Driving assistance devices, driving assistance methods and non-transitory computer-readable storage media

Abstract

This invention relates to driving assistance devices, driving assistance methods, and non-transitory computer-readable storage media. The driving assistance device for a vehicle includes: a display device disposed in the passenger compartment of the vehicle and extending along a predetermined direction, the display device having a plurality of display areas divided along the extending direction; and a control device that controls the display device. The control device is configured to: acquire, on a merging lane merging with a main lane, the position of the vehicle relative to a merging start point where a lane change from the merging lane to the main lane is possible; and cause at least one of the plurality of display areas to emit light based on the position of the vehicle relative to the merging start point, such that as the vehicle's position approaches the merging start point, the at least one illuminated display area shifts in the extending direction.

Description

Technical Field

[0001] This invention relates to driving assistance devices, driving assistance methods, and control programs (stored in a non-transitory computer-readable storage medium). Background Technology

[0002] In recent years, given the vulnerable status of traffic participants, there has been a growing effort to provide sustainable transportation systems. To achieve this, research and development related to driver assistance and autonomous driving technologies are underway to further improve the safety and convenience of transportation.

[0003] WO2007 / 026748A1 discloses a driving assistance device that displays map information and a value indicating the distance to the merging point on a monitor of a vehicle traveling in a merging preparation section of a merging lane merging with a main lane, thereby prompting the driver to prepare to merge.

[0004] However, in merging lanes, drivers need to monitor vehicles in front and behind them, as well as those in the main lane, while accelerating. Therefore, it can be difficult for drivers to check their vehicle's monitors. Furthermore, when the merging lane curves, drivers need to perform steering maneuvers, which makes verifying the numerical information on the monitors even more challenging. Summary of the Invention

[0005] In view of the above background, one aspect of the present invention is to provide a driving assistance device, driving assistance method and control program that enables the driver to easily identify the distance from the vehicle to the starting point of the merging when the vehicle is in the merging preparation section.

[0006] To achieve the above objectives, one aspect of the present invention provides a driving assistance device for a vehicle, the driving assistance device comprising: a display device disposed in the passenger compartment of the vehicle and extending in a predetermined direction, the display device having a plurality of display areas divided along the extending direction; and a control device controlling the display device, wherein the control device is configured to: acquire, on a merging lane merging with a main lane, the position of the vehicle relative to a merging start point from which a lane change from the merging lane to the main lane is possible; and cause at least one of the plurality of display areas to emit light based on the position of the vehicle relative to the merging start point, such that as the position of the vehicle approaches the merging start point, the at least one illuminated display area shifts in the extending direction.

[0007] Another aspect of the present invention provides a driving assistance method for a vehicle, wherein the driving assistance method is executed by a computer, wherein a display device extending in a predetermined direction is provided in the passenger compartment of the vehicle, the display device having a plurality of display areas divided along the extension direction, the driving assistance method comprising the steps of: acquiring, on a merging lane merging with a main lane, the position of the vehicle relative to a merging start point from the merging lane to the main lane; and causing at least one of the plurality of display areas to emit light based on the position of the vehicle relative to the merging start point, such that as the position of the vehicle approaches the merging start point, the at least one illuminated display area shifts in the extension direction.

[0008] Another aspect of the present invention provides a non-transitory computer-readable storage medium including a stored control program configured to cause a computer to execute a driving assistance method for a vehicle, wherein a display device extending in a predetermined direction is provided in the passenger compartment of the vehicle, the display device having a plurality of display areas divided along the extension direction, the driving assistance method comprising the steps of: acquiring, on a merging lane merging with a main lane, the position of the vehicle relative to a merging start point from which a lane change from the merging lane to the main lane is possible; causing at least one of the plurality of display areas to emit light based on the position of the vehicle relative to the merging start point, such that as the position of the vehicle approaches the merging start point, the at least one illuminated display area shifts in the extension direction.

[0009] According to the above aspects of the present invention, a driving assistance device, a driving assistance method, and a control program can be provided that enable the driver to easily identify the distance from the vehicle to the starting point of the merging when the vehicle is in the merging preparation section. Attached Figure Description

[0010] Figure 1 This is a configuration diagram of a driving assistance device according to an embodiment;

[0011] Figure 2 This is an explanatory diagram of the merging lane;

[0012] Figure 3 It is a three-dimensional view showing the vehicle's cargo compartment;

[0013] Figures 4A to 4C This is an explanatory diagram showing the changes in the state of the display device;

[0014] Figure 5 This is a flowchart illustrating the process of driver assistance control performed by the control device; and

[0015] Figure 6 This is a perspective view showing the carriage of the modified vehicle. Detailed Implementation

[0016] Hereinafter, the implementation methods of the driving assistance device, driving assistance method and control program will be described with reference to the accompanying drawings.

