Driving assistance device, driving assistance method, and control program

Abstract

The present invention provides a driver assistance device that allows the driver to easily recognize the distance between the vehicle and the merging point in the merging preparation section. [Solution] The driver assistance device 1 of the vehicle 2 includes a display device 24 installed in the passenger compartment 31 of the vehicle 2 and extending in a predetermined direction, and a control device 10 that controls the display device 24. The display device 24 has a plurality of display areas 27 divided in the extending direction. The control device 10 acquires the position of the vehicle 2 in relation to the merging start point 107 where it becomes possible to change lanes from the merging lane 103 to the main line 101 in the merging lane 103 that merges with the main line 101, and illuminates at least one of the plurality of display areas 27 based on the position of the vehicle 2 in relation to the merging start point 107, and moves the illuminated display area 27 in the extending direction as the position of the vehicle 2 approaches the merging start point 107.

Description

Technical Field

[0001] The present invention relates to a driving support device, a driving support method, and a control program.

Background Art

[0002] In recent years, efforts have been actively made to provide a sustainable transportation system that takes into account people in vulnerable positions among traffic participants. In order to further improve traffic safety and convenience towards this realization, research and development on driving support technologies and autonomous driving technologies have been carried out.

[0003] Patent Document 1 discloses a driving support device that prompts a driver to prepare for merging by displaying map information and a numerical value representing the distance to the merging point on a monitor of a vehicle traveling in a merging preparation section of a merging lane onto a main line.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in a merging lane, a driver needs to monitor the vehicle in front, the following vehicle in the merging lane, and the vehicles on the main line while also performing an acceleration operation of the vehicle. Therefore, it may be difficult for the driver to check the monitor. Furthermore, when the merging lane is curved, the driver needs to perform a steering operation, making it even more difficult to check numerical information from the monitor.

[0006] An aspect of the present invention aims to provide a driving support device, a driving support method, and a control program that can easily enable a driver to recognize the distance between a vehicle and a merging start point in a merging preparation section in view of the above background.

Means for Solving the Problems

[0007] To solve the above problems, one aspect of the present invention provides a vehicle driving assistance device comprising a display device provided in the passenger compartment of the vehicle and extending in a predetermined direction, and a control device for controlling the display device, wherein the display device has a plurality of display areas divided in the extending direction, and the control device acquires the position of the vehicle relative to a merging start point where it becomes possible to change lanes from the merging lane to the main line in a merging lane that merges with the main line, and illuminates at least one of the plurality of display areas based on the position of the vehicle relative to the merging start point, and moves the illuminated display area in the extending direction as the position of the vehicle approaches the merging start point.

[0008] Another aspect of the present invention is a method for assisting the driving of a vehicle, which is performed by a computer, wherein a display device is provided in the passenger compartment of the vehicle, extending in a predetermined direction, the display device has a plurality of display areas divided in the extending direction, and in a merging lane that merges with a main line, the position of the vehicle relative to a merging start point where it becomes possible to change lanes from the merging lane to the main line is acquired, at least one of the plurality of display areas is illuminated based on the position of the vehicle relative to the merging start point, and as the position of the vehicle approaches the merging start point, the illuminated display area is moved in the extending direction.

[0009] Another aspect of the present invention is a control program for causing a computer to perform a vehicle driving assistance method, wherein a display device extending in a predetermined direction is provided in the passenger compartment of the vehicle, the display device has a plurality of display areas divided in the extending direction, the program causes the computer to acquire the position of the vehicle relative to a merging start point where it becomes possible to change lanes from the merging lane to the main line in a merging lane that merges with the main line, the program causes at least one of the plurality of display areas to light up based on the position of the vehicle relative to the merging start point, and moves the illuminated display area in the extending direction as the position of the vehicle approaches the merging start point. [Effects of the Invention]

[0010] According to the above embodiment, it is possible to provide a driver assistance device, a driver assistance method, and a control program that enable the driver to easily recognize the distance between the vehicle and the merging start point in the merging preparation section. [Brief explanation of the drawing]

[0011] [Figure 1] Configuration diagram of the driving assistance device according to the embodiment [Figure 2] Diagram explaining merging lanes [Figure 3] Perspective view showing the vehicle's passenger compartment. [Figure 4] Diagram illustrating the transition of display devices. [Figure 5] A flowchart illustrating the procedure for driver assistance control performed by the control unit. [Figure 6] Perspective view showing the passenger compartment of a modified vehicle. [Modes for carrying out the invention]

[0012] The following describes embodiments of the driver assistance device 1, driver assistance method, control program, and vehicle 2 system with reference to the drawings.

