Travelling support device

Abstract

To provide a travelling support device that can suppress an occupant from misrecognizing a deceleration-object that is subjected to deceleration-support processing.SOLUTION: A travelling support device (12) is provided with support means (121) that executes deceleration-support processing for supporting deceleration of a vehicle (1) until the vehicle reaches deceleration-objects, and display control means (123) that controls a display device (15) so that first notification information for notifying an occupant of the deceleration-objects that are subjected to the deceleration-support processing is displayed on a first display region (151) of the display device. When first and second objects respectively are detected as the deceleration objects and when the second object is subjected to the deceleration-support processing but the first object is not subjected to the deceleration-support processing, the display control means controls the display device so that second notification information for notifying the occupant of the first object is displayed on a second display region (152) of the display device.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to the technical field of a driving support device that supports deceleration of a vehicle when a deceleration target indicating that deceleration of the vehicle is required is detected.

Background Art

[0002] An example of such a driving support device is described in Patent Document 1. Specifically, the driving support device described in Patent Document 1 detects a temporary stop position in front of the host vehicle and performs a support operation to automatically decelerate the vehicle so as to stop at the detected temporary stop position. Further, the driving support device described in Patent Document 1 notifies the driver of the start of the support operation.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When deceleration support processing for supporting deceleration of a vehicle is executed, it is preferable to display a deceleration target (that is, an object indicating that deceleration of the vehicle is required, for example, at least one of a preceding vehicle, a signal, and a sign) that is the target of the deceleration support processing to the vehicle occupant. This is because the occupant can recognize what deceleration target the deceleration support processing is being executed for.

[0005] Here, the deceleration target object for which deceleration support processing is targeted may switch from the first deceleration target object to a newly detected second deceleration target object. For example, in a situation where deceleration support processing is being executed for a traffic signal detected as the first deceleration target object, if a preceding vehicle that has cut in front of the host vehicle is detected as the second deceleration target object, the deceleration target object for which deceleration support processing is targeted may switch from the traffic signal to the preceding vehicle. In this case, the second deceleration target object that has newly become the target of deceleration support processing is displayed to the vehicle occupant. On the other hand, it is also preferable that the first deceleration target object that has hitherto been the target of deceleration support processing is also displayed to the vehicle occupant. This is because it is preferable for the occupant to pay attention to the first deceleration target object that has hitherto been the target of deceleration support processing. However, if the first deceleration target object that is not the target of deceleration support processing continues to be displayed as it is in a situation where deceleration support processing is being performed for the second deceleration target object, there is a technical problem that the occupant may misidentify the deceleration target object that is the target of deceleration support processing.

[0006] An object of the present invention is to provide a driving support device capable of suppressing misrecognition by a vehicle occupant of a deceleration target object for which deceleration support processing is targeted.

Means for Solving the Problem

[0007] One aspect of the driving support device of the present invention is a driving support device that executes a deceleration support process for supporting deceleration of the vehicle when an object indicating that deceleration of the vehicle is necessary is detected in front of the vehicle, and includes a control unit that controls a display device to display information indicating the object in a first display area or a second display area different from the first display area according to a determination result as to whether the object is a target of the deceleration support process. When a first object that is the object is detected, the control unit determines whether the first object is a target of the deceleration support process, and in response to the determination that the first object is a target of the deceleration support process, selects the first display area out of the first display area and the second display area of the display device, and controls the display device to display first information indicating the first object in the first display area, and controls the display device so that the first information is not displayed in a display area other than the first display area of the display device. When a second object that is the object and is of a type different from the first object is detected, the control unit determines whether the second object is a target of the deceleration support process, and in response to the determination that the second object is a target of the deceleration support process, selects the first display area out of the first display area and the second display area of the display device, and controls the display device to display second information indicating the second object in the first display area, and is configured to control the display device so that the second information is not displayed in a display area other than the first display area of the display device, and the first information and the second information are different from each other.

Effect of the Invention

[0008] According to one aspect of the driving support device of the present invention, first notification information for notifying a passenger of a second object that has been detected as a deceleration target and is a target of the deceleration support process is displayed in the first display area, and second notification information for notifying a passenger of a first object that has been detected as a deceleration target but is not a target of the deceleration support process is displayed in the second display area. Therefore, misrecognition by the passenger of the deceleration target that is the target of the deceleration support process is suppressed.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Mode for Carrying Out the Invention

[0010] Hereinafter, an embodiment of the driving support device will be described with reference to the drawings. Hereinafter, the description will proceed using a vehicle 1 equipped with an embodiment of the driving support device.

[0011] (1) Configuration of vehicle 1 First, with reference to FIG. 1, the configuration of the vehicle 1 according to the present embodiment will be described. FIG. 1 is a block diagram showing the configuration of the vehicle 1 according to the present embodiment.

[0012] As shown in FIG. 1, the vehicle 1 includes a camera 11, an ECU (Electrical Control Unit) 12 which is a specific example of the "driving support device" in the appended note described later, a brake actuator 13, a brake device 14, and a display 15.