[0017] like Figure 1 As shown, a driving assistance device 1 is installed in vehicle 2. Vehicle 2 may be, for example, a four-wheeled vehicle.

[0018] The driver assistance device 1 includes an external environment recognition device 4. The external environment recognition device 4 is a device for detecting objects outside the vehicle 2. The external environment recognition device 4 uses sensors to detect objects outside the vehicle 2 by capturing electromagnetic waves or light from the surrounding environment. The external environment recognition device 4 may include, for example, radar 5, lidar 6, and an external camera 7.

[0019] The driving assistance device 1 includes vehicle sensors 9. Vehicle sensors 9 include a vehicle speed sensor for detecting the speed of vehicle 2 and an acceleration sensor for detecting the acceleration of vehicle 2. Vehicle sensors 9 may also include a yaw rate sensor for detecting angular velocity about a vertical axis, a direction sensor for detecting the orientation of vehicle 2, etc.

[0020] The driver assistance device 1 includes a control unit 10, a communication unit 12, a navigation unit 13, and a human-machine interface (HMI) 14. The communication unit 12 mediates communication between the control unit 10 and the navigation unit 13 and nearby vehicles 108 (see [link to relevant documentation]). Figure 2 Communication between the vehicle and the server located outside the vehicle.

[0021] The navigation device 13 is a device that acquires the current position of the vehicle 2 and provides route guidance to the destination. The navigation device 13 preferably includes a Global Navigation Satellite System (GNSS) receiving unit 16, a map storage unit 17, and a route determination unit 18. The GNSS receiving unit 16 determines the position (latitude and longitude) of the vehicle 2 based on signals received from artificial satellites (positioning satellites). The map storage unit 17 is composed of a known storage device such as flash memory or a hard disk, and stores map information.

[0022] The map information includes road information, such as road types (e.g., highways, toll roads, national roads, and county roads), the number of lanes on each road, the center location of each lane (including three-dimensional coordinates of longitude, latitude, and altitude), the shape of road markings such as road boundaries and lane limits, the presence or absence of sidewalks, curbs, and fences, the location of intersections, the location of merging and branching points for each lane, the location of emergency stopping areas, the width of each lane, and road signs. In addition, the map information may include traffic rules, address information (address and postal code), facility information, and telephone number information.

[0023] In this embodiment, the map information includes information about whether the road is a main lane 101, 102 or a merging lane 103 merging with the main lane 101. For example... Figure 2 As shown, the merging lane 103 includes a merging preparation section 103A and a merging section 103B. The merging section 103B extends parallel to the main lane 101. Vehicle 2 can change lanes into the main lane 101 in the merging section 103B. The merging preparation section 103A is separated from the main lane 101 by a rigid nose 104, such as a wall, and a flexible nose 105, such as a traffic pole. The starting point of the merging section 103B, i.e., the ending point of the merging preparation section 103A, is called the merging start point 107. That is, from the merging start point 107, the merging section 103B begins, and vehicle 2 becomes able to change lanes into the main lane 101. The merging start point 107 is preferably located at the end of the flexible nose 105.

[0024] Merging preparation section 103A is, for example, an entrance ramp of a highway. The starting point of merging preparation section 103A is any pre-defined point. When merging lane 103 is an entrance ramp of a highway, for example, the starting point of merging preparation section 103A can be the starting point of the entrance ramp, a toll station, or a branch point after passing through a toll station.

[0025] As information related to merging lane 103, the map information preferably includes the following: whether merging lane 103 is a merging preparation section 103A or a merging section 103B, the location of the starting point of merging preparation section 103A, the location of the merging start point 107 (the location of the ending point of merging preparation section 103A), the length of merging preparation section 103A, the gradient of each point within merging preparation section 103A, and the radius of curvature or curve radius (R) of merging preparation section 103A.

[0026] The HMI 14 notifies occupants of various information via display and / or voice, and accepts input from occupants. For example... Figure 1 As shown, HMI 14 preferably includes a touch panel display 23 having a liquid crystal display, an organic EL display, etc., a display device 24, and a speaker 25.

