's travel distance Dmove is shorter than the specified change permission distance Dth_1, the vehicle driving assistance device 10 will stop displaying the construction road sign speed limit VC of 30 km / h on the display device 22 and display the obtained general sign speed limit VG of 60 km / h on the display device 22.

[0110] It should be noted that while the construction zone sign speed limit VC is being displayed on display device 22, the vehicle 100 may also make left or right turns. If the vehicle 100 makes a left or right turn while the construction zone sign speed limit VC is being displayed on display device 22, the vehicle driving assistance device 10 will stop displaying the construction zone sign speed limit VC on display device 22. The vehicle driving assistance device 10 determines whether the vehicle 100 has made a left or right turn based on the working status of the turn indicator 21 and the yaw rate YR of the vehicle 100. If the turn indicator 21 is flashing and the yaw rate YR is greater than or equal to the left or right turn determination value YRth, the vehicle driving assistance device 10 determines that the vehicle 100 has made a right or left turn.

[0111] Furthermore, road construction zone sign 200C is sometimes placed immediately after general road sign 200G. In this case, if the speed limit displayed on general road sign 200G (general sign speed limit VG) is obtained based on the vehicle forward information IF, and the speed limit displayed on road construction zone sign 200C (construction zone sign speed limit VC) is displayed on the display device 22, the speed limit display on the display device 22 may be switched in a short period of time, making it difficult for the driver DR to recognize the speed limit displayed on the display device 22.

[0112] Therefore, the vehicle driving assistance device 10 can also be configured to display the general sign speed limit VG or the road construction sign speed limit VC on the display device 22 when the distance traveled by the vehicle 100 from the time the general sign speed limit VG or the road construction sign speed limit VC is obtained based on the vehicle's forward information IF. In this case, the aforementioned certain distance is set to a distance sufficient to avoid switching the display of the speed limit on the display device 22, which is difficult for the driver DR to recognize. Therefore, the aforementioned certain distance is set to a distance much shorter than the specified display change permission distance Dth_1.

[0113] <Effect>

[0114] When a construction zone sign speed limit VC is obtained, during the period from obtaining the construction zone sign speed limit VC until the vehicle 100 has traveled a certain distance, even if a database speed limit VD is obtained, the applicable speed limit for the vehicle 100 is likely to be the construction zone sign speed limit VC. Therefore, in such a situation, even if the database speed limit VD is obtained, displaying the database speed limit VD on the display device 22 may result in an incorrect speed limit being displayed on the display device 22.

[0115] According to the vehicle driving assistance device 10, when a construction zone sign speed limit VC is obtained, the construction zone sign speed limit VC is continuously displayed on the display device 22 from the time the construction zone sign speed limit VC is obtained until the vehicle 100 has traveled a certain distance (the specified display change permission distance Dth_1), even if the database speed limit VD is obtained. Therefore, an appropriate speed limit can be displayed on the display device 22 as the speed limit applicable to the vehicle 100.

[0116] On the other hand, if a general speed limit VG is obtained between the time the construction zone sign speed limit VC is acquired and the time the vehicle 100 has traveled a certain distance, there is a high probability that the speed limit applicable to the vehicle 100 is the general speed limit VG. Therefore, in such a situation, if the construction zone sign speed limit VC is displayed on the display device 22, an incorrect speed limit may be displayed on the display device 22.

[0117] According to the vehicle driving assistance device 10, if a general speed limit VG is obtained between the time the construction zone sign speed limit VC is acquired and the vehicle 100 has traveled a certain distance (the specified change permission distance Dth_1), the display of the construction zone sign speed limit VC on the display device 22 is terminated, and the general speed limit VG is displayed on the display device 22. Therefore, an appropriate speed limit can be displayed on the display device 22 as the speed limit applicable to the vehicle 100.

[0118] <The specific operation of vehicle driving assistance devices>

[0119] Next, the specific operation of the vehicle driving assistance device 10 will be explained. The CPU of the ECU 90 of the vehicle driving assistance device 10 executes according to the prescribed calculation cycle. Figure 7 The example shown. Therefore, when the specified timing is reached, the CPU starts from... Figure 7The process begins at step 700 and proceeds to step 705, where it is determined whether the speed limit VC of the construction section sign has been obtained.

[0120] If the determination in step 705 is "yes", the CPU causes the processing to proceed to step 710, displaying the acquired construction section sign speed limit VC on the display device 22. Then, the CPU causes the processing to proceed to step 795, temporarily terminating this routine.

[0121] On the other hand, if the determination in step 705 is "no", the CPU causes the processing to proceed to step 715 to determine whether the general flag limit speed VG has been obtained.

[0122] If the determination in step 715 is "yes", the CPU causes the processing to proceed to step 720, displaying the acquired general flag limit speed VG on the display device 22. Then, the CPU causes the processing to proceed to step 795, temporarily terminating this routine.

