Display device

Abstract

To provide a display device capable of guiding a visual line of a traffic participant to main notification information.SOLUTION: A display device includes a vehicle control unit 31 and a human machine interface (HMI) control unit 32. The vehicle control unit 31 recognizes whether or not a traffic participant exists in a travelling direction of an own vehicle 1. The HMI control unit 32, when receiving a recognition result that the traffic participant exists from the vehicle control unit 31, notifies the traffic participant of notification information from the own vehicle 1 by using a display unit 14. The notification information includes main notification information relating to an operation of the own vehicle 1 and pre-notification information subject to notification before the main notification. The HMI control unit 32 switches between the pre-notification information and the main notification information.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present disclosure relates to a display device. [Background technology]

[0002] Conventionally, there is known an information presentation device in which an information presentation unit presents information related to the action plan of the host vehicle (host vehicle), with the extracted specific traffic participants as the presentation targets (see, for example, Patent Document 1). Furthermore, in this conventional information presentation device, the information presentation unit directs its gaze to a first-class specific traffic participant who is assumed to have the highest degree of interference with the host vehicle among the specific traffic participants. If it is determined that the first-class specific traffic participant is aware of the gaze, the information presentation unit returns a message to the first-class specific traffic participant indicating that mutual communication has been established. "Traffic participants" refer to drivers and passengers of automobiles and other vehicles around the host vehicle, as well as pedestrians and other people. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-092979 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the above-mentioned conventional information presentation devices only present information or direct gaze from the vehicle to traffic participants, which poses a problem in that there is room for further consideration regarding guiding the traffic participants' gaze toward the information.

[0005] The present disclosure has been made in consideration of the above circumstances, and aims to provide a display device that can guide the gaze of traffic participants to the notification information. [Means for solving the problem]

[0006] The display device of the present disclosure includes a recognition unit and a notification control unit. The recognition unit recognizes whether or not a traffic participant is present in the direction in which the host vehicle is traveling. When the recognition unit inputs a recognition result indicating the presence of the traffic participant, the notification control unit uses the display unit to notify the traffic participant from the host vehicle of notification information. The notification information includes main notification information regarding the operation of the host vehicle and advance notification information that is notified before the main notification information. Furthermore, the notification control unit switches between the advance notification information and the main notification information. [Effects of the Invention]

[0007] According to the vehicle lamp of the present disclosure, the line of sight of traffic participants can be guided to the notification information. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is an explanatory diagram showing an autonomous driving vehicle to which a display device according to an embodiment of the present disclosure is applied; [Figure 2] 2 is a partial cross-sectional view schematically showing a second display portion, taken along the line AA in FIG. 1; FIG. [Figure 3] FIG. 10 is an explanatory diagram showing a display unit, illustrating the display (stopped) of this notification information. [Figure 4] FIG. 2 is an explanatory diagram showing a display unit, illustrating the display of this notification information (while traveling or when starting). [Figure 5] FIG. 1 is an explanatory diagram illustrating a control block configuration according to an embodiment of the present disclosure. [Figure 6] 4 is a flowchart illustrating a processing flow of a vehicle control unit according to an embodiment of the present disclosure. [Figure 7A] FIG. 1 is an explanatory diagram showing that a crosswalk exists within a predetermined range and that a pedestrian is about to cross the crosswalk. [Figure 7B] FIG. 1 is an explanatory diagram showing that there is a crosswalk and a pedestrian crossing the crosswalk within a predetermined area. [Figure 7C]FIG. 10 is an explanatory diagram showing that there is a pedestrian crossing a road in a predetermined area where there is no crosswalk. [Figure 7D] 1 is an explanatory diagram showing that the vehicle is turning left, there is a crosswalk within a predetermined range, and a pedestrian is crossing the crosswalk. FIG. [Figure 7E] FIG. 10 is an explanatory diagram showing that the host vehicle is turning left and another vehicle is present within a predetermined range. [Figure 8] 3 is an explanatory diagram showing a state in which a light source of another luminescent color is added to the configuration of the display unit of FIG. 2. FIG. [Figure 9] 3 is an explanatory diagram showing a state in which an inner lens is added to the configuration of the display unit in FIG. 2.

[0023] FIG. [Figure 10] 10 is an explanatory diagram showing that the front surface of the display unit is flush with the front surface of the windshield. FIG. [Figure 11] FIG. 10 is an explanatory diagram showing that the front surface of the display unit is the windshield. DETAILED DESCRIPTION OF THE INVENTION

[0009] An example of a display device according to the present disclosure will be described below with reference to the drawings of Example 1. In the following description, in the case of a host vehicle 1 (vehicle), the direction in which the host vehicle 1 travels is referred to as the longitudinal direction Z, the vertical direction when the longitudinal direction Z is aligned with a horizontal plane is referred to as the up-down direction Y, and the direction (horizontal direction) perpendicular to the longitudinal direction Z and the up-down direction Y is referred to as the width direction X. In the longitudinal direction Z, the side on which an outer lens 146 (described later) is provided is referred to as the front side. [Example]

[0010] The display device in the first embodiment is applied to an autonomous vehicle (hereinafter also referred to as "own vehicle 1"). In the autonomous vehicle, a target driving route is first generated by inputting a destination. Next, the own vehicle 1 is controlled by the speed and steering angle so as to travel along the generated target driving route. Below, the configuration of the first embodiment will be explained by dividing it into "overall configuration," "control block configuration," and "processing configuration of the vehicle control unit 3."

[0011] A vehicle 1 according to a first embodiment to which a display device according to the present disclosure is applied will be described with reference to FIGS. 1 to 4. FIG.

[0012] As shown in FIG. 1, the vehicle 1 is provided at the front with headlamps 11 (lamp fixtures), a windshield 12 (windshield), wipers 13, and a display unit 14. The headlamps 11 are arranged below the windshield 12 and the display unit 14 in the vertical direction Y. The headlamps 11 illuminate the area ahead of the vehicle 1. The windshield 12 is arranged between the interior space of the vehicle 1 and the outside in the front-rear direction Z, separating the interior space from the outside. The windshield 12 is arranged above the headlamps 11 in the vertical direction Y. The wipers 13 are arranged in front of the windshield 12 in the front-rear direction Z. The wipers 13 wipe the front surface 12a of the windshield 12.

