Obstacle display device

Abstract

To provide an obstacle display device for allowing a user to easily understand which part of an own vehicle and which part of an obstacle are to collide with each other only by viewing a display image.SOLUTION: An obstacle display device A includes an own vehicle specification storage section 31, a tire angle acquisition section 32, an obstacle recognition section 33, a collision prediction section 34, and a display control section 35. The collision prediction section 34 predicts whether an own vehicle OV is to collide with an obstacle OB through the use of the size of the own vehicle OV stored in the own vehicle specification storage section 31, the position and size of the obstacle OB recognized by the obstacle recognition section 33, and information related to a tire angle acquired by the tire angle acquisition section 32. When the collision prediction section 34 predicts that the own vehicle OV is to collide with the obstacle OB, the display control section 35 displays, on a display device 4, an obstacle avoidance support image SI in which a part predicted to collide in the own vehicle OV has an association with a part predicted to collide in the obstacle OB.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to an obstacle display device.

Background Art

[0002] Conventionally, a parking assistance device is known that enables a driver to accurately recognize which part of a vehicle may collide with an obstacle (see Patent Document 1). The parking assistance device acquires obstacle information indicating obstacles around the vehicle in three-dimensional coordinates and vehicle shape information indicating the shape of the vehicle in three-dimensional coordinates. Based on the acquired obstacle information and vehicle shape information, it determines the parts of the vehicle and the obstacle that may collide. Then, the parking assistance device causes a display unit to display a parking assistance image that reflects the parts determined to have a collision risk.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the conventional device, when there are obstacles around the host vehicle, it only predicts the contact part of the obstacle and the contact part of the host vehicle, and separately displays images representing the respective predicted contact parts. For this reason, it is not intuitive and difficult to visually understand which part of the host vehicle will collide with which part of the obstacle from the display image.

[0005] The present disclosure has been made paying attention to the above problems, and an object thereof is to provide an obstacle display device in which it is easy to visually understand which part of the host vehicle will collide with which part of the obstacle from the display image.

Means for Solving the Problems

[0006] To achieve the above object, the obstacle display device of the present disclosure includes a host vehicle parameter storage unit, a tire angle acquisition unit, an obstacle recognition unit, a collision prediction unit, and a display control unit. The aforesaid The host vehicle parameter storage unit stores information about the host vehicle. The aforesaid The tire angle acquisition unit The aforesaid acquires information regarding the tire angle of the host vehicle. The aforesaid The obstacle recognition unit The aforesaid recognizes the position and size of obstacles existing around the host vehicle. The aforesaid The collision prediction unit The aforesaid uses the size of the host vehicle stored in the host vehicle parameter storage unit, The aforesaid the position and size of the obstacle recognized by the obstacle recognition unit, and The aforesaid the information regarding the tire angle acquired by the tire angle acquisition unit The aforesaid to predict whether the host vehicle and the obstacle will collide. The aforesaid When it is predicted by the collision prediction unit that The aforesaid the host vehicle and the obstacle will collide, the display control unit The aforesaid displays, on a display unit, an obstacle avoidance support image in which the predicted collision site of the host vehicle and The aforesaid the predicted collision site of the obstacle are related to each other. The aforesaid The aforesaid The aforesaid The aforesaid When it is predicted that the part where a collision of the host vehicle is predicted moves toward the obstacle based on the tire angle as the obstacle avoidance support image, the display control unit draws a collision prediction movement trajectory. The display control unit sets the obstacle avoidance support image as an image in which the collision prediction movement trajectory is drawn on a 3D view image representing the three-dimensional positional relationship between the host vehicle and the obstacle. The collision prediction movement trajectory starts from the body protrusion where a collision of the host vehicle is predicted, and is drawn by combining a movement trajectory part drawn in accordance with the traveling direction of the host vehicle and the tire angle, and a collision trajectory part drawn along the surface shape of the collision prediction part from the collision prediction position to the obstacle.

Advantages of the Invention

[0007] In the obstacle display device of the present disclosure, when it is predicted that the host vehicle and the obstacle will collide, an obstacle avoidance support image in which the two predicted collision sites of the host vehicle and the obstacle are related to each other is displayed on the display unit. As a result, it is possible to provide an obstacle display device in which it is easy to see which part of the host vehicle will collide with which part of the obstacle just by visually observing the display image. In addition, the driver can perform a steering operation to avoid a collision with an obstacle based on the recognition of the shape of the obstacle and the sense of distance to the obstacle.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Mode for Carrying Out the Invention

[0009] Hereinafter, the mode for implementing the obstacle display device according to the present disclosure will be described based on Example 1 and Example 2 shown in the drawings.

Example

[0010] The obstacle display device A of Example 1 is applied to a passenger car or the like, and in a scene where the own vehicle in motion is likely to collide with an obstacle, it is a device that provides display support for prompting a driver operation to avoid the own vehicle from colliding with the obstacle in advance. Note that "collision" is used as a term that includes the meaning of contact or interference between the own vehicle and the obstacle in addition to the meaning of the own vehicle hitting the obstacle.

[0011] First, referring to FIG. 1, the configuration of an obstacle display device A that provides display support for pre-avoiding a collision between the host vehicle and an obstacle will be described. Hereinafter, the host vehicle will be referred to as "host vehicle OV", and the obstacle will be referred to as "obstacle OB".

[0012] The obstacle display device A includes a travel information acquisition unit 1, a surrounding situation acquisition unit 2, a display support controller 3, a display device 4 (display unit), and a speaker 5.

[0013] The travel information acquisition unit 1 acquires information related to the travel of the host vehicle OV (such as the travel direction and travel speed of the host vehicle OV). The travel information acquisition unit 1 includes a navigation device 11, a range position sensor 12, a steering wheel angle sensor 13, and a vehicle speed sensor 14.

