Information processing device, information processing method, and information processing program

Abstract

To unconventionally support a driver to understand a purpose of an action plan of an own vehicle.SOLUTION: An information processing device includes: a peripheral vehicle information acquisition section 101 for acquiring information related to an action prediction of a peripheral vehicle; an own vehicle information acquisition section 102 for acquiring information related to an action plan of an own vehicle; an approach determination section 103 for determining whether there is a probability of an approach of the peripheral vehicle within a fixed distance with respect to the own vehicle based on the information acquired by the peripheral vehicle information acquisition section 101 and the information acquired by the own vehicle information acquisition section 102; and an information generation section 104 for generating information indicating presence / absence of the probability of the approach when the approach determination section 103 determines that there is the probability of the approach of the peripheral vehicle within the fixed distance with respect to the own vehicle.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to an information processing apparatus, an information processing method, and an information processing program.

Background Art

[0002] In a vehicle equipped with an AD (Autonomous Driving) device or an ADAS (Advanced Driver-Assistance Systems) device, in order for a driver to understand the intention of the driving plan of the host vehicle, it is desirable to check the behavior prediction of surrounding vehicles.

[0003] For example, in the prior art described in Patent Document 1, after showing the display form of the vehicle at any predicted arrival position of the host vehicle and other vehicles, highlighting the predicted arrival position marks of both at the time when the proximity is highest, displaying the predicted paths of both, and enabling three-dimensional displays above and below the predicted paths of both, respectively.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] As described above, in the prior art, the driver can understand that a vehicle is approaching and the timing thereof. However, in the prior art, there are cases where the driver cannot sufficiently understand the intention of the driving plan of the host vehicle.

[0006] For example, in the prior art, although it predicts a merge in front of a surrounding vehicle, when the host vehicle does not perform deceleration control, the driver does not know the reason. Also, for example, in the prior art, although the intrusion of surrounding vehicles is predicted, when the host vehicle does not perform deceleration control, the driver does not know the reason.

[0007] The present disclosure has been made to solve the above problems, and an object thereof is to provide an information processing apparatus that can assist a driver in understanding the intention of the driving plan of the host vehicle as compared with the prior art.

Means for Solving the Problems

[0008] The information processing apparatus according to the present disclosure includes a surrounding vehicle information acquisition unit that acquires information related to the behavior prediction of surrounding vehicles, a host vehicle information acquisition unit that acquires information related to the driving plan of the host vehicle, and information acquired by the surrounding vehicle information acquisition unit and information acquired by the host vehicle information acquisition unit. And an approach determination unit that determines whether a surrounding vehicle may approach within a certain distance with respect to the host vehicle, and when the approach determination unit determines that a surrounding vehicle may approach within a certain distance with respect to the host vehicle, information indicating the presence or absence of the possibility of the approach is generated. It is characterized by including an information generation unit.

Effects of the Invention

[0009] According to the present disclosure, since it is configured as described above, it is possible to assist a driver in understanding the intention of the driving plan of the host vehicle as compared with the prior art.

Brief Description of the Drawings

[0010]

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Best Mode for Carrying Out the Invention

[0011] Hereinafter, embodiments will be described in detail with reference to the drawings. Embodiment 1. FIG. 1 is a block diagram showing a configuration example of an information processing apparatus 1 according to Embodiment 1. The information processing apparatus 1 is an apparatus that enables a driver to understand the intention of the driving plan of the host vehicle. Note that the host vehicle is a vehicle equipped with an AD device or an ADAS device. As shown in FIG. 1, the information processing apparatus 1 includes a surrounding vehicle information acquisition unit 101, a host vehicle information acquisition unit 102, an approach determination unit 103, an information generation unit 104, and an information output unit 105.

[0012] The surrounding vehicle information acquisition unit 101 acquires information related to the behavior prediction of surrounding vehicles. The surrounding vehicles are vehicles different from the host vehicle and are vehicles existing within a predetermined range with respect to the host vehicle. The behavior prediction of the surrounding vehicles is a plausible behavior prediction, and the behavior prediction of the surrounding vehicles includes, for example, information indicating the current position, predicted path, and acceleration control of the surrounding vehicle.

[0013] For example, the surrounding vehicle information acquisition unit 101 may acquire information related to the behavior prediction of the surrounding vehicle by predicting the behavior of the surrounding vehicle based on information from various in-vehicle sensors. Note that existing methods can be applied to the method of predicting the behavior of the surrounding vehicle, and the description thereof is omitted. Also, for example, the surrounding vehicle information acquisition unit 101 may acquire the information itself related to the behavior prediction of the surrounding vehicle from an external device (not shown).

[0014] The host vehicle information acquisition unit 102 acquires information regarding the driving plan of the host vehicle. The driving plan of the host vehicle is a plausible driving plan, and this driving plan of the host vehicle includes, for example, information indicating the current position, planned route, and acceleration control of the host vehicle. Note that the information regarding the driving plan of the host vehicle acquired by the host vehicle information acquisition unit 102 is information based on information regarding the behavior prediction of surrounding vehicles.

[0015] For example, the host vehicle information acquisition unit 102 may acquire information regarding the driving plan of the host vehicle by planning the behavior of the host vehicle based on information from various in-vehicle sensors and information regarding the behavior prediction of surrounding vehicles. Note that as for the method of planning the behavior of the host vehicle, existing methods can be applied, and the description thereof is omitted. Also, for example, the host vehicle information acquisition unit 102 may acquire the information itself regarding the driving plan of the host vehicle from an external device (not shown).

[0016] The approach determination unit 103 determines whether there is a possibility that a surrounding vehicle approaches within a certain distance with respect to the host vehicle based on the information acquired by the surrounding vehicle information acquisition unit 101 and the information acquired by the host vehicle information acquisition unit 102. That is, for example, the approach determination unit 103 determines, from information such as the current position, predicted route, and acceleration control included in the behavior prediction of the surrounding vehicle, and information such as the current position, planned route, and acceleration control included in the driving plan of the host vehicle, whether there is a possibility that the surrounding vehicle approaches within a certain distance with respect to the host vehicle according to the current behavior prediction of the surrounding vehicle and the driving plan of the host vehicle. Note that the above-mentioned certain distance is a distance for determining whether it is a distance that requires attention such as a collision between the surrounding vehicle and the host vehicle, and can be set as appropriate.

[0017] As an example of the surrounding vehicle approaching the host vehicle, there are the merging and cutting-in of the surrounding vehicle. That is, more specifically, the approach determination unit 103 determines, based on the information acquired by the surrounding vehicle information acquisition unit 101 and the information acquired by the host vehicle information acquisition unit 102, whether a surrounding vehicle that may merge or cut in is likely to approach the host vehicle within a certain distance.

[0018] When the approach determination unit 103 determines that a surrounding vehicle is likely to approach the host vehicle within a certain distance, the information generation unit 104 generates information indicating the presence or absence of such a possibility of approach. Note that the generation of the above information by the information generation unit 104 is continuously performed, for example, until the merging or cutting-in by the surrounding vehicle is completed.

[0019] For example, as information indicating the presence or absence of the possibility of approach, the information generation unit 104 may generate information regarding the distance from a point where the predicted path of the surrounding vehicle overlaps with the planned path of the host vehicle to a point traced back by a certain time or distance along the planned path of the host vehicle, based on the information acquired by the surrounding vehicle information acquisition unit 101 and the information acquired by the host vehicle information acquisition unit 102. The above certain time or distance can be set as appropriate. Also, for example, the information generation unit 104 may generate information regarding a mark indicating the presence or absence of the possibility of approach as information indicating the presence or absence of the possibility of approach. Note that as a mark indicating the possibility of approach, one type of mark may be used, or a plurality of types of marks may be used according to the degree of approach. Also, for example, the information generation unit 104 may generate information regarding a color indicating the presence or absence of the possibility of approach as information indicating the presence or absence of the possibility of approach. Note that as a color indicating the possibility of approach, one type of color may be used, or a plurality of types of colors may be used according to the degree of approach. Also, for example, the information generation unit 104 may generate information combining the above information regarding the distance, the information regarding the mark, or the information regarding the color as information indicating the presence or absence of the possibility of approach.

[0020] Note that the information generated by the information generation unit 104 may be any information as long as it can notify the driver of the host vehicle of the possibility of approach. For example, the information generated by the information generation unit 104 may be display information corresponding to a visual information notification means such as a display image for in-vehicle information devices such as a navigation system, or light information corresponding to a visual information notification means such as light for in-vehicle illumination, or sound information corresponding to an auditory information notification means such as a warning sound or a guidance voice for an in-vehicle speaker.

