Automatic Driving System and Vehicle Control Method

Abstract

To facilitate identification of a deceleration target vehicle on a display device in the case of the display device displaying plural other vehicles existing around the own vehicle.SOLUTION: An automatic operation system 1 includes: a vehicle detection device 2 for detecting other vehicles existing around an own vehicle 20; a display device 7 for displaying, as a vehicle icon, the other vehicles detected by the vehicle detection device; a display control part 15 for controlling display contents of the display device; a vehicle control device 16 for controlling an autonomous travel of the own vehicle; and a target vehicle setup part 17 for setting a deceleration target vehicle from among the other vehicles detected by the vehicle detection device. The vehicle control device controls acceleration / deceleration of the own vehicle so as not to allow the own vehicle to come close to the deceleration target vehicle. When displaying the plural vehicles detected by the vehicle detection device in the display device, the display control part displays the vehicle icon of the deceleration target vehicle in a display mode different from that of the vehicle icons of the remainder of the other vehicles.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present invention relates to an automatic driving system and a vehicle control method.

Background Art

[0002] Conventionally, in order to provide a driver of a vehicle capable of autonomous driving with information about the surroundings, it is known to display other vehicles detected by a vehicle detection device mounted on the vehicle on a display device inside the vehicle. In the driving control device described in Patent Document 1, when a plurality of other vehicles existing around the host vehicle are detected, these plurality of other vehicles are displayed on the display device.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, when the autonomous driving of a vehicle is carried out, the autonomous driving of the vehicle is controlled so as to avoid a collision with other detected surrounding vehicles. In particular, other vehicles that impede the smooth running of the vehicle are set as deceleration target vehicles, and the acceleration and deceleration of the vehicle are controlled so that the vehicle does not approach the deceleration target vehicles.

[0005] Therefore, the control of the vehicle changes according to the presence or absence of deceleration target vehicles. For this reason, it is desirable that a monitor of autonomous driving such as a driver of the vehicle can quickly grasp the setting status of the deceleration target vehicles. However, when a plurality of other vehicles are displayed on the display device, it is difficult to identify the deceleration target vehicles from among the plurality of other vehicles.

[0006] In view of the above problems, an object of the present invention is to facilitate the identification of deceleration target vehicles on a display device when a plurality of other vehicles existing around the host vehicle are displayed on the display device.

Means for Solving the Problem

[0007] The gist of the present disclosure is as follows.

[0008] (1) An automatic driving system comprising a vehicle detection device that detects other vehicles existing around the host vehicle, a display device that displays the other vehicles detected by the vehicle detection device as vehicle icons, a display control unit that controls the display content of the display device, a vehicle control unit that controls the autonomous driving of the host vehicle, and a target vehicle setting unit that sets a deceleration target vehicle from among the other vehicles detected by the vehicle detection device. The vehicle control unit controls the acceleration and deceleration of the host vehicle so that the host vehicle does not approach the deceleration target vehicle. When the display control unit displays a plurality of other vehicles detected by the vehicle detection device on the display device, the display control unit displays the vehicle icon of the deceleration target vehicle in a display mode different from the vehicle icons of the remaining other vehicles.

[0009] (2) When the deceleration target vehicle is located on an adjacent lane of the host vehicle and a preceding vehicle is detected on the traveling lane of the host vehicle, the display control unit displays the vehicle icon of the deceleration target vehicle in a display mode different from the vehicle icons of the remaining other vehicles when the distance between the host vehicle and the deceleration target vehicle is shorter than the distance between the host vehicle and the preceding vehicle. The automatic driving system according to (1) above.

[0010] (3) When the deceleration target vehicle is located on an adjacent lane of the host vehicle and no preceding vehicle is detected on the traveling lane of the host vehicle, the display control unit displays the vehicle icon of the deceleration target vehicle in a display mode different from the vehicle icons of the remaining other vehicles when the distance between the host vehicle and the deceleration target vehicle is shorter than a predetermined distance. The automatic driving system according to (1) or (2) above.

[0011] (4) The display control unit displays the vehicle icon of the deceleration target vehicle so that the deceleration target vehicle is most emphasized among the plurality of other vehicles displayed on the display device. The automatic driving system according to any one of (1) to (3) above.

[0012] (5) When the vehicle to be decelerated exists in the adjacent lane of the host vehicle, the display control unit displays the vehicle icon of the vehicle to be decelerated so that the vehicle to be decelerated is emphasized as compared with the case where the vehicle to be decelerated exists in the travel lane of the host vehicle. The automatic driving system according to any one of (1) to (4) above.

[0013] (6) The display control unit displays the vehicle icon of the first preceding vehicle that is located in front of the host vehicle in the travel lane of the host vehicle and is closest to the host vehicle in a display mode different from the vehicle icons of the other vehicles. The automatic driving system according to any one of (1) to (5) above.

[0014] (7) When the distance between the first preceding vehicle and the host vehicle is shorter than a predetermined distance, the display control unit displays the vehicle icon of the first preceding vehicle in a display mode different from the vehicle icons of the other vehicles. The automatic driving system according to (6) above.