[0013] The camera 11 is an imaging device that images the front of the vehicle 1. The image captured by the camera 11 (that is, the image showing the situation in front of the vehicle 1) is output from the camera 11 to the ECU 12.

[0014] The ECU 12 performs a deceleration support operation. The deceleration support operation includes a driving support operation for decelerating the vehicle 1 to a target speed until the vehicle 1 reaches the target position. In addition, when the target speed is set to zero in the deceleration support operation, the deceleration support operation for decelerating the vehicle 1 to the target speed until the vehicle 1 reaches the target position is substantially equivalent to a stop support operation for stopping the vehicle 1 at the target position. Therefore, in the present embodiment, the "deceleration support operation" also includes the "stop support operation".

[0015] The ECU 12 further performs a sign support operation. The sign support operation is a driving support operation for displaying a sign notification image for notifying at least one of a road sign and a traffic signal detected in front of the vehicle 1 to the occupant of the vehicle 1. The sign notification image is a specific example of the "sign notification information" in the appendix described later.

[0016] To perform the deceleration support operation and the sign support operation, the ECU 12 includes, as processing blocks logically realized inside the ECU 12, a deceleration support unit 121 which is a specific example of "support means" in the appended description below, a sign support unit 122, and a display control unit 123 which is a specific example of "display control means" in the appended description below. Incidentally, although the details of the operations of the deceleration support unit 121, the sign support unit 122, and the display control unit 123 will be described in detail later (see FIGS. 3 and 5, etc.), their outlines will be briefly explained. The deceleration support unit 121 detects a predetermined deceleration target indicating that deceleration of the vehicle 1 is necessary from the image captured by the camera 11. Incidentally, the deceleration target is a specific example of "deceleration target object" in the appended description below. Further, the deceleration support unit 121 controls the brake actuator 13 so that the vehicle 1 decelerates to the target speed before the vehicle 1 reaches the deceleration target. The sign support unit 122 detects at least one of road signs and traffic lights from the image captured by the camera 11. Incidentally, since at least one of the road signs and traffic lights is an object for instructing the traffic of the vehicle 1 on the road, it may be referred to as a traffic indicator. The display control unit 123 controls the display 15 to display a sign notification image for notifying at least one of the road signs and traffic lights detected by the sign support unit 122 to the passengers of the vehicle 1. Further, the display control unit 123 controls the display 15 to display a deceleration notification image for notifying the deceleration target detected by the deceleration support unit 121 to the passengers of the vehicle 1. Incidentally, the deceleration notification image is a specific example of "deceleration notification information" in the appended description below.

[0017] The brake actuator 13 controls a brake device 14 capable of braking wheels (not shown) so as to apply a braking force to the vehicle 1 under the control of the deceleration support unit 121. As a result, the vehicle 1 decelerates. That is, the vehicle 1 decelerates to the target speed before reaching the target position without requiring the operation of the brake pedal by the passenger. Alternatively, the operation of the brake pedal by the passenger is assisted for the purpose of decelerating the vehicle 1 to the target speed before the vehicle 1 reaches the target position.

[0018] The display 15 is a display device capable of displaying a desired image. In the present embodiment, as described above, the display 15 displays a deceleration notification image for notifying the vehicle 1 occupants of a deceleration target under the control of the display control unit 123. Further, the display 15 displays a sign notification image for notifying the vehicle 1 occupants of at least one of road signs and traffic lights under the control of the display control unit 123.

[0019] In particular, in the present embodiment, the display surface of the display 15 includes a deceleration display area 151 for displaying a deceleration notification image and a sign display area 152 for displaying a sign notification image. That is, the display surface of the display 15 is divided into a deceleration display area 151 for displaying a deceleration notification image and a sign display area 152 for displaying a sign notification image. Specifically, as shown in FIG. 2, which is a plan view showing the deceleration notification image and the sign notification image displayed on the display 15, the display 15 displays the deceleration notification image in the deceleration display area 151 and displays the sign notification image in a sign display area 152 different from the deceleration display area 151. Note that FIG. 2 shows an example in which the deceleration notification image includes a figure simulating a preceding vehicle, which is a specific example of a deceleration target (or an image of the deceleration target captured by the camera 11), and a figure simulating the vehicle 1. Further, FIG. 2 shows an example in which the sign notification image includes a figure simulating a traffic light (or an image of the traffic light captured by the camera 11).

[0020] At least one of the road signs and traffic signals detected by the sign support unit 122 may also be a deceleration target in some cases. That is, there is a possibility that the deceleration target detected by the deceleration support unit 121 coincides with at least one of the road signs and traffic signals detected by the sign support unit 122. In this case, as will be described in detail later, in order to avoid duplicate displays, the display 15 may display the deceleration notification image in the deceleration display area 151 while not displaying the sign notification image in the sign display area 152. On the other hand, when the deceleration target detected by the deceleration support unit 121 does not coincide with at least one of the road signs and traffic signals detected by the sign support unit 122, the display 15 displays the deceleration notification image in the deceleration display area 151 and also displays the sign notification image in the sign display area 152.