[0021] Further, when the information generation unit 104 generates display information, and generates information regarding the distance from a point where the predicted route of a surrounding vehicle and the planned route of the host vehicle overlap in the planned route of the host vehicle to a point traced back by a certain time or distance, the display of the predicted route of the surrounding vehicle and the planned route of the host vehicle may also be included. At this time, the information generation unit 104 may display the portion from the point where the predicted route of the surrounding vehicle and the planned route of the host vehicle overlap in the planned route of the host vehicle to a point traced back by a certain time or distance as a different display from other portions.

[0022] For example, the information generation unit 104 may use a hatched display for the portion from the point where the predicted route of the surrounding vehicle and the planned route of the host vehicle overlap in the planned route of the host vehicle to a point traced back by a certain time or distance, and a filled display for the other portions.

[0023] The information output unit 105 outputs the information generated by the information generation unit 104 to the outside.

[0024] Next, an operation example of the information processing apparatus 1 according to Embodiment 1 will be described with reference to FIG. 2. In the operation example of the information processing apparatus 1 according to Embodiment 1, for example, as shown in FIG. 2, first, the surrounding vehicle information acquisition unit 101 acquires information regarding the behavior prediction of surrounding vehicles (step ST101).

[0025] For example, the surrounding vehicle information acquisition unit 101 may acquire information regarding the predicted behavior of surrounding vehicles by predicting the behavior of surrounding vehicles based on information from various in-vehicle sensors. Also, for example, the surrounding vehicle information acquisition unit 101 may acquire the information itself regarding the predicted behavior of surrounding vehicles from an external device (not shown).

[0026] Next, the host vehicle information acquisition unit 102 acquires information regarding the driving plan of the host vehicle (step ST102). Note that the information regarding the driving plan of the host vehicle acquired by the host vehicle information acquisition unit 102 is information based on the information regarding the predicted behavior of surrounding vehicles.

[0027] For example, the host vehicle information acquisition unit 102 may acquire information regarding the driving plan of the host vehicle by planning the behavior of the host vehicle based on information from various in-vehicle sensors and the information regarding the predicted behavior of surrounding vehicles. Also, for example, the host vehicle information acquisition unit 102 may acquire the information itself regarding the driving plan of the host vehicle from an external device (not shown).

[0028] Next, the approach determination unit 103 determines whether there is a possibility that a surrounding vehicle approaches within a certain distance of the host vehicle based on the information acquired by the surrounding vehicle information acquisition unit 101 and the information acquired by the host vehicle information acquisition unit 102 (step ST103). More specifically, the approach determination unit 103 determines whether a surrounding vehicle, which is a surrounding vehicle that may merge or cut in based on the information acquired by the surrounding vehicle information acquisition unit 101 and the information acquired by the host vehicle information acquisition unit 102, approaches within a certain distance of the host vehicle.

[0029] Next, when the approach determination unit 103 determines that there is a possibility that a surrounding vehicle approaches within a certain distance of the host vehicle, the information generation unit 104 generates information indicating the presence or absence of such a possibility of approach (step ST104). Note that the generation of the above information by the information generation unit 104 is continuously performed, for example, until the merging or interruption by the surrounding vehicles is completed.

[0030] For example, as information indicating the presence or absence of the possibility of approach, the information generation unit 104 may generate information regarding the distance from a point where the predicted path of the surrounding vehicle and the planned path of the host vehicle overlap among the planned paths of the host vehicle, up to a point traced back by a certain time or distance. This information is based on the information acquired by the surrounding vehicle information acquisition unit 101 and the information acquired by the host vehicle information acquisition unit 102. Also, for example, the information generation unit 104 may generate information regarding a mark indicating the presence or absence of the possibility of approach as information indicating the presence or absence of the possibility of approach. Also, for example, the information generation unit 104 may generate information regarding a color indicating the presence or absence of the possibility of approach as information indicating the presence or absence of the possibility of approach. Also, for example, the information generation unit 104 may generate combined information of the above information regarding distance, mark, or color as information indicating the presence or absence of the possibility of approach.

[0031] In addition, when the information generation unit 104 generates display information, and generates information regarding the distance from a point where the predicted path of the surrounding vehicle and the planned path of the host vehicle overlap among the planned paths of the host vehicle, up to a point traced back by a certain time or distance, the display of the predicted path of the surrounding vehicle and the planned path of the host vehicle may also be included. At this time, the information generation unit 104 may display the portion from a point where the predicted path of the surrounding vehicle and the planned path of the host vehicle overlap among the planned paths of the host vehicle, up to a point traced back by a certain time or distance, as a different display from other portions.

[0032] For example, for the portion of the planned path of the host vehicle to be displayed in the display image, from a point where the predicted path of the surrounding vehicle and the planned path of the host vehicle overlap, up to a point traced back by a certain time or distance, the information generation unit 104 may use a hatched display, and for the other portions, a filled display.

[0033] Next, the information output unit 105 outputs the information generated by the information generation unit 104 to the outside (step ST105).

[0034] Next, a specific example of the operation of the information processing apparatus 1 according to the first embodiment will be described with reference to FIGS. 3 to 6. In FIGS. 3 to 6, a case where a surrounding vehicle makes an interruption to the travel lane of the host vehicle will be described as an example. Also, in FIGS. 3 to 6, it is assumed that the information generation unit 104 generates display information. In FIGS. 3 to 6, reference numeral 11 indicates the symbol (current position) of the host vehicle, and reference numeral 12 indicates the symbol (current position) of the surrounding vehicle.

[0035] First, as shown in FIG. 3, the information processing apparatus 1 predicts from the behavior prediction of the surrounding vehicle that a surrounding vehicle is about to make an interruption from the left lane side to the travel lane of the host vehicle. Hereinafter, the surrounding vehicle that is about to make this interruption will also be referred to as an interrupting vehicle.

[0036] Next, as shown in FIG. 4, the information processing apparatus 1 predicts from the behavior prediction of the interrupting vehicle and the behavior plan of the host vehicle that the host vehicle will decelerate gently and the inter-vehicle distance between the interrupting vehicle and the host vehicle will increase.

[0037] Here, in FIGS. 3 and 4, the approach determination unit 103 determines that there is a possibility that the interrupting vehicle will approach within a certain distance from the host vehicle. Then, in FIGS. 3 and 4, the information generation unit 104 displays the predicted path of the interrupting vehicle and the planned path of the host vehicle, and makes the display of the portion of the planned path of the host vehicle from the point where the predicted path of the interrupting vehicle and the planned path of the host vehicle overlap back for a certain period of time different from the other portions to generate display information.

[0038] In FIGS. 3 and 4, reference numeral 13 indicates the predicted path of the interrupting vehicle. Further, reference numeral 14 indicates the planned path of the host vehicle. Further, reference numeral 15 indicates a portion of the planned path of the host vehicle from a point where the predicted path of the interrupting vehicle overlaps with the planned path of the host vehicle back for a certain period of time.

[0039] In FIGS. 3 and 4, the information generation unit 104 uses a hatched display for a portion of the planned path of the host vehicle to be displayed from a point where the predicted path of the interrupting vehicle overlaps with the planned path of the host vehicle back for a certain period of time, and a filled display for the other portions.

[0040] Further, in FIGS. 3 and 4, the information generation unit 104 also includes in the display information the display of a mark indicating the possibility of approaching. In FIGS. 3 and 4, as indicated by reference numeral 16, a caution mark is used as the mark indicating the possibility of approaching.

[0041] Further, in FIGS. 3 and 4, the information generation unit 104 sets the display colors of the predicted path of the interrupting vehicle, the planned path of the host vehicle, and the mark indicating the possibility of approaching to a color indicating the possibility of approaching. In FIGS. 3 and 4, the display colors of the predicted path of the interrupting vehicle, the planned path of the host vehicle, and the mark indicating the possibility of approaching are set to dark gray.

[0042] Next, as shown in FIG. 5, the information processing apparatus 1 predicts from the action prediction of the interrupting vehicle and the action plan of the host vehicle that the inter-vehicle distance between the interrupting vehicle and the host vehicle is sufficiently maintained and the deceleration of the host vehicle ends.