[0027] Display device 24 is an optical device used to provide visual information to the driver. Display device 24 can be composed of light-emitting elements (light sources) such as light-emitting diodes (LEDs) or liquid crystal displays. Display device 24 can be what is known as ambient light. Figure 3 As shown, the display device 24 is disposed in the carriage 31 of the vehicle 2 and extends in a predetermined direction. The display device 24 has a plurality of display areas 27 divided along its extending direction.

[0028] In this embodiment, the display device 24 includes a first portion 28 and a second portion 29. The first portion 28 is disposed on a door 32 constituting the side portion of the vehicle compartment 31 and extends in a front-rear direction. The door 32 is disposed on one side of the driver's seat 33. The second portion 29 is disposed on a dashboard 35 constituting the front portion of the vehicle compartment 31 and extends laterally. The front end of the first portion 28 and the right end of the second portion 29 are disposed close to each other. Thus, the second portion 29 extends to the left from the front end of the first portion 28. Preferably, the first portion 28 and the second portion 29 extend linearly in a continuous manner.

[0029] The first part 28 preferably extends in the front-to-back direction above the door liner 37 of the door 32. The second part 29 preferably extends along the upper edge of the instrument panel 38 provided in the instrument panel 35. The left end of the second part 29 is preferably located above the central portion of the instrument panel 38.

[0030] The first part 28 has a plurality of display areas 27 divided in the front-to-back direction. The second part 29 has a plurality of display areas 27 divided in the lateral direction. In this embodiment, the first part 28 includes three display areas 27 arranged in the front-to-back direction, and the second part 29 includes two display areas 27 arranged in the lateral direction. The display areas 27 in the first part 28 are referred to sequentially from rear to rear as the first display area 27A, the second display area 27B, and the third display area 27C. The display areas 27 in the second part 29 are referred to sequentially from right to left as the fourth display area 27D and the fifth display area 27E. The first display areas 27A to the fifth display areas 27E can emit light independently of each other, and at least one of their color and brightness can be changed.

[0031] The display device 24 can be located on the left side of the carriage 31. Preferably, the left-side display device 24 is a mirror image of the right-side display device 24.

[0032] The loudspeaker 25 includes a first loudspeaker 25A, a second loudspeaker 25B, and a third loudspeaker 25C. The first loudspeaker 25A to the third loudspeaker 25C are arranged at intervals in the front-rear direction within the passenger compartment 31 of the vehicle 2. The second loudspeaker 25B is located in front of the first loudspeaker 25A, and the third loudspeaker 25C is located in front of the second loudspeaker 25B. The first loudspeaker 25A is preferably located at the rear of the door liner 37 of the door 32 corresponding to the driver's seat 33. The second loudspeaker 25B is preferably located at the front of the door liner 37 of the door 32 corresponding to the driver's seat 33. The third loudspeaker 25C is preferably located in the dashboard 35.

[0033] like Figure 1As shown, the control device 10 is a computer including a processor 41 and a memory 42 communicatively connected to the processor 41. The processor 41 preferably includes at least one of, for example, a central processing unit (CPU), a graphics processing unit (GPU), and a reduced instruction set computer (RISC), as its core. The memory 42 stores control programs and various data executed by the processor 41. The memory 42 preferably includes at least one of volatile memory and non-volatile memory. The volatile memory may be, for example, dynamic random access memory (DRAM) or static random access memory (SRAM). The non-volatile memory may be a solid-state drive (SSD), flash memory, a disk storage device, or an optical disk storage device. At least a portion of the control device 10 can be implemented using hardware such as large-scale integrated circuits (LSI), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or a combination of software and hardware. The control device 10 can be composed of a single piece of hardware or multiple pieces of hardware capable of communicating with each other. A portion of the control device 10 can be composed of an external server located outside the vehicle 2.

[0034] The processor 41 implements various applications by executing a control program stored in the memory 42. The control program can be stored on a removable recordable medium such as a DVD or CD-ROM, and can be installed into the memory 42 when the recordable medium is read by a reading device. Furthermore, the control program can be downloaded and installed into the memory 42 via a communication network such as the Internet.

[0035] The control device 10 controls the display device 24 and the first speaker 25A to the third speaker 25C. The processor 41 functions as the surrounding environment recognition unit 45, the self-vehicle location recognition unit 46, and the notification unit 47 by executing the control program stored in the memory 42.