[0015] (8) The display control unit displays the vehicle icon of the first preceding vehicle so that the first preceding vehicle is emphasized more than the other vehicles other than the vehicle to be decelerated. The automatic driving system according to (6) or (7) above.

[0016] (9) When the lane change of the host vehicle is being performed by the vehicle control unit, instead of the first preceding vehicle, the display control unit displays the vehicle icon of the other vehicle that is located in front of the host vehicle in the lane after the lane change and is closest to the host vehicle in a display mode different from the vehicle icons of the other vehicles. The automatic driving system according to any one of (6) to (8) above.

[0017] (10) When the other vehicle displayed on the display device is set as the vehicle to be decelerated, the display control unit changes the display mode of the vehicle icon of the other vehicle. The automatic driving system according to any one of (1) to (5) above.

[0018] (11) When the other vehicle that exists in the adjacent lane of the host vehicle and is displayed on the display device is set as the deceleration target vehicle, the display control unit changes the display mode of the vehicle icon of the other vehicle. The automatic driving system according to any one of (1) to (9) above.

[0019] (12) A vehicle control method including a vehicle detection device that detects other vehicles and a display device that displays the other vehicles detected by the vehicle detection device as vehicle icons, wherein a deceleration target vehicle is set from among the other vehicles detected by the vehicle detection device, controlling the acceleration and deceleration of the vehicle so that the vehicle does not approach the deceleration target vehicle, and when displaying a plurality of other vehicles detected by the vehicle detection device on the display device, displaying the vehicle icon of the deceleration target vehicle in a display mode different from the vehicle icons of the remaining other vehicles.

Advantages of the Invention

[0020] According to the present invention, even when a plurality of other vehicles existing around the host vehicle are displayed on the display device, it becomes easy to identify the deceleration target vehicle on the display device.

Brief Description of the Drawings

[0021]

Figure 1

Figure 2

Figure 3

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Figure 5

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Figure 7A

Figure 7B

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Figure 9

Figure 10

[0022] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the following description, the same reference numerals are assigned to the same components.

[0023] <First Embodiment> First, the first embodiment of the present invention will be described with reference to FIGS. 1 to 5.

[0024] <Configuration of the Automatic Driving System> FIG. 1 is a diagram schematically showing the configuration of an automatic driving system 1 according to the first embodiment of the present invention. The automatic driving system 1 is mounted on a vehicle and performs autonomous driving of the vehicle. In the autonomous driving of the vehicle, part or all of the acceleration, steering, and braking of the vehicle are automatically executed. That is, the vehicle on which the automatic driving system 1 is mounted is a so-called autonomous driving vehicle.

[0025] As shown in FIG. 1, the automatic driving system 1 includes a vehicle detection device 2, a GNSS receiver 3, a map database 4, a navigation device 5, an actuator 6, a display device 7, and an electronic control unit (ECU) 10. The vehicle detection device 2, the GNSS receiver 3, the map database 4, the navigation device 5, the actuator 6, and the display device 7 are provided in the vehicle and are communicably connected to the ECU 10 via an in-vehicle network conforming to a standard such as CAN (Controller Area Network).

[0026] The vehicle detection device 2 detects other vehicles existing around the vehicle (the host vehicle). Specifically, the vehicle detection device 2 detects the presence or absence of other vehicles around the vehicle, the distance from the vehicle to other vehicles, and the relative speed between the vehicle and other vehicles. The output of the vehicle detection device 2 is transmitted to the ECU 10. In the present embodiment, the vehicle detection device 2 is composed of an external camera, a lidar (LIDAR (Laser Imaging Detection And Ranging)), a millimeter-wave radar, or an ultrasonic sensor (sonar), or any combination thereof.

[0027] FIG. 2 is a diagram schematically showing a part of the configuration of a vehicle 20 equipped with the automatic driving system 1 according to the first embodiment of the present invention. As shown in FIG. 2, the vehicle 20 includes an external camera 21, a lidar 22, a millimeter-wave radar 23, and an ultrasonic sensor (sonar) 24.

[0028] The external camera 21 photographs the surroundings of the vehicle 20 to generate an image of the surroundings of the vehicle 20. In the present embodiment, the external camera 21 is disposed in front of the vehicle 20 (for example, the back of the interior rearview mirror in the vehicle, the front bumper, etc.) so as to photograph the front of the vehicle 20. Note that the external camera 21 may be a stereo camera capable of distance measurement.

[0029] The lidar 22 irradiates laser light around the vehicle 20 and receives the reflected light of the laser light. By doing so, the lidar 22 can detect the presence or absence of an object around the vehicle 20, the distance from the vehicle 20 to the object, and the relative speed between the vehicle 20 and the object. In the present embodiment, the lidar 22 is provided on the upper part of the vehicle 20, specifically, on the roof of the vehicle 20.

[0030] The millimeter-wave radar 23 transmits millimeter waves around the vehicle 20 and receives the reflected waves of the millimeter waves. By doing so, the millimeter-wave radar 23 can detect the presence or absence of an object around the vehicle 20, the distance from the vehicle 20 to the object, and the relative speed between the vehicle 20 and the object. In the present embodiment, the millimeter-wave radar 23 is provided at the front and rear parts of the vehicle 20 (for example, the front bumper and the rear bumper of the vehicle 20).