[0014] When a destination is set, the navigation device 11 automatically determines the current position of the host vehicle OV using GPS or the like, and compares it with the map recorded in the device to provide route guidance to the destination by means of route display on the map on the screen and voice. Note that "GPS" is an abbreviation for "Global Positioning System". The navigation device 11 has a database in which 3D map data including terrain information and facility information data are stored. Therefore, vehicle position information, route information, 3D map information, terrain / facility information, etc. can be obtained from the navigation device 11.

[0015] The range position sensor 12 is a sensor that detects the range position selected in the in-vehicle automatic transmission. The travel direction information of the host vehicle OV can be obtained from the range position sensor 12. That is, when a forward direction range position such as the D range position is detected, the travel direction of the host vehicle OV is the forward direction, and when a reverse direction range position such as the R range position is detected, the travel direction of the host vehicle OV is the reverse direction.

[0016] The steering angle sensor 13 detects the steering angle of the steering wheel due to the driver's steering operation on the steering wheel. Steering angle information can be obtained from the steering angle sensor 13. When the steering angle information is obtained, the tire angle information can be obtained by angle conversion calculation using the steering gear ratio or the like.

[0017] The vehicle speed sensor 14 detects the vehicle speed of the host vehicle OV. Vehicle speed information of the host vehicle OV can be obtained from the vehicle speed sensor 14. When the vehicle speed information is obtained and the distance information between the host vehicle OV and the obstacle OB is obtained, the required time information until the host vehicle OV reaches the obstacle OB can be obtained by calculation using the vehicle speed and the distance.

[0018] The surrounding situation acquisition unit 2 acquires information on the situation (driving environment) around the host vehicle OV. The surrounding situation acquisition unit 2 includes a camera 21, a radar 22, and a lidar 23.

[0019] The camera 21 is an imaging device for acquiring image data. This camera 21 is configured by combining, for example, a front recognition camera, a rear recognition camera, a right recognition camera, a left recognition camera, etc., and performs image analysis in real time using an image processing processor or the like. As a result, the camera 21 can detect an object on the road on which the host vehicle OV travels (object on the host vehicle's driving road), a lane, an object outside the road on which the host vehicle OV travels (object outside the host vehicle's driving road), the road on which the host vehicle OV travels (host vehicle's driving road), a road sign, etc. Examples of objects outside the host vehicle's driving road include road structures such as utility poles, preceding vehicles, following vehicles, oncoming vehicles, surrounding vehicles, pedestrians, bicycles, motorcycles, etc. Examples of the host vehicle's driving road include road white lines, road boundaries, stop lines, crosswalks, etc. Examples of road signs include speed limits. Note that although a monocular camera generally cannot measure the distance to an object, it is also possible to measure the distance to an object by simultaneously taking pictures from different viewpoints using a stereo camera.

[0020] Radar 22 is a general term that includes a radar using radio waves and a sonar using ultrasonic waves, and is a device that acquires distance data using reflected signals. Here, as the radar 22, for example, a laser radar, a millimeter-wave radar, an ultrasonic radar, a laser range finder, etc. can be used. The radar 22 can detect the positions of objects on the host vehicle's driving road, objects outside the host vehicle's driving road (road structures, preceding vehicles, following vehicles, oncoming vehicles, surrounding vehicles, pedestrians, bicycles, motorcycles), etc., and can also detect the distance to each object.

[0021] Lidar 23 is a device that measures the position (distance, direction) of an object existing in the surroundings and detects the shape of the object by irradiating the object with laser light while scanning the laser light and observing the scattered or reflected light. The feature of the lidar 23 is that the beam density is higher than that of radio waves, and by using laser light with a short wavelength, the position, shape, etc. can be detected with high accuracy. The information of the point cloud data obtained from the lidar 23 is called "point cloud information". Point cloud information is a collection of points that looks like a camera image when viewed with a viewer, but each point is represented by three-dimensional coordinate data (x, y, z) obtained by positioning with the lidar 23. Therefore, the point cloud information obtained from the lidar 23 can be converted into point cloud information with a different viewpoint. In addition, the point cloud information obtained from the lidar 23 can be color-coded by distance or height from the coordinate information of the point cloud information, and it is also possible to color-code the point cloud by reflectivity.

[0022] The display support controller 3 acquires necessary information from the progress information acquisition unit 1, the surrounding situation acquisition unit 2, etc., and performs display support control to avoid obstacles in advance based on the acquired information. The display support controller 3 includes a host vehicle specification storage unit 31, a tire angle acquisition unit 32, an obstacle recognition unit 33, a collision prediction unit 34, a display control unit 35, a vehicle 3D data storage unit 36, and an audio control unit 37.

[0023] The own vehicle specification storage unit 31 stores information on the own vehicle OV. Here, the information on the own vehicle OV refers to information regarding the position and size of a part (vehicle body protruding part) protruding from the vehicle body of the own vehicle OV that has a high possibility of colliding with an obstacle OB. Specifically, it refers to the position of the door mirror, the lateral width dimension of the own vehicle OV when the door mirror is deployed, the position of the bumper, the lateral width dimension of the bumper, the vehicle outer shape and vehicle outer dimensions including the door mirror and the bumper, and the like.

[0024] The tire angle acquisition unit 32 acquires information regarding the tire angle of the own vehicle OV, which is information for obtaining the predicted trajectory of the own vehicle OV, based on the steering wheel angle from the steering wheel angle sensor 13 of the traveling information acquisition unit 1. Here, when the steering wheel angle information is input to the tire angle acquisition unit 32, information regarding the tire angle is acquired by an angle conversion calculation using the steering wheel angle and the steering gear ratio, etc. Note that, as the tire angle acquisition unit 32, for example, when the traveling information acquisition unit 1 has a tire angle sensor, the information regarding the tire angle of the own vehicle OV may be directly acquired without performing the angle conversion calculation.