[0021] The visibility of the sign display area 152 may be lower than that of the deceleration display area 151. For example, the sign display area 152 may be smaller than the deceleration display area 151. For example, the sign display area 152 may be arranged at a position farther from the center of the display surface of the display 15 than the deceleration display area 151. For example, the luminance of the sign display area 152 may be lower than that of the deceleration display area 151. For example, the brightness of the sign display area 152 may be darker than that of the deceleration display area 151. For example, the resolution of the sign display area 152 may be lower than that of the deceleration display area 151. However, the visibility of the sign display area 152 may be higher than that of the deceleration display area 151 or may be the same.

[0022] (2) Operations performed by ECU 12 Subsequently, the deceleration support operation and the sign support operation performed by the ECU 12 will be described in order. Note that the ECU 12 typically performs the deceleration support operation and the sign support operation in parallel.

[0023] (2-1) Deceleration support operation First, with reference to FIG. 3, the deceleration support operation performed by the ECU 12 will be described. FIG. 3 is a flowchart showing the flow of the deceleration support operation performed by the ECU 12.

[0024] As shown in FIG. 3, the deceleration support unit 121 determines whether or not a predetermined deceleration target indicating that deceleration of the vehicle 1 is necessary (in other words, directly, indirectly, or implicitly suggesting the necessity of deceleration of the vehicle 1) is detected in the image captured by the camera 11 (step S11). Incidentally, while the deceleration support operation shown in FIG. 3 is being performed, the camera 11 continues to capture the front of the vehicle 1. For this reason, while the deceleration support operation shown in FIG. 3 is being performed, the deceleration support unit 121 continues to execute a process of detecting (in other words, recognizing) a deceleration target in the image captured by the camera 11.

[0025] As described above, in this embodiment, the deceleration assistance operation includes the stop assistance operation. Therefore, the deceleration target includes not only the target indicating that deceleration of the vehicle 1 is necessary, but also the target indicating that the vehicle 1 needs to stop. As an example of such a deceleration target, there is at least one of road signs (i.e., signs installed on the road), road markings (i.e., markings drawn on the road surface), and traffic lights that obligate or recommend deceleration or stop of the vehicle 1 by law. As an example of such a road sign, there is at least one of a road sign obligating a full stop (i.e., a road sign indicating the sign "STOP"), a road sign obligating slow driving, a road sign indicating the presence of a crosswalk, and a road sign indicating the presence of a school. As an example of such a road marking, there is at least one of a stop line indicating a full stop position, a road marking indicating a prohibited stop area (e.g., a position near the entrance and exit of a police station or a fire station), a road marking indicating a school zone, a crosswalk, and a road marking warning of the presence of a crosswalk ahead. As another example of the deceleration target, there is an object target that, although not obligated or recommended by law for the vehicle 1 to decelerate or stop, it is preferable for the vehicle 1 to decelerate or stop to avoid a collision with the vehicle 1. As an example of such an object target, there is at least one of a preceding vehicle traveling in front of the vehicle 1, another vehicle parked on the road ahead of the vehicle 1, an obstacle fallen on the road ahead of the vehicle 1, and a structure existing in front of the vehicle 1 (e.g., a guardrail existing in front of the vehicle 1 traveling towards a T-intersection).

[0026] As a result of the determination in step S11, when it is determined that no deceleration target has been detected (step S11: No), the ECU 12 ends the deceleration assistance operation shown in FIG. 3. When the deceleration assistance operation shown in FIG. 3 ends, the ECU 12 restarts the deceleration assistance operation shown in FIG. 3 after a predetermined period has elapsed.

[0027] On the other hand, if it is determined that a deceleration target has been detected as a result of the determination in step S11 (step S11: Yes), the deceleration support unit 121 calculates the target deceleration D_target of the vehicle 1 (step S12). Specifically, the deceleration support unit 121 sets a target position at which the deceleration of the vehicle 1 should be completed based on the detected deceleration target. For example, the deceleration support unit 121 may set the target position at the position of the detected deceleration target. For example, the deceleration support unit 121 may set the target position in front of the position of the detected deceleration target. Thereafter, the deceleration support unit 121 calculates the target deceleration D_target necessary to decelerate the vehicle 1 so that the speed of the vehicle 1 becomes the target speed V_target when the vehicle 1 reaches the target position. For example, the deceleration support unit 121 may use the formula D_target = (V1 - V_target)^2 / d1 based on the distance d1 from the current position of the vehicle 1 (or the position at which the vehicle 1 should actually start decelerating by the deceleration support operation) to the target position and the current vehicle speed V1 of the vehicle 1 to calculate the target deceleration D_target.