[0031] The ultrasonic sensor 24 transmits ultrasonic waves around the vehicle 20 and receives the reflected waves of the ultrasonic waves. By doing so, the ultrasonic sensor 24 can detect the presence or absence of an object around the vehicle 20, the distance from the vehicle 20 to the object, and the relative speed between the vehicle 20 and the object. In the present embodiment, the ultrasonic sensor 24 is provided on both sides of the vehicle 20 (for example, the left and right front fenders of the vehicle 20).

[0032] Note that the positions and numbers of the external camera 21, the lidar 22, the millimeter-wave radar 23, and the ultrasonic sensor 24 are not limited to the above. Also, some of them may be omitted.

[0033] The GNSS receiver 3 captures a plurality of positioning satellites and receives the radio waves transmitted from the positioning satellites. The GNSS receiver 3 calculates the distance to the positioning satellite based on the difference between the transmission time and the reception time of the radio wave, and detects the current position of the vehicle 20 (for example, the latitude and longitude of the vehicle 20) based on the distance to the positioning satellite and the position (orbit information) of the positioning satellite. The output of the GNSS receiver 3 is transmitted to the ECU 10. Note that GNSS (Global Navigation Satellite System) is a general term for satellite positioning systems such as the US GPS, Russian GLONASS, European Galileo, Japanese QZSS, Chinese BeiDou, and Indian IRNSS. Therefore, the GNSS receiver 3 includes a GPS receiver.

[0034] The map database 4 stores map information. The map information stored in the map database 4 is updated using communication with the outside of the vehicle 20, SLAM (Simultaneous Localization and Mapping) technology, etc. The ECU 10 acquires map information from the map database 4.

[0035] The navigation device 5 sets the driving route of the vehicle 20 to the destination based on the current position of the vehicle 20 detected by the GNSS receiver 3, the map information of the map database 4, the input by the driver, etc. The driving route set by the navigation device 5 is transmitted to the ECU 10. Note that the GNSS receiver 3 and the map database 4 may be incorporated in the navigation device 5.

[0036] The actuator 6 operates the vehicle 20. For example, the actuator 6 includes a driving device (at least one of an engine and a motor) for accelerating the vehicle 20, a brake actuator for braking the vehicle 20, a steering motor for steering the vehicle 20, etc. The ECU 10 controls the actuator 6 for the autonomous driving of the vehicle 20.

[0037] The display device 7 has a display for displaying digital information such as characters and images, and presents various information to the driver of the vehicle 20. The display device 7 is provided inside the vehicle 20 so as to be visible to the driver of the vehicle 20. The display device 7 is a Human Machine Interface (HMI) composed of at least one of, for example, a touch screen, a head-up display, a digital meter panel, etc. Note that the display device 7 may include a speaker for generating sounds such as voices, an operation button for the driver to perform an input operation, a microphone for receiving voice information from the driver, etc.

[0038] The ECU 10 executes various controls of the vehicle. As shown in FIG. 1, the ECU 10 includes a communication interface 11, a memory 12, and a processor 13. The communication interface 11 and the memory 12 are connected to the processor 13 via signal lines. In this embodiment, one ECU 10 is provided, but a plurality of ECUs may be provided for each function.

[0039] The communication interface 11 has an interface circuit for connecting the ECU 10 to the in-vehicle network. The ECU 10 is connected to the vehicle detection device 2, the GNSS receiver 3, the map database 4, the navigation device 5, the actuator 6, and the display device 7 via the communication interface 11.

[0040] The memory 12 has, for example, a volatile semiconductor memory and a non-volatile semiconductor memory. The memory 12 stores programs, data, etc. used when various processes are executed by the processor 13.

[0041] The processor 13 has one or more CPUs (Central Processing Unit) and its peripheral circuits. Note that the processor 13 may further have an arithmetic circuit such as a logical arithmetic unit or a numerical arithmetic unit.

[0042] Figure 3 is a functional block diagram of the ECU 10 in FIG. 1. In the present embodiment, the ECU 10 includes a display control unit 15, a vehicle control unit 16, and a target vehicle setting unit 17. The display control unit 15, the vehicle control unit 16, and the target vehicle setting unit 17 are functional modules realized by the processor 13 of the ECU 10 executing a program stored in the memory 12 of the ECU 10.

[0043] The display control unit 15 controls the display content of the display device 7. In the present embodiment, the display device 7 displays the vehicle 20 and other vehicles around the vehicle 20 together with the traveling lane and the adjacent lane of the vehicle 20. Other vehicles around the vehicle 20 are detected by the vehicle detection device 2. The shape of the traveling lane of the vehicle 20 and the shape and number of the adjacent lanes are specified from the map information stored in the map database 4. That is, the display control unit 15 acquires map information corresponding to the current position of the vehicle 20 specified based on the output of the GNSS receiver 3 and the like from the map database 4. Note that the traveling lane and the adjacent lane of the vehicle 20 may be detected by the vehicle detection device 2.