[0043] Here, in FIG. 5, the approach determination unit 103 determines that the possibility of the interrupting vehicle approaching within a certain distance from the host vehicle has been eliminated. Then, in FIG. 5, the information generation unit 104 changes the mark indicating the possibility of approaching to a mark indicating the impossibility of approaching. In FIG. 5, as indicated by reference numeral 17, it is changed to a safety mark. Further, in FIG. 5, the information generation unit 104 changes the display colors of the predicted path of the interrupting vehicle, the planned path of the host vehicle, and the mark indicating no possibility of approach to the color indicating no possibility of approach. In FIG. 5, the display colors of the predicted path of the interrupting vehicle, the planned path of the host vehicle, and the mark indicating no possibility of approach are changed to light gray.

[0044] Next, as shown in FIG. 6, the information processing apparatus 1 predicts the start of interruption from the behavior prediction of the interrupting vehicle.

[0045] As described above, in the information processing apparatus 1 according to the first embodiment, when it is determined that there is a possibility that a surrounding vehicle approaches within a certain distance from the host vehicle, information indicating the presence or absence of such a possibility of approach is generated. That is, the information processing apparatus 1 according to the first embodiment generates information for performing an emphasized expression according to the approach of the two vehicles in response to the problem that the driver cannot sufficiently understand the intention of the driving plan of the host vehicle only by drawing the predicted arrival positions or predicted paths of the surrounding vehicle and the host vehicle as in the prior art. Thereby, in the information processing apparatus 1 according to the first embodiment, it is possible to assist the driver in intuitively understanding the intention of the driving plan of the host vehicle as compared with the prior art, and it is possible to reduce the sense of discomfort with respect to the driving plan of the host vehicle. That is, in the information processing apparatus 1 according to the first embodiment, it is possible to notify the influence of the behavior prediction of the surrounding vehicle on the driving plan of the host vehicle, and it is possible to assist the driver in understanding the intention of the driving plan of the host vehicle.

[0046] For example, in the prior art, although the confluence in front of the surrounding vehicle is predicted, when the host vehicle does not perform deceleration control, the driver does not know the reason. On the other hand, in the information processing apparatus 1 according to the first embodiment, it is possible to notify the presence or absence of the possibility of approach between the surrounding vehicle and the host vehicle, and it is possible to show the association with the acceleration control of the host vehicle. In the prior art, for example, although the intrusion of surrounding vehicles is predicted, when the host vehicle does not perform deceleration control, the driver does not know the reason. On the other hand, in the information processing apparatus 1 according to Embodiment 1, it is possible to notify whether there is a possibility of approach between the surrounding vehicles and the host vehicle, and it is possible to show the association with the acceleration control of the host vehicle. Further, in the information processing apparatus 1 according to Embodiment 1, not only the intrusion in front of the host vehicle but also the intrusion behind the host vehicle can similarly notify whether there is a possibility of approach between the surrounding vehicles and the host vehicle.

[0047] Further, in the information processing apparatus 1 according to Embodiment 1, by generating display information for displaying the predicted path of the surrounding vehicle, the planned path of the host vehicle, and information indicating the presence or absence of the possibility of approach, the flow of the surrounding vehicle and the host vehicle can be visualized. As a result, in the information processing apparatus 1 according to Embodiment 1, it becomes easier to grasp the position and the sense of distance of the merging or intrusion by the surrounding vehicle, it becomes easier to grasp the surrounding vehicle that performs the merging or intrusion, it becomes easier to grasp the predicted path and the approaching direction of the surrounding vehicle, and it also becomes easier to grasp whether the intrusion is in front of or behind the host vehicle.

[0048] As described above, according to this Embodiment 1, the information processing apparatus 1 includes a surrounding vehicle information acquisition unit 101 that acquires information related to the behavior prediction of surrounding vehicles, a host vehicle information acquisition unit 102 that acquires information related to the behavior plan of the host vehicle, and based on the information acquired by the surrounding vehicle information acquisition unit 101 and the information acquired by the host vehicle information acquisition unit 102, an approach determination unit 103 that determines whether there is a possibility that the surrounding vehicle approaches within a certain distance with respect to the host vehicle, and when it is determined by the approach determination unit 103 that there is a possibility that the surrounding vehicle approaches within a certain distance with respect to the host vehicle, an information generation unit 104 that generates information indicating the presence or absence of the possibility of approach. Further, according to Embodiment 1, the information generation unit 104 generates, as information indicating the presence or absence of the possibility of approach, information regarding the distance from a point where the predicted route of the surrounding vehicle and the planned route of the host vehicle overlap among the planned routes of the host vehicle to a point traced back by a certain time or distance. The information is based on the information acquired by the surrounding vehicle information acquisition unit 101 and the information acquired by the host vehicle information acquisition unit 102. Further, according to Embodiment 1, the information generation unit 104 generates, as information indicating the presence or absence of the possibility of approach, information regarding a mark indicating the presence or absence of the possibility of approach. Further, according to Embodiment 1, the information generation unit 104 generates, as information indicating the presence or absence of the possibility of approach, information regarding a color indicating the presence or absence of the possibility of approach. Thus, the information processing apparatus 1 according to Embodiment 1 can assist the driver in understanding the intention of the driving plan of the host vehicle as compared with the prior art.

[0049] Further, according to Embodiment 1, the approach determination unit 103 determines, based on the information acquired by the surrounding vehicle information acquisition unit 101 and the information acquired by the host vehicle information acquisition unit 102, whether a surrounding vehicle that may merge or cut in is likely to approach within a certain distance of the host vehicle. Further, according to Embodiment 1, the information regarding the driving plan of the host vehicle acquired by the host vehicle information acquisition unit 102 is information based on the information regarding the behavior prediction of the surrounding vehicle. Thus, the information processing apparatus 1 according to Embodiment 1 can assist the driver in understanding the intention of the driving plan of the host vehicle as compared with the prior art.

[0050] Further, according to Embodiment 1, the information processing method includes a step in which the surrounding vehicle information acquisition unit 101 acquires information related to the behavior prediction of surrounding vehicles, a step in which the host vehicle information acquisition unit 102 acquires information related to the driving plan of the host vehicle, and a step in which the approach determination unit 103 determines, based on the information acquired by the surrounding vehicle information acquisition unit 101 and the information acquired by the host vehicle information acquisition unit 102, whether there is a possibility that the surrounding vehicle approaches within a certain distance with respect to the host vehicle, and a step in which the information generation unit 104 generates information indicating the presence or absence of the possibility of such approach when the approach determination unit 103 determines that there is a possibility that the surrounding vehicle approaches within a certain distance with respect to the host vehicle. Thereby, the information processing method according to Embodiment 1 can assist the driver in understanding the intention of the driving plan of the host vehicle as compared with the prior art.

[0051] Further, according to Embodiment 1, the information processing program causes a computer to function as the information processing apparatus 1 as described above. Thereby, the information processing program can cause a computer to function as the information processing apparatus 1 that can assist the driver in understanding the intention of the driving plan of the host vehicle as compared with the prior art.

[0052] Embodiment 2. In the information processing apparatus 1 according to Embodiment 2, a configuration in which functions are further added to the information processing apparatus 1 according to Embodiment 1 will be described. FIG. 7 is a block diagram showing a configuration example of the information processing apparatus 1 according to Embodiment 2. In the information processing apparatus 1 according to Embodiment 2 shown in this FIG. 7, the information generation unit 104 is changed to an information generation unit 104b with respect to the information processing apparatus 1 according to Embodiment 1 shown in FIG. 1. Other configuration examples in the information processing apparatus 1 according to Embodiment 2 are the same as the configuration example of the information processing apparatus 1 according to Embodiment 1, and only the different parts will be described with the same reference numerals.

[0053] In addition to the functions of the information generation unit 104 in the first embodiment, the information generation unit 104b has a function of generating information regarding a line segment indicating the position and moving direction of each vehicle after a predetermined time. That is, the information generation unit 104b generates information regarding a line segment connecting the current position of a surrounding vehicle and the position after a predetermined time, and a line segment connecting the current position of the host vehicle and the position after a predetermined time, based on the information acquired by the surrounding vehicle information acquisition unit 101 and the information acquired by the host vehicle information acquisition unit 102.