[0013] As shown in Figure 1, the driver assistance device 1 is installed in the vehicle 2. The vehicle 2 may be, for example, a four-wheeled automobile.

[0014] The driver assistance system 1 includes an external environment recognition device 4. The external environment recognition device 4 is a device that detects objects outside the vehicle 2. The external environment recognition device 4 is a sensor that detects objects outside the vehicle by capturing electromagnetic waves and light from the surroundings of the vehicle 2. The external environment recognition device 4 includes, for example, a radar 5, a LiDAR 6, and an external camera 7.

[0015] The driver assistance device 1 has a vehicle sensor 9. The vehicle sensor 9 includes a vehicle speed sensor for detecting the speed of the vehicle 2 and an acceleration sensor for detecting acceleration. The vehicle sensor 9 may also include a yaw rate sensor for detecting angular velocity around the vertical axis and an orientation sensor for detecting the orientation of the vehicle 2.

[0016] The driving support device 1 includes a control device 10, a communication device 12, a navigation device 13, and an HMI 14 (Human Machine Interface). The communication device 12 mediates communication between the control device 10 and the navigation device 13 and peripheral vehicles 108 (see FIG. 2) located outside the vehicle and a server.

[0017] The navigation device 13 is a device that acquires the current position of the vehicle 2 and provides route guidance to the destination. The navigation device 13 preferably includes a GNSS (Global Navigation Satellite System) receiver 16, a map storage unit 17, and a route determination unit 18. The GNSS receiver 16 identifies the position (latitude and longitude) of the vehicle 2 based on signals received from artificial satellites (positioning satellites). The map storage unit 17 is composed of a known storage device such as a flash memory or a hard disk and stores map information.

[0018] The map information includes road information such as the type of road, such as highways, toll roads, national roads, and prefectural roads, the number of lanes of the road, the central position of each lane (three-dimensional coordinates including longitude, latitude, and height), the shape of road markings such as road section lines and lane boundaries, the presence or absence of sidewalks, curbs, and gutters, the position of intersections, the position of lane merging and branching points, the area of non-resident parking zones, the width of each lane, and signs provided on the road. The map information may also include traffic regulation information, address information (address and postal code), facility information, telephone number information, and the like.

[0019] In this embodiment, the map information includes information on whether the road is the main lines 101 and 102 or the merging lane 103 that merges into the main line 101. As shown in FIG. 2, the merging lane 103 includes a merging preparation section 103A and a mergeable section 103B. The mergeable section 103B extends parallel to the main line 101. The vehicle 2 can change lanes to the main line 101 in the mergeable section 103B. The merging preparation section 103A is demarcated from the main line 101 by a hard nose 104 such as a wall and a soft nose 105 such as a pole. The start end of the mergeable section 103B and the end end of the merging preparation section 103A are defined as the merging start point 107. That is, the mergeable section 103B starts from the merging start point 107, and the vehicle 2 can change lanes to the main line 101. The merging start point 107 is preferably set at the end of the soft nose 105.

[0020] The merging preparation section 103A is, for example, the rampway of a highway. The start end of the merging preparation section 103A is an arbitrarily set point. The start end of the merging preparation section 103A is preferably, for example, at the start of the rampway, the toll gate, or the branching point after passing through the toll gate in the merging lane 103 of a highway.

[0021] The map information regarding the merging lane 103 preferably includes whether the merging lane 103 is the merging preparation section 103A or the mergeable section 103B, the position of the start end of the merging preparation section 103A, the position of the merging start point 107 (the position of the end end of the merging preparation section 103A), the length of the merging preparation section 103A, the gradient at each point of the merging preparation section 103A, the radius of curvature or the radius (R) of the curve of the merging preparation section 103A.

[0022] The HMI 14 notifies various information to the passengers by display and voice, and accepts input operations by the passengers. As shown in FIG. 1, the HMI 14 preferably includes a touch panel display 23 including a liquid crystal or an organic EL, a display device 24, and a speaker 25.