[0044] Figure 4 is a diagram showing an example of an image displayed on the display device 7. As shown in FIG. 4, the display device 7 displays the vehicle 20 (own vehicle) and other vehicles 30 as vehicle icons, respectively. The size and shape of the vehicle icon are predetermined.

[0045] As shown in FIG. 4, an image when viewed from a position higher than the vehicle 20 behind the vehicle 20 is displayed on the display device 7. When there are a plurality of other vehicles in the vicinity of the vehicle 20, the display control unit 15 displays the plurality of other vehicles detected by the vehicle detection device 2 on the display device 7. The driver of the vehicle 20 can grasp the detection state of other vehicles 30 around the vehicle 20 by visually recognizing such a display, and thus can confirm the behavior state of the autonomous driving by the vehicle 20.

[0046] When the autonomous driving of the vehicle 20 is carried out, the vehicle control unit 16 controls the autonomous driving of the vehicle 20 by using the actuator 6. For example, the vehicle control unit 16 performs an autonomous lane change of the vehicle 20 by controlling the steering and acceleration / deceleration of the vehicle 20 by using the actuator 6.

[0047] The target vehicle setting unit 17 sets a deceleration target vehicle from among other vehicles detected by the vehicle detection device 2. In this specification, the deceleration target vehicle means another vehicle that restricts the speed of the vehicle 20 (own vehicle) by its behavior.

[0048] First, the target vehicle setting unit 17 sets a preceding vehicle on the driving lane of the vehicle 20 and another vehicle on an adjacent lane that is likely to enter the driving lane in front of the vehicle 20 as deceleration target candidates. At this time, the determination as to whether or not another vehicle on the adjacent lane is likely to enter the driving lane in front of the vehicle 20 is made based on, for example, the lateral speed of the other vehicle. In this case, for example, when the lateral speed of the other vehicle in the direction approaching the driving lane of the vehicle 20 is equal to or greater than a predetermined value, it is determined that the other vehicle on the adjacent lane is likely to enter the driving lane in front of the vehicle 20. Also, when an obstacle (falling object, disabled vehicle, construction site, etc.) is detected in front of the other vehicle on the adjacent lane based on the output of the vehicle detection device 2 or the like, it is determined that the other vehicle on the adjacent lane is likely to enter the driving lane in front of the vehicle 20. Further, when the adjacent lane disappears due to a reduction in the number of lanes and the driving lane of the vehicle 20 becomes a merging lane, it is determined that the other vehicle on the adjacent lane is likely to enter the driving lane in front of the vehicle 20.

[0049] Next, the target vehicle setting unit 17 sets a deceleration target vehicle from among the deceleration target candidates based on a predetermined condition. For example, the target vehicle setting unit 17 uses a map or the like to determine whether a deceleration target candidate satisfies the requirements for a deceleration target vehicle based on the distance between the vehicle 20 and the deceleration target candidate and the relative speed between the vehicle 20 and the deceleration target candidate. Further, when the driving lane of the vehicle 20 becomes the merging lane, the target vehicle setting unit 17 uses a requirement defined such that the distance between the vehicle 20 and a deceleration target candidate on the adjacent lane becomes a predetermined distance or more at a predetermined point before merging, to determine whether the deceleration target candidate on the adjacent lane satisfies the requirements for a deceleration target vehicle. When a plurality of deceleration target candidates satisfy the requirements for a deceleration target vehicle, the deceleration target candidate with the largest speed limit (for example, the deceleration amount of the vehicle 20) of the vehicle 20 is set as the deceleration target vehicle. On the other hand, when there is no other vehicle that satisfies the requirements for a deceleration target vehicle, no deceleration target vehicle is set.

[0050] When the deceleration target vehicle is set by the target vehicle setting unit 17, the vehicle control unit 16 controls the acceleration and deceleration of the vehicle 20 so that the vehicle 20 does not approach the deceleration target vehicle. Specifically, the vehicle control unit 16 decelerates the vehicle 20 or suppresses the acceleration of the vehicle 20 toward the target vehicle speed so that the vehicle 20 does not approach the deceleration target vehicle.

[0051] Therefore, the control of the vehicle 20 changes according to the presence or absence of a deceleration target vehicle. For this reason, it is desirable that a monitor of autonomous driving such as the driver of the vehicle 20 can quickly grasp the setting status of the deceleration target vehicle. However, when a plurality of other vehicles around the vehicle 20 are displayed on the display device 7, it is difficult to identify the deceleration target vehicle from among the plurality of other vehicles.

[0052] Therefore, in the present embodiment, when the display control unit 15 displays a plurality of other vehicles detected by the vehicle detection device 2 on the display device 7, the vehicle icon of the deceleration target vehicle is displayed in a display mode different from the vehicle icons of the remaining other vehicles. By this, even when a plurality of other vehicles existing around the host vehicle are displayed on the display device 7, it becomes easy to identify the deceleration target vehicle on the display device 7.