[0054] Alternatively, in addition to the functions of the information generation unit 104 in the first embodiment, the information generation unit 104b has a function of generating information regarding a mark indicating the current acceleration control of each vehicle. That is, the information generation unit 104b generates information regarding a mark indicating the current acceleration control of a surrounding vehicle and a mark indicating the current acceleration control of the host vehicle, based on the information acquired by the surrounding vehicle information acquisition unit 101 and the information acquired by the host vehicle information acquisition unit 102. Examples of acceleration control include acceleration control, deceleration control, and constant-speed control.

[0055] Alternatively, in addition to the functions of the information generation unit 104 in the first embodiment, the information generation unit 104b has a function of generating both information regarding a line segment indicating the position and moving direction of each vehicle after a predetermined time and information regarding a mark indicating the current acceleration control of each vehicle.

[0056] Further, when the approach determination unit 103 determines that a surrounding vehicle may approach within a certain distance of the host vehicle, the information generation unit 104b may set the display color of the mark indicating the acceleration control of the surrounding vehicle and the mark indicating the acceleration control of the host vehicle to a color indicating the possibility of approach. Further, for a surrounding vehicle determined by the approach determination unit 103 not to be likely to approach within a certain distance of the host vehicle, the information generation unit 104b may set the display color of the mark indicating the acceleration control of the surrounding vehicle to a color indicating the impossibility of approach. In addition, for a host vehicle determined by the approach determination unit 103 to have no possibility of approaching within a certain distance with respect to all surrounding vehicles, the display color of the mark indicating the acceleration control of the host vehicle may be a color indicating that there is no possibility of approach.

[0057] Next, a specific example of the operation of the information processing apparatus 1 according to the second embodiment will be described with reference to FIGS. 8 and 9. Note that in FIG. 8, a case where a surrounding vehicle makes an interruption with respect to the travel lane of the host vehicle will be described as an example. In FIG. 8, the information generation unit 104 is assumed to generate display information. Further, FIG. 8 shows a case where a surrounding vehicle may approach within a certain distance with respect to the host vehicle.

[0058] As shown in FIG. 8, the information generation unit 104b generates display information indicating a line segment connecting the current position of the surrounding vehicle and the position after a predetermined time has elapsed, and a line segment connecting the current position of the host vehicle and the position after a predetermined time has elapsed. In FIG. 8, reference numeral 21 indicates the above line segment. In FIG. 8, the line segment extends from the center portion of the symbol of the surrounding vehicle and the center portion of the symbol of the host vehicle, respectively. And the position of the tip of the above line segment becomes the position of each vehicle after a predetermined time has elapsed. Also, in FIG. 8, it can be seen from the direction of the above line segment that the moving direction of each vehicle is in the direction along the travel lane.

[0059] Also, in FIG. 8, the information generation unit 104b includes, in the display information, a mark indicating the current acceleration control of the surrounding vehicle and a mark indicating the current acceleration control of the host vehicle. In FIG. 8, reference numeral 22 indicates the mark indicating the above acceleration control. In FIG. 8, the mark indicating the above acceleration control is attached to the tip of the above line segment.

[0060] Note that in FIG. 8, as shown in FIG. 9, the mark indicating the above acceleration control is a mark having a different shape according to the type of acceleration control. FIG. 9A shows the mark in the case of deceleration control, FIG. 9B shows the mark in the case of acceleration control, and FIG. 9A shows the mark in the case of constant speed control. In FIG. 8, it can be seen that from the marks indicating acceleration control, the host vehicle and the leading surrounding vehicle are performing constant-speed control, and the second surrounding vehicle is performing deceleration control.

[0061] Also, in FIG. 8, the information generation unit 104b determines that there is a possibility that the surrounding vehicle approaches within a certain distance with respect to the host vehicle by the approach determination unit 103, and sets the display color of the mark indicating the acceleration control of the surrounding vehicle and the mark indicating the acceleration control of the host vehicle as a color indicating the possibility of approach. In FIG. 8, the display color of the marks indicating the acceleration control of the host vehicle and the second surrounding vehicle is set to dark gray. Also, in FIG. 8, for the surrounding vehicle determined by the approach determination unit 103 that there is no possibility of approaching within a certain distance with respect to the host vehicle, the information generation unit 104b sets the display color of the mark indicating the acceleration control of the surrounding vehicle as a color indicating the impossibility of approach. In FIG. 8, the display color of the mark indicating the acceleration control of the leading surrounding vehicle is set to light gray.

[0062] Note that for the host vehicle determined by the approach determination unit 103 that there is no possibility of approaching within a certain distance for all surrounding vehicles, the display color of the mark indicating the acceleration control of the host vehicle may be set as a color indicating the impossibility of approach. In this case, for example, the display color of the mark indicating the acceleration control of the host vehicle may be set to light gray.

[0063] As described above, in the information processing apparatus 1 according to the second embodiment, the information generation unit 104b generates information regarding the line segment connecting the current position of each vehicle and the position after a predetermined time has elapsed. Thereby, in the information processing apparatus 1 according to the second embodiment, it becomes possible to grasp the positions and moving directions of the surrounding vehicles and the host vehicle after a predetermined time has elapsed.

[0064] Also, in the information processing apparatus 1 according to the second embodiment, the information generation unit 104b generates information regarding the marks indicating the current acceleration control of each vehicle. Thereby, in the information processing apparatus 1 according to the second embodiment, it becomes possible to grasp the current acceleration control states of the surrounding vehicles and the host vehicle in more detail.

[0065] Also, for example, as shown in FIG. 8, in the information processing apparatus 1 according to the second embodiment, regarding surrounding vehicles that do not directly affect the driving plan of the host vehicle, information regarding at least one of a line segment indicating the position and moving direction or a mark indicating acceleration control is generated. In FIG. 8, the leading surrounding vehicle is a surrounding vehicle that does not directly affect the driving plan of the host vehicle. Thereby, in the information processing apparatus 1 according to the second embodiment, information regarding the behavior prediction of surrounding vehicles that directly affect the driving plan and information regarding the behavior prediction of surrounding vehicles that do not directly affect the driving plan can be presented together, and the driver can more easily understand the intention of the driving plan of the host vehicle.

[0066] As described above, according to the second embodiment, the information generation unit 104b generates information regarding a line segment connecting the current position of the surrounding vehicle and the position after a predetermined time has elapsed, and a line segment connecting the current position of the host vehicle and the position after a predetermined time has elapsed, based on the information acquired by the surrounding vehicle information acquisition unit 101 and the information acquired by the host vehicle information acquisition unit 102. Also, according to the second embodiment, the information generation unit 104b generates information regarding a mark indicating the current acceleration control of the surrounding vehicle and a mark indicating the current acceleration control of the host vehicle, based on the information acquired by the surrounding vehicle information acquisition unit 101 and the information acquired by the host vehicle information acquisition unit 102. Thereby, the information processing apparatus 1 according to the second embodiment can further assist the driver in understanding the intention of the driving plan of the host vehicle, compared to the information processing apparatus 1 according to the first embodiment.

[0067] Note that in the above information processing apparatus 1, in addition to the function of generating information indicating the presence or absence of the possibility of approach when it is determined that a surrounding vehicle may approach within a certain distance of the host vehicle, the case where it has a function of generating information regarding a mark indicating the current acceleration control of each vehicle is shown. However, not limited to this, the information processing apparatus 1 may not have a function of generating information indicating the presence or absence of the possibility of approach when it is determined that a surrounding vehicle may approach within a certain distance from the host vehicle, but may have a function of generating information regarding a mark indicating the current acceleration control of each vehicle, and the same effect as described above can be obtained.

[0068] Embodiment 3. In the information processing apparatus 1 according to Embodiment 3, a configuration in which the display form is changed with respect to the information processing apparatus 1 according to Embodiment 2 will be described. FIG. 10 is a block diagram showing a configuration example of the information processing apparatus 1 according to Embodiment 3. In the information processing apparatus 1 according to Embodiment 3 shown in this FIG. 10, the information generation unit 104b is changed to an information generation unit 104c with respect to the information processing apparatus 1 according to Embodiment 2 shown in FIG. 7. Other configuration examples in the information processing apparatus 1 according to Embodiment 3 are the same as the configuration example of the information processing apparatus 1 according to Embodiment 2, and only the different parts will be described with the same reference numerals.

[0069] The information generation unit 104c generates display information. Based on the information acquired by the surrounding vehicle information acquisition unit 101 and the information acquired by the host vehicle information acquisition unit 102, this information generation unit 104c generates display information for displaying information indicating the presence or absence of the possibility of approach at a position where the predicted path of the surrounding vehicle and the planned path of the host vehicle overlap on the travel lane of the host vehicle. At this time, the information generation unit 104c may display the information indicating the presence or absence of the possibility of approach on the side of the travel lane of the host vehicle where the surrounding vehicle approaches.