[0036] The surrounding environment recognition unit 45 recognizes the surrounding environment of vehicle 2. Based on the detection results of the external environment recognition device 4, the surrounding environment recognition unit 45 identifies the surrounding environment (external environment), including obstacles, road shape, lane markings, presence or absence of sidewalks, road markings, etc., that exist around vehicle 2. For example, obstacles include guardrails, utility poles, and nearby vehicles 108 (see...). Figure 2 (and people such as pedestrians.) The surrounding environment recognition unit 45 can obtain the position, speed, acceleration and other status of nearby vehicles 108 based on the detection results of the external environment recognition device 4.

[0037] The self-vehicle location identification unit 46 identifies the location of vehicle 2 (self-vehicle). Preferably, the self-vehicle location identification unit 46 identifies the location of vehicle 2 based on GNSS signals received by GNSS receiving unit 16.

[0038] The notification unit 47 performs driver assistance control when vehicle 2 is located in the merging preparation section 103A of merging lane 103. The notification unit 47 determines whether vehicle 2 is in the merging preparation section 103A of merging lane 103 based on the position of vehicle 2 obtained by the self-vehicle position recognition unit 46 and map information. In driver assistance control, the notification unit 47 of the control device 10 illuminates at least one of a plurality of display areas 27 based on the position of vehicle 2 relative to the merging start point 107, such that as vehicle 2 approaches the merging start point 107, the illuminated at least one display area 27 shifts in the extending direction. In this embodiment, as vehicle 2 approaches the merging start point 107, the notification unit 47 of the control device 10 shifts the illuminated at least one display area 27 forward. Additionally, as the position of vehicle 2 approaches the merging start point 107, the notification unit 47 of the control device 10 causes at least one illuminated display area 27 to shift forward in the first part 28, and after the illuminated display area 27 reaches the front end of the first part 28, as the position of vehicle 2 approaches the merging start point 107, the notification unit 47 causes at least one illuminated display area 27 to shift towards the lateral center of vehicle 2 in the second part 29.

[0039] Preferably, the notification unit 47 calculates the remaining distance along the merging preparation section 103A to the merging start point 107 based on the position of the vehicle 2 and the merging start point 107, and determines at least one display area 27 to be illuminated based on the remaining distance. For example, preferably, the notification unit 47 illuminates the first display area 27A to the fifth display area 27E when the remaining distance is greater than or equal to a first threshold, illuminates the second display area 27B to the fifth display area 27E when the remaining distance is greater than or equal to a second threshold (set to be less than the first threshold) and less than the first threshold, illuminates the third display area 27C to the fifth display area 27E when the remaining distance is greater than or equal to a third threshold (set to be less than the second threshold) and less than the second threshold, illuminates the fourth display area 27D and the fifth display area 27E when the remaining distance is greater than or equal to a fourth threshold (set to be less than the third threshold) and less than the third threshold, and illuminates the fifth display area 27E when the remaining distance is greater than or equal to a fifth threshold (set to be less than the fourth threshold) and less than the fourth threshold. Figures 4A to 4C This is an illustrative diagram showing the relationship between the remaining distance and at least one luminous display area 27. Figure 4A The state where the remaining distance is greater than or equal to the first threshold is shown, and the first display area 27A to the fifth display area 27E emit light. Figure 4B The state is shown where the remaining distance is greater than or equal to the third threshold and less than the second threshold, and the third display area 27C to the fifth display area 27E emit light. Figure 4CThe state where the remaining distance is greater than or equal to the fifth threshold and less than the fourth threshold is shown, and the fifth display area 27E emits light. (As shown) Figures 4A to 4C As shown, the display device 24 visually and intuitively conveys the remaining distance to the driver using the length of the luminous display area 27.

[0040] Furthermore, the notification unit 47 can illuminate the first display area 27A when the remaining distance is greater than or equal to a first threshold, the second display area 27B when the remaining distance is greater than or equal to a second threshold but less than the first threshold, the third display area 27C when the remaining distance is greater than or equal to a third threshold but less than the second threshold, the fourth display area 27D when the remaining distance is greater than or equal to a fourth threshold but less than the third threshold, and the fifth display area 27E when the remaining distance is greater than or equal to a fifth threshold but less than the fourth threshold. That is, the display device 24 visually and intuitively conveys the remaining distance to the driver through the position where the display areas 27 are illuminated.