[0053] Specifically, the display control unit 15 displays the vehicle icon of the vehicle to be decelerated in the first display mode, and displays the vehicle icons of the other remaining vehicles in the default display mode. Therefore, when another vehicle displayed on the display device 7 is set as the vehicle to be decelerated, the display control unit 15 changes the display mode of the vehicle icon of the other vehicle set as the vehicle to be decelerated from the default display mode to the first display mode. The first display mode and the default display mode are different from each other in terms of, for example, transparency, brightness, color (hue), lightness of color, chroma of color, etc.

[0054] In particular, in the present embodiment, the display control unit 15 displays the vehicle icon of the vehicle to be decelerated so that the vehicle to be decelerated is most emphasized among the plurality of other vehicles displayed on the display device 7. This makes it easier to visually identify the vehicle to be decelerated on the display device 7. In this case, for example, the first display mode is set to a color different from the background color of the display device 7, and the default display mode is set to the same color as the background color of the display device 7. Specifically, when the first display mode is set to amber or white, and the background color is blue (for example, when no steering grip by the driver is required), the default display mode is set to light blue, and when the background color is gray (for example, when steering grip by the driver is required), the default display mode is set to light gray. Note that the transparency of the first display mode may be made lower than the transparency of the default display mode, or the brightness of the first display mode may be made higher than the brightness of the default display mode. Also, the first display mode and the default display mode may be set to the same color, and the chroma of the color of the first display mode may be made higher than the chroma of the color of the default display mode.

[0055] Also, in the present embodiment, the display control unit 15 displays the host vehicle (vehicle 20) on the display device 7 together with other vehicles. At this time, the display control unit 15 displays the vehicle icon of the host vehicle in a display mode different from the vehicle icons of all the other vehicles displayed on the display device 7. This makes it easy to distinguish between the host vehicle and other vehicles on the display device 7. For example, the vehicle icon of the host vehicle is displayed on the display device 7 in black.

[0056] <Other vehicle display process> Hereinafter, the above-described control will be described using the flowchart of FIG. 5. FIG. 5 is a flowchart showing a control routine for other vehicle display processing in the first embodiment. This control routine is repeatedly executed by the ECU 10 at a predetermined execution interval. The predetermined execution interval is, for example, the interval at which the detection result of other vehicles by the vehicle detection device 2 is updated.

[0057] First, in step S101, the display control unit 15 determines whether there is an other vehicle to be displayed on the display device 7. The other vehicle to be displayed on the display device 7 is selected from among the other vehicles detected by the vehicle detection device 2. For example, an other vehicle that is located in front of the host vehicle in the traveling lane or adjacent lane of the host vehicle and whose relative distance from the host vehicle is equal to or less than a predetermined distance is selected as the other vehicle to be displayed on the display device 7. Note that an other vehicle located in the vicinity behind the host vehicle may also be selected as the other vehicle to be displayed on the display device 7.

[0058] If it is determined in step S101 that there is no other vehicle to be displayed on the display device 7, this control routine ends. On the other hand, if it is determined in step S101 that there is an other vehicle to be displayed on the display device 7, this control routine proceeds to step S102.

[0059] In step S102, the display control unit 15 determines whether the deceleration target vehicle is included in the other vehicles to be displayed on the display device 7. In other words, the display control unit 15 determines whether one of the other vehicles to be displayed on the display device 7 is set as the deceleration target vehicle. If it is determined that the deceleration target vehicle is included, this control routine proceeds to step S103.

[0060] In step S103, the display control unit 15 displays the vehicle icon of the deceleration target vehicle on the display device 7 in the first display mode. At this time, if the deceleration target vehicle is located on the own vehicle's driving lane, the vehicle icon of the deceleration target vehicle is displayed on the driving lane. If the deceleration target vehicle is located on an adjacent lane of the own vehicle, the vehicle icon of the deceleration target vehicle is displayed on the adjacent lane. Further, when another vehicle that was being displayed on the display device 7 is set as the deceleration target vehicle, the display mode of the vehicle icon of this other vehicle is changed from the default display mode to the first display mode.

[0061] Next, in step S104, the display control unit 15 determines whether there are any remaining other vehicles among the other vehicles to be displayed on the display device 7 other than the deceleration target vehicle. If it is determined that there are no remaining other vehicles, this control routine ends. On the other hand, if it is determined that there are remaining other vehicles, this control routine proceeds to step S105.

[0062] In step S105, the display control unit 15 displays, on the display device 7 in the default display mode, the vehicle icons of the other vehicles that are not yet displayed among the other vehicles to be displayed on the display device 7, in this case, the vehicle icons of the remaining other vehicles other than the deceleration target vehicle. After step S105, this control routine ends.

[0063] On the other hand, if it is determined in step S102 that the deceleration target vehicle is not included, this control routine skips steps S103 and S104 and proceeds to step S105. In step S105, the display control unit 15 displays, on the display device 7 in the default display mode, the vehicle icons of the other vehicles that are not yet displayed among the other vehicles to be displayed on the display device 7, in this case, the vehicle icons of all the other vehicles to be displayed on the display device 7. After step S105, this control routine ends.