[0070] The functions of the information generation unit 104c are the same as those of the information generation unit 104b in Embodiment 2 in other respects.

[0071] Further, the approach determination unit 103 determines whether a surrounding vehicle may merge into or cut into the driving lane of the host vehicle, and the information generation unit 104c may display information indicating that there is no possibility of merging or cutting in on the side of the driving lane of the host vehicle that is determined by the approach determination unit 103 to have no possibility of being merged into or cut into by the surrounding vehicle.

[0072] Next, a specific example of the operation of the information processing apparatus 1 according to Embodiment 3 will be described with reference to FIGS. 11 to 15. In FIG. 11, a case where a surrounding vehicle merges into the driving lane of the host vehicle will be described as an example. Further, FIG. 11 shows a case where a surrounding vehicle may approach the host vehicle within a certain distance.

[0073] As shown in FIG. 11, the information generation unit 104c generates display information for displaying information indicating the presence or absence of the possibility of approach at a position on the driving lane of the host vehicle where the predicted path of the surrounding vehicle and the planned path of the host vehicle overlap. In FIG. 11, as information indicating the presence or absence of the possibility of approach, an arc indicating the presence or absence of the possibility of approach indicated by reference numeral 31 and a mark indicating the presence or absence of the possibility of approach indicated by reference numeral 32 are displayed. In particular, in FIG. 11, an arc indicating the presence or absence of the possibility of approach is displayed on the side of the driving lane of the host vehicle where the surrounding vehicle approaches (the left lane side in FIG. 11).

[0074] Further, in FIG. 11, the information generation unit 104c sets the display color of the information indicating the presence or absence of the possibility of approach as a color indicating the presence or absence of the possibility of approach. In FIGS. 11 and 12, as indicated by reference numeral 31 (31a), the display color of the arc indicating the possibility of approach is set to dark gray. Similarly, in FIGS. 11 and 13, as indicated by reference numeral 32 (32a), the display color of the mark indicating the possibility of approach is set to dark gray. Also, in FIG. 12, in the case of an arc indicating no possibility of approach, as indicated by reference numeral 31b, the display color is set to light gray. Similarly, in FIG. 13, in the case of a mark indicating no possibility of approach, as indicated by reference numeral 32b, the display color is set to light gray.

[0075] Also, in FIG. 11, the approach determination unit 103 determines whether there is a possibility that a surrounding vehicle will merge into or cut into the own vehicle's driving lane, and the information generation unit 104c displays information indicating no possibility of merging or cutting in on the side of the own vehicle's driving lane that is determined by the approach determination unit 103 to have no possibility of being merged into or cut into by a surrounding vehicle. In FIG. 11, it is determined that there is no possibility of merging or cutting in on the right lane side. In FIG. 11, as information indicating no possibility of merging or cutting in, a line indicated by reference numeral 33 indicating no possibility of merging or cutting in is displayed.

[0076] Also, in FIG. 11, the information generation unit 104c includes in the display information the display of marks indicating the acceleration control of each vehicle. In FIGS. 11 and 14, as indicated by reference numeral 34 (34a), the display color of the marks indicating the current acceleration control of each vehicle is set to light gray. Also, in FIG. 14, as indicated by reference numeral 34b, the display color of the marks indicating the predicted acceleration control of each vehicle is set to dark gray. Also, in FIGS. 11 and 14, when the arrow of the mark indicating the acceleration control of each vehicle points in the traveling direction, it indicates acceleration control, and when the arrow points in the direction opposite to the traveling direction, it indicates deceleration control.

[0077] Also, as indicated by reference numeral 35 in FIGS. 11 and 15, the information generation unit 104c includes in the display information the display of the speed meter of the own vehicle. In FIG. 15, reference numeral 351 indicates acceleration, and reference numeral 352 indicates deceleration. Note that such a display of the speed meter may also be implemented in the information processing apparatus 1 according to the second embodiment.

[0078] Also, as shown in FIG. 11, when the approach determination unit 103 determines that a surrounding vehicle has approached within a certain distance with respect to the host vehicle, the information generation unit 104c may perform a display indicating the surrounding vehicle. In FIG. 11, as indicated by reference numeral 36, a frame surrounding the surrounding vehicle is displayed. Note that a display indicating a surrounding vehicle that may approach in this way may also be implemented in the information processing apparatus 1 according to Embodiment 2.

[0079] As described above, in the information processing apparatus 1 according to Embodiment 3, the information generation unit 104c generates display information for displaying information indicating the presence or absence of the possibility of approach at a position where the predicted path of a surrounding vehicle and the planned path of the host vehicle overlap on the travel lane of the host vehicle. As a result, in the information processing apparatus 1 according to Embodiment 3, it is possible to assist the driver in intuitively understanding the intention of the action plan of the host vehicle compared to the conventional case, and it is possible to reduce the sense of discomfort with respect to the action plan of the host vehicle. That is, in the information processing apparatus 1 according to Embodiment 3, it is possible to notify the influence of the behavior prediction of a surrounding vehicle on the action plan of the host vehicle, and it is possible to assist the driver in understanding the intention of the action plan of the host vehicle.

[0080] Further, in the information processing apparatus 1 according to Embodiment 3, by generating display information for displaying information indicating the presence or absence of the possibility of approach, the flow of the surrounding vehicle and the host vehicle can be visualized. As a result, in the information processing apparatus 1 according to Embodiment 3, it becomes easier to grasp the position of a surrounding vehicle's merging or cutting in, it becomes easier to grasp the surrounding vehicle that performs the merging or cutting in, it becomes easier to grasp the approaching direction of the surrounding vehicle, and it becomes easier to grasp whether the cut-in is in front of or behind the host vehicle.

[0081] Note that in the above, the case where the information generation unit 104c is changed based on the information generation unit 104b in Embodiment 2 is shown. However, the present invention is not limited to this, and the information generation unit 104c may be changed based on the information generation unit 104 in Embodiment 1, and the same effects as described above can be obtained.

[0082] As described above, according to the third embodiment, the information generation unit 104c generates display information for displaying information indicating the possibility of approach at a position on the driving lane of the host vehicle where the predicted path of the surrounding vehicle overlaps with the planned path of the host vehicle, based on the information acquired by the surrounding vehicle information acquisition unit 101 and the information acquired by the host vehicle information acquisition unit 102. Thereby, the information processing method according to the third embodiment can assist the driver in understanding the intention of the driving plan of the host vehicle as compared with the prior art.

[0083] Embodiment 4. In the information processing apparatus 1 according to the fourth embodiment, a configuration in which the display form is changed with respect to the information processing apparatus 1 according to the second embodiment will be described. FIG. 16 is a block diagram showing a configuration example of the information processing apparatus 1 according to the fourth embodiment. In the information processing apparatus 1 according to the fourth embodiment shown in this FIG. 16, the information generation unit 104b is changed to the information generation unit 104d with respect to the information processing apparatus 1 according to the second embodiment shown in FIG. 7. Other configuration examples in the information processing apparatus 1 according to the fourth embodiment are the same as the configuration example of the information processing apparatus 1 according to the second embodiment, and only the different parts will be described with the same reference numerals.

[0084] The information generation unit 104d generates display information. This information generation unit 104d has a function of generating display information for displaying in a grid pattern information indicating the possibility of approach at a position on the driving lane of the host vehicle where the predicted path of the surrounding vehicle overlaps with the planned path of the host vehicle, based on the information acquired by the surrounding vehicle information acquisition unit 101 and the information acquired by the host vehicle information acquisition unit 102.

[0085] The functions of the information generation unit 104d are the same as those of the information generation unit 104b in the second embodiment in other respects.

[0086] Further, based on the information acquired by the host vehicle information acquisition unit 102 and the information acquired by the surrounding vehicle information acquisition unit 101, the information generation unit 104d may also display in a grid pattern on the travel lane of the host vehicle the predicted routes of the surrounding vehicles and the planned route of the host vehicle, except for the positions where the predicted route of the surrounding vehicle and the planned route of the host vehicle overlap.

[0087] Further, the approach determination unit 103 determines whether a surrounding vehicle may merge into or cut into the travel lane of the host vehicle, and the information generation unit 104d may display information indicating that there is no possibility of merging or cutting in for the grid cells among the grid cells before and after the host vehicle on the travel lane of the host vehicle, which are determined by the approach determination unit 103 to have no possibility of being merged into or cut into by the surrounding vehicle.