[0023] The display device 24 is an optical device that visually transmits information to the driver. The display device 24 may be formed by light-emitting elements (light sources) such as LEDs or by a liquid crystal display. The display device 24 may be so-called ambient light. As shown in Figure 3, the display device 24 is installed inside the passenger compartment of the vehicle 2 and extends in a predetermined direction. The display device 24 has a plurality of display areas 27 that are divided in the extending direction.

[0024] In this embodiment, the display device 24 has a first part 28 and a second part 29. The first part 28 is provided on a door 32 that forms the side of the passenger compartment 31 and extends in the front-rear direction. The door 32 is located to the side of the driver's seat 33. The second part 29 is provided on an instrument panel 35 that forms the front of the passenger compartment 31 and extends to the left and right. The front end of the first part 28 and the right end of one end of the second part 29 are located close together. As a result, the second part 29 extends to the left from the front end of the first part 28. The first part 28 and the second part 29 may extend continuously in a linear manner.

[0025] The first part 28 may extend front to back along the upper part of the door lining 37 provided on the door 32. The second part 29 may be provided along the upper edge of the meter panel 38 provided on the instrument panel 35. The left end of the second part 29 may be positioned above the center of the meter panel 38.

[0026] The first part 28 has a plurality of display areas 27 divided in the front-to-back direction. The second part 29 has a plurality of display areas 27 divided in the left-to-right direction. In this embodiment, the first part 28 has three display areas 27 arranged in the front-to-back direction, and the second part 29 has two display areas 27 arranged in the left-to-right direction. The display areas 27 of the first part 28 are designated as the first display area 27A, the second display area 27B, and the third display area 27C, starting from the rear. The display areas 27 of the second part 29 are designated as the fourth display area 27D and the fifth display area 27E, starting from the right. The first to fifth display areas 27A to 27E can emit light by independently changing at least one of their color and brightness.

[0027] The display device 24 may be provided on the left side of the vehicle compartment 31. The left-side display device 24 is preferably formed to be symmetrical to the right-side display device 24.

[0028] The speaker 25 includes a first speaker 25A, a second speaker 25B, and a third speaker 25C. The first to third speakers 25A to 25C are arranged at intervals in the front-to-rear direction within the passenger compartment 31 of the vehicle 2. The second speaker 25B is positioned in front of the first speaker 25A, and the third speaker 25C is positioned in front of the second speaker 25B. The first speaker 25A may be located at the rear of the door lining 37 of the door 32 corresponding to the driver's seat 33. The second speaker 25B may be located at the front of the door lining 37 of the door 32 corresponding to the driver's seat 33. The third speaker 25C may be located on the instrument panel 35.

[0029] As shown in Figure 1, the control device 10 is a computer having a processor 41 and a memory 42 that is communicatively connected to the processor 41. The processor 41 may include at least one of the following as its core: a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), or a RISC (Reduced Instruction Set Computer). The memory 42 stores control programs executed by the processor 41 and various data. The memory 42 may include at least one of volatile memory and non-volatile memory. The volatile memory may be, for example, DRAM (Dynamic Random Access Memory) or SRAM (Static Random Access Memory). The non-volatile memory may be an SSD (Solid State Drive), flash memory, magnetic disk storage device, or optical disk storage device. At least a part of the control device 10 may be implemented by hardware such as an LSI (Large Scale Integration), ASIC (application specific integrated circuit), or FPGA (field-programmable gate array), or by a combination of software and hardware. The control device 10 may consist of a single piece of hardware, or it may consist of multiple pieces of hardware that can communicate with each other. Part of the control device 10 may consist of an external server located outside the vehicle 2.

[0030] The processor 41 implements various applications by executing control programs stored in memory 42. The control programs may be stored on removable recordable media such as DVDs or CD-ROMs, and installed in memory 42 when the recordable media is read by a reader. Alternatively, the control programs may be downloaded to and installed in memory 42 via a communication network such as the Internet.

[0031] The control device 10 controls the display device 24 and the first to third speakers 25A to 25C. The processor 41 functions as the surrounding environment recognition unit 45, the vehicle position recognition unit 46, and the notification unit 47 by executing the control program stored in the memory 42.