[0041] Additionally, the notification unit 47 can cause the first display area 27A to the fifth display area 27E to emit light in a first emitting color when the remaining distance is greater than or equal to a first threshold; cause the second display area 27B to the fifth display area 27E to emit light in the first emitting color and the first display area 27A to emit light in a second emitting color when the remaining distance is greater than or equal to a second threshold and less than the first threshold; cause the third display area 27C to the fifth display area 27E to emit light in the first emitting color and the first display area 27A and the second display area 27B to emit light in the second emitting color when the remaining distance is greater than or equal to a fourth threshold and less than the third threshold; cause the fourth display area 27D and the fifth display area 27E to emit light in the first emitting color and the first display area 27A to the third display area 27C to emit light in the second emitting color when the remaining distance is greater than or equal to a fifth threshold and less than the fourth threshold; and cause the fifth display area 27E to emit light in the first emitting color and the first display area 27A to the fourth display area 27D to emit light in the second emitting color when the remaining distance is greater than or equal to a fifth threshold and less than the fourth threshold. The first luminous color and the second luminous color are different luminous colors from each other. For example, the first luminous color can be red, and the second luminous color can be blue. The display device 24 visually and intuitively conveys the remaining distance to the driver through the length of the display area 27 emitting the first luminous color.

[0042] The notification unit 47 can calculate the remaining ratio by dividing the remaining distance by the length of the merging preparation section 103A, and determine at least one display area 27 that emits light based on the remaining ratio rather than the remaining distance.

[0043] The notification unit 47 of the control device 10 can change at least one of the color and brightness of the light emitted from the first display area 27A to the fifth display area 27E based on at least one of the radius of curvature and slope of the merging preparation section 103A. For example, the notification unit 47 can cause the first display area 27A to the fifth display area 27E to emit red light when the radius of curvature of the merging preparation section 103A is less than or equal to a predetermined value, and cause the first display area 27A to the fifth display area 27E to emit blue light when the radius of curvature is greater than the predetermined value. Alternatively, for example, the notification unit 47 can change the emission color of the light emitted from the first display area 27A to the fifth display area 27E from blue to red as the radius of curvature of the merging preparation section 103A decreases. In addition, the notification unit 47 can cause the first display area 27A to the fifth display area 27E to emit red light when the downward slope of the merging preparation section 103A is greater than or equal to a predetermined value, and cause the first display area 27A to the fifth display area 27E to emit blue light when the downward slope is less than the predetermined value.

[0044] The notification unit 47 of the control device 10 selects a speaker 25 from a plurality of speakers 25 to output a notification tone based on the position of the vehicle 2 relative to the merging start point 107, such that as the position of the vehicle 2 approaches the merging start point 107, a speaker 25 positioned closer to the front is selected. Specifically, the notification unit 47 preferably determines the speaker 25 to output the notification tone based on the remaining distance. The notification tone can be, for example, a buzzing or humming sound produced by a buzzer. Preferably, as the remaining distance decreases, the notification unit 47 causes the speaker 25 closer to the front to output the notification tone. For example, the notification unit 47 may cause the first speaker 25A to output a notification tone when the remaining distance is greater than or equal to a first threshold, the second speaker 25B to output a notification tone when the remaining distance is greater than or equal to a third threshold but less than the first threshold, and the third speaker 25C to output a notification tone when the remaining distance is greater than or equal to a fifth threshold but less than the third threshold. That is, the display device 24 conveys the remaining distance to the driver audibly and intuitively through the output position of the notification tone. The notification unit 47 may determine the speaker 25 to output the notification tone based on the remaining distance ratio rather than the remaining distance.

[0045] The notification unit 47 of the control device 10 can change the mode of the notification tone based on at least one of the radius of curvature and slope of the merging preparation section 103A. Preferably, the smaller the radius of curvature of the merging preparation section 103A, the more urgent the notification tone will be. Additionally, preferably, the greater the downward slope of the merging preparation section 103A, the more urgent the notification tone will be. For example, the urgency provided by the notification tone can be changed preferably by shortening the output duration of the notification tone or by increasing the volume of the notification tone.

[0046] The following describes the control steps of the driver assistance control performed by the control device 10. The control device 10 repeatedly executes the control steps at predetermined time intervals. Figure 5 The driving assistance control is shown. First, the control unit 10 determines whether vehicle 2 is in merging preparation section 103A (ST1) based on the position and map information of vehicle 2 obtained by the self-vehicle position recognition unit 46. If vehicle 2 is not in merging preparation section 103A (ST1: No), it enters "return" and repeats the driving assistance control from step ST1.

[0047] When vehicle 2 is located in the merging preparation section 103A (ST1: Yes), control device 10 obtains information about the merging preparation section 103A based on map information (ST2). The information about the merging preparation section 103A includes the location of the merging start point 107 and the radius of curvature of the merging preparation section 103A. Furthermore, the information about the merging preparation section 103A may include the length of the merging preparation section 103A.