[0025] The obstacle recognition unit 33 recognizes the position and size of an obstacle OB existing around the own vehicle OV based on the input information from the surrounding situation acquisition unit 2. Here, in the obstacle recognition unit 33 that acquires point cloud information from the lidar 23, the distance and direction between the own vehicle OV and the obstacle OB, and the shape of the obstacle OB are recognized. The point cloud information may be the point cloud information from the radar 22.

[0026] The collision prediction unit 34 predicts whether or not the own vehicle OV and the obstacle OB will collide using the size of the own vehicle OV, the position and size of the obstacle OB, and the information regarding the tire angle. Here, the "size of the own vehicle OV" is stored in the own vehicle specification storage unit 31. The "position and size of the obstacle OB" are recognized by the obstacle recognition unit 33. The "information regarding the tire angle" is acquired by the tire angle acquisition unit 32.

[0027] When the collision prediction unit 34 predicts that the host vehicle OV will collide with the obstacle OB, the display control unit 35 displays on the display device 4 an obstacle avoidance support image SI in which the predicted collision site of the host vehicle OV and the predicted collision site of the obstacle OB are related to each other.

[0028] The obstacle avoidance support image SI includes, in the image displayed on the display screen 41 of the display device 4, a collision prediction movement trajectory MT when the predicted collision site of the host vehicle OV is predicted to move toward the obstacle OB according to the tire angle at that time. That is, by drawing the collision prediction movement trajectory MT connecting the predicted collision site of the host vehicle OV and the predicted collision site of the obstacle OB, the two sites are made into an image having a relationship.

[0029] The entire image of the obstacle avoidance support image SI displayed on the display device 4 is an image in which the collision prediction movement trajectory MT is drawn on a 3D view image representing the three-dimensional positional relationship between the host vehicle OV and the obstacle OB (see FIG. 3).

[0030] Here, the “3D view image” refers to an image in which a 3D display of a traveling environment image having the obstacle OB (acquired by 3D map information or the like) is combined with a 3D display of the host vehicle image from the same overhead viewpoint as the traveling environment image.

[0031] The collision prediction movement trajectory MT is drawn by combining a starting point T0, a movement trajectory part T1, and a collision trajectory part T2, starting from the vehicle body protruding part where the collision of the host vehicle OV is predicted. The starting point part T0 is drawn along the predicted collision surface of the vehicle body protruding part toward the obstacle OB. The movement trajectory part T1 is drawn according to the traveling direction and tire angle of the host vehicle OV. The collision trajectory part T2 is drawn along the surface shape of the predicted collision site from the predicted collision position with the obstacle OB.

[0032] The obstacle avoidance support image SI is an image display in which an un-avoidable area HA indicating a limit area where the host vehicle OV cannot avoid a collision with an obstacle OB is added by drawing to a 3D view image in which a predicted collision movement trajectory MT is drawn. Here, the un-avoidable area HA is drawn by a shape that is separated by a predetermined distance from the surface shape of the predicted collision site along the road surface display portion in contact with the predicted collision site of the obstacle OB on the traveling road surface of the host vehicle OV (an area with a predetermined margin added), and is displayed by blinking.

[0033] When it is predicted that the host vehicle OV and the obstacle OB will not collide, the display control unit 35 displays an image in which a non-predicted collision movement trajectory NT is drawn on a 3D view image representing the three-dimensional positional relationship between the host vehicle OV and the obstacle OB (see FIG. 5).

[0034] The non-predicted collision movement trajectory NT starts from the body protruding portion of the host vehicle OV and is drawn in accordance with the traveling direction and tire angle of the host vehicle OV. Then, the color of the non-predicted collision movement trajectory NT is set to a color different from that of the predicted collision movement trajectory MT when it is predicted that the host vehicle OV and the obstacle OB will collide. For example, the color of the predicted collision movement trajectory MT is set to "red", and the color of the non-predicted collision movement trajectory NT is set to "green".

[0035] The vehicle 3D data storage unit 36 stores information on host vehicle images (3D vehicle exterior images, 3D vehicle interior images, etc.) by 3D display capable of coping with viewpoint conversion. That is, when the display control unit 35 generates a 3D view image representing the three-dimensional positional relationship between the host vehicle OV and the obstacle OB, it provides information on the host vehicle image by 3D display to be combined with the 3D display of the traveling environment image.

[0036] When the collision prediction unit 34 predicts that the host vehicle OV and the obstacle OB will collide, the voice control unit 37 outputs a predetermined voice signal or alarm signal to the speaker 5, and the speaker 5 emits a sound according to the situation and situation change at that time. By using the voice control unit 37 in combination with the display control unit 35, when a collision between the host vehicle OV and the obstacle OB is predicted, it is possible to appeal to the driver's vision and hearing to prompt the driver's operation for collision avoidance.

[0037] The display device 4 is arranged at a position that is easily visible to the driver of the host vehicle OV, and displays an obstacle avoidance support image SI or the like on the display screen 41 in response to an image display command from the display control unit 35. The display device 4 has a function of making the display image on the display screen 41 a three-dimensional display image and moving the overhead view point of the three-dimensional display image by a touch operation on the display screen 41. Here, the touch operation on the display screen 41 includes a slide operation of touching and moving a finger on the display screen 41, a pinch-in operation of moving two touched fingers so as to close them, a pinch-out operation of moving two touched fingers so as to open them, and the like.

[0038] Next, with reference to the flowchart shown in FIG. 2, a display support process for pre-avoiding a collision between the host vehicle OV and an obstacle OB executed by the display support controller 3 will be described.