[0064] <Second Embodiment> The automatic driving system according to the second embodiment is basically the same as the configuration and control of the automatic driving system according to the first embodiment, except for the points described below. Therefore, hereinafter, the second embodiment of the present invention will be described centering on the parts different from the first embodiment.

[0065] Normally, a supervisor of autonomous driving such as a driver tends to pay more attention to the preceding vehicle in the own vehicle's driving lane than to the preceding vehicle in the adjacent lane of the own vehicle. Considering this, in the second embodiment, when the deceleration target vehicle is present in the adjacent lane of the own vehicle, the display control unit 15 displays the vehicle icon of the deceleration target vehicle so that the deceleration target vehicle is emphasized as compared with when the deceleration target vehicle is present in the own vehicle's driving lane. By this, even if the supervisor of autonomous driving is paying attention to the preceding vehicle in the own vehicle's driving lane, when a deceleration target vehicle appears in the adjacent lane, it is possible to prompt attention to this deceleration target vehicle.

[0066] Specifically, the display control unit 15 displays the vehicle icon of the deceleration target vehicle in the adjacent lane of the own vehicle in the first display mode, displays the vehicle icon of the deceleration target vehicle in the own vehicle's driving lane in the second display mode, and displays the vehicle icons of the remaining other vehicles in the default display mode. The first display mode, the second display mode, and the default display mode are different from each other in, for example, transparency, brightness, color (hue), lightness of color, chroma of color, etc.

[0067] For example, the first display mode is set to a chromatic color different from the background color of the display device 7, the second display mode is set to an achromatic color (white, black, or gray) different from the background color of the display device 7, and the default display mode is set to the same color as the background color of the display device 7. Specifically, when the first display mode is set to amber, the second display mode is set to white, and the default display mode is set to a light blue when the background color is blue (for example, when the driver's grip on the steering wheel is not required), and is set to a light gray when the background color is gray (for example, when the driver's grip on the steering wheel is required). Note that the transparency of the vehicle icon may be lowered or the luminance of the vehicle icon may be increased in the order of the default display mode, the second display mode, and the first display mode. Further, the first display mode, the second display mode, and the default display mode may be set to the same color, and the chroma of the color of the vehicle icon may be increased in the order of the default display mode, the second display mode, and the first display mode.

[0068] <Other vehicle display processing> Hereinafter, the above-described control will be described in detail with reference to the flowchart of FIG. 6. FIG. 6 is a flowchart showing a control routine for other vehicle display processing in the second embodiment. This control routine is repeatedly executed by the ECU 10 at a predetermined execution interval. The predetermined execution interval is, for example, the interval at which the detection result of other vehicles by the vehicle detection device 2 is updated.

[0069] First, in step S201, similar to step S101 of FIG. 5, the display control unit 15 determines whether there is another vehicle to be displayed on the display device 7. If it is determined that there is no other vehicle to be displayed on the display device 7, this control routine ends. On the other hand, if it is determined that there is another vehicle to be displayed on the display device 7, this control routine proceeds to step S202.

[0070] In step S202, similar to step S102 of FIG. 5, the display control unit 15 determines whether the deceleration target vehicle is included in the other vehicles to be displayed on the display device 7. If it is determined that the deceleration target vehicle is included, this control routine proceeds to step S203.

[0071] In step S203, the display control unit 15 determines whether the vehicle to be decelerated is located in the adjacent lane of the host vehicle. In other words, the display control unit 15 determines whether another vehicle in the adjacent lane of the host vehicle is set as the vehicle to be decelerated.

[0072] If it is determined in step S203 that the vehicle to be decelerated is located in the adjacent lane, this control routine proceeds to step S204. In step S204, the display control unit 15 displays the vehicle icon of the vehicle to be decelerated in the adjacent lane on the display device 7 in the first display mode. At this time, if another vehicle in the adjacent lane that was being displayed on the display device 7 is set as the vehicle to be decelerated, the display mode of this other vehicle is changed from the default display mode to the first display mode.

[0073] On the other hand, if it is determined in step S203 that the vehicle to be decelerated is not located in the adjacent lane, that is, if it is determined that the vehicle to be decelerated is located in the traveling lane of the host vehicle, this control routine proceeds to step S205. In step S205, the display control unit 15 displays the vehicle icon of the vehicle to be decelerated in the traveling lane of the host vehicle on the display device 7 in the second display mode. At this time, if another vehicle in the traveling lane of the host vehicle that was being displayed on the display device 7 is set as the vehicle to be decelerated, the display mode of this other vehicle is changed from the default display mode to the second display mode.

[0074] After step S204 or step S205, this control routine proceeds to step S206. In step S206, similar to step S104 in FIG. 5, it is determined whether there are any remaining other vehicles among the other vehicles to be displayed on the display device 7 other than the vehicle to be decelerated. If it is determined that there are no remaining other vehicles, this control routine ends. On the other hand, if it is determined that there are remaining other vehicles, this control routine proceeds to step S207.