[0028] Thereafter, the deceleration support unit 121 controls the vehicle 1 (particularly, the brake actuator 13) so that the vehicle 1 decelerates at the target deceleration D_target calculated in step S12 (step S13). That is, the deceleration support unit 121 controls the brake actuator 13 to apply a braking force to the vehicle 1 that can decelerate the vehicle 1 at the calculated target deceleration D_target. As a result, the vehicle 1 decelerates at the target deceleration D_target. Note that the deceleration support unit 121 may start controlling the brake actuator 13 so that the vehicle 1 decelerates at the target deceleration D_target when the vehicle 1 reaches the position at which the vehicle 1 should actually start decelerating by the deceleration support operation. Alternatively, the deceleration support unit 121 may start controlling the brake actuator 13 so that the vehicle 1 decelerates at the target deceleration D_target when the target deceleration D_target is calculated.

[0029] When a deceleration target is detected in step S11, the display control unit 123 further controls the display 15 to display a deceleration notification image for notifying the detected deceleration target to the occupant in the deceleration display area 151 of the display 15 (step S14). Further, the deceleration support unit 121 notifies the sign support unit 122 of information regarding the deceleration target (step S15).

[0030] Note that depending on the situation of the vehicle 1, a plurality of deceleration targets may be detected in step S11. In this case, the deceleration support unit 121 may select one of the plurality of deceleration targets and execute the processes of steps S12 to S15 described above (hereinafter referred to as "deceleration support process") for the selected one deceleration target. That is, the deceleration support unit 121 may calculate a target deceleration D_target based on the selected one deceleration target (step S12), and control the brake actuator 13 so that the vehicle 1 decelerates at the target deceleration D_target calculated based on the selected one deceleration target (step S13). The display control unit 123 may control the display 15 to display a deceleration notification image for notifying the selected one deceleration target to the occupant (step S14). The deceleration support unit 121 may notify the sign support unit 122 of information regarding the selected one deceleration target (step S15). On the other hand, the deceleration support unit 121 does not have to execute the processes of steps S12 to S15 (deceleration support process) described above for the remaining deceleration targets that are not selected among the plurality of deceleration targets.

[0031] Furthermore, the deceleration support unit 121 determines whether it has acquired information regarding the sign warning operation from the sign support unit 122 (step S16). The sign warning operation will be described in detail later when the sign support operation is explained. When the vehicle 1 makes an unintended behavior contrary to the content of at least one of the road signs and traffic lights detected by the sign support operation, the sign support unit 122 uses the sign notification image displayed in the sign display area 152 to warn the occupant to that effect. For example, even if the road sign detected by the sign support operation indicates a "STOP" sign and the vehicle 1 is moving forward contrary to the road sign, the sign support unit 122 may perform a sign warning operation to warn the occupant that the vehicle 1 is moving forward contrary to the road sign. For example, even if the traffic light detected by the sign support operation is a red light and the vehicle 1 is moving forward contrary to the traffic light, the sign support unit 122 may perform a sign warning operation to warn the occupant that the vehicle 1 is moving forward contrary to the color of the traffic light.

[0032] As a result of the determination in step S16, if it is determined that information regarding the sign warning operation has been acquired (step S16: Yes), the deceleration support unit 121 determines whether at least one of the road signs and traffic lights detected by the sign support operation matches the deceleration target detected in step S11 (step S17). Note that the information regarding at least one of the road signs and traffic lights detected by the sign support operation is included in the information regarding the sign warning operation.

[0033] As a result of the determination in step S17, when at least one of the road signs and traffic lights that are the targets of the sign warning operation matches the deceleration target (step S17: Yes), as described above (further, as will be described in detail later with reference to FIG. 5), the sign notification image is not displayed in the sign display area 152. As a result, the sign support unit 122 cannot perform the sign warning operation using the sign notification image displayed in the sign display area 152. Therefore, in this case, the deceleration support unit 121 warns the occupant that the vehicle 1 is performing an unintended behavior using the deceleration notification image displayed in the deceleration display area 151 (step S18). That is, the deceleration support unit 121 performs the sign warning operation instead of the sign support unit 122.

[0034] Specifically, the deceleration support unit 121 instructs the display control unit 123 to perform the sign warning operation. The display control unit 123 controls the display 15 so as to warn the occupant that the vehicle 1 is performing an unintended behavior by controlling the display mode of the deceleration notification image displayed in the deceleration display area 151. For example, the display control unit 123 may control the display 15 so that the deceleration notification image is more prominent compared to the case where the sign warning operation is not performed. As an example, as shown in FIG. 4, the display control unit 123 may control the display 15 so that the deceleration notification image (particularly, a figure imitating at least one of the road signs and traffic lights) blinks compared to the case where the sign warning operation is not performed. Incidentally, even when the sign support unit 122 performs the sign warning operation, similarly, the display control unit 123 may control the display 15 so as to warn the occupant that the vehicle 1 is performing an unintended behavior by controlling the display mode of the sign notification image displayed in the sign display area 152.

[0035] On the other hand, if as a result of the determination in step S17, at least one of the road signs and traffic lights that are the targets of the sign warning operation does not match the deceleration target (step S17: No), a sign notification image is displayed in the sign display area 152. Therefore, the sign support unit 122 can perform the sign warning operation using the sign notification image displayed in the sign display area 152. Accordingly, in this case, the deceleration support unit 121 may not execute the process of step S18. That is, the deceleration support unit 121 may not perform the sign warning operation using the deceleration notification image displayed in the deceleration display area 151.