[0039] In step S1, at the start, or following step S8 or step S9, terrain and facility information is acquired from the database of the navigation device 11, and the process proceeds to step S2. Here, when the information acquired from the in-vehicle database for the necessary information is insufficient, the display support controller 3 may obtain information through two-way communication with infrastructure facilities, vehicle-to-vehicle communication with other vehicles traveling around the host vehicle OV, etc., and interpolate the insufficient information.

[0040] In step S2, point cloud information of the surrounding environment of the host vehicle OV is acquired from the lidar 23 or the radar 22, and the process proceeds to step S3. Here, the "point cloud information" is three-dimensional point cloud information in which each point has three-dimensional coordinate data (x, y, z) obtained by positioning with the lidar 23 or the radar 22.

[0041] In step S3, a camera image of the surrounding environment is acquired from the camera 21, and the process proceeds to step S4. Here, the "camera image" refers to camera images in four directions: the front, left side, right side, and rear of the host vehicle OV.

[0042] In step S4, based on the steering wheel angle from the steering wheel angle sensor 13, the current tire angle is obtained, and the process proceeds to step S5. Here, the "current tire angle" is obtained, for example, by an operation that converts the detected value of the steering wheel angle into a tire angle using the steering gear ratio.

[0043] In step S5, when the host vehicle OV travels at the current tire angle, the distance between an obstacle OB that may come into contact with the vehicle body and the most protruding vehicle body protrusion of the vehicle body is calculated, and the process proceeds to step S6. Here, the distance between the obstacle OB and the vehicle body protrusion is calculated using the measured distance from the front of the vehicle detected by the radar 22 or lidar 23 to the obstacle OB and the position information of the vehicle body protrusion stored in the host vehicle specifications storage unit 31. Note that when a collision is predicted, the calculated distance between the obstacle OB and the vehicle body protrusion is displayed on the distance display portion DD of the display screen 41 of the display device 4 (see FIG. 3).

[0044] In step S6, starting from the vehicle body protrusion, a locus line of the vehicle body protrusion that draws a locus according to the traveling direction and tire angle of the host vehicle OV is drawn, and the process proceeds to step S7. Here, the "locus line of the vehicle body protrusion" is drawn as the movement locus portion T1 of the collision prediction movement locus MT when a collision is predicted, and is drawn as a non-collision prediction movement locus NT when a collision is not predicted. Also, the "locus line of the vehicle body protrusion" is not an image to be superimposed from above the camera image, but a locus line drawn with three-dimensional coordinates (x, y, z). Therefore, even if the viewpoints of the 3D view images of the host vehicle OV and the obstacle OB are changed, the locus line of the vehicle body protrusion can connect the two parts following the viewpoint change.

[0045] In step S7, when the obstacle OB exists on the line of the locus line of the vehicle body protrusion drawn in step S6, the overlap between the point cloud coordinates of the obstacle OB and the locus line coordinates is calculated, and the process proceeds to step S8. That is, when the point cloud coordinates of the obstacle OB and the locus line coordinates are collated, it is calculated whether a part of the locus line coordinate points is included in the point cloud coordinate points of the obstacle OB.

[0046] In step S8, it is determined whether there is an overlap between the point cloud coordinates of the obstacle OB and the trajectory line coordinates, that is, whether the vehicle body protrusion will collide with the obstacle OB if the host vehicle OV continues to travel as it is. If it is determined that there is an overlap between the point cloud coordinates of the obstacle OB and the trajectory line coordinates, the process proceeds to step S9. On the other hand, if it is determined that there is no overlap between the point cloud coordinates of the obstacle OB and the trajectory line coordinates, the process returns to step S1.

[0047] In step S9, following the determination of an overlap in step S8, a line connecting from the contact start point to the contact end point between the trajectory line and the obstacle OB is drawn on the point cloud of the obstacle OB, and the process returns to step S1. Here, the contact line drawn on the point cloud of the obstacle OB is drawn as the collision trajectory portion T2 of the collision prediction movement trajectory MT in the case where a collision is predicted (see FIG. 3).

[0048] Note that in step S9, an image in which the collision prediction movement trajectory MT is drawn on the 3D view image is set as the obstacle avoidance support image SI, and a command to display it on the display device 4 is output. Among the collision prediction movement trajectories MT, the movement trajectory portion T1 is displayed as a trajectory whose luminance gradually decreases by gradation from the high-luminance display trajectory line portion toward the inside of the host vehicle OV. Among the collision prediction movement trajectories MT, the collision trajectory portion T2 is displayed such that a part of the point cloud data blinks in the collision prediction range VA of the collision trajectory portion T2. Further, the obstacle avoidance support image SI is an image in which an inescapable region HA that blinks is added by drawing (see FIG. 4).

[0049] Next, with reference to FIGS. 2 to 5, a display support function for pre-avoiding a collision with an obstacle OB existing on the side of the road or the like during traveling by the host vehicle OV will be described. Hereinafter, an example will be described in which the part (vehicle body protrusion) where a collision of the host vehicle OV is predicted is the left door mirror 100, and the part where a collision of the obstacle OB is predicted is the height region of the door mirror 100 of the utility pole 200.

[0050] The currently mainstream guidelines for obstacle avoidance (display support images) cannot recognize the shapes of the locations of the host vehicle and obstacles that are actually blind spots of the camera. Therefore, it is necessary to superimpose and display the guidelines on the camera image from above. However, when the guidelines are superimposed on the camera image from above, the guidelines overlap and hide the obstacle parts where collisions are predicted among the obstacles to be avoided. Therefore, even when looking at the screen on which the guidelines are displayed, the driver cannot accurately perceive the distance between the host vehicle and the obstacles, and will drive to avoid the obstacles with a large margin. As a result, the avoidance path of the host vehicle expands more than necessary.

[0051] For example, assume that the driver is driving a rental car or a vehicle owned by someone else that they are not familiar with in terms of vehicle feel, and is driving on a narrow road where they are anxious about passing oncoming vehicles. In this case, if there is a utility pole on the side of the narrow road during driving, the driver will take a large margin to avoid the utility pole, which is an obstacle, so that the door mirror does not touch the utility pole. As a result, the avoidance path of the host vehicle expands more than necessary.