[0075] In step S207, similar to step S105 in FIG. 5, the display control unit 15 displays, on the display device 7, vehicle icons of other vehicles that are not yet displayed among the other vehicles to be displayed on the display device 7. In this case, the vehicle icons of the remaining other vehicles other than the deceleration target vehicle are displayed on the display device 7 in the default display mode. After step S207, this control routine ends.

[0076] On the other hand, if it is determined in step S202 that the deceleration target vehicle is not included, this control routine skips steps S203 to S206 and proceeds to step S207. In step S207, similar to step S105 in FIG. 5, the display control unit 15 displays, on the display device 7, vehicle icons of other vehicles that are not yet displayed among the other vehicles to be displayed on the display device 7. In this case, the vehicle icons of all other vehicles to be displayed on the display device 7 are displayed on the display device 7 in the default display mode. After step S207, this control routine ends.

[0077] <Third Embodiment> The automatic driving system according to the third embodiment is basically the same as the configuration and control of the automatic driving system according to the first embodiment, except for the points described below. Therefore, hereinafter, the third embodiment of the present invention will be described centering on the parts different from the first embodiment.

[0078] In a driving environment where a plurality of other vehicles exist in the vicinity of the host vehicle, the setting of the deceleration target vehicle often switches frequently. For this reason, if the presence or absence of the setting of the deceleration target vehicle is always displayed on the display device 7, the display on the display device 7 becomes complicated. In addition, when an other vehicle on the adjacent lane is set as the deceleration target vehicle, the degree of influence on the host vehicle varies depending on the presence or absence of a preceding vehicle on the driving lane of the host vehicle and the position of the deceleration target vehicle.

[0079] Therefore, in the third embodiment, when the vehicle to be decelerated is located in the adjacent lane of the host vehicle and a preceding vehicle is detected in the host vehicle's traveling lane, if the distance between the host vehicle and the vehicle to be decelerated is shorter than the distance between the host vehicle and the preceding vehicle, the display control unit 15 displays the vehicle to be decelerated in a display mode different from the vehicle icons of the other remaining vehicles. On the other hand, when the vehicle to be decelerated is located in the adjacent lane of the host vehicle and no preceding vehicle is detected in the host vehicle's traveling lane, if the distance between the host vehicle and the vehicle to be decelerated is shorter than a predetermined distance, the display control unit 15 displays the vehicle to be decelerated in a display mode different from the vehicle icons of the other remaining vehicles. As a result, when there is a high possibility that the vehicle to be decelerated in the adjacent lane affects the acceleration / deceleration control of the host vehicle, attention is prompted to the vehicle to be decelerated, and it is possible to suppress the display on the display device 7 from becoming complicated.

[0080] <Other vehicle display process> Hereinafter, the above-described control will be described in detail with reference to the flowcharts of FIGS. 7A and 7B. FIGS. 7A and 7B are flowcharts showing a control routine for other vehicle display processing in the third embodiment. This control routine is repeatedly executed by the ECU 10 at a predetermined execution interval. The predetermined execution interval is, for example, the interval at which the detection result of other vehicles by the vehicle detection device 2 is updated.

[0081] First, in step S301, similar to step S101 in FIG. 5, the display control unit 15 determines whether there is another vehicle to be displayed on the display device 7. If it is determined that there is no other vehicle to be displayed on the display device 7, this control routine ends. On the other hand, if it is determined that there is another vehicle to be displayed on the display device 7, this control routine proceeds to step S302.

[0082] In step S302, similar to step S102 in FIG. 5, the display control unit 15 determines whether the vehicle to be decelerated is included in the other vehicles to be displayed on the display device 7. If it is determined that the vehicle to be decelerated is included, this control routine proceeds to step S303.

[0083] In step S303, the display control unit 15 determines whether the deceleration target vehicle is located in the adjacent lane of the host vehicle. In other words, the display control unit 15 determines whether another vehicle in the adjacent lane of the host vehicle is set as the deceleration target vehicle.

[0084] If it is determined in step S303 that the deceleration target vehicle is not located in the adjacent lane, that is, if it is determined that the deceleration target vehicle is located in the travel lane of the host vehicle, this control routine proceeds to step S304. In step S304, the display control unit 15 displays the vehicle icon of the deceleration target vehicle on the travel lane of the host vehicle in the first display mode on the display device 7.

[0085] On the other hand, if it is determined in step S303 that the deceleration target vehicle is located in the adjacent lane, this control routine proceeds to step S305. In step S305, the display control unit 15 determines whether a preceding vehicle is detected on the travel lane of the host vehicle by the vehicle detection device 2. If it is determined that a preceding vehicle is detected on the travel lane of the host vehicle, this control routine proceeds to step S306.

[0086] In step S306, the display control unit 15 determines whether the host vehicle is closer to the deceleration target vehicle than to the preceding vehicle. That is, the display control unit 15 determines whether the distance between the host vehicle and the deceleration target vehicle is shorter than the distance between the host vehicle and the preceding vehicle. As the distance between two vehicles, for example, the distance between the vehicles in the traveling direction of the host vehicle or the distance between the center coordinates of the two vehicles is used. When there are a plurality of preceding vehicles on the travel lane of the host vehicle, the distance between the host vehicle and the preceding vehicle is the distance between the host vehicle and the preceding vehicle closest to the host vehicle (the first preceding vehicle described later).