[0013] As shown in FIGS. 1 and 2, the display unit 14 is disposed behind the windshield 12 in the longitudinal direction Z as a separate entity from the windshield 12. That is, the display unit 14 is disposed within the cabin space of the host vehicle 1. Note that while FIG. 2 is a schematic partial cross-sectional view showing a portion of the display unit 14, the entire display unit 14 is disposed behind the windshield 12 as a separate entity from the windshield 12. A front surface 14a of the display unit 14 faces forward (toward the front surface 12a of the windshield 12) in the longitudinal direction Z. In other words, the display unit 14 is an outward-facing HMI (short for "Human Machine Interface") directed toward traffic participants around the host vehicle 1. The display unit 14 is disposed between the headlamp 11 and the windshield 12 in the vertical direction Y. Furthermore, the display unit 14 is provided as a separate entity from the headlamp 11.

[0014] As shown in Fig. 3, the display unit 14 includes a first display unit 14A and a second display unit 14B. The second display units 14B are disposed on the left and right sides of the first display unit 14A. As shown in Fig. 2, the first display unit 14A and the pair of left and right second display units 14B1 and 14B2 (hereinafter, the pair of left and right second display units 14B1 and 14B2 will also be collectively referred to as "second display units 14B") are each partitioned by a housing 140 and an outer lens 146. The brightness of the display unit 14 is set to, for example, at least 1,000 candelas per square meter during the day and at least 100 candelas per square meter at night.

[0015] As shown in Fig. 3, the first display section 14A is disposed in the center of the display section 14. The first display section 14A is an LED display. The LED display has LEDs (short for "Light Emitting Diode") arranged in a grid pattern. Character information and / or symbol information is displayed on the first display section 14A.

[0016] The second display unit 14B is divided into a plurality of light-emitting units, and thus, depending on the change in light emission of each unit 14b, a circular figure is displayed, or a plurality of facial expressions are displayed to imitate human eyes. Here, "facial expressions" refers to facial expressions displayed by the entire display unit 14, as shown in Figs. 3 and 4. In more detail, the light emission of the second display unit 14B is used to display a display that imitates human eyes. Furthermore, the light emission of the first display unit 14A is used to display a display that imitates a human mouth.

[0017] As shown in FIGS. 2 and 3, each partition 14b of the second display unit 14B is provided with a light source 141, a substrate 142, a light-shielding wall 143, an inner lens 144, and an inner panel 145. As shown in FIG. 2, three light sources 141 are provided. Note that the other partitions 14b are provided with at least one light source 141. The light source 141 is configured with a light-emitting element such as an LED (same as above). The light source 141 is mounted on the substrate 142. The substrate 142 controls the light emission (lighting and blinking) of the light source 141. The substrate 142 is provided with a wiring pattern, connector terminals, and the like for controlling the light source 141. The substrate 142 is connected to the HMI control unit 32, which will be described later. The light-shielding wall 143 is provided around the light source 141. The inner lens 144 guides light emitted from the light source 141 to the outer lens 146. The inner panel 145 supports the inner lens 144 .

[0018] Next, the control block configuration will be explained using FIG.

[0019] The vehicle 1 is equipped with an on-board sensor 2, a vehicle control unit 3, an actuator 4, and a display unit 14.

[0020] The on-board sensor 2 includes a camera 21, a radar 22, a GPS 23 (short for "Global Positioning System"), a communication device 24, a vehicle speed sensor 25, etc. Various types of sensor information acquired through the on-board sensor 2 are output to the vehicle control unit 3.

[0021] The camera 21 is a sensor that recognizes objects (vehicles such as automobiles, crosswalks, road signs, etc.) and pedestrians around the vehicle 1 from image data. When the object around the vehicle 1 is an automobile, the camera 21 recognizes the forward and rearward orientation of the automobile, the position of its turn signals, and whether or not they are flashing, from the image data. For pedestrians around the vehicle 1, the camera 21 recognizes the orientation of the pedestrian's face and body from the image data. The camera 21 is configured, for example, by combining a front camera that recognizes the area in front of the vehicle 1, a rear camera that recognizes the area behind the vehicle 1, a left camera that recognizes the area to the left of the vehicle 1, and a right camera that recognizes the area to the right of the vehicle 1.

[0022] The radar 22 is a sensor that detects the presence of objects, pedestrians, etc. around the vehicle 1, and is a distance measurement sensor that detects the distance from the vehicle 1 to the objects, pedestrians, etc. around the vehicle 1. For example, the radar 22 is configured by combining a LiDAR (short for "Light Detection and Ranging") that uses laser light and a millimeter wave radar that uses radio waves.

[0023] The GPS 23 is a sensor that detects the vehicle's position by using satellite communication.

[0024] The communication device 24 performs wireless communication with an external communication device (not shown) to acquire necessary information from the outside. The communication device 24 can communicate with communication devices installed in other vehicles and communication devices installed in infrastructure facilities.

[0025] The vehicle speed sensor 25 is a sensor that detects the speed of the host vehicle 1 .

[0026] The vehicle control unit 3 is equipped with a CPU (abbreviation for "Central Processing Unit") and a memory. The vehicle control unit 3 performs integrated processing of various sensor information detected by the on-board sensors 2 and occupant input information that is input as needed. The vehicle control unit 3 is equipped with a vehicle control unit 31 (recognition unit) and an HMI control unit 32 (alert control unit, HMI is the same abbreviation as above). Here, the display device of the present disclosure is equipped with at least the vehicle control unit 3 and a display unit 14.

[0027] When destination information is input from the occupant input information, the vehicle control unit 31 generates a target driving route and a target speed setting based on various sensor information and high-precision map data 33 (hereinafter also referred to as "map data") stored in memory. The vehicle control unit 31 also estimates the position of the vehicle 1 on the map data from sensor information of the GPS 23. The vehicle control unit 31 outputs the target driving route and the target speed setting to the HMI control unit 32 and the actuator 4.