[0052] In contrast, in the first embodiment, when it is predicted that the door mirror 100 of the host vehicle OV will collide with the utility pole 200, in the flowchart of FIG. 2, the process flows from S1→S2→S3→S4→S5→S6→S7→S8→S9 are repeated. Therefore, due to the display command output from the display control unit 35 to the display device 4, an obstacle avoidance support image SI having a relevance between the door mirror 100 of the host vehicle OV and the part where the collision with the utility pole 200 is predicted is displayed on the display screen 41.

[0053] At this time, as the obstacle avoidance support image SI, as shown in FIG. 3, when it is predicted that the door mirror 100 of the host vehicle OV will move toward the utility pole 200 according to the tire angle at that time, a collision prediction movement locus MT is drawn. For this reason, two parts, i.e., the predicted collision part of the door mirror 100 and the utility pole 200, are connected by the collision prediction movement locus MT. When looking at the display screen 41 on which the obstacle avoidance support image SI is displayed, it can be immediately grasped that the two connected parts are parts having relevance.

[0054] Therefore, just by looking at the display screen 41 of the display device 4, the driver can easily recognize that if the vehicle proceeds as it is, the door mirror 100 will collide with the utility pole 200. As a result, based on the recognition that if the driver proceeds without doing anything, the door mirror 100 will collide with the utility pole 200, the driver can shift to a steering operation or the like to avoid the collision with the utility pole 200.

[0055] In the first embodiment, as shown in FIG. 3, the collision prediction movement locus MT is drawn by combining a movement locus part T1 and a collision locus part T2 starting from the door mirror 100 of the host vehicle OV. In particular, the collision locus part T2 will be drawn as a semi-circular arc-shaped collision locus part T2 from the predicted collision start part to the predicted collision end part with respect to the utility pole 200.

[0056] Therefore, just by looking at the collision prediction movement locus MT, it becomes easier for the driver to grasp the shape of the utility pole 200 by the collision locus part T2. Further, due to the combined drawing of the movement locus part T1 and the collision locus part T2, it becomes easier to recognize the sense of distance from the door mirror 100 to the utility pole 200. As a result, the driver can perform an appropriate steering operation based on the recognition of the shape of the utility pole 200 and the sense of distance to the utility pole 200, and the steering cut angle does not become larger than necessary, and the travel path of the host vehicle OV does not expand significantly.

[0057] In Example 1, as shown in FIGS. 3 and 4, the moving trajectory portion T1 from the door mirror 100 to the utility pole 200 of the collision prediction moving trajectory MT is a trajectory display in which the luminance gradually decreases by gradation from the trajectory line portion with high luminance display toward the inside of the host vehicle OV. Further, as shown in FIG. 4, the collision trajectory portion T2 of the collision prediction moving trajectory MT is displayed with high luminance. Then, in the collision prediction range VA within a predetermined range in the vertical direction centered on the collision trajectory portion T2, the point cloud data representing the obstacle OB from the lidar 23 is superimposed, and a part of the point cloud data is displayed with flashing.

[0058] Therefore, by the gradation display of the moving trajectory portion T1, the driver can enhance the visibility of the fact that if proceeding as it is, the door mirror 100 will contact the utility pole 200. Further, by the partial flashing display of the point cloud data in the collision prediction range VA of the collision trajectory portion T2, the driver can more accurately grasp the shape of the utility pole 200.

[0059] In Example 1, as shown in FIGS. 3 and 4, the obstacle avoidance support image SI is an image display in which an avoidance impossible region HA indicating a limit region where the host vehicle OV cannot avoid a collision with the utility pole 200 is added by drawing to a 3D view image in which the collision prediction moving trajectory MT is drawn. Here, the avoidance impossible region HA is drawn in a circular shape along a certain distance (by the amount of collision avoidance margin) away from the surface shape of the utility pole 200, and is displayed with flashing.

[0060] Therefore, when performing a steering operation to avoid the utility pole 200 by changing the steering angle, the flashing display of the avoidance impossible region HA gives the driver a guideline for the steering angle necessary to avoid a collision with the utility pole 200. As a result, the driver can avoid the door mirror 100 from colliding with the utility pole 200 by an appropriate steering cut angle in the steering operation based on the recognition of the avoidance impossible region HA.

[0061] In the first embodiment, when it is predicted that the door mirror 100 of the host vehicle OV will not collide with the utility pole 200, in the flowchart of FIG. 2, the process proceeds as S1→S2→S3→S4→S5→S6→S7→S8 and this process is repeated. Therefore, by the display command output from the display control unit 35 to the display device 4, as shown in FIG. 5, an image in which a non-collision predicted movement trajectory NT is drawn is displayed on the 3D view image showing the three-dimensional positional relationship between the door mirror 100 of the host vehicle OV and the utility pole 200. Here, the non-collision predicted movement trajectory NT starts from the door mirror 100 and is drawn in accordance with the traveling direction and the tire angle of the host vehicle OV. When displaying the non-collision predicted movement trajectory NT, it may be displayed with gradation toward the inside of the host vehicle OV, similar to the gradation display of the movement trajectory portion T1.

[0062] Therefore, while the host vehicle OV is running and it is predicted that there will be no collision even if there is an obstacle OB such as a utility pole 200 ahead, an image in which the non-collision predicted movement trajectory NT is drawn is displayed. Thus, the non-collision predicted movement trajectory NT can give the driver the recognition that the door mirror 100 will not collide with the utility pole 200 even if the vehicle continues to move forward in this state.