[0036] On the other hand, if as a result of the determination in step S16, it is determined that information regarding the sign warning operation has not been acquired (step S16: No), the deceleration support unit 121 may not execute the processes from step S17 to step S18.

[0037] Thereafter, the deceleration support unit 121 determines whether a predetermined deceleration support end condition that should be satisfied to end the deceleration support operation is satisfied (step S19). The deceleration support end condition may include a first deceleration support end condition that the speed of the vehicle 1 has matched the target speed (that is, has decreased to the target speed). The deceleration support end condition may include a second deceleration support end condition that the vehicle 1 has reached the target position. The deceleration support end condition may include a third deceleration support end condition that the occupant has requested the end of the deceleration support operation. If as a result of the determination in step S19, it is determined that the deceleration support end condition is satisfied (step S19: Yes), the ECU 12 ends the deceleration support operation. On the other hand, if as a result of the determination in step S19, it is determined that the deceleration support end condition is not satisfied (step S19: No), the ECU 12 continues the deceleration support operation by repeating the processes after step S11.

[0038]

[0039] (2-2) Sign support operation ​Next, with reference to FIG. 5, the sign assistance operation performed by the ECU 12 will be described. FIG. 5 is a flowchart showing the flow of the sign assistance operation performed by the ECU 12.

[0040] As shown in FIG. 5, the sign assistance unit 122 determines whether at least one of a road sign and a traffic signal is detected in the image captured by the camera 11 (step S21). Incidentally, while the sign assistance operation shown in FIG. 5 is being performed, the camera 11 continues to capture the front of the vehicle 1. For this reason, while the sign assistance operation shown in FIG. 5 is being performed, the sign assistance unit 122 continues to execute a process of detecting (in other words, recognizing) at least one of a road sign and a traffic signal in the image captured by the camera 11.

[0041] If it is determined as a result of the determination in step S21 that at least one of a road sign and a traffic signal is not detected (step S21: No), the ECU 12 ends the sign assistance operation shown in FIG. 5. When the sign assistance operation shown in FIG. 5 ends, the ECU 12 restarts the sign assistance operation shown in FIG. 5 after a predetermined period has elapsed.

[0042] On the other hand, if it is determined as a result of the determination in step S21 that at least one of a road sign and a traffic signal is detected (step S21: Yes), the sign assistance unit 122 determines whether at least one of the road sign and the traffic signal detected in step S21 matches the deceleration target detected in the deceleration assistance operation (step S22). When a plurality of deceleration targets are detected in the deceleration assistance operation, the sign assistance unit 122 determines whether at least one of the road sign and the traffic signal detected in step S21 matches one of the deceleration targets selected as the target of the deceleration assistance process. Incidentally, the sign assistance unit 122 can identify the deceleration target detected in the deceleration assistance operation based on the information regarding the deceleration assistance target notified from the deceleration assistance unit 121 (see step S15 in FIG. 3).

[0043] If, as a result of the determination in step S22, it is determined that at least one of the detected road signs and traffic lights matches the deceleration target (step S22: Yes), the sign notification image for notifying the driver of at least one of the road signs and traffic lights detected in step S21 is substantially the deceleration notification image for notifying the driver of at least one of the road signs and traffic lights detected as the deceleration target, and is displayed in the deceleration display area 151 of the display 15. In this case, the display control unit 123 may not display the sign notification image for notifying the driver of at least one of the road signs and traffic lights detected in step S21 in the sign display area 152 of the display 15 (step S24). Note that an example of the display 15 that displays the deceleration notification image but not the sign notification image is shown in FIG. 6. As a result, images indicating at least one of the same road signs and traffic lights are not displayed redundantly or redundantly.

[0044] On the other hand, if, as a result of the determination in step S22, it is determined that at least one of the detected road signs and traffic lights does not match the deceleration target (step S22: No), the display control unit 123 displays the sign notification image for notifying the driver of at least one of the road signs and traffic lights detected in step S21 in the sign display area 152 of the display 15 (step S23). Note that an example of the display 15 that displays both the deceleration notification image and the sign notification image is shown in FIG. 2 described above.

[0045] Thereafter, the sign support unit 122 determines whether or not a warning condition that should be satisfied when starting the above-described sign warning operation is satisfied (step S25). The warning condition includes, for example, a condition that the vehicle 1 is performing an unintended behavior contrary to the content of at least one of the road signs and traffic lights detected in step S21.

[0046] If it is determined that the warning condition is satisfied as a result of the determination in step S25 (step S25: Yes), the sign support unit 122 warns the occupant that the vehicle 1 is performing an unintended behavior using the sign notification image displayed in the sign display area 152 (step S26). Specifically, the sign support unit 122 instructs the display control unit 123 to perform a sign warning operation. The display control unit 123 controls the display 15 so as to warn the occupant that the vehicle 1 is performing an unintended behavior by controlling the display mode of the sign notification image displayed in the sign display area 152. For example, the display control unit 123 may control the display 15 so that the sign notification image is more prominent as compared with the case where the sign warning operation is not being performed.