[0048] Next, the control device 10 calculates the remaining distance (ST3) of vehicle 2 up to the merging start point 107 based on the position of vehicle 2 and information about the merging preparation section 103A.

[0049] Next, the control device 10 determines at least one luminous display area 27 (ST4) based on the remaining distance. Preferably, as the remaining distance decreases, the control device 10 reduces the length of the at least one luminous display area 27 facing forward. As described above, preferably, the control device 10 compares the remaining distance with a predetermined determination value to determine the at least one luminous display area 27.

[0050] Next, the control device 10 determines the emission color (ST5) of at least one display area 27 that emits light based on the radius of curvature of the confluence preparation section 103A. Preferably, the smaller the radius of curvature, the more reddish the emission color is, for example, made by the control device 10.

[0051] Next, the control device 10 determines the speaker 25 (ST6) to output the notification tone based on the remaining distance. As the remaining distance decreases, the control device 10 causes the speaker 25, which is positioned closer to the front, to output the notification tone.

[0052] Next, the control device 10 determines the pattern (ST7) of the notification tone output from the speaker 25 based on the radius of curvature of the confluence preparation section 103A. Preferably, the smaller the radius of curvature, the more urgent the notification tone becomes.

[0053] Next, the control device 10 controls the display device 24 (ST8) based on at least one display area 27 that emits light, as determined in step ST4, and the color of light emitted, as determined in step ST5. Thus, the display device 24 causes the determined display area 27 to emit light with the determined color of light.

[0054] Next, the control device 10 controls the speaker 25 determined in step ST6 to output a notification tone (ST9) in the mode determined in step ST7.

[0055] When the control device 10 performs a driving assistance method, when the vehicle 2 is in the merging preparation section 103A, at least one illuminated display area 27 changes according to the remaining distance, which is the distance between the vehicle 2 and the merging start point 107. Specifically, as the vehicle 2 approaches the merging start point 107, the at least one illuminated display area 27 changes towards a region closer to the front. By observing the at least one illuminated display area 27, the driver can easily identify the remaining distance. Thus, the driver is able to identify the remaining distance and prepare for merging, such as accelerating the vehicle 2.

[0056] As vehicle 2 approaches the merging start point 107, at least one illuminated display area 27 changes in the second part 29. That is, as the remaining distance decreases, at least one illuminated display area 27 changes in front of the driver, thus enabling the driver to more reliably identify the approach of the merging start point 107.

[0057] The control device 10 adjusts the speaker 25 that outputs the notification tone based on the remaining distance. Therefore, the driver can identify the distance to the merging start point 107 based on the change in the position of its output notification tone.

[0058] Based on the pattern of light emitted from display area 27, the driver can identify information about the merging preparation section 103A, such as the radius of curvature and gradient. Additionally, the driver can identify information about the merging preparation section 103A, such as the radius of curvature and gradient, based on the pattern of the notification tone.

[0059] This embodiment is not limited to the above configuration and can be modified in various ways. For example, as Figure 6 As shown, the display device 24 can be mounted on the instrument panel 35 and extend vertically. In this case, as the vehicle 2 approaches the merging start point 107, the control device 10 preferably shifts at least one illuminated display area 27 upwards. In this case, the first display area 27A, the second display area 27B, the third display area 27C, the fourth display area 27D, and the fifth display area 27E are preferably arranged sequentially from bottom to top.

[0060] After vehicle 2 merges from merging lane 103 into main lane 101, control device 10 can communicate with vehicles following vehicle 2 in main lane 101, receiving following vehicle information that may include information related to the following vehicle's acceleration / deceleration or braking operation. Control device 10 can then evaluate vehicle 2's merging action into main lane 101 based on the following vehicle information. Preferably, control device 10 obtains the following vehicle's deceleration based on the information related to the following vehicle's acceleration / deceleration or braking operation included in the following vehicle information, and lowers the evaluation value for larger deceleration values. Control device 10 can display the evaluation value on touch panel display 23.

[0061] The above implementation method can be described as follows.

[0062] One embodiment is a driving assistance device 1 for a vehicle 2, the driving assistance device 1 comprising: a display device 24 disposed in the passenger compartment 31 of the vehicle 2 and extending in a predetermined direction, the display device 24 having a plurality of display areas 27 divided along the extending direction; and a control device 10 for controlling the display device 24, the control device 10 being configured to: acquire the position of the vehicle 2 relative to a merging start point 107 on a merging lane 103 merging with the main lane 101, where a lane change is possible from the merging lane 103 to the main lane 101; and cause at least one of the plurality of display areas 27 to emit light based on the position of the vehicle 2 relative to the merging start point 107, such that as the position of the vehicle 2 approaches the merging start point 107, the at least one illuminated display area 27 shifts in the extending direction.