[0063] On the other hand, the collision predicted movement trajectory MT and the non-collision predicted movement trajectory NT change moment by moment in accordance with the change in the tire angle when the driver operates the steering wheel. Therefore, when the collision predicted movement trajectory MT is being displayed due to the prediction of a collision, assume that the driver operates the steering wheel based on the display of the collision predicted movement trajectory MT. In this case, when the tire angle becomes such that the driver can avoid the utility pole 200 by operating the steering wheel, the image displayed on the display device 4 switches from the red collision predicted movement trajectory MT (see FIG. 3) to the green non-collision predicted movement trajectory NT (see FIG. 5). Thus, the driver can perform a steering operation to avoid the utility pole 200 with reference to the switching of the images displayed on the display device 4.

[0064] Next, with reference to FIGS. 6 and 7, an overhead view point moving function for moving the overhead view point of the three-dimensional display image by a touch operation on the display screen 41 of the display device 4 will be described.

[0065] As shown in FIG. 6, on the display screen 41 of the display device 4, an obstacle avoidance support image SI is displayed from an obliquely upward overhead view point (reference viewpoint position) at the left rear of the host vehicle OV where both the door mirror 100 of the host vehicle OV and the utility pole 200 are not in a blind spot. For example, it is assumed that when the display screen 41 is touched once, a mark indicating the overhead view point P1 at that time is shown on the display screen 41.

[0066] In this display state, touch the mark position of the overhead view point P1 on the display screen 41 with a finger and slide in the right direction shown by the arrow in FIG. 6 to move to the overhead view point P2. By this touch operation, the overhead view point P1 that was obliquely upward at the left rear of the host vehicle OV moves to the overhead view point P2 that is obliquely upward at the right rear of the host vehicle OV. The display on the display screen 41 becomes a 3D image with the overhead view point moved by this touch operation, but the 3D image showing the appearance of the host vehicle OV may hide a part of the collision prediction movement trajectory MT.

[0067] At that time, touch the position of the host vehicle OV displayed on the display screen 41 due to the viewpoint movement with two closed fingers. Then, when a pinch-out operation of opening the two fingers in the vertical direction is performed (refer to the vertical arrows in FIG. 6), the 3D image showing the appearance of the host vehicle OV is switched to a 3D image showing the interior of the vehicle.

[0068] Therefore, the display image on the display screen 41 of the display device 4 is switched from the obstacle avoidance support image SI shown in FIG. 6 to the obstacle avoidance support image SI' shown in FIG. 7 with the overhead view point and the image of the host vehicle OV changed. When returning the image of the host vehicle OV from the vehicle interior image to the vehicle exterior image, for example, touch the position of the host vehicle OV displayed on the display screen 41 shown in FIG. 7 with two open fingers and perform a pinch-in operation of closing the two fingers.

[0069] As described above, the display device 4 of the first embodiment has a bird's-eye view point movement function that sets the display image on the display screen 41 as a three-dimensional display image and moves the bird's-eye view point of the three-dimensional display image by a touch operation on the display screen 41. Therefore, when the driver performs a touch operation on the display screen 41 according to the visibility of the display image, the preferred display image, etc., the driver can move the bird's-eye view point of the three-dimensional display image displayed on the display screen 41.

[0070] As described above, in the obstacle display device A of the first embodiment, the following effects can be obtained.

[0071] (1) The obstacle display device A includes a host vehicle specification storage unit 31, a tire angle acquisition unit 32, an obstacle recognition unit 33, a collision prediction unit 34, and a display control unit 35. The collision prediction unit 34 uses the size of the host vehicle OV stored in the host vehicle specification storage unit 31, the position and size of the obstacle OB recognized by the obstacle recognition unit 33, and the information on the tire angle acquired by the tire angle acquisition unit 32 to predict whether the host vehicle OV and the obstacle OB will collide. When the collision prediction unit 34 predicts that the host vehicle OV and the obstacle OB will collide, the display control unit 35 displays an obstacle avoidance support image SI having a relevance between the predicted collision part of the host vehicle OV and the predicted collision part of the obstacle OB on the display unit (display device 4). Therefore, it is possible to provide the obstacle display device A in which it is easy to see which part of the host vehicle OV will collide with which part of the obstacle OB just by looking at the display image.

[0072] (2) The display control unit 35 draws a collision prediction movement trajectory MT when the predicted collision part of the host vehicle OV is predicted to move toward the obstacle OB according to the tire angle at that time as the obstacle avoidance support image SI. Therefore, based on the recognition that the predicted collision part (door mirror 100) of the host vehicle OV will collide with the obstacle OB (utility pole 200) if the vehicle proceeds without performing any avoidance operation, the driver can shift to a steering operation to avoid the collision with the obstacle OB (utility pole 200).

[0073] (3) The display control unit 35 sets the obstacle avoidance support image SI as an image in which the predicted collision movement trajectory MT is drawn on a 3D view image representing the three-dimensional positional relationship between the host vehicle OV and the obstacle OB. The predicted collision movement trajectory MT starts from the vehicle body protruding part where a collision of the host vehicle OV is predicted, and is drawn by combining a movement trajectory part T1 drawn in accordance with the traveling direction and tire angle of the host vehicle OV and a collision trajectory part T2 drawn along the surface shape of the predicted collision part from the predicted collision position to the obstacle OB. Therefore, the driver can perform a steering operation to avoid a collision with the obstacle OB (utility pole 200) based on the recognition of the shape of the obstacle OB (utility pole 200) and the recognition of the distance to the obstacle OB (utility pole 200).

[0074] (4) The display control unit 35 sets the obstacle avoidance support image SI as an image in which an avoidance impossible area HA indicating a limit area where the host vehicle OV cannot avoid a collision with the obstacle OB is added by drawing on a 3D view image in which the predicted collision movement trajectory MT is drawn. The avoidance impossible area HA is drawn on the road surface display part in contact with the predicted collision part of the obstacle OB on the traveling road surface of the host vehicle OV. Therefore, the driver can avoid the vehicle body protruding part (door mirror 100) of the host vehicle OV from colliding with the obstacle OB (utility pole 200) by an appropriate steering cut angle in the steering operation based on the recognition of the avoidance impossible area HA.