[0123] On the other hand, if the result in step 715 is "no", the process proceeds to step 725 to determine whether the database speed limit VD has been obtained.

[0124] If the determination in step 725 is "yes", the CPU causes the processing to proceed to step 730 and execute. Figure 8 The example shown. Therefore, when processing enters step 730, the CPU from Figure 8 The process begins at step 800 and proceeds to step 805, where it is determined whether the speed limit VC sign for a construction section is displayed.

[0125] If the determination in step 805 is "yes", the CPU causes the processing to proceed to step 810, which determines whether the vehicle's travel distance Dmove is greater than or equal to the specified display change permission distance Dth_1.

[0126] If the determination in step 810 is "yes", the CPU proceeds to step 815, displaying the acquired database speed limit VD on the display device 22. Then, the CPU proceeds to step 895. Figure 7 Step 795, temporarily end this routine.

[0127] On the other hand, if the determination in step 810 is "no", the CPU causes the processing to proceed directly to step 895. Figure 7 Step 795 temporarily terminates this routine. In this case, the display of the construction zone sign speed limit VC in display device 22 continues.

[0128] Furthermore, if the determination in step 805 is "no", the CPU proceeds to step 820, displaying the acquired database speed limit VD on the display device 22. Next, the CPU proceeds to step 895... Figure 7 Step 795, temporarily end this routine.

[0129] In addition, Figure 7 If the result in step 725 is "no", the CPU will directly proceed to step 795 and temporarily terminate this routine.

[0130] Moreover, the CPU executes according to the prescribed operation cycle. Figure 9 The example shown. Therefore, when the specified timing is reached, the CPU starts from... Figure 9 The process begins at step 900 and proceeds to step 905, where it is determined whether the speed limit VC sign for a construction section is displayed.

[0131] If the determination in step 905 is "yes", the CPU causes the processing to proceed to step 910, which determines whether the vehicle's travel distance Dmove is greater than or equal to the specified display end distance Dth_2.

[0132] If the determination in step 910 is "yes", the CPU causes the processing to proceed to step 915, ending the display of the construction section sign speed limit VC on the display device 22. Then, the CPU proceeds to step 995, temporarily terminating this routine.

[0133] On the other hand, if the determination in step 910 is "no", the CPU causes the processing to proceed directly to step 995, temporarily ending the current routine.

[0134] Furthermore, if the determination in step 905 is "no", the CPU will also cause the processing to proceed directly to step 995, temporarily ending this routine.

[0135] Moreover, the CPU executes according to the prescribed operation cycle. Figure 10 The example shown. Therefore, when the specified timing is reached, the CPU starts from... Figure 10 The process begins at step 1000 and proceeds to step 1005, where it is determined whether the speed limit VC sign for a construction section is displayed.

[0136] If the determination in step 1005 is "yes", the CPU causes the processing to proceed to step 1010 to determine whether the vehicle 100 has made a right turn or a left turn.

[0137] If the determination in step 1010 is "yes", the CPU causes the processing to proceed to step 1015, ending the display of the construction section sign speed limit VC on the display device 22. Then, the CPU causes the processing to proceed to step 1095, temporarily terminating this routine.

[0138] On the other hand, if the determination in step 1010 is "no", the CPU causes the processing to proceed directly to step 1095, temporarily ending the current routine.

[0139] Furthermore, if the determination in step 1005 is "no", the CPU will also cause the processing to proceed directly to step 1095, temporarily ending this routine.

[0140] The above describes the specific operation of the vehicle driving assistance device 10.

[0141] It should be noted that the present invention is not limited to the above embodiments, and various modifications can be adopted within the scope of the present invention.

Claims

1. A vehicle driving assistance device, comprising: The vehicle front information acquisition device takes pictures of the front of the vehicle and acquires information related to the situation in front of the vehicle as vehicle front information. as well as The control device controls the display of the speed limit applicable to the vehicle at the current time on the display device. The control device is configured as follows: The speed limit displayed on the road sign is obtained from the information ahead of the vehicle as the sign speed limit, and the speed limit applicable to the vehicle at the current time is obtained from the database containing speed limits as the database speed limit. If the information ahead of the vehicle contains information related to a road sign indicating a construction section with a speed limit, the speed limit displayed on the road sign is obtained from the information ahead of the vehicle as the construction section sign speed limit, and the obtained construction section sign speed limit is displayed on the display device. If the display device is displaying the construction section sign speed limit when the database speed limit is obtained, and the distance traveled by the vehicle from the time the construction section sign speed limit displayed on the display device is shorter than the specified change permission distance, the obtained database speed limit will not be displayed on the display device, but the display of the construction section sign speed limit will continue on the display device. If the vehicle forward information includes information related to general road signs displaying speed limits on roads other than the construction zone, the speed limit displayed on the general road signs is obtained from the vehicle forward information and used as the general sign speed limit; and If the display device is displaying the construction zone sign speed limit when the general sign speed limit is obtained, even if the distance traveled by the vehicle from obtaining the construction zone sign speed limit displayed on the display device is shorter than the specified permitted change distance, the display of the construction zone sign speed limit on the display device will end, and the obtained general sign speed limit will be displayed on the display device.