[0028] Here, the "high-precision map data 33" is data that contains three-dimensional position information (longitude, latitude, and height) of stationary objects outside the vehicle. Stationary objects include various elements such as crosswalks, stop lines, signs, traffic lights, buildings, and connections between roads and other roads.

[0029] Furthermore, the "target driving route" is a driving route that is targeted when the vehicle 1 is driven autonomously. If there is an obstacle or the like on the target driving route of the vehicle 1 based on the recognition results (sensing results) of the surrounding environment information of the vehicle 1, a target driving route that avoids the obstacle is generated. For example, if an obstacle is detected on the target driving route of the vehicle 1, a target driving route that can avoid the obstacle is generated, and a target driving route that returns to the original lane after the obstacle is avoided is generated.

[0030] Furthermore, the "target speed setting" is a setting of a speed along the target driving route. The target speed setting is generated based on the vehicle speed limit, the curvature of the road, and the results of recognition of the surrounding environment information of the host vehicle 1 (such as recognition of speed limit signs). For example, there may be a crosswalk on the target driving route of the host vehicle 1, and a pedestrian standing still near the crosswalk. In this case, the target speed setting is set to decelerate (stop) so that the host vehicle 1 can stop at a stopping position to allow the pedestrian to cross. Furthermore, the target speed setting is set to accelerate so that the host vehicle 1 will start again after the pedestrian has crossed.

[0031] Furthermore, the vehicle control unit 31 calculates a command value for controlling the operation of the host vehicle 1 based on the target travel route and target speed settings. The command value is output from the vehicle control unit 31 to the actuator 4.

[0032] The vehicle control unit 31 recognizes the presence or absence of obstacles, automobiles, pedestrian crossings, and traffic participants on and around the target driving route of the vehicle 1 from the surrounding environment information of the vehicle 1 acquired by the camera 21 and radar 22. The recognition results are output from the vehicle control unit 31 to the HMI control unit 32. Here, if, for example, an automobile is present on or around the target driving route of the vehicle 1, the vehicle control unit 31 recognizes the orientation of the automobile from sensor information detected by the camera 21. Furthermore, in this case, the vehicle control unit 31 recognizes the traveling direction of the automobile from sensor information detected by the radar 22. Furthermore, if, for example, a pedestrian is present on or around the target driving route of the vehicle 1, the vehicle control unit 31 recognizes the orientation of the pedestrian's face and body from sensor information detected by the camera 21. Furthermore, in this case, the vehicle control unit 31 recognizes the traveling direction of the pedestrian from sensor information detected by the radar 22.

[0033] When the vehicle control unit 31 inputs a recognition result indicating that a traffic participant is present in the direction in which the host vehicle 1 is traveling, the HMI control unit 32 uses the display unit 14 to notify the traffic participant of notification information from the host vehicle 1. The notification information includes main notification information regarding the operation of the host vehicle 1 and advance notification information that is notified before the main notification information. Details of each type of notification information will be described later. Furthermore, when the vehicle control unit 31 inputs a recognition result indicating that a traffic participant is present in the direction in which the host vehicle 1 is traveling while the host vehicle 1 is traveling, the HMI control unit 32 uses the display unit 14 to notify the traffic participant of the advance notification information from the host vehicle 1 at least before the host vehicle 1 stops. Subsequently, the HMI control unit 32 uses the display unit 14 to notify the traffic participant of the main notification information from the host vehicle 1 when or after the host vehicle 1 has stopped. Furthermore, the HMI control unit 32 uses the display unit 14 to notify the traffic participant of the advance notification information from the host vehicle 1 at least one second before the main notification information.

[0034] First, when the HMI control unit 32 receives the recognition result from the vehicle control unit 31, it outputs advance notification information to the display unit 14. Next, the output advance notification information is displayed on the display unit 14. Therefore, the advance notification information is notified to traffic participants by the display on the display unit 14 resulting from the output of the advance notification information (hereinafter also referred to as "display of advance notification information"). Next, the HMI control unit 32 outputs main notification information to the display unit 14. That is, the HMI control unit 32 switches the notification information from the advance notification information to the main notification information. Next, the output main notification information is displayed on the display unit 14. Therefore, the main notification information is notified to traffic participants by the display on the display unit 14 resulting from the output of the main notification information (hereinafter also referred to as "display of main notification information"). Furthermore, the timing at which the HMI control unit 32 outputs the advance notification information or the main notification information to the display unit 14 varies depending on the situation, and is therefore appropriately set based on the target driving route and target speed settings input from the vehicle control unit 31.

[0035] Next, each piece of notification information will be explained in detail. Advance notification information is information that makes traffic participants aware of the presence of the vehicle 1. For this reason, the display of advance notification information does not have any specific meaning, but is a visual stimulus for traffic participants. In other words, the display of advance notification information is a display that draws the attention of the display unit 14 of the vehicle 1. A specific display of advance notification information is, for example, to flash a circular figure (see Figure 4) multiple times using only the second display unit 14B without using the first display unit 14A. The cycle of turning on and off the flashing can be set as appropriate. Flashing is considered to be a form of light emission.

[0036] This notification information is information about the operation of the vehicle 1. Therefore, the display of this notification information is a display that conveys the action plan of the vehicle 1, i.e., the meaning of the action of the vehicle 1, to traffic participants. A specific display of this notification information is, for example, lighting up the first display unit 14A and the second display unit 14B. More specifically, although it varies depending on the situation, it is shown, for example, in FIG. 3 or FIG. 4. Referring to FIG. 3, the first display unit 14A displays text information saying "Stopped." Furthermore, the first display unit 14A displays a semicircular arc-shaped figure that resembles a human mouth with the left and right sides of the mouth angled upward. Furthermore, the second display unit 14B displays a semicircular arc-shaped figure that resembles a human eye with the eyes closed. As a result, the display of this notification information conveys to traffic participants, through text information and facial expression information, that the action of the vehicle 1 is stopped.