[0047] However, if the sign notification image is not being displayed due to at least one of the road signs and traffic signals detected as described above matching the deceleration target, the display control unit 123 may not perform the sign warning operation using the sign notification information. In this case, as described above, the display control unit 123 may perform the sign warning operation using the deceleration notification information.

[0048] Furthermore, if the sign warning operation is performed, the sign support unit 122 notifies the deceleration support unit 121 of information regarding the sign warning operation (step S27). The information regarding the sign warning operation is used, as described above, to determine whether the deceleration support unit 121 performs the sign warning operation in the deceleration support operation. The information regarding the sign warning operation may include, for example, information indicating whether the sign warning operation is being performed. The information regarding the sign warning operation may include information regarding at least one of the road signs and traffic signals that are the target of the sign warning operation (that is, detected in step S21).

[0049] On the other hand, if it is determined that the warning condition is not satisfied as a result of the determination in step S25 (step S25: No), the sign support unit 122 may not execute the processes from step S26 to step S27.

[0050] After that, the sign support unit 122 determines whether or not a predetermined sign support end condition that should be satisfied to end the sign support operation is satisfied (step S28). The sign support end condition may include the condition that the occupant has requested the stop of the deceleration support. If it is determined in step S28 that the sign support end condition is satisfied (step S28: Yes), the ECU 12 ends the sign support operation. On the other hand, if it is determined in step S28 that the sign support end condition is not satisfied (step S28: No), the ECU 12 continues the sign support operation by repeating the processes after step S21.

[0051] (2-3) Specific examples of display modes of display 15 Subsequently, using an example of a specific driving scene of the vehicle 1, the display mode of the display 15 in a situation where the above-described deceleration support operation and the sign support operation are performed in parallel will be described.

[0052] (2-3-1) Display mode of display 15 in the first driving scene First, a first driving scene in which a preceding vehicle cuts in front of the vehicle 1 when the vehicle 1 is traveling toward a traffic signal (particularly, a red signal) will be described. In this case, before the preceding vehicle cuts in, the deceleration support unit 121 detects the traffic signal as a deceleration target. Therefore, the deceleration support unit 121 executes deceleration support processing (specifically, the processing from step S12 to step S15 in FIG. 2) for the traffic signal. For this reason, the display 15 displays deceleration notification information for notifying the occupant of the traffic signal in the deceleration display area 151. Further, the sign support unit 122 detects the traffic signal. However, the traffic signal detected by the sign support unit 122 coincides with the traffic signal detected by the deceleration support unit 121 as the deceleration target. Therefore, the display 15 may not display sign notification information for notifying the occupant of the traffic signal in the sign display area 152. That is, as shown in FIG. 6 described above, the display 15 displays deceleration notification information for notifying the occupant of the traffic signal in the deceleration display area 151, while the display 15 may not display sign notification information for notifying the occupant of the traffic signal in the sign display area 152.

[0053] After the preceding vehicle cuts in, the deceleration support unit 121 detects the preceding vehicle as a deceleration target in addition to the traffic signal. In this case, since the preceding vehicle is closer to the vehicle 1 than the traffic signal, the deceleration support unit 121 selects the preceding vehicle as one deceleration target to be subjected to the deceleration support process. That is, the one deceleration target to be subjected to the deceleration support process switches from the traffic signal to the preceding vehicle. As a result, the deceleration support unit 121 executes the deceleration support process on the preceding vehicle. For this reason, the display 15 displays, in the deceleration display area 151, deceleration notification information for notifying the driver of the preceding vehicle. On the other hand, since the deceleration target to be subjected to the deceleration support process switches from the traffic signal to the preceding vehicle, the traffic signal detected by the sign support unit 122 no longer matches the preceding vehicle detected by the deceleration support unit 121 (specifically, selected as the deceleration support process target). In this case, the display 15 displays, in the sign display area 152, sign notification information for notifying the driver of the traffic signal. That is, as shown in FIG. 2 described above, the display 15 displays, in the deceleration display area 151, deceleration notification information for notifying the driver of the preceding vehicle, and displays, in the sign display area 152, sign notification information for notifying the driver of the traffic signal.

[0054] Here, assuming that the deceleration notification information for notifying the driver of the traffic signal detected as the deceleration target even after the deceleration target for the deceleration support process has switched from the traffic signal to the preceding vehicle is displayed as it is, the deceleration display area 151 of the display 15 displays the deceleration notification information for notifying the driver of both the traffic signal and the preceding vehicle. In this case, the driver may misunderstand that the deceleration support process is being executed for the traffic signal even though the deceleration support process is being executed for the preceding vehicle. However, in the present embodiment, after the deceleration target for the deceleration support process has switched from the traffic signal to the preceding vehicle, the deceleration notification information for notifying the driver of the preceding vehicle is displayed instead of the deceleration notification information for notifying the driver of the traffic signal. Therefore, the driver can appropriately recognize that the deceleration support process is being executed for the preceding vehicle. That is, the driver does not misidentify the deceleration target for which the deceleration support process is being performed. Further, the traffic signal that is no longer the target of the deceleration support process is notified to the driver by the sign notification information instead of the deceleration notification information. Therefore, the driver can continuously pay attention to the traffic signal that is no longer the target of the deceleration support process.