[0032] The surrounding environment recognition unit 45 recognizes the environment surrounding the vehicle 2. Based on the detection results of the external environment recognition device 4, the surrounding environment recognition unit 45 recognizes the surrounding environment (external world), including obstacles located around the vehicle 2, the shape of the road, lanes, the presence or absence of sidewalks, road markings, etc. Obstacles include, for example, guardrails, utility poles, surrounding vehicles 108 (see Figure 2), and people such as pedestrians. From the detection results of the external environment recognition device 4, the surrounding environment recognition unit 45 can acquire the position, speed, acceleration, and other states of the surrounding vehicles 108.

[0033] The vehicle position recognition unit 46 recognizes the position of vehicle 2 (the vehicle itself). The vehicle position recognition unit 46 preferably recognizes the position of vehicle 2 based on the GNSS signal received by the GNSS receiver unit 16.

[0034] The notification unit 47 executes driver assistance control when the vehicle 2 is located in the merging preparation section 103A of the merging lane 103. Based on the position of the vehicle 2 acquired by the vehicle position recognition unit 46 and map information, the notification unit 47 determines whether or not the vehicle 2 is located in the merging preparation section 103A of the merging lane 103. In driver assistance control, the notification unit 47 of the control device 10 illuminates at least one of a plurality of display areas 27 based on the position of the vehicle 2 relative to the merging start point 107, and it is preferable that the illuminated display area 27 moves in the extending direction as the position of the vehicle 2 approaches the merging start point 107. In this embodiment, the notification unit 47 of the control device 10 moves the illuminated display area 27 forward as the position of the vehicle 2 approaches the merging start point 107. Furthermore, the notification unit 47 of the control device 10 may move the illuminated display area 27 forward in the first part 28 as the position of the vehicle 2 approaches the merging start point 107, and after the illuminated display area 27 reaches the front end of the first part 28, move the illuminated display area 27 towards the left-right center of the vehicle 2 in the second part 29 as the position of the vehicle 2 approaches the merging start point 107.

[0035] The notification unit 47 may calculate the remaining distance to the merging start point 107 along the merging preparation section 103A based on the position of the vehicle 2 and the merging start point 107, and determine the display area 27 to illuminate according to the remaining distance. For example, the notification unit 47 may illuminate the first to fifth display areas 27A to 27E when the remaining distance is greater than or equal to the first threshold, illuminate the second to fifth display areas 27B to 27E when the remaining distance is greater than or equal to the second threshold set to a value less than the first threshold and less than the first threshold, illuminate the third to fifth display areas 27C to 27E when the remaining distance is greater than or equal to the third threshold set to a value less than the second threshold and less than the second threshold, illuminate the fourth to fifth display areas 27D to 27E when the remaining distance is greater than or equal to the fourth threshold set to a value less than the third threshold and less than the third threshold, and illuminate the fifth display area 27E when the remaining distance is greater than or equal to the fifth threshold set to a value less than the fourth threshold and less than the fourth threshold. Figure 4 is an explanatory diagram showing the relationship between the remaining distance and the display area 27. In Figure 4, (A) represents the state where the remaining distance is above the first threshold and the first to fifth display areas 27A to 27E are illuminated. In Figure 4, (B) represents the state where the remaining distance is above the third threshold but below the second threshold and the third to fifth display areas 27C to 27E are illuminated. In Figure 4, (C) represents the state where the remaining distance is above the fifth threshold but below the fourth threshold and the fifth display area 27E is illuminated. As shown in Figure 4, the display device 24 visually and intuitively communicates the remaining distance to the driver by the length of the illuminated display area 27.

[0036] Furthermore, the notification unit 47 may illuminate the first display area 27A when the remaining distance is equal to or greater than the first threshold, illuminate the second display area 27B when the remaining distance is equal to or greater than the second threshold but less than the first threshold, illuminate the third display area 27C when the remaining distance is equal to or greater than the third threshold but less than the second threshold, illuminate the fourth display area 27D when the remaining distance is equal to or greater than the fourth threshold but less than the third threshold, and illuminate the fifth display area 27E when the remaining distance is equal to or greater than the fifth threshold but less than the fourth threshold. In other words, the display device 24 visually and intuitively communicates the remaining distance to the driver based on the position of the illuminated display area 27.