[0037] 5 is for driving the vehicle 1 in a straight line, turning, or stopping the vehicle 1. Based on a command value input from the vehicle control unit 31, the actuator 4 controls the driving torque output to the driving wheels or the braking torque output to the driving wheels, and also controls the steering angle of the steered wheels.

[0038] Next, the processing configuration of the vehicle control unit 3 will be described using Fig. 6 and Fig. 7A to Fig. 7E. The processing flow of the vehicle control unit 3 will be described below using an example of the flowchart in Fig. 6. The flowchart is executed by the vehicle control unit 3. The flowchart starts when the host vehicle 1 starts traveling, as it is a display of the notification information in Fig. 3, for example.

[0039] In step S1, following the start of the process, the vehicle control unit 31 recognizes whether or not there are traffic participants within a predetermined range ahead of the vehicle 1. If the answer is YES (if there are), the process proceeds to step S2 and step S3, and if the answer is NO (if there are no traffic participants), the process proceeds to return.

[0040] The "predetermined range" is the range within which traffic participants can be detected by the on-board sensor 2. Specifically, the predetermined range is a range on the target driving route (on the lane) of the vehicle 1, up to a maximum of 50 to 100 meters from the vehicle 1, depending on the performance of the on-board sensor 2. Furthermore, if there is a crosswalk without traffic lights at least within the predetermined range, the area around the crosswalk is included in the predetermined range, since it is necessary to detect pedestrians attempting to cross the crosswalk.

[0041] 7A to 7E are examples of when the vehicle control unit 31 recognizes the presence of a traffic participant and needs to stop the host vehicle 1 as described below. The arrows in FIGS. 7A to 7E indicate the traveling directions of the host vehicle 1, the pedestrian 100 (moving body), and the other vehicle 200 (moving body). FIG. 7A illustrates an example in which the vehicle control unit 31 recognizes that a crosswalk 101 is present within a predetermined range and that a pedestrian 100 is attempting to cross the crosswalk 101. When detecting a pedestrian attempting to cross the crosswalk in FIG. 7A, the pedestrian is first detected from sensor information detected by the camera 21 and / or radar 22. Next, the vehicle control unit 31 recognizes the orientation of the pedestrian's face and body from the sensor information detected by the camera 21. Based on the orientation of the pedestrian's face and body, the vehicle control unit 31 then recognizes whether the pedestrian is attempting to cross the crosswalk. FIGS. 7B to 7D illustrate examples in which the vehicle control unit 31 recognizes that a pedestrian 100 is crossing within a predetermined range. FIG. 7E is an example in which the vehicle control unit 31 recognizes that another vehicle 200 is present within a predetermined range. It is assumed that a driver or passenger is aboard the other vehicle 200 and that the driver or passenger is looking ahead. Specifically, the scene in FIG. 7E is a scene in which the other vehicle 200 is present on a road 201 onto which the host vehicle 1 is planning to enter by turning left. Furthermore, it is a scene in which the host vehicle 1 may not be able to proceed along its target driving route unless the host vehicle 1 stops and gives priority to (avoids) the progress (left turn) of the other vehicle 200.

[0042] In step S2 shown in FIG. 6, following the recognition result in step S1 that a traffic participant is present, the vehicle control unit 31 sets the target speed setting to decelerate in order to decelerate the host vehicle 1. Furthermore, the vehicle control unit 31 calculates a command value for controlling the operation of the host vehicle 1 based on the target travel route and the deceleration setting of the target speed setting. The vehicle control unit 31 outputs the command value to the actuator 4, and the process proceeds to step S4. As a result, the actuator 4 controls the braking torque, etc., based on the command value. Then, the host vehicle 1 starts decelerating.

[0043] As a specific example of the deceleration setting, the target speed is decelerated by the vehicle control unit 31 so that the host vehicle 1 can stop at a stopping position to allow a pedestrian 100 to cross as shown in Figures 7A to 7D, or to give priority to the progress of another vehicle 200 as shown in Figure 7E. The same applies when another vehicle 200 turns right in Figure 7E.

[0044] As for the "stopping position," in a scene where there is a crosswalk 101 and a stop line 102 in front of the crosswalk 101 as shown in FIG. 7A, the stop position is the stop line 102. In a scene where there is a crosswalk 101 but no stop line 102 in front of the crosswalk 101 as shown in FIGS. 7B and 7D, the stop position is in front of the crosswalk. In a scene where there is no crosswalk 101 or stop line 102 as shown in FIG. 7C, the stop position is in front of the pedestrian (crossing person). In a scene such as that shown in FIG. 7E, the stop position is in front of another vehicle 200, with a distance of several meters between the host vehicle 1 and the other vehicle 200.

[0045] In step S3 shown in Figure 6, following the recognition result in step S1 that a traffic participant is present, the HMI control unit 32 outputs advance notification information to the second display unit 14B, and the process proceeds to step S4. As a result, the second display unit 14B flashes based on the advance notification information. Then, the advance notification information is notified to the traffic participant from the host vehicle 1 by displaying the advance notification information. Step S3 is executed simultaneously or almost simultaneously with step S2.

[0046] In step S4, following the start of deceleration in step S2 and the start of blinking of the second display unit 14B in step S3, or while the host vehicle 1 is traveling in step S4, the vehicle control unit 31 determines whether the host vehicle 1 has stopped at a stop position. In detail, the vehicle control unit 31 determines whether the host vehicle 1 has stopped at a stop position from various sensor information input from the GPS 23, the vehicle speed sensor 25, etc. If the answer is YES (host vehicle 1 has stopped), the process proceeds to step S5, and if the answer is NO (host vehicle 1 is traveling), step S4 is repeated. The host vehicle 1 will not stop for several seconds after the start of deceleration in step S2.

[0047] In step S5, following the stopping of the host vehicle 1 in step S4, the HMI control unit 32 ends the output of advance notification information to the second display unit 14B, and the process proceeds to step 6. This causes the flashing of the second display unit 14B to end.