2. A vehicle driving assistance device, comprising: The vehicle front information acquisition device takes pictures of the front of the vehicle and acquires information related to the situation in front of the vehicle as vehicle front information. as well as The control device controls the display of the speed limit applicable to the vehicle at the current time on the display device. The control device is configured as follows: The speed limit displayed on the road sign is obtained from the information ahead of the vehicle as the sign speed limit, and the speed limit applicable to the vehicle at the current time is obtained from the database containing speed limits as the database speed limit. If the information ahead of the vehicle contains information related to a road sign indicating a construction section with a speed limit, the speed limit displayed on the road sign is obtained from the information ahead of the vehicle as the construction section sign speed limit, and the obtained construction section sign speed limit is displayed on the display device. If the display device is displaying the construction section sign speed limit when the database speed limit is obtained, and the distance traveled by the vehicle from the time the construction section sign speed limit displayed on the display device is shorter than the specified change permission distance, the obtained database speed limit will not be displayed on the display device, but the display of the construction section sign speed limit will continue on the display device. If the vehicle forward information includes information related to general road signs displaying speed limits on roads other than the construction zone, the speed limit displayed on the general road signs is obtained from the vehicle forward information and used as the general sign speed limit; and If the display device is displaying the construction zone sign speed limit when the general sign speed limit is obtained, and the distance the vehicle has traveled since obtaining the construction zone sign speed limit displayed on the display device is greater than or equal to the specified permitted change distance, then the display of the construction zone sign speed limit on the display device will end, and the obtained general sign speed limit will be displayed on the display device.

3. A vehicle driving assistance device, comprising: The vehicle front information acquisition device takes pictures of the front of the vehicle and acquires information related to the situation in front of the vehicle as vehicle front information. as well as The control device controls the display of the speed limit applicable to the vehicle at the current time on the display device. The control device is configured as follows: The speed limit displayed on the road sign is obtained from the information ahead of the vehicle as the sign speed limit, and the speed limit applicable to the vehicle at the current time is obtained from the database containing speed limits as the database speed limit. If the information ahead of the vehicle contains information related to a road sign indicating a construction section with a speed limit, the speed limit displayed on the road sign is obtained from the information ahead of the vehicle as the construction section sign speed limit, and the obtained construction section sign speed limit is displayed on the display device. If the display device is displaying the construction section sign speed limit when the database speed limit is obtained, and the distance traveled by the vehicle from the time the construction section sign speed limit displayed on the display device is shorter than the specified change permission distance, the obtained database speed limit will not be displayed on the display device, but the display of the construction section sign speed limit will continue on the display device. If the information ahead of the vehicle includes information related to a general road sign that displays a speed limit on roads other than the construction section, the speed limit displayed on the general road sign is obtained from the information ahead of the vehicle and used as the speed limit for the general sign. If the general flag speed limit is obtained while the database speed limit is being displayed on the display device, the display of the database speed limit on the display device is stopped, and the obtained general flag speed limit is displayed on the display device; and If the database speed limit is obtained while the general flag speed limit is being displayed on the display device, the display of the general flag speed limit on the display device is stopped, and the obtained database speed limit is displayed on the display device.

4. The vehicle driving assistance device according to any one of claims 1 to 3, wherein, The control device is configured to: when the display device is displaying the construction section sign speed limit at the time the database speed limit is obtained, and the distance traveled by the vehicle since obtaining the construction section sign speed limit displayed on the display device is greater than the specified change permission distance, then stop displaying the construction section sign speed limit on the display device and display the obtained database speed limit on the display device.

5. The vehicle driving assistance device according to any one of claims 1 to 3, wherein, The control device is configured to: when the distance traveled by the vehicle from the acquisition of the construction section sign speed limit reaches a predetermined display end distance longer than the predetermined display change permission distance, and the display device is currently displaying the construction section sign speed limit, then terminate the display of the construction section sign speed limit in the display device.

6. The vehicle driving assistance device according to any one of claims 1 to 3, wherein, The control device is configured to, when the speed limit limit of the construction section sign is not displayed on the display device, display the obtained database speed limit limit on the display device.

7. The vehicle driving assistance device according to any one of claims 1 to 3, wherein, The control device is configured to: If the information ahead of the vehicle includes information related to a general road sign that displays a speed limit on roads other than the construction section, the speed limit displayed on the general road sign is obtained from the information ahead of the vehicle and used as the speed limit for the general sign. as well as If the speed limit of the general sign is obtained when the speed limit of the construction section sign is not displayed on the display device, the obtained speed limit of the general sign is displayed on the display device.

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