[0037] Furthermore, the notification unit 47 illuminates the first to fifth display areas 27A to 27E with a first emission color when the remaining distance is greater than or equal to the first threshold, illuminates the second to fifth display areas 27B to 27E with a first emission color and illuminates the first display area 27A with a second emission color when the remaining distance is greater than or equal to the second threshold but less than the first threshold, illuminates the third to fifth display areas 27C to 27E with a first emission color and illuminates the first The second display areas 27A and 27B may be illuminated with a second emission color, and if the remaining distance is between the fourth threshold and the third threshold, the fourth and fifth display areas 27D and 27E may be illuminated with a first emission color, while the first and third display areas 27A and 27C may be illuminated with a second emission color. If the remaining distance is between the fifth threshold and the fourth threshold, the fifth display area 27E may be illuminated with a first emission color, while the first and fourth display areas 27A and 27D may be illuminated with a second emission color. The first and second emission colors are different emission colors. For example, the first emission color may be red and the second emission color may be blue. The display device 24 visually and intuitively communicates the remaining distance to the driver by the length of the display area 27 that is emitting the first emission color.

[0038] The notification unit 47 may calculate the remaining distance by dividing the remaining distance by the length of the merging preparation section 103A, and determine the display area 27 to be illuminated according to the remaining distance instead of the remaining distance.

[0039] The notification unit 47 of the control device 10 may change at least one of the emission color and brightness of the first to fifth display areas 27A to 27E based on at least one of the radius of curvature and gradient of the merging preparation section 103A. For example, the notification unit 47 may set the emission color of the first to fifth display areas 27A to 27E to red when the radius of curvature of the merging preparation section 103A is less than or equal to a predetermined determination value, and set the emission color of the first to fifth display areas 27A to 27E to blue when the radius of curvature is greater than the determination value. In addition, the notification unit 47 may change the emission color of the first to fifth display areas 27A to 27E from a blue-based system to a red-based system when the radius of curvature of the merging preparation section 103A is smaller. Furthermore, the notification unit 47 may set the illumination color of the first to fifth display areas 27A to 27E to red when the downhill gradient of the merging preparation section 103A is greater than or equal to a predetermined judgment value, and the illumination color of the first to fifth display areas 27A to 27E to blue when the radius of curvature is smaller than the judgment value.

[0040] The notification unit 47 of the control device 10 selects a speaker 25 from among several speakers 25 to output a notification sound based on the position of the vehicle 2 relative to the merging start point 107, and it is preferable to select a speaker 25 located further forward as the position of the vehicle 2 approaches the merging start point 107. Specifically, the notification unit 47 should determine which speaker 25 to output the notification sound according to the remaining distance. The notification sound may be a beep or buzzer sound such as "beep beep" or "buzz." The notification unit 47 should output the notification sound from the front speaker 25 as the remaining distance decreases. For example, the notification unit 47 may output a notification sound from the first speaker 25A when the remaining distance is greater than or equal to the first threshold, output a notification sound from the second speaker 25B when the remaining distance is greater than or equal to the third threshold but less than the first threshold, and output a notification from the third speaker 25C when the remaining distance is greater than or equal to the fifth threshold but less than the third threshold. In other words, the display device 24 conveys the remaining distance to the driver audibly and intuitively by the output position of the notification sound. The notification unit 47 may also determine which speaker 25 to output a notification sound from based on the remaining distance percentage instead of the remaining distance.

[0041] The notification unit 47 of the control device 10 may change the manner of the notification sound based on at least one of the radius of curvature and the gradient of the merging preparation section 103A. The notification unit 47 should change the notification sound to one that conveys a greater sense of urgency as the radius of curvature of the merging preparation section 103A decreases. Also, the notification unit 47 should change the notification sound to one that conveys a greater sense of urgency as the downward gradient of the merging preparation section 103A increases. For example, the sense of urgency of the notification sound can be changed by shortening the output period of the notification sound or increasing the volume.

[0042] The control procedure for the driver assistance control performed by the control device 10 is described below. The control device 10 repeatedly performs the driver assistance control shown in Figure 5 at predetermined time intervals. First, the control device 10 determines whether or not vehicle 2 is located in the merging preparation section 103A based on the position of vehicle 2 acquired by the vehicle position recognition unit 46 and map information (ST1). If vehicle 2 is not located in the merging preparation section 103A (ST1: No), the process proceeds to return, and step ST1 is repeated.

[0043] If vehicle 2 is located in the merging preparation section 103A (ST1: Yes), the control device 10 obtains information about the merging preparation section 103A based on map information (ST2). The information about the merging preparation section 103A includes the merging start point 107 and the radius of curvature of the merging preparation section 103A. The information about the merging preparation section 103A may also include the length of the merging preparation section 103A.