[0048] In step S6, following the stopping of the flashing of second display unit 14B in step S5, HMI control unit 32 outputs main notification information to first display unit 14A and second display unit 14B, and the process proceeds to step S6. As a result, the main notification information is displayed on first display unit 14A and second display unit 14B, as shown in Fig. 3. Then, by displaying the main notification information, the main notification information is notified from host vehicle 1 to traffic participants. In other words, by the control of steps S5 and S6, HMI control unit 32 switches from advance notification information to main notification information.

[0049] 6, following the start of display on the display unit 14 in step S6 or the continuation of display on the display unit 14 in step S8, the vehicle control unit 31 recognizes whether or not a traffic participant is present within a predetermined range ahead of the vehicle 1. If the answer is YES (if present), the process proceeds to step S8, and if the answer is NO (if not present), the process proceeds to step S9.

[0050] The "predetermined range" in step S7 is different from the "predetermined range" in step S1 and is a range on the target driving route (on the lane) of the host vehicle 1, up to a maximum of 5 to 10 meters from the host vehicle 1.

[0051] Step S7 is a check to see if a traffic participant has passed through the target travel route of the vehicle 1. If step S7 is YES, in the scenes of Figures 7A to 7D, this means that a pedestrian 100 is crossing the "predetermined range" in step S7. In the scene of Figure 7E, another vehicle 200 is proceeding through the "predetermined range" in step S7 to make a left turn.

[0052] 6, the case where step S7 is NO is when pedestrian 100 has passed through the "predetermined range" in step S7, i.e., when pedestrian 100 has completed crossing, in the scenes of Figures 7A to 7D. In the scene of Figure 7E, the case is when another vehicle 200 has passed through the "predetermined range" in step S7, i.e., when another vehicle 200 has completed turning left.

[0053] 6, following the recognition result in step S7 that a traffic participant is present, the HMI control unit 32 continues to output this notification information to the first display unit 14A and the second display unit 14B, and the process returns to step 7. In other words, the flow of steps S7 and S8 is repeated until the traffic participant (see FIGS. 7A to 7E) passes through the "predetermined range" in step S7.

[0054] In step S9, following the recognition result in step S7 that there are no traffic participants, the HMI control unit 32 ends output of the notification information to the first display unit 14A and the second display unit 14B, and the process proceeds to step 10. This ends the display on the display unit 14 (display of the notification information).

[0055] In step S10, following the end of display on the display unit 14 in step S9, the vehicle control unit 31 sets the target speed setting to acceleration in order to start the host vehicle 1. Furthermore, the vehicle control unit 31 calculates a command value for controlling the operation of the host vehicle 1 based on the target driving route and the acceleration setting of the target speed setting. The vehicle control unit 31 outputs the command value to the actuator 4 and proceeds to return. As a result, the actuator 4 controls the drive torque, etc. based on the command value. Then, the host vehicle 1 starts starting (accelerating).

[0056] Next, after explaining the problems of the conventional technology, the effects of the display device of the first embodiment will be explained.

[0057] First, the problems with the conventional technology will be described.

[0058] For example, it is known that the above-mentioned conventional information presentation unit presents information related to the vehicle's (own vehicle's) action plan (meaning of the action) to a pedestrian crossing a crosswalk as a target of traffic participants. This makes it possible to notify the pedestrian of information to support the pedestrian. Then, by visually recognizing the presented information, the pedestrian can understand for the first time the vehicle's action plan, such as that the vehicle is "giving way" to the pedestrian. This allows the pedestrian to cross the crosswalk with peace of mind.

[0059] However, for example, in a situation where a pedestrian crossing or about to cross a crosswalk does not look in advance in the direction of the pedestrian's own vehicle, the pedestrian may not be able to recognize the information display device even if the pedestrian has the pedestrian's own vehicle in their field of vision. In this case, the pedestrian may start crossing before recognizing the displayed information, which may render the notification of information to support the pedestrian meaningless.

[0060] Furthermore, in the above-mentioned conventional information display device, if it is determined that the first-class designated traffic participant has noticed the eye contact, the information display unit returns a message to the first-class designated traffic participant indicating that mutual communication has been established. For this reason, it is thought that with conventional information display devices, the pedestrian begins crossing the road before recognizing the presented information.

[0061] Furthermore, in conventional information presentation devices that simultaneously display text information and facial expression information, the closer the distance between the first-class designated traffic participant and his / her vehicle, the more likely the first-class designated traffic participant will focus only on the text information, even if he / she is able to recognize the text information displayed in the center of the vehicle. This makes it difficult for the first-class designated traffic participant to recognize the facial expression information on both sides of the text information (parts corresponding to a pair of eyes, sent gazes).

[0062] Therefore, conventional information presentation devices only present information or direct the gaze of traffic participants from the vehicle, which poses a problem that there is room for consideration regarding guiding the gaze of traffic participants toward the information.

[0063] Here, we will explain the visual field and perception of humans who are traffic participants. Generally, the visual field of both eyes of a human being is said to be wider for recognizing changes in a display (for example, changes in color and / or changes in light brightness) than for recognizing text information and / or numeric information.

[0064] Next, the effects of the display device of the first embodiment will be described.

[0065] To address the above-described problem, the display device of the present disclosure includes a vehicle control unit 31 and an HMI control unit 32. The vehicle control unit 31 recognizes whether or not a traffic participant is present ahead of the host vehicle 1 (step S1 in FIG. 6). When the HMI control unit 32 receives a recognition result indicating the presence of a traffic participant from the vehicle control unit 31, the HMI control unit 32 notifies the traffic participant of notification information from the host vehicle 1 using the display unit 14 (steps S3 to S9 in FIG. 6). The notification information includes main notification information (steps S6 to S9 in FIG. 6) and advance notification information that is notified before the main notification information (steps S3 to S5 in FIG. 6). Furthermore, the HMI control unit 32 switches between the advance notification information and the main notification information (steps S5 and S6 in FIG. 6).