[0063] According to this aspect, as the position of vehicle 2 approaches the merging start point 107 via display device 24, at least one illuminated display area 27 shifts in the extending direction, allowing the driver to easily identify the distance from vehicle 2 to the merging start point 107, i.e., the remaining distance. Thus, the driver can identify the remaining distance and prepare for merging, such as accelerating vehicle 2.

[0064] In the above embodiment, the display device 24 may be installed on the door 32 constituting the side of the carriage 31 and extend in the front-rear direction. As the position of the vehicle 2 approaches the merging start point 107, the control device 10 causes at least one of the luminous display areas 27 to shift towards the front.

[0065] According to this aspect, at least one illuminated display area 27 is shifted forward according to the remaining distance, so the driver can intuitively identify the remaining distance based on the illuminated display area 27. Furthermore, since the display device 24 is positioned within the driver's peripheral vision, driver distraction is reduced.

[0066] In the above embodiment, the display device 24 may be disposed on the dashboard 35 constituting the front of the vehicle compartment 31 and extend in the vertical direction, and as the position of the vehicle 2 approaches the merging start point 107, the control device 10 causes at least one luminous display area 27 to shift upward.

[0067] In this respect, the display device 24 is positioned in front of the driver, so that the driver can easily observe the display device 24.

[0068] In the above embodiment, the display device 24 may include: a first part 28 disposed on a door 32 constituting the side of the vehicle compartment 31 and extending in the front-rear direction; and a second part 29 disposed on a dashboard 35 constituting the front of the vehicle compartment 31 and extending laterally, wherein the front end of the first part 28 and one end of the second part 29 are disposed close to each other, wherein as the position of the vehicle 2 approaches the merging start point 107, the control device 10 can cause at least one luminous display area 27 to shift forward in the first part 28, and after the at least one luminous display area 27 reaches the front end of the first part 28, as the position of the vehicle 2 approaches the merging start point 107, the control device 10 can cause at least one luminous display area 27 to shift towards the lateral center of the vehicle 2 in the second part 29.

[0069] According to this aspect, when the remaining distance decreases, at least one illuminated display area 27 changes in front of the driver, thus enabling the driver to more reliably identify the approach of the merging start point 107.

[0070] In the above embodiment, the control device 10 can change at least one of the color and brightness of the light emitted from at least one display area 27 based on at least one of the radius of curvature and slope of the merging preparation section 103A, which is the merging lane 103 up to the merging start point 107.

[0071] Based on this, the driver can identify information about the merging preparation section 103A, such as the radius of curvature and gradient, by the pattern of light emitted from the display area 27.

[0072] In the above embodiment, the driving assistance device 1 may also include a plurality of speakers 25 arranged at intervals in the front-rear direction in the passenger compartment 31 of the vehicle 2. The control device 10 may select a speaker 25 that outputs a notification tone from the plurality of speakers 25 based on the position of the vehicle 2 relative to the merging start point 107, such that as the position of the vehicle 2 approaches the merging start point 107, a speaker 25 that is closer to the front is selected.

[0073] Based on this, the driver can identify the distance to the merging start point 107 based on the change in the location of the output notification tone.

[0074] Another embodiment is a driving assistance method for a vehicle 2, wherein the driving assistance method is executed by a computer, wherein a display device 24 extending in a predetermined direction is provided in the passenger compartment 31 of the vehicle 2, the display device 24 having a plurality of display areas 27 divided along the extension direction, the driving assistance method comprising the following steps: obtaining the position of the vehicle 2 relative to a merging start point 107 on a merging lane 103 merging with the main lane 101, where a lane change can be made from the merging lane 103 to the main lane 101; and causing at least one of the plurality of display areas 27 to emit light based on the position of the vehicle 2 relative to the merging start point 107, such that as the position of the vehicle 2 approaches the merging start point 107, the at least one illuminated display area 27 shifts in the extension direction.

[0075] Based on this aspect, a driving assistance method can be provided that enables the driver to easily identify the distance from vehicle 2 to the merging start point 107, i.e., the remaining distance.