[0044] Next, the control device 10 calculates the remaining distance for vehicle 2 to the merging start point 107 based on the position of vehicle 2 and the information of the merging preparation section 103A (ST3).

[0045] Next, the control device 10 determines the display area 27 to be illuminated based on the remaining distance (ST4). The control device 10 should reduce the display area 27 to be illuminated towards the front as the remaining distance decreases. As described above, the control device 10 should compare the remaining distance with a predetermined determination value to determine the display area 27 to be illuminated.

[0046] Next, the control device 10 determines the light-emitting color of the display area 27 based on the radius of curvature of the merging preparation section 103A (ST5). The control device 10 may, for example, determine the light-emitting color to be a reddish color as the radius of curvature decreases.

[0047] Next, the control device 10 determines which speaker 25 will output the notification sound based on the remaining distance (ST6). The control device 10 outputs the notification sound from the speaker 25 located at the front as the remaining distance decreases.

[0048] Next, the control device 10 determines the type of notification sound to be output from the speaker 25 based on the radius of curvature of the merging preparation section 103A (ST7). The control device 10 should change the notification sound to one that conveys a greater sense of urgency as the radius of curvature decreases.

[0049] Next, the control device 10 controls the display device 24 (ST8) based on the display area 27 to be illuminated determined in step ST4 and the light emission color determined in step ST5. As a result, the display device 24 illuminates the determined display area 27 with the determined light emission color.

[0050] Next, the control device 10 controls the speaker 25 determined in step ST6 and causes it to output a notification sound in the manner determined in step ST7 (ST9).

[0051] When the control device 10 executes a driving assistance method, the illuminated display area 27 changes according to the remaining distance, which is the distance between the vehicle 2 and the merging start point 107, when the vehicle 2 is in the merging preparation section 103A. Specifically, as the vehicle 2 approaches the merging start point 107, the illuminated display area 27 moves forward. The driver can easily recognize the remaining distance by looking at the illuminated display area 27. As a result, the driver can recognize the remaining distance and prepare for merging, such as accelerating the vehicle 2.

[0052] When vehicle 2 is near the merging start point 107, the illuminated display area 27 in the second section 29 changes. That is, as the remaining distance decreases, the illuminated display area 27 changes in front of the driver, so the driver can more reliably recognize that the merging start point 107 is approaching.

[0053] The control device 10 changes the speaker 25 that emits a warning sound according to the remaining distance. Therefore, the driver can recognize the distance to the merging start point 107 based on the change in the position from which the warning sound is emitted.

[0054] The driver can recognize information such as the radius of curvature and gradient of the merging preparation section 103A based on the illumination pattern of the display area 27. Furthermore, the driver can recognize information such as the radius of curvature and gradient of the merging preparation section 103A based on the pattern of the notification sound.

[0055] The embodiments are not limited to the above configuration and can be broadly modified. For example, as shown in Figure 6, the display device 24 may be provided on the instrument panel 35 and extend in the vertical direction. In this case, the control device 10 may move the illuminated display area 27 upward as the position of the vehicle 2 approaches the merging start point 107. In this case, the first display area 27A, the second display area 27B, the third display area 27C, the fourth display area 27D, and the fifth display area 27E may be arranged in the order described above from bottom to top.

[0056] After vehicle 2 merges from merging lane 103 onto main lane 101, control device 10 may communicate with following vehicles on main lane 101 and receive following vehicle information from the following vehicles, including information regarding the following vehicles' acceleration / deceleration or braking operations. Based on the following vehicle information, control device 10 may evaluate the merging operation of vehicle 2 onto main lane 101. Based on the information regarding the following vehicles' acceleration / deceleration or braking operations included in the following vehicle information, control device 10 may obtain the deceleration of the following vehicles and lower the evaluation value the greater the deceleration. Control device 10 may display the set evaluation value on touch panel display 23.