[0066] That is, by using the display unit 14 to notify the traffic participants of advance notification information from the host vehicle 1 before the main notification information, the line of sight of the traffic participants can be guided to the display unit 14. In other words, the line of sight of the traffic participants can be guided to the display unit 14 before the main notification information is displayed. Therefore, the line of sight of the traffic participants can be guided to the main notification information. Then, the traffic participants can act with confidence while being aware of the action plan of the host vehicle 1 (stopping the host vehicle 1 in the first embodiment).

[0067] Unlike the above-mentioned problem, the display device of the present disclosure displays the advance warning information of the present disclosure, i.e., changes in the display, so that pedestrians who are crossing or about to cross the crosswalk look in advance at the direction of the vehicle 1 (particularly the second display unit 14B). Specifically, the change in the display allows the pedestrian to not only see the vehicle 1 but also the second display unit 14B. Since the pedestrian sees the second display unit 14B, the pedestrian begins crossing the crosswalk only after recognizing the main warning information, which is displayed after the advance warning information. This allows the pedestrian to cross the crosswalk safely. Thus, the display device of the present disclosure actively notifies the main warning information so that the pedestrian is aware of the display of the main warning information. In contrast, the above-mentioned conventional information presentation device merely presents information to traffic participants, and the information is presented passively.

[0068] Furthermore, in the display device of the first embodiment, the HMI control unit 32 displays the advance notification information on the second display unit 14B, and displays the main notification information on the first display unit 14A and the second display unit 14B.

[0069] That is, as described above, the display of the advance notification information, i.e., the change in the display, guides the traffic participant's gaze to the second display unit 14B in particular among the display units 14. Therefore, when the main notification information is displayed after the advance notification information is displayed, the traffic participant's gaze is first guided to the display on the second display unit 14B. As a result, when the main notification information is displayed, the traffic participant first recognizes the facial information displayed on the first display unit 14A and the second display unit 14B. Then, after recognizing the facial information, the traffic participant's field of view narrows, and the traffic participant's gaze is guided to the text information displayed on the first display unit 14A. Therefore, the traffic participant can recognize the facial information and text information of the main notification information without focusing only on the text information. This allows the traffic participant to act with confidence while being aware of the action plan of his or her vehicle 1.

[0070] Furthermore, in the display device of the first embodiment, the flow of steps S7 and S8 is repeated until the traffic participant passes through the predetermined range in step S7. Therefore, the traffic participant can act with peace of mind while recognizing the action plan of the own vehicle 1.

[0071] Furthermore, in the display device of the present disclosure, when the vehicle control unit 31 inputs a recognition result indicating the presence of a traffic participant in the direction of travel of the host vehicle 1 while the host vehicle 1 is traveling, the HMI control unit 32 notifies the traffic participant of advance notification information from the host vehicle 1 using the second display unit 14B before the host vehicle 1 stops (steps S3 to S5 in FIG. 6 ). That is, by notifying the display of advance notification information before the host vehicle 1 stops, the traffic participant's line of sight can be effectively guided to the display unit 14. This prevents the traffic participant from starting to act before the host vehicle 1 stops. Therefore, when the host vehicle 1 stops, the traffic participant's line of sight can be effectively guided to the display of this notification information. Then, the traffic participant can act with greater peace of mind while recognizing the action plan of the host vehicle 1.

[0072] Furthermore, in the display device of the present disclosure, the advance warning information is notified from the host vehicle 1 to traffic participants by illuminating the second display unit 14B. In other words, the advance warning information is displayed by illuminating (flashing). That is, displaying the advance warning information by illuminating provides a visual stimulus to traffic participants. As a result, displaying the advance warning information by illuminating serves to alert traffic participants. As described above, the visual field of the human eye is wider for changes in the brightness of light than for text information. That is, displaying the advance warning information by illuminating is easier to recognize in terms of the visual field than displaying text information. Therefore, displaying the advance warning information by illuminating can more effectively guide the gaze of traffic participants to the display unit 14. As a result, when the host vehicle 1 stops, the gaze of traffic participants can be more effectively guided to the warning information. This allows traffic participants to act with greater peace of mind while recognizing the course of action of the host vehicle 1.

[0073] Furthermore, in the display device of the present disclosure, the HMI control unit 32 notifies the traffic participants of advance notification information from the host vehicle 1 using the second display unit 14B at least one second before the actual notification information is issued (steps S3 to S6 and step S4 in FIG. 6 are repeated). It is generally believed that it takes one second for a person to recognize something and act on it. In other words, it takes one second for a person to react. In contrast, in the display device of the present disclosure, the HMI control unit 32 notifies the traffic participants of advance notification information from the host vehicle 1 using the second display unit 14B at least one second before the actual notification information is issued, thereby guiding the traffic participants' gaze to the display unit 14 in advance. This allows the traffic participants' gaze to be guided to the actual notification information with ample time to spare. The traffic participants can then act with ease and confidence while recognizing the course of action of the host vehicle 1.

[0074] Furthermore, in the display device of the present disclosure, the host vehicle 1 has headlamps 11 that illuminate the area ahead of the host vehicle 1, and a windshield 12 that is positioned above the headlamps 11 in the vertical direction Y. The display unit 14 is positioned between the headlamps 11 and the windshield 12 in the vertical direction Y. Here, if the display unit 14 were positioned below the headlamps 11 in the vertical direction Y, when the headlamps 11 are in operation and the brightness of the headlamps 11 is higher than the brightness of the display unit 14, the headlamps 11 may be too bright and the display on the display unit 14 may not be noticeable. In contrast, in the display device of the present disclosure, the display unit 14 is configured to be positioned between the headlamps 11 and the windshield 12 in the vertical direction Y. Therefore, the display on the display unit 14 can be made noticeable without being obstructed by the light emitted by the headlamps 11. Furthermore, the display unit 14 is positioned above the headlamps 11 in the vertical direction Y. This brings the display unit 14 closer to the eye level of traffic participants such as pedestrians than when the display unit 14 is disposed at a position lower than the headlamp 11 in the vertical direction Y. Therefore, the position of the display unit 14 makes it easier for traffic participants to see it. Here, it is sufficient for the display unit 14 to be disposed at a position between the headlamp 11 and the windshield 12 in the vertical direction Y. Therefore, for example, the display unit 14 may be disposed to the left or right side in the width direction X.