[0088] Next, a specific example of the operation of the information processing apparatus 1 according to the fourth embodiment will be described with reference to FIG. 17. In FIG. 17, the case where a surrounding vehicle merges into the travel lane of the host vehicle will be described as an example. Also, FIG. 17 shows a case where a surrounding vehicle may approach the host vehicle within a certain distance.

[0089] As shown in FIG. 17, the information generation unit 104d generates display information for displaying in a grid pattern on the travel lane of the host vehicle, at the position where the predicted route of the surrounding vehicle and the planned route of the host vehicle overlap, information indicating the possibility of approach. Also, in FIG. 17, the information generation unit 104d also displays in a grid pattern on the travel lane of the host vehicle the predicted routes of the surrounding vehicles and the planned route of the host vehicle, except for the positions where the predicted route of the surrounding vehicle and the planned route of the host vehicle overlap. In FIG. 17, reference numeral 41 indicates the grid cell showing the position where the predicted route of the surrounding vehicle and the planned route of the host vehicle overlap, and reference numeral 42 indicates the grid cells showing the predicted routes of the surrounding vehicles and the planned route of the host vehicle other than the above.

[0090] Also, in FIG. 17, the information generation unit 104d uses the display colors of the predicted paths of surrounding vehicles and the planned path of the host vehicle as colors indicating the possibility of approach. In FIG. 17, the display color of the grid indicating the position where the predicted path of the surrounding vehicle and the planned path of the host vehicle overlap is set to dark gray, and the display colors of the grids of the predicted paths of the other surrounding vehicles and the planned path of the host vehicle are set to light gray.

[0091] Also, in FIG. 17, the approach determination unit 103 determines whether there is a possibility that a surrounding vehicle will merge into or cut into the driving lane of the host vehicle. The information generation unit 104d displays information indicating that there is no possibility of merging or cutting in for the grids in front of and behind the host vehicle on the driving lane of the host vehicle that are determined by the approach determination unit 103 to have no possibility of merging or cutting in by the surrounding vehicle. In FIG. 17, as indicated by reference numeral 43, the grids with no possibility of merging or cutting in are displayed with white frames. In FIG. 17, it can be seen that there is a possibility that a surrounding vehicle will merge in front of the host vehicle, and there is no possibility that a surrounding vehicle will merge behind the host vehicle.

[0092] Also, in FIG. 17, the information generation unit 104d includes in the display information the display of marks indicating the acceleration control of each vehicle. In FIG. 17, when the arrow of the mark indicating the acceleration control of each vehicle points in the traveling direction, it indicates acceleration control, and when the arrow points in the direction opposite to the traveling direction, it indicates deceleration control.

[0093] Also, as indicated by reference numeral 44 in FIG. 17, the information generation unit 104d includes in the display information the display of the speed meter of the host vehicle.

[0094] Also, as shown in FIG. 11, when the approach determination unit 103 determines that a surrounding vehicle has approached the host vehicle within a certain distance, the information generation unit 104c may display the surrounding vehicle. In FIG. 17, as indicated by reference numeral 45, a frame surrounding the surrounding vehicle is displayed.

[0095] As described above, in the information processing apparatus 1 according to the fourth embodiment, the information generation unit 104d generates display information for displaying, in a grid pattern, information indicating the possibility of approach at a position on the driving lane of the host vehicle where the predicted path of the surrounding vehicle overlaps with the planned path of the host vehicle. As a result, in the information processing apparatus 1 according to the fourth embodiment, it is possible to assist the driver in intuitively understanding the intention of the driving plan of the host vehicle, and it is possible to reduce the sense of discomfort with respect to the driving plan of the host vehicle. That is, in the information processing apparatus 1 according to the fourth embodiment, it is possible to notify the influence of the behavior prediction of the surrounding vehicle on the driving plan of the host vehicle, and it is possible to assist the driver in understanding the intention of the driving plan of the host vehicle.

[0096] Further, in the information processing apparatus 1 according to the fourth embodiment, by generating display information for simplifying and displaying various types of information in a grid pattern, it is possible to visualize the approximate flow of the surrounding vehicles and the host vehicle. As a result, in the information processing apparatus 1 according to the fourth embodiment, it becomes easier to grasp the approximate position of the merging or cutting in by the surrounding vehicle, it becomes easier to grasp the surrounding vehicle that performs the merging or cutting in, it becomes easier to grasp the predicted path and the approaching direction of the surrounding vehicle, and it also becomes easier to clearly grasp whether the cutting in is in front of or behind the host vehicle.

[0097] Note that, in the above, the case where the information generation unit 104d is changed based on the information generation unit 104b in the second embodiment is shown. However, the present invention is not limited to this, and the information generation unit 104d may be changed based on the information generation unit 104 in the first embodiment, and the same effects as described above can be obtained.

[0098] As described above, according to the fourth embodiment, the information generation unit 104d generates display information for displaying, in a grid pattern, information indicating the possibility of approach at a position on the driving lane of the host vehicle where the predicted path of the surrounding vehicle overlaps with the planned path of the host vehicle, based on the information acquired by the surrounding vehicle information acquisition unit 101 and the information acquired by the host vehicle information acquisition unit 102. As a result, the information processing method according to the fourth embodiment can assist a driver in understanding the intention of the driving plan of the host vehicle as compared with the prior art.

[0099] Embodiment 5. In the information processing apparatus 1 according to the fifth embodiment, a configuration in which the display form is changed with respect to the information processing apparatus 1 according to the second embodiment will be described. FIG. 18 is a block diagram showing a configuration example of the information processing apparatus 1 according to the fifth embodiment. In the information processing apparatus 1 according to the fourth embodiment shown in this FIG. 18, the information generation unit 104b is changed to the information generation unit 104e with respect to the information processing apparatus 1 according to the second embodiment shown in FIG. 7. Other configuration examples in the information processing apparatus 1 according to the fifth embodiment are the same as the configuration example of the information processing apparatus 1 according to the second embodiment, and only the different parts will be described with the same reference numerals.

[0100] The information generation unit 104e generates display information. Based on the information acquired by the host vehicle information acquisition unit 102 and the information acquired by the surrounding vehicle information acquisition unit 101, this information generation unit 104e generates display information for displaying the degree of proximity between the surrounding vehicles and the host vehicle by the overlap and color of circles for each vehicle as information indicating the presence or absence of the possibility of approach.

[0101] That is, for example, for the surrounding vehicles determined by the approach determination unit 103 not to have the possibility of approaching within a certain distance with respect to the host vehicle, the information generation unit 104e displays the symbols of the surrounding vehicles covered with individual circles. Further, the information generation unit 104e sets the display color of the above circle to a color indicating the absence of the possibility of approach. Also, for example, for the host vehicle determined by the approach determination unit 103 not to have the possibility of approaching within a certain distance for all surrounding vehicles, the information generation unit 104e displays the symbol of the host vehicle covered with an individual circle. Further, the information generation unit 104e sets the display color of the above circle to a color indicating the absence of the possibility of approach. On the other hand, for example, when the approach determination unit 103 determines that there is a possibility that a surrounding vehicle approaches within a certain distance with respect to the host vehicle, the information generation unit 104e superimposes a circle covering the surrounding vehicle and a circle covering the host vehicle along the predicted path of the surrounding vehicle and the planned path of the host vehicle for display. Further, the information generation unit 104e sets the display color of the circle to a color corresponding to the degree of approach.

[0102] The functions of the information generation unit 104e are the same as those of the information generation unit 104b in the second embodiment in other respects.

[0103] Next, a specific example of the operation of the information processing apparatus 1 according to the fifth embodiment will be described with reference to FIG. 19. In FIG. 19, a case where a surrounding vehicle merges into the travel lane of the host vehicle will be described as an example. Further, FIG. 19 shows a case where there is a possibility that a surrounding vehicle approaches within a certain distance with respect to the host vehicle.

[0104] As shown in FIG. 19, the information generation unit 104e generates display information for displaying the degree of approach between the host vehicle and the surrounding vehicles by the overlap and color of the circles for each vehicle.