[0075] (5) When it is predicted that the host vehicle OV and the obstacle OB will not collide, the display control unit 35 displays an image in which a non-collision predicted movement trajectory NT is drawn on a 3D view image representing the three-dimensional positional relationship between the host vehicle OV and the obstacle OB. The non-collision predicted movement trajectory NT starts from the body protrusion of the host vehicle OV and is drawn in accordance with the traveling direction and tire angle of the host vehicle OV. The color of the non-collision predicted movement trajectory NT is set to a color different from that of the collision predicted movement trajectory MT. Therefore, when the non-collision predicted movement trajectory NT is displayed, it is possible to give the driver the recognition that the body protrusion (door mirror 100) of the host vehicle OV will not contact the obstacle OB (utility pole 200) even if the vehicle proceeds as it is. In addition, by switching from the collision predicted movement trajectory MT to the non-collision predicted movement trajectory NT due to the change in the tire angle, the driver can perform a steering operation to avoid the obstacle OB (utility pole 200) with reference to the switching of the image displayed on the display device 4.

[0076] (6) The display unit (display device 4) has an overhead view point movement function that makes the display image on the display screen 41 a three-dimensional display image and moves the overhead view point of the three-dimensional display image by a touch operation on the display screen 41. Therefore, the driver can move the overhead view point of the three-dimensional display image displayed on the display screen 41 according to visibility, preference, etc. by a touch operation on the display screen 41.

Embodiment

[0077] Embodiment 2 is an example in which, as a trajectory drawn on the obstacle avoidance support image SI, in addition to the collision predicted movement trajectory MT of Embodiment 1, a collision avoidance support trajectory ST is added.

[0078] The schematic configuration of the obstacle display device A in Embodiment 2 and the display processing operation executed by the display support controller 3 are the same as those in FIGS. 1 and 2 of Embodiment 1, so the illustration and detailed description are omitted.

[0079] As shown in FIG. 8, the overall image of the obstacle avoidance support image SI displayed on the display device 4 of the second embodiment is an image in which a collision prediction movement trajectory MT and a collision avoidance support trajectory ST are drawn on a 3D view image representing the three-dimensional positional relationship between the host vehicle OV and the obstacle OB.

[0080] The collision avoidance support trajectory ST starts from the vehicle body protrusion (door mirror 100) where a collision of the host vehicle OV is predicted, and draws a predicted trajectory when the tire angle is set to an angle that enables collision avoidance with the obstacle OB (utility pole 200). In addition to the collision avoidance support trajectory ST, the target tire angle that enables collision avoidance with the obstacle OB is displayed by comparing it with the actual tire angle. In the case of FIG. 8, it is displayed by the left front tire image according to the actual tire angle, the left front tire broken line TL according to the target tire angle, and the steering direction arrow TA. Note that, as a display form of the tire angle, for example, other display forms such as displaying the steering direction and the tire cut angle (target tire angle - actual tire angle) may be used.

[0081] Therefore, when performing a steering operation to avoid the utility pole 200 by changing the steering wheel angle, the collision avoidance support trajectory ST serves as an accurate guide for the driver on which direction and to what extent to turn the steering wheel to avoid a collision with the utility pole 200. As a result, the following effects can be obtained in the obstacle display device A of the second embodiment.

[0082] (7) The control unit 35 sets the obstacle avoidance support image SI as an image in which the collision prediction movement trajectory MT and the collision avoidance support trajectory ST are drawn on a 3D view image representing the three-dimensional positional relationship between the host vehicle OV and the obstacle OB. The collision avoidance support trajectory ST draws a predicted trajectory when the tire angle is set such that the collision between the host vehicle OV and the obstacle OB can be avoided, starting from the vehicle body protruding part where the collision of the host vehicle OV is predicted. Therefore, by displaying the collision prediction movement trajectory MT, the driver can be made aware that the part (door mirror 100) of the host vehicle OV where a collision is predicted will collide with the obstacle OB (utility pole 200) if the vehicle proceeds without performing any avoidance operation. In addition, by displaying the collision avoidance support trajectory ST, the driver can be prompted to perform a steering operation to avoid the part (door mirror 100) of the host vehicle OV where a collision is predicted from colliding with the obstacle OB (utility pole 200).

[0083] As described above, the obstacle display device of the present disclosure has been described based on the first and second embodiments. However, the specific configuration is not limited to these embodiments. Design changes and additions are allowed as long as they do not depart from the gist of the invention according to each claim of the claims.

[0084] In the second embodiment, an example is shown in which the collision prediction movement trajectory MT and the collision avoidance support trajectory ST, which is a predicted trajectory when the tire angle is set such that the collision with the obstacle OB can be avoided, are drawn. However, when there are two obstacles such as utility poles on both sides of the driving road surface on which the host vehicle travels and the tire angles that can avoid collisions with the two obstacles cannot be calculated together, a warning display indicating that the collision cannot be avoided by a steering operation may be performed on the display screen of the display device. As the warning display indicating that the collision cannot be avoided, for example, a combination of red character display such as "Cannot go straight." or "Please reverse." and an announcement voice, or a combination of a display that changes the color of the host vehicle on the display screen to red and an announcement voice may be used.

[0085] In Examples 1 and 2, as the obstacle avoidance support image SI, a preferred example was shown in which the collision prediction movement trajectory MT was drawn when the part of the host vehicle OV where a collision was predicted was predicted to move toward the obstacle OB according to the tire angle at that time. However, the obstacle avoidance support image is not limited to the collision prediction movement trajectory, and any image may be used as long as it shows the part where a collision of the host vehicle is predicted and the part where a collision of the obstacle is predicted in a related manner. For example, an image that connects the collision prediction part of the host vehicle and the collision prediction part of the obstacle with a thick straight line or a columnar body having a square cross section or a circular cross section may be used.