[0055] (2-3-2) Display mode of display 15 in the second driving scene Next, a second driving scene will be described in which a traffic signal (particularly, a red signal) appears in front of the vehicle 1 and the preceding vehicle while the vehicle 1 is traveling following the preceding vehicle. In this case, before the traffic signal appears in front of the vehicle 1 and the preceding vehicle, the deceleration support unit 121 detects the preceding vehicle as the deceleration target. Therefore, the deceleration support unit 121 executes the deceleration support process for the preceding vehicle. That is, the display 15 displays the deceleration notification information for notifying the driver of the preceding vehicle in the deceleration display area 151. On the other hand, since the traffic signal does not appear in front of the vehicle 1, the sign support unit 122 does not detect the traffic signal. Therefore, the display 15 does not display the sign notification information in the sign display area 152. That is, as shown in FIG. 7, the display 15 displays the deceleration notification information for notifying the driver of the preceding vehicle in the deceleration display area 151 while not displaying the sign notification information in the sign display area 152.

[0056] After the traffic signal appears in front of the vehicle 1 and the preceding vehicle, the deceleration support unit 121 detects the traffic signal as a deceleration target in addition to the preceding vehicle. In this case, since the preceding vehicle is closer to the vehicle 1 than the traffic signal, the deceleration support unit 121 selects the preceding vehicle as a single deceleration target for the deceleration support process. That is, the single deceleration target for the deceleration support process does not switch from the preceding vehicle to the traffic signal. As a result, the deceleration support unit 121 continues to execute the deceleration support process on the preceding vehicle. For this reason, the display 15 continues to display deceleration notification information for notifying the preceding vehicle to the occupant in the deceleration display area 151. Further, the sign support unit 122 detects the traffic signal. The traffic signal detected by the sign support unit 122 does not match the preceding vehicle detected by the deceleration support unit 121 as a deceleration target (in particular, selected as a target for the deceleration support process). In this case, the display 15 displays sign notification information for notifying the traffic signal to the occupant in the sign display area 152. That is, as shown in FIG. 2 described above, the display 15 displays deceleration notification information for notifying the preceding vehicle in the deceleration display area 151 and displays sign notification information for notifying the traffic signal in the sign display area 152.

[0057] After that, when the leading vehicle passes through the traffic signal, since the traffic signal is closer to Vehicle 1 than the leading vehicle, the deceleration support unit 121 selects the traffic signal as a deceleration target for deceleration support processing. That is, the deceleration target for deceleration support processing switches from the leading vehicle to the traffic signal. As a result, the deceleration support unit 121 executes deceleration support processing for the traffic signal. For this reason, the display 15 displays deceleration notification information for notifying the driver of the traffic signal in the deceleration display area 151. On the other hand, since the deceleration target for deceleration support processing has switched from the leading vehicle to the traffic signal, the traffic signal detected by the sign support unit 122 matches the traffic signal detected by the deceleration support unit 121 as a deceleration target (in particular, selected as a target for deceleration support processing). In this case, the display 15 does not have to display sign notification information for notifying the driver of the traffic signal in the sign display area 152. That is, as shown in FIG. 6 described above, the display 15 displays deceleration notification information for notifying the driver of the traffic signal in the deceleration display area 151, while not having to display sign notification information for notifying the driver of the traffic signal in the sign display area 152.

[0058] Also in the second driving scene, similar to the first driving scene, after the deceleration target for deceleration support processing switches from the leading vehicle to the traffic signal, deceleration notification information for notifying the driver of the traffic signal is displayed instead of deceleration notification information for notifying the driver of the leading vehicle. For this reason, the driver can appropriately recognize that deceleration support processing is being executed for the traffic signal. That is, the driver does not misidentify the deceleration target for deceleration support processing.

[0059] (3) Technical effects As described above, in the vehicle 1 of this embodiment, after the deceleration target targeted by the deceleration support process is switched from the first deceleration target to the second deceleration target, deceleration support information for notifying the occupant of the second deceleration target is displayed instead of the deceleration support information for notifying the occupant of the first deceleration target. This allows the occupant to properly recognize that the deceleration support process is being performed on the second deceleration target. In other words, the occupant will not mistakenly identify the deceleration target targeted by the deceleration support process. Furthermore, if the first deceleration target that is no longer targeted by the deceleration support process is at least one of a road sign and a traffic light, sign support information for notifying the occupant of at least one of the road sign and the traffic light that is the first deceleration target is displayed. This allows the occupant to continuously pay attention to at least one of the road sign and the traffic light that is no longer targeted by the deceleration support process.