[0057] The above embodiments may also be described as follows:

[0058] One embodiment is a driving assistance device 1 for a vehicle 2, comprising a display device 24 provided in the passenger compartment 31 of the vehicle 2 and extending in a predetermined direction, and a control device 10 that controls the display device 24, wherein the display device 24 has a plurality of display areas 27 divided in the extending direction, and the control device 10 acquires the position of the vehicle 2 in relation to a merging start point 107 where it is possible to change lanes from the merging lane 103 to the main line 101 in a merging lane 103 that merges with the main line 101, and illuminates at least one of the plurality of display areas 27 based on the position of the vehicle 2 in relation to the merging start point 107, and moves the illuminated display area 27 in the extending direction as the position of the vehicle 2 approaches the merging start point 107.

[0059] In this embodiment, as the vehicle 2 approaches the merging start point 107, the display device 24, in which the illuminated display area 27 changes in the extending direction, allows the driver to easily recognize the distance between the vehicle 2 and the merging start point 107, i.e., the remaining distance. This allows the driver to recognize the remaining distance and prepare for merging, such as accelerating the vehicle 2.

[0060] In the above embodiment, the display device 24 is provided on the door 32 that constitutes the side of the passenger compartment 31 and extends in the front-rear direction, and the control device 10 may move the illuminated display area 27 forward as the position of the vehicle 2 approaches the merging start point 107.

[0061] In this embodiment, the illuminated display area 27 moves forward according to the remaining distance, allowing the driver to intuitively recognize the remaining distance based on the illuminated display area 27. Furthermore, since the display device 24 is positioned within the driver's peripheral field of vision, it minimizes distraction to the driver.

[0062] In the above embodiment, the display device 24 is provided on the instrument panel 35 that constitutes the front of the vehicle compartment 31 and extends in the vertical direction, and the control device 10 may move the illuminated display area 27 upward as the position of the vehicle 2 approaches the merging start point 107.

[0063] In this embodiment, since the display device 24 is positioned in front of the driver, the driver can easily see the display device 24.

[0064] In the above embodiment, the display device 24 has a first portion 28 that extends in the front-rear direction and is provided on a door 32 that constitutes the side of the passenger compartment 31, and a second portion 29 that extends left and right and is provided on an instrument panel 35 that constitutes the front of the passenger compartment 31, with the front end of the first portion 28 and one end of the second portion 29 positioned close together, and the control device 10 moves the illuminated display area 27 forward in the first portion 28 as the position of the vehicle 2 approaches the merging start point 107, and after the illuminated display area 27 reaches the front end of the first portion 28, the illuminated display area 27 may be moved towards the left-right center of the vehicle 2 in the second portion 29 as the position of the vehicle 2 approaches the merging start point 107.

[0065] According to this embodiment, the illuminated display area 27 changes in front of the driver when the remaining distance decreases, so the driver can more reliably recognize that the merging start point 107 is approaching.

[0066] In the above embodiment, the control device 10 may change at least one of the light emission color and brightness of the display area 27 based on at least one of the radius of curvature and gradient of the merging preparation section 103A, which is the area of ​​the merging lane 103 up to the merging start point 107.

[0067] According to this embodiment, the driver can recognize information such as the radius of curvature and gradient of the merging preparation section 103A based on the illumination pattern of the display area 27.

[0068] In the above embodiment, the vehicle 2 further has a plurality of speakers 25 arranged at intervals in the front-rear direction within the passenger compartment 31, and the control device 10 may select a speaker 25 from among the plurality of speakers 25 to output a notification sound based on the position of the vehicle 2 with respect to the merging start point 107, and may select a speaker 25 located further forward as the position of the vehicle 2 approaches the merging start point 107.

[0069] According to this embodiment, the driver can recognize the distance to the merging start point 107 based on the change in the position where the notification sound is emitted.

[0070] Another embodiment is a computer-operated method for assisting the driving of a vehicle 2, wherein a display device 24 extending in a predetermined direction is provided in the passenger compartment 31 of the vehicle 2, and the display device 24 has a plurality of display areas 27 divided in the extending direction, and in a merging lane 103 that merges with the main line 101, the position of the vehicle 2 with respect to a merging start point 107 where it is possible to change lanes from the merging lane 103 to the main line 101 is acquired, and at least one of the plurality of display areas 27 is illuminated based on the position of the vehicle 2 with respect to the merging start point 107, and as the position of the vehicle 2 approaches the merging start point 107, the illuminated display area 27 is moved in the extending direction.

[0071] According to this embodiment, a driving assistance method can be provided that allows the driver to easily recognize the distance between vehicle 2 and the merging point 107, i.e., the remaining distance.