[0076] Another embodiment is a non-transitory computer-readable storage medium including a stored program, the control program being configured to cause a computer to execute a driving assistance method for a vehicle 2, wherein a display device 24 extending in a predetermined direction is provided in the passenger compartment 31 of the vehicle 2, the display device 24 having a plurality of display areas 27 divided along the extension direction, the driving assistance method comprising the steps of: obtaining the position of the vehicle 2 relative to a merging start point 107 on a merging lane 103 merging with a main lane 101, where a lane change from the merging lane 103 to the main lane 101 is possible; and causing at least one of the plurality of display areas 27 to emit light based on the position of the vehicle 2 relative to the merging start point 107, such that as the position of the vehicle 2 approaches the merging start point 107, the at least one illuminated display area 27 shifts in the extension direction.

[0077] According to this aspect, a control program for enabling a computer to perform a driving assistance method that allows the driver to easily identify the distance from vehicle 2 to the merging start point 107, i.e., the remaining distance.

Claims

1. A driving assistance device for a vehicle, the driving assistance device comprising: A display device is disposed in the passenger compartment of the vehicle and extends in a predetermined direction, the display device having a plurality of display areas divided along the extension direction; and A control device that controls the display device. The control device is configured as follows: On the merging lane where the vehicle merges with the main lane, the position of the vehicle relative to the merging start point from which a lane change from the merging lane to the main lane is obtained; and At least one of the plurality of display areas is made to emit light based on the position of the vehicle relative to the merging start point, such that as the position of the vehicle approaches the merging start point, the at least one illuminated display area shifts in the extending direction.

2. The driving assistance device according to claim 1, wherein, The display device is mounted on the door forming the side of the carriage and extends in the front-to-back direction. As the vehicle approaches the merging start point, the control device causes the at least one illuminated display area to shift forward.

3. The driving assistance device according to claim 1, wherein, The display device is mounted on the dashboard that forms the front of the vehicle compartment and extends vertically. As the vehicle approaches the merging start point, the control device causes the at least one illuminated display area to shift upwards.

4. The driving assistance device according to claim 1, wherein, The display device includes: The first part, which is disposed on the door constituting the side portion of the carriage and extends in the front-rear direction; and The second part is disposed on the dashboard constituting the front of the vehicle body and extends laterally, with the front end of the first part and one end of the second part disposed close to each other. Furthermore, as the vehicle approaches the merging start point, the control device causes the at least one illuminated display area to shift forward in the first portion, and after the at least one illuminated display area reaches the front end of the first portion, as the vehicle approaches the merging start point, the control device causes the at least one illuminated display area to shift towards the lateral center of the vehicle in the second portion.

5. The driving assistance device according to any one of claims 2 to 4, wherein, The control device changes at least one of the color and brightness of the light emitted from the at least one display area based on at least one of the radius of curvature and slope of the merging preparation section, which is the merging lane up to the merging start point.

6. The driving assistance device according to claim 1, further comprising a plurality of speakers arranged at intervals in the longitudinal direction within the passenger compartment of the vehicle. in, The control device selects a speaker from the plurality of speakers to output a notification tone based on the position of the vehicle relative to the merging start point, such that as the vehicle approaches the merging start point, a speaker positioned closer to the front is selected.

7. The driving assistance device according to claim 6, wherein, The control device alters the pattern of sound output from the plurality of speakers based on at least one of the radius of curvature and slope of the merging preparation section, which is the section of the merging lane up to the merging start point.

8. A driving assistance method for a vehicle, wherein, The driving assistance method will be executed by a computer. The vehicle's passenger compartment is equipped with a display device extending in a predetermined direction, the display device having multiple display areas divided along the extending direction. The driving assistance method includes the following steps: On the merging lane where the vehicle merges with the main lane, obtain the position of the vehicle relative to the merging start point from which a lane change from the merging lane to the main lane is possible; and At least one of the plurality of display areas is made to emit light based on the position of the vehicle relative to the merging start point, such that as the position of the vehicle approaches the merging start point, the at least one illuminated display area shifts in the extending direction.

9. A non-transitory computer-readable storage medium including a stored control program configured to cause a computer to perform a driving assistance method for a vehicle. in, A display device extending along a predetermined direction is installed in the passenger compartment of the vehicle. The display device has multiple display areas divided along the extending direction. The driving assistance method includes the following steps: On the merging lane that merges with the main lane, the position of the vehicle relative to the merging start point from which a lane change is possible from the merging lane to the main lane is obtained. At least one of the plurality of display areas is made to emit light based on the position of the vehicle relative to the merging start point, such that as the position of the vehicle approaches the merging start point, the at least one illuminated display area shifts in the extending direction.

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