[0105] That is, for example, for a surrounding vehicle determined by the approach determination unit 103 not to have a possibility of approaching within a certain distance with respect to the host vehicle, the information generation unit 104e displays the symbol of the surrounding vehicle covered with an individual circle. Further, the information generation unit 104e sets the display color of the circle to a color indicating no possibility of approach. Further, for example, for the host vehicle determined by the approach determination unit 103 that there is no possibility of approaching within a certain distance for all surrounding vehicles, the information generation unit 104e displays the symbol of the host vehicle covered with an individual circle. Further, the information generation unit 104e sets the display color of the circle to a color indicating no possibility of approach.

[0106] In FIG. 19, as indicated by reference numeral 51, when the surrounding vehicles and the own vehicle are not approaching other vehicles alone, a circle centered on the central portion of the vehicle symbol is displayed. Also, in FIG. 19, the display color of the circle is light gray.

[0107] In FIG. 19, the leading surrounding vehicle is covered with an individual circle, and it can be seen that there is no possibility of this leading surrounding vehicle approaching.

[0108] On the other hand, for example, when the approach determination unit 103 determines that a surrounding vehicle may approach within a certain distance with respect to the own vehicle, the information generation unit 104e displays the circle covering the surrounding vehicle and the circle covering the own vehicle by overlapping them along the predicted path of the surrounding vehicle and the planned path of the own vehicle. Also, the information generation unit 104e sets the display color of the circle to a color corresponding to the degree of approach.

[0109] In FIG. 19, as indicated by reference numeral 52, when the surrounding vehicles and the own vehicle may approach within a certain distance with respect to other vehicles, the circles of the surrounding vehicles and the own vehicle overlap along the predicted path of the surrounding vehicle and the planned path of the own vehicle. Also, in FIG. 19, the display color of the circle is set to gray that becomes darker as the approaching distance becomes shorter.

[0110] In FIG. 19, the circles of the own vehicle and the second surrounding vehicle are overlapped, and it can be seen that this second surrounding vehicle may approach the own vehicle. Also, the degree of approach can be understood from the color of the circle.

[0111] As described above, in the information processing apparatus 1 according to Embodiment 5, display information for expressing the proximity of the surrounding vehicle and the host vehicle in terms of the color and the overlap of circles is generated from the predicted path of the surrounding vehicle and the planned path of the host vehicle. As a result, the information processing apparatus 1 according to Embodiment 5 can assist the driver in intuitively understanding the intention of the driving plan of the host vehicle, and can reduce the sense of discomfort with respect to the driving plan of the host vehicle. That is, the information processing apparatus 1 according to Embodiment 5 can notify the influence of the behavior prediction of the surrounding vehicle on the driving plan of the host vehicle, and can assist the driver in understanding the intention of the driving plan of the host vehicle.

[0112] Further, in the information processing apparatus 1 according to Embodiment 5, by generating display information for displaying information indicating the degree of influence by the surrounding vehicles of the host vehicle, that is, the degree of approach, the flow of the surrounding vehicles and the host vehicle can be visualized, and the degree of influence by the surrounding vehicles of the host vehicle can be visualized. As a result, in the information processing apparatus 1 according to Embodiment 5, it becomes easier to grasp the position and the sense of distance of the merging or cutting-in by the surrounding vehicle, it becomes easier to grasp the surrounding vehicle that performs the merging or cutting-in, it becomes easier to grasp the predicted path and the approaching direction of the surrounding vehicle, and it becomes easier to grasp whether the cut-in is in front of or behind the host vehicle.

[0113] Note that, above, the case where the information generation unit 104b in Embodiment 2 is changed to the information generation unit 104e has been shown. However, the present invention is not limited to this, and the information generation unit 104 in Embodiment 1 may be changed to the information generation unit 104e, and the same effects as above can be obtained.

[0114] As described above, according to this Embodiment 5, the information generation unit 104 generates, as information indicating the possibility of approach, display information for displaying the degree of approach between the surrounding vehicle and the host vehicle by the overlap and color of circles for each vehicle, based on the information acquired by the surrounding vehicle information acquisition unit 101 and the information acquired by the host vehicle information acquisition unit 102. As a result, the information processing method according to Embodiment 5 can assist a driver in understanding the intention of the driving plan of the host vehicle compared with the prior art.

[0115] Finally, with reference to FIG. 20, a hardware configuration example of the information processing apparatus 1 according to Embodiments 1 to 5 will be described. Hereinafter, a hardware configuration example of the information processing apparatus 1 according to Embodiment 1 will be described, but the same applies to the hardware configuration examples of the information processing apparatus 1 according to Embodiments 2 to 5. Each function of the surrounding vehicle information acquisition unit 101, the host vehicle information acquisition unit 102, the approach determination unit 103, the information generation unit 104, and the information output unit 105 in the information processing apparatus 1 is realized by a processing circuit 501. As shown in FIG. 20A, the processing circuit 501 may be dedicated hardware, or as shown in FIG. 20B, it may be a CPU (Central Processing Unit, also referred to as a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, a processor, or a DSP (Digital Signal Processor)) 502 that executes a program stored in a memory 503.

[0116] When the processing circuit 501 is dedicated hardware, the processing circuit 501 corresponds to, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof. Each function of each of the surrounding vehicle information acquisition unit 101, the host vehicle information acquisition unit 102, the approach determination unit 103, the information generation unit 104, and the information output unit 105 may be realized by the processing circuit 501, or the functions of each unit may be collectively realized by the processing circuit 501.

[0117] When the processing circuit 501 is a CPU 502, the functions of the surrounding vehicle information acquisition unit 101, the host vehicle information acquisition unit 102, the approach determination unit 103, the information generation unit 104, and the information output unit 105 are realized by software, firmware, or a combination of software and firmware. The software and firmware are described as programs and stored in the memory 503. The processing circuit 501 realizes the functions of each unit by reading and executing the programs stored in the memory 503. That is, the information processing apparatus 1 includes a memory 503 for storing a program that, when executed by the processing circuit 501, causes each step shown in, for example, FIG. 2 to be executed as a result. Also, these programs can be said to cause a computer to execute the procedures and methods of the surrounding vehicle information acquisition unit 101, the host vehicle information acquisition unit 102, the approach determination unit 103, the information generation unit 104, and the information output unit 105. Here, examples of the memory 503 include non-volatile or volatile semiconductor memories such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable ROM), and EEPROM (Electrically EPROM), magnetic disks, flexible disks, optical disks, compact disks, mini disks, or DVDs (Digital Versatile Discs).

[0118] Note that, regarding the functions of the surrounding vehicle information acquisition unit 101, the host vehicle information acquisition unit 102, the approach determination unit 103, the information generation unit 104, and the information output unit 105, part of them may be realized by dedicated hardware and part of them may be realized by software or firmware. For example, for the surrounding vehicle information acquisition unit 101, its function can be realized by a processing circuit 501 as dedicated hardware, and for the host vehicle information acquisition unit 102, the approach determination unit 103, the information generation unit 104, and the information output unit 105, their functions can be realized by the processing circuit 501 reading and executing the programs stored in the memory 503.

[0119] In this way, the processing circuit 501 can implement each of the above functions by hardware, software, firmware, or a combination thereof.

[0120] Note that free combinations of each embodiment, or modifications of any components of each embodiment, or omissions of any components in each embodiment are possible.

[0121] Hereinafter, aspects of the present disclosure will be collectively described as appendices.