[0075] Furthermore, in the display device of the present disclosure, the vehicle 1 has a windshield 12 and a wiper 13 that wipes a front surface 12a of the windshield 12. The display unit 14 is disposed behind the front surface 12a of the windshield 12 and within the vehicle interior of the vehicle 1.

[0076] If the display unit 14 were to be positioned further forward in the longitudinal direction Z than the windshield 12, when dirt and / or water droplets adhere to the front surface 14a of the display unit 14, the front surface 14a of the display unit 14 would not be able to be wiped with the wiper 13. For this reason, it would be necessary to provide a dedicated wiper 13 or other device for wiping the front surface 14a of the display unit 14 to remove dirt and the like that has adhered to the front surface 14a of the display unit 14. Alternatively, the user of the vehicle 1 would have to take the trouble of wiping it with a dustcloth or the like.

[0077] In contrast, in the display device of the present disclosure, the display unit 14 is configured to be located behind the front surface 12a of the windshield, inside the vehicle cabin of the vehicle 1. This allows the front surface 12a of the windshield 12 to be wiped by the wiper 13. Therefore, there is no need to provide a dedicated wiper 13 or other configuration for wiping the front surface 14a of the display unit 14. Furthermore, the user of the vehicle 1 does not need to take the trouble of wiping the front surface 14a of the display unit 14 with a dustcloth or the like.

[0078] The display device of the present disclosure has been described above based on Example 1, but the specific configuration is not limited to Example 1, and design changes and additions are permitted as long as they do not deviate from the gist of the invention according to each claim in the claims.

[0079] In the above-described first embodiment, an example was shown in which the HMI control unit 32 outputs advance notification information to the second display unit 14B when the host vehicle 1 starts to decelerate (simultaneously or almost simultaneously with step S2), but this is not limited to this. For example, the HMI control unit 32 may output advance notification information to the second display unit 14B when the vehicle speed of the host vehicle 1 is equal to or lower than a predetermined speed. The predetermined speed differs depending on the legal speed, etc., and therefore may be set appropriately based on the legal speed, with the purpose of the advance notification information being to make traffic participants aware of the presence of the host vehicle 1.

[0080] In the first embodiment described above, the HMI control unit 32 outputs advance notification information to the display unit 14 at least one second before the actual notification information, but this is not limiting. For example, the advance notification information may be output more than one second before (for example, two seconds before) or more than one second before.

[0081] In the first embodiment described above, an example was shown in which the HMI control unit 32 switches from advance notification information to main notification information after the host vehicle 1 stops, but this is not limited to this. For example, when the vehicle speed of the host vehicle 1 is slowing down, the HMI control unit 32 may output the main notification information to the first display unit 14A and the second display unit 14B. In other words, when the host vehicle 1 is traveling at a slowing down speed, the HMI control unit 32 may switch from advance notification information to main notification information.

[0082] In the first embodiment described above, the advance warning information is displayed by flashing the second display unit 14B, but this is not limiting. For example, the advance warning information may be displayed by changing the area, brightness, or color of the light-emitting unit. The details of each change are explained below. The change in the area of ​​the light-emitting unit may involve, for example, alternating between illuminating only a circular figure on the second display unit 14B and illuminating all of the light sources 141 on the second display unit 14B. The change in brightness may involve, for example, alternating between illuminating the second display unit 14B at a brightness of 1000 candelas and 2000 candelas during the day.

[0083] Furthermore, in order to change the emitted color, a light source 141a (e.g., red) of an emitted color different from the light source 141 (e.g., white) in FIG. 2 is added, as shown in FIG. 8. The light source 141a of the emitted color is composed of a light-emitting element such as an LED, similar to the light source 141, and is mounted on a substrate 142. The other configuration is the same as each partition 14b of the second display unit 14B, so a description thereof will be omitted. The emitted color is changed by alternately emitting light from the light sources 141 and 141a of two different emitted colors. However, since the emitted colors are white and red, if the display unit 14 is provided on the rear of the vehicle 1, it is preferable to distinguish the color from the emitted color (e.g., red) of the rear lamp.

[0084] Furthermore, the display of the advance warning information on the second display unit 14B may be a combination of two or more of, for example, blinking, a change in the area of ​​the light-emitting unit, a change in brightness, and a change in the light-emitting color. In short, the display of the advance warning information does not have any specific meaning, but may be visually stimulating to traffic participants.

[0085] The first embodiment and the above-mentioned advance notification information are examples in which the vehicle 1 notifies traffic participants by emitting light (light-emitting display), but sound may be emitted from a speaker instead of light. However, it is preferable to distinguish this from the sound of a horn. The advance notification information may also be notified from the vehicle 1 to traffic participants by both emitting light and sound. The speaker is provided in the vehicle 1.

[0086] In the first embodiment described above, the display unit 14 includes the first display unit 14A and the second display unit 14B, but this is not limiting. For example, the display unit 14 may include only the first display unit 14A, or a third display unit may be newly added. When the display unit 14 includes only the first display unit 14A, the advance warning information may be displayed by, for example, flashing an LED indicator.

[0087] In the above-described first embodiment, an example was shown in which the first display unit 14A was an LED display, but the first display unit 14A may be a liquid crystal display, etc. In short, it is sufficient that the first display unit 14A is capable of displaying character information, etc.

[0088] In the above-described first embodiment, an example was shown in which each partition 14b of the second display unit 14B has one inner lens 144 as shown in Fig. 2, but each partition 14b may have one inner lens 144a for one light source 141 as shown in Fig. 9. The inner lens 144a causes light emitted from the light source 141 to enter the inner lens 144 as parallel light traveling approximately parallel to the optical axis direction of each partition 14b. Parallel light (parallel light) refers to light that has been collimated by passing through the additional inner lens 144a.