[0072] Another embodiment is a control program for causing a computer to execute a driving assistance method for a vehicle 2, wherein a display device 24 extending in a predetermined direction is provided in the passenger compartment 31 of the vehicle 2, the display device 24 has a plurality of display areas 27 divided in the extending direction, the computer is instructed to acquire the position of the vehicle 2 in relation to a merging start point 107 on a merging lane 103 that merges with the main line 101, where it is possible to change lanes from the merging lane 103 to the main line 101, and based on the position of the vehicle 2 in relation to the merging start point 107, at least one of the plurality of display areas 27 is illuminated, and as the position of the vehicle 2 approaches the merging start point 107, the illuminated display area 27 is moved in the extending direction.

[0073] According to this embodiment, it is possible to provide a control program that causes a computer to execute a driving assistance method that allows the driver to easily recognize the distance between vehicle 2 and the merging point 107, i.e., the remaining distance. [Explanation of symbols]

[0074] 1: Driving assistance system 2: Vehicles 24:Display device 25: Speaker 25A: First speaker 25B: Second speaker 25C: Third speaker 27:Display area 27A: 1st display area 27B: 2nd display area 27C: 3rd display area 27D: 4th display area 27E: 5th display area 28: Part 1 29:Second part 31: Vehicle interior 32: Door 35: Instrument Panel 41: Processor 42: Memory 101: Main Line 103: Merging lane 103A: Merging preparation section 103B: Section where merging is possible 107: Merging start point 108: Surrounding vehicles

Claims

1. A vehicle driving assistance system, A display device is provided inside the passenger compartment of the aforementioned vehicle and extends in a predetermined direction, The device includes a control device that controls the display device, The display device has a plurality of display areas divided in the extending direction, The control device is In a merging lane that merges with the main line, the position of the vehicle relative to the merging start point where it becomes possible to change lanes from the merging lane to the main line is obtained. A driving assistance device that illuminates at least one of a plurality of display areas based on the position of the vehicle relative to the merging start point, and moves the illuminated display area in the extending direction as the vehicle approaches the merging start point.

2. The display device is provided on the door that constitutes the side of the passenger compartment and extends in the front-rear direction. The control device moves the illuminated display area forward as the vehicle approaches the merging point, according to claim 1.

3. The display device is provided on the instrument panel that constitutes the front part of the vehicle compartment, and extends in the vertical direction. The control device moves the illuminated display area upward as the vehicle approaches the merging start point, according to claim 1.

4. The display device has a first portion that extends in the front-rear direction and is provided on the door that constitutes the side of the passenger compartment, and a second portion that extends left and right and is provided on the instrument panel that constitutes the front of the passenger compartment, with the front end of the first portion and one end of the second portion being positioned close together. The control device moves the illuminated display area forward in the first portion as the vehicle approaches the merging start point, and after the illuminated display area reaches the front end of the first portion, moves the illuminated display area towards the left-right center of the vehicle in the second portion as the vehicle approaches the merging start point, according to claim 1.

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

6. The vehicle further has a plurality of speakers arranged at intervals in the front-to-rear direction within its interior, The control device selects a speaker from among the plurality of speakers to output a notification sound based on the position of the vehicle relative to the merging start point, and as the vehicle approaches the merging start point, it selects a speaker located further forward, as described in claim 1.

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

8. A method for assisting the driving of a vehicle, which is performed by a computer, A display device extending in a predetermined direction is provided inside the vehicle, and the display device has a plurality of display areas divided in the extending direction. In a merging lane that merges with the main line, the position of the vehicle relative to the merging start point where it becomes possible to change lanes from the merging lane to the main line is obtained. A driving assistance method which involves illuminating at least one of a plurality of display areas based on the position of the vehicle relative to the merging start point, and moving the illuminated display area in the extending direction as the vehicle approaches the merging start point.

9. A control program that causes a computer to perform a vehicle driving assistance method, A display device extending in a predetermined direction is provided inside the vehicle, and the display device has a plurality of display areas divided in the extending direction. To the aforementioned computer, In a merging lane that merges with the main line, the position of the vehicle relative to the merging start point where it becomes possible to change lanes from the merging lane to the main line is obtained. A control program that causes at least one of a plurality of display areas to light up based on the position of the vehicle relative to the merging start point, and moves the illuminated display area in the extending direction as the vehicle approaches the merging start point.

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