[0122] (Appendix 1) A surrounding vehicle information acquisition unit that acquires information related to the behavior prediction of surrounding vehicles, A host vehicle information acquisition unit that acquires information related to the driving plan of the host vehicle, An approach determination unit that determines whether there is a possibility that a surrounding vehicle approaches within a certain distance with respect to the host vehicle based on the information acquired by the surrounding vehicle information acquisition unit and the information acquired by the host vehicle information acquisition unit, An information generation unit that generates information indicating the presence or absence of such a possibility of approach when it is determined by the approach determination unit that there is a possibility that a surrounding vehicle approaches within a certain distance with respect to the host vehicle An information processing apparatus comprising the same. (Appendix 2) The information generation unit generates, as information indicating the presence or absence of the possibility of approach, information related to the distance from a point where the predicted route of the surrounding vehicle overlaps with the planned route of the host vehicle to a point traced back by a certain time or distance in the planned route of the host vehicle, based on the information acquired by the surrounding vehicle information acquisition unit and the information acquired by the host vehicle information acquisition unit The information processing apparatus according to Appendix 1, characterized in that. (Appendix 3) The information generation unit generates, as information indicating the presence or absence of the possibility of approach, information related to a mark indicating the presence or absence of such a possibility of approach The information processing apparatus according to Appendix 1 or Appendix 2, characterized in that. (Appendix 4) The information generation unit generates information regarding a color indicating the presence or absence of the possibility of approach, as information indicating the presence or absence of the possibility of approach. The information processing apparatus according to any one of Appendices 1 to 3, characterized by this. (Appendix 5) Based on the information acquired by the surrounding vehicle information acquisition unit and the information acquired by the host vehicle information acquisition unit, the information generation unit generates information regarding a line segment connecting the current position of the surrounding vehicle and the position after a predetermined time has elapsed, and a line segment connecting the current position of the host vehicle and the position after a predetermined time has elapsed. The information processing apparatus according to any one of Appendices 1 to 4, characterized by this. (Appendix 6) Based on the information acquired by the surrounding vehicle information acquisition unit and the information acquired by the host vehicle information acquisition unit, the information generation unit generates information regarding a mark indicating the current acceleration control of the surrounding vehicle and a mark indicating the current acceleration control of the host vehicle. The information processing apparatus according to any one of Appendices 1 to 5, characterized by this. (Appendix 7) Based on the information acquired by the surrounding vehicle information acquisition unit and the information acquired by the host vehicle information acquisition unit, the information generation unit generates display information for displaying information indicating the presence or absence of the possibility of approach at a position on the travel lane of the host vehicle where the predicted path of the surrounding vehicle and the planned path of the host vehicle overlap. The information processing apparatus according to any one of Appendices 1 to 6, characterized by this. (Appendix 8) Based on the information acquired by the surrounding vehicle information acquisition unit and the information acquired by the host vehicle information acquisition unit, the information generation unit generates display information for displaying in a grid pattern information indicating the presence or absence of the possibility of approach at a position on the travel lane of the host vehicle where the predicted path of the surrounding vehicle and the planned path of the host vehicle overlap. The information processing apparatus according to any one of Appendices 1 to 6, characterized by this. (Appendix 9) Based on the information acquired by the surrounding vehicle information acquisition unit and the information acquired by the host vehicle information acquisition unit, the information generation unit generates display information for displaying the degree of proximity between the surrounding vehicles and the host vehicle by the overlap and color of circles for each vehicle as information indicating the presence or absence of the possibility of proximity. The information processing apparatus according to any one of Appendices 1 to 6, characterized by the above. (Appendix 10) Based on the information acquired by the surrounding vehicle information acquisition unit and the information acquired by the host vehicle information acquisition unit, the proximity determination unit determines whether a surrounding vehicle is a surrounding vehicle that may merge or cut in, and whether the surrounding vehicle may approach within a certain distance of the host vehicle. The information processing apparatus according to any one of Appendices 1 to 9, characterized by the above. (Appendix 11) The information regarding the driving plan of the host vehicle acquired by the host vehicle information acquisition unit is information based on the information regarding the behavior prediction of the surrounding vehicles. The information processing apparatus according to any one of Appendices 1 to 10, characterized by the above. (Appendix 12) A step in which the surrounding vehicle information acquisition unit acquires information regarding the behavior prediction of the surrounding vehicles; A step in which the host vehicle information acquisition unit acquires information regarding the driving plan of the host vehicle; A step in which the proximity determination unit determines whether a surrounding vehicle may approach within a certain distance of the host vehicle based on the information acquired by the surrounding vehicle information acquisition unit and the information acquired by the host vehicle information acquisition unit; A step in which the information generation unit generates information indicating the presence or absence of the possibility of proximity when it is determined by the proximity determination unit that a surrounding vehicle may approach within a certain distance of the host vehicle; An information processing method comprising the above. (Appendix 13) An information processing program for causing a computer to function as the information processing apparatus according to any one of Appendices 1 to 12.

Explanation of Signs

[0123] 1 Information processing apparatus, 101 Surrounding vehicle information acquisition unit, 102 Own vehicle information acquisition unit, 103 Approach determination unit, 104, 104b, 104c, 104d, 104e Information generation unit, 105 Information output unit, 501 Processing circuit, 502 CPU, 503 Memory.

Claims

1. A surrounding vehicle information acquisition unit that acquires information related to the behavior prediction of surrounding vehicles, A host vehicle information acquisition unit that acquires information related to the behavior plan of the host vehicle, An approach determination unit that determines whether there is a possibility that a surrounding vehicle approaches within a certain distance from the host vehicle based on the information acquired by the surrounding vehicle information acquisition unit and the information acquired by the host vehicle information acquisition unit, An information generation unit that generates information indicating the presence or absence of such a possibility of approach when the approach determination unit determines that there is a possibility that a surrounding vehicle approaches within a certain distance from the host vehicle An information processing apparatus comprising the same.

2. Based on the information acquired by the surrounding vehicle information acquisition unit and the information acquired by the host vehicle information acquisition unit, the information generation unit generates information related to the distance from a point that is a certain time or distance back from a point where the predicted path of the surrounding vehicle overlaps with the planned path of the host vehicle among the planned paths of the host vehicle as information indicating the presence or absence of the possibility of approach The information processing apparatus according to claim 1, characterized in that.

3. The information generation unit generates information related to a mark indicating the presence or absence of the possibility of approach as information indicating the presence or absence of the possibility of approach The information processing apparatus according to claim 1, characterized in that.

4. The information generation unit generates information related to a color indicating the presence or absence of the possibility of approach as information indicating the presence or absence of the possibility of approach The information processing apparatus according to claim 1, characterized in that.

5. Based on the information acquired by the surrounding vehicle information acquisition unit and the information acquired by the host vehicle information acquisition unit, the information generation unit generates information related to a line segment connecting the current position of the surrounding vehicle and the position after a predetermined time has elapsed, and a line segment connecting the current position of the host vehicle and the position after a predetermined time has elapsed The information processing apparatus according to claim 1, characterized in that.

6. Based on the information acquired by the surrounding vehicle information acquisition unit and the information acquired by the host vehicle information acquisition unit, the information generation unit generates information related to a mark indicating the current acceleration control of the surrounding vehicle and a mark indicating the current acceleration control of the host vehicle The information processing apparatus according to claim 1, characterized in that.

7. Based on the information acquired by the surrounding vehicle information acquisition unit and the information acquired by the host vehicle information acquisition unit, the information generation unit generates display information for displaying information indicating the possibility of approach at a position on the driving lane of the host vehicle where the predicted path of the surrounding vehicle overlaps with the planned path of the host vehicle. The information processing apparatus according to claim 1, characterized in that.

8. Based on the information acquired by the surrounding vehicle information acquisition unit and the information acquired by the host vehicle information acquisition unit, the information generation unit generates display information for displaying in a grid pattern information indicating the possibility of approach at a position on the driving lane of the host vehicle where the predicted path of the surrounding vehicle overlaps with the planned path of the host vehicle. The information processing apparatus according to claim 1, characterized in that.

9. Based on the information acquired by the surrounding vehicle information acquisition unit and the information acquired by the host vehicle information acquisition unit, as information indicating the possibility of approach, the information generation unit generates display information for displaying the degree of approach between the surrounding vehicle and the host vehicle by the overlap and color of circles for each vehicle. The information processing apparatus according to claim 1, characterized in that.

10. Based on the information acquired by the surrounding vehicle information acquisition unit and the information acquired by the host vehicle information acquisition unit, the approach determination unit determines whether a surrounding vehicle that may merge or cut in is likely to approach within a certain distance of the host vehicle. The information processing apparatus according to claim 1, characterized in that.

11. The information regarding the driving plan of the host vehicle acquired by the host vehicle information acquisition unit is information based on the information regarding the behavior prediction of the surrounding vehicles. The information processing apparatus according to claim 1, characterized in that.

12. A step in which the surrounding vehicle information acquisition unit acquires information regarding the behavior prediction of the surrounding vehicles; A step in which the host vehicle information acquisition unit acquires information regarding the driving plan of the host vehicle; A step in which the approach determination unit determines whether a surrounding vehicle is likely to approach within a certain distance of the host vehicle based on the information acquired by the surrounding vehicle information acquisition unit and the information acquired by the host vehicle information acquisition unit; A step in which the information generation unit generates information indicating the possibility of approach when the approach determination unit determines that a surrounding vehicle is likely to approach within a certain distance of the host vehicle; An information processing method comprising:

13. An information processing program for causing a computer to function as the information processing apparatus according to any one of claims 1 to 12.

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