[0086] In Examples 1 and 2, as the display unit, an example of a display device provided at a position such as an instrument panel that is easy for the driver to view was shown. However, the display unit is not limited to this, and for example, other display devices mounted on the vehicle such as a head-up display device, or a portable terminal display device that can be brought in from the outside and attached to the host vehicle may also be used.

[0087] In Examples 1 and 2, as the surrounding situation acquisition unit 2, an example having a camera 21, a radar 22, and a lidar 23 was shown. However, the surrounding situation acquisition unit is not limited to these three types of surrounding situation sensors, and examples of reducing or increasing the type or the number of installed surrounding situation sensors may also be used. Further, an example using sensor fusion that acquires information on the surrounding situation by combining two or more sensors among a camera, a radar, a lidar, etc. may also be used.

[0088] In Examples 1 and 2, an example of an obstacle display device that performs display support for avoiding an obstacle in a scene where a collision between the host vehicle and an obstacle is predicted was shown. However, an example in which the obstacle display device of the present disclosure is incorporated as one of the display supports in a display support system that provides display support information to the driver in various scenes other than the collision prediction scene may also be used.

[0089] In Examples 1 and 2, an example of applying the obstacle display device to a passenger car was shown. However, the obstacle display device of the present disclosure can be applied not only to passenger cars but also to large vehicles such as trucks and buses and various other vehicles.

Explanation of Signs

[0090] A Obstacle display device 1 Travel information acquisition unit 11 Navigation device 12 Range position sensor 13 Steering wheel angle sensor 14 Vehicle speed sensor 2 Surrounding situation acquisition unit 21 Camera 22 Radar 23 Lidar 3 Display support controller 31 Own vehicle specifications storage unit 32 Tire angle acquisition unit 33 Obstacle recognition unit 34 Collision prediction unit 35 Display control unit 36 Vehicle 3D data storage unit 4 Display device (display unit) 41 Display screen 100 Door mirror (part where collision of own vehicle OV is predicted) 200 Utility pole (obstacle OB) OV Own vehicle OB Obstacle SI Obstacle avoidance support image MT Collision prediction movement trajectory T1 Movement trajectory part T2 Collision trajectory part HA Unavoidable area NT Non-collision prediction movement trajectory ST Collision avoidance support trajectory

Claims

1. A vehicle-specification memory unit that stores information about the host vehicle; A tire angle acquisition unit that acquires information about the tire angle of the host vehicle; An obstacle recognition unit that recognizes the position and size of obstacles existing around the host vehicle; A collision prediction unit that predicts whether the host vehicle will collide with the obstacle using the size of the host vehicle stored in the host vehicle-specification memory unit, the position and size of the obstacle recognized by the obstacle recognition unit, and the information about the tire angle acquired by the tire angle acquisition unit; A display control unit that, when it is predicted by the collision prediction unit that the host vehicle will collide with the obstacle, displays on a display unit an obstacle avoidance support image in which the predicted collision site of the host vehicle and the predicted collision site of the obstacle have a relationship; The display control unit draws, as the obstacle avoidance support image, a predicted collision movement trajectory when it is predicted that the part of the host vehicle where a collision is predicted will move toward the obstacle based on the tire angle; The display control unit uses, as the obstacle avoidance support image, a 3D view image representing the three-dimensional positional relationship between the host vehicle and the obstacle, and an image in which the predicted collision movement trajectory is drawn; The predicted collision movement trajectory is drawn by combining a movement trajectory part drawn starting from the protruding part of the vehicle body where a collision of the host vehicle is predicted and in accordance with the traveling direction and tire angle of the host vehicle, and a collision trajectory part drawn along the surface shape of the predicted collision site from the predicted collision position with the obstacle; An obstacle display device characterized by the above.

2. In the obstacle display device according to Claim 1, The display control unit uses, as the obstacle avoidance support image, an image obtained by adding, by drawing, an avoidance impossible region indicating a limit region where the host vehicle cannot avoid a collision with the obstacle to the 3D view image in which the predicted collision movement trajectory is drawn; The avoidance impossible region is drawn on a road surface display part in contact with the predicted collision site of the obstacle on the traveling road surface of the host vehicle. An obstacle display device characterized by the following.

3. In the obstacle display device according to Claim 1 or Claim 2, when it is predicted that the host vehicle and the obstacle will not collide, the display control unit displays an image in which a non-collision predicted movement trajectory is drawn on a 3D view image representing the three-dimensional positional relationship between the host vehicle and the obstacle, the non-collision predicted movement trajectory starts from a vehicle body protruding part of the host vehicle and is drawn in accordance with the traveling direction of the host vehicle and the tire angle, the color of the non-collision predicted movement trajectory is set to a color different from that of the collision predicted movement trajectory An obstacle display device characterized by the following.

4. In the obstacle display device according to any one of Claims 1 to 3, the display unit has an overhead view point movement function of moving the overhead view point of the three-dimensional display image by a touch operation on the display screen, with the display image on the display screen being a three-dimensional display image An obstacle display device characterized by the following.

5. In the obstacle display device according to Claim 1, the display control unit forms the obstacle avoidance support image as an image in which the collision predicted movement trajectory and the collision avoidance support trajectory are drawn on a 3D view image representing the three-dimensional positional relationship between the host vehicle and the obstacle, the collision avoidance support trajectory starts from a vehicle body protruding part where a collision of the host vehicle is predicted and draws an expected trajectory when the tire angle enables collision avoidance with the obstacle An obstacle display device characterized by the following.

Images