[0060] Furthermore, when the deceleration target detected by the deceleration support unit 121 (particularly the deceleration target that is the target of the deceleration support process) matches at least one of the road sign and the traffic light detected by the sign support unit 122, deceleration notification information for notifying the traffic light is displayed, while the sign notification information for notifying the traffic light is not displayed. Therefore, the deceleration notification information and the sign notification information for notifying the traffic light are not displayed redundantly or overlappingly to the occupant. Therefore, the occupant does not find the overlapping or redundant display annoying.

[0061] As described above, the visibility of the sign display area 152 may be lower than the visibility of the deceleration display area 151. In this case, it is easier to guide the occupant's gaze to the deceleration target that is the target of the deceleration support process, which is more important to the occupant. Therefore, the occupant can properly recognize the deceleration target and therefore can recognize that a change in the behavior of the vehicle 1 caused by the deceleration support process is a change in behavior caused by the deceleration support process being executed for the deceleration target. Therefore, the occupant is less likely to feel uneasy about the change in the behavior of the vehicle 1.

[0062] (4) Other modified examples In the above description, in the deceleration assistance operation, the deceleration target is detected from an image showing the situation in front of the vehicle 1 captured by the camera 11. However, the deceleration target may be detected by other methods. For example, the deceleration target may be detected from the detection results of a radar or a lidar.

[0063] In the above description, in the sign assistance operation, at least one of the road signs and traffic lights is detected from an image showing the situation in front of the vehicle 1 captured by the camera 11. However, at least one of the road signs and traffic lights may be detected by other methods. For example, at least one of the road signs and traffic lights may be detected from the detection results of a radar or a lidar.

[0064] (5) Supplementary note Regarding the embodiments described above, the following additional remarks are disclosed. [Appendix 1] Support means for executing deceleration support processing to assist in decelerating the vehicle until the vehicle reaches a deceleration target when a deceleration target indicating that deceleration of the vehicle is required is detected in front of the vehicle; Display control means for controlling the display device to display first notification information for notifying an occupant of the vehicle of the deceleration target that is the target of the deceleration support processing in a first display area of the display device Comprising When each of a first object and a second object different from the first object is detected as the deceleration target, and the second object is the target of the deceleration support processing while the first object is not the target of the deceleration support processing, the display control means controls the display device to display second notification information for notifying the occupant of the first object in a second display area of the display device different from the first display area A driving support device characterized by the above. [Appendix 2] The visibility in the second display area is lower than that in the first display area. The driving support device according to Addendum 1. [Addendum 3] The first object includes at least one of a road sign and a traffic signal. The second object includes an object different from the road sign and the traffic signal. The driving support device according to Addendum 1 or 2. [Addendum 4] When a traffic indicator including at least one of a road sign and a traffic signal is detected in front of the vehicle, the display control means controls the display device to display second notification information for notifying the occupant of the traffic indicator in the second display area. When the traffic indicator is detected as the deceleration target object and the traffic indicator is the target of the deceleration support process, the display control means controls the display device to display the first notification information in the first display area while not displaying the second notification information in the second display area. When an object different from the traffic indicator is detected as the deceleration target object, the display control means controls the display device to display the first notification information in the first display area and display the second notification information in the second display area. The driving support device according to any one of Addenda 1 to 3, characterized by the above.

[0065] The present invention can be appropriately changed within a range not contrary to the gist or idea of the invention that can be read from the claims and the entire specification, and a driving support device with such a change is also included in the technical idea of the present invention.

Explanation of Signs

[0066] 1 Vehicle 11 Camera 12 ECU 121 Deceleration Support Unit 122 Sign Support Unit 123 Display Control Unit 15 Display 151 Deceleration Display Area 152 Identification display area

Claims

1. A driving assistance device that executes a deceleration assistance process for assisting deceleration of the vehicle when an object indicating that deceleration of the vehicle is necessary is detected in front of the vehicle, comprising a control unit that controls a display device to display information indicating the object in a first display area or a second display area different from the first display area according to a determination result as to whether the object is a target of the deceleration assistance process, wherein the control unit, when a first object that is the object is detected, determines whether the first object is a target of the deceleration assistance process, selects the first display area out of the first display area and the second display area of the display device in response to a determination that the first object is a target of the deceleration assistance process, controls the display device to display first information indicating the first object in the first display area, controls the display device so that the first information is not displayed in a display area other than the first display area of the display device, when a second object that is the object and is of a type different from the first object is detected, determines whether the second object is a target of the deceleration assistance process, selects the first display area out of the first display area and the second display area of the display device in response to a determination that the second object is a target of the deceleration assistance process, controls the display device to display second information indicating the second object in the first display area, controls the display device so that the second information is not displayed in a display area other than the first display area of the display device, is configured as such, wherein the first information and the second information are different, characterized by a driving assistance device.

2. comprising a detection device that detects the object, wherein each of the first information and the second information is an image generated based on the object detected by the detection device, The driving assistance device according to claim 1.

3. In the first display area, a display position of the first information and a display position of the second information overlap, The driving assistance device according to claim 1 or 2.

Images