[0089] In the first embodiment described above, as shown in FIG. 2 , the display unit 14 is disposed behind the windshield 12 in the front-rear direction Z as a separate unit. However, this is not limiting. For example, as shown in FIG. 10 , a portion of the windshield 12 may be removed and the display unit 14 may be attached to the removed portion. When attaching the display unit 14 to the windshield 12, the front surface 14a of the display unit 14 is flush with the front surface 12a of the windshield 12. In this case, a seal member 15 is provided between the windshield 12 and the display unit 14. This prevents water and other contaminants from entering the interior of the vehicle 1 from the outside. Furthermore, as shown in FIG. 11 , the windshield 12 may be provided instead of the outer lens 146 of the display unit 14. As a result, the first display unit 14A, one second display unit 14B1, and the other second display unit 14B2 are each separated by the housing 140 and the windshield 12. 10 or 11, the front surface 12a of the windshield 12 and / or the front surface 14a of the display unit 14 can be wiped by the wiper 13, as in the first embodiment. Furthermore, there is no need to provide a dedicated wiper 13 or other configuration for wiping the front surface 14a of the display unit 14. Furthermore, there is no need for the user of the vehicle 1 to take the trouble of wiping the front surface 14a of the display unit 14 with a dustcloth or the like.

[0090] In the first embodiment described above, the display of the notification information is described as being when the host vehicle 1 stops while traveling forward as shown in Fig. 6, but it can also be applied to a case where the host vehicle 1 stops while traveling backward. However, the display unit 14 needs to be provided on the rear window (rear glass) side in the fore-and-aft direction Z, and the front surface 14a of the display unit 14 needs to be facing backward in the fore-and-aft direction Z.

[0091] Also, for example, the notification information may be displayed when the host vehicle 1 starts, as shown in FIG. 4. In this case, the flowchart in FIG. 6 starts, for example, when the host vehicle 1 is about to start. If the "recognition result in step S1 is that no traffic participants are present," the process proceeds from step S1 to step 10. Also, it is assumed that "deceleration starts in step S2" and "the host vehicle 1 stops at the stop position in step S4" do not occur. Furthermore, after the host vehicle 1 starts, the flowchart does not start until the host vehicle 1 stops again, so it ends rather than returns. When the host vehicle 1 starts after stopping, the advance notification information can guide the gaze of the traffic participants to the notification information, as in the first embodiment described above. Then, the traffic participants can act with confidence while being aware of the action plan of the host vehicle 1.

[0092] In the first embodiment described above, an example was shown in which the display device of the present disclosure is applied to an autonomous vehicle in which the vehicle 1 is controlled by the speed and steering angle so as to travel along a target travel route, but the present disclosure is not limited to this. For example, the display device of the present disclosure can also be applied to manual driving in which the driver drives or stops the vehicle 1 according to his or her own intention.

[0093] In this case, for example, similar to the above-described first embodiment, the vehicle control unit 31 recognizes whether or not a traffic participant is present in the direction in which the vehicle 1 is traveling. When the HMI control unit 32 receives a recognition result from the vehicle control unit 31 indicating the presence of a traffic participant, and further detects the following, the HMI control unit 32 starts notifying the traffic participant from the vehicle 1 using the display unit 14.

[0094] For example, deceleration in manual driving is performed by the driver's own intention. For this reason, the host vehicle 1 is provided with a pedal sensor that detects the amount of brake pedal operation. The detection of when to start notifying the notification information is performed by detecting the amount of pedal operation. As another example, the host vehicle 1 is provided with an HMI switch that the driver turns on and off. The detection of when to start notifying the notification information is performed by detecting that the HMI switch is on. In the case of detecting that the HMI switch is on, this means that the driver himself wants to use the display unit 14 to notify the notification information from the host vehicle 1 to traffic participants. [Explanation of symbols]

[0095] 1. Your vehicle 2. In-vehicle sensors 3 Vehicle Control Unit 4 Actuators 11 Headlamp (lighting fixture) 12 Front windshield 12a Front of the windshield 13. Wiper 14 Display section 14a front 14A 1st display section 14B (pair of left and right) second display unit 21 Camera 22 Radar 31 Vehicle control unit (recognition unit) 32 HMI control unit (alarm control unit) Y vertical direction Z front and rear direction

Claims

1. a recognition unit that recognizes whether or not a traffic participant is present in the direction in which the vehicle is traveling; a notification control unit that notifies notification information from the vehicle to the traffic participant using a display unit when a recognition result indicating the presence of the traffic participant is input from the recognition unit, the notification information includes main notification information regarding the operation of the host vehicle and advance notification information that is notified before the main notification information, The notification control unit switches between the advance notification information and the main notification information. A display device characterized by:

2. 2. The display device according to claim 1, When the recognition result indicating that the traffic participant is present in the direction in which the host vehicle is traveling is input from the recognition unit while the host vehicle is traveling, the notification control unit notifies the traffic participant of the advance notification information from the host vehicle using the display unit at least before the host vehicle stops. A display device characterized by:

3. 2. The display device according to claim 1, The advance notification information is notified from the vehicle to the traffic participants by emitting light from the display unit and / or sound from a speaker. A display device characterized by:

4. 2. The display device according to claim 1, The notification control unit notifies the advance notification information from the vehicle to the traffic participants using the display unit at least one second before the main notification information. A display device characterized by:

5. 5. The display device according to claim 1, the host vehicle has a lamp that illuminates a front area of ​​the host vehicle, and a front windshield that is disposed above the lamp in a vertical direction of the host vehicle; The display unit is disposed between the lamp and the windshield in the vertical direction of the vehicle. A display device characterized by:

6. 5. The display device according to claim 1, the host vehicle has a windshield and a wiper that wipes the front surface of the windshield, the display unit is disposed rearward of the front surface of the windshield in the longitudinal direction of the vehicle, The front surface of the display unit faces the front side of the windshield in the longitudinal direction of the vehicle. A display device characterized by:

7. 5. The display device according to claim 1, the host vehicle has a windshield and a wiper that wipes the front surface of the windshield, The front surface of the display unit is flush with the front surface of the windshield. A display device characterized by:

Images