[0087] If it is determined in step S306 that the host vehicle is closer to the deceleration target vehicle than the preceding vehicle, this control routine proceeds to step S307. In step S307, the display control unit 15 displays the vehicle icon of the deceleration target vehicle on the adjacent lane in the first display mode on the display device 7. At this time, if another vehicle on the adjacent lane that was being displayed on the display device 7 is set as the deceleration target vehicle, the display mode of this other vehicle is changed from the default display mode to the first display mode.

[0088] On the other hand, if it is determined in step S306 that the host vehicle is not closer to the deceleration target vehicle than the preceding vehicle, this control routine proceeds to step S308. In step S308, the display control unit 15 displays the vehicle icon of the deceleration target vehicle on the adjacent lane on the display device 7 in the default display mode.

[0089] Also, if it is determined in step S305 that no preceding vehicle is detected on the travel lane of the host vehicle, this control routine proceeds to step S309. In step S309, the display control unit 15 determines whether the distance between the decelerating vehicle and the host vehicle is shorter than a predetermined distance. As the distance between the two vehicles, for example, the distance between the vehicles in the traveling direction of the host vehicle, or the distance between the center coordinates of the two vehicles is used. The predetermined distance is set to a predetermined fixed value, for example. Note that the predetermined value may be set according to the inter-vehicle mode (for example, short inter-vehicle mode, medium inter-vehicle mode, or long inter-vehicle mode) set by the driver or the like, the speed of the host vehicle, and the like.

[0090] If it is determined in step S309 that the distance between the deceleration target vehicle and the host vehicle is shorter than the predetermined distance, this control routine proceeds to step S310. In step S310, the display control unit 15 displays the vehicle icon of the deceleration target vehicle on the adjacent lane in the first display mode on the display device 7. At this time, if another vehicle on the adjacent lane that was being displayed on the display device 7 is set as the deceleration target vehicle, the display mode of this other vehicle is changed from the default display mode to the first display mode.

[0091] On the other hand, when it is determined in step S309 that the distance between the vehicle to be decelerated and the host vehicle is equal to or greater than a predetermined distance, this control routine proceeds to step S311. In step S311, the display control unit 15 displays the vehicle icon of the vehicle to be decelerated on the adjacent lane on the display device 7 in the default display mode.

[0092] After step S304, S307, S308, S310 or S311, this control routine proceeds to step S312. In step S312, similar to step S104 in FIG. 5, it is determined whether there are any remaining other vehicles other than the vehicle to be decelerated among the other vehicles to be displayed on the display device 7. If it is determined that there are no remaining other vehicles, this control routine ends. On the other hand, if it is determined that there are remaining other vehicles, this control routine proceeds to step S313.

[0093] In step S313, similar to step S105 in FIG. 5, the display control unit 15 displays the vehicle icons of the other vehicles that are not yet displayed among the other vehicles to be displayed on the display device 7, in this case, the vehicle icons of the remaining other vehicles other than the vehicle to be decelerated, on the display device 7 in the default display mode. After step S313, this control routine ends.

[0094] On the other hand, when it is determined in step S302 that the vehicle to be decelerated is not included, this control routine skips steps S303 to S312 and proceeds to step S313. In step S313, similar to step S105 in FIG. 5, the display control unit 15 displays the vehicle icons of the other vehicles that are not yet displayed among the other vehicles to be displayed on the display device 7, in this case, the vehicle icons of all the other vehicles to be displayed on the display device 7, on the display device 7 in the default display mode. After step S313, this control routine ends.

[0095] <Fourth Embodiment> The automatic driving system according to the fourth embodiment is basically the same as the configuration and control of the automatic driving system according to the first embodiment, except for the points described below. Therefore, hereinafter, the fourth embodiment of the present invention will be described centering on the parts different from the first embodiment.

[0096] An autonomous driving monitor such as a driver basically preferably pays attention to the leading vehicle located immediately ahead in the own vehicle's driving lane when there is no deceleration target vehicle. For this reason, in the fourth embodiment, the display control unit 15 displays the vehicle icon of the first leading vehicle located ahead of the own vehicle in the own vehicle's driving lane and closest to the own vehicle in a display mode different from the vehicle icons of the other vehicles. By this, even when a plurality of other vehicles existing around the own vehicle are displayed on the display device 7, it becomes easy to identify the first leading vehicle on the display device 7.

[0097] Specifically, the display control unit 15 displays the vehicle icon of the deceleration target vehicle on the adjacent lane of the own vehicle in the first display mode, displays the vehicle icon of the first leading vehicle in the second display mode, and displays the vehicle icons of the remaining other vehicles in the default display mode. Therefore, the display control unit 15 displays the vehicle icon of the first leading vehicle in the second display mode regardless of whether the first leading vehicle is a deceleration target vehicle or not. On the other hand, when another vehicle on the adjacent lane displayed on the display device 7 is set as the deceleration target vehicle, the display control unit 15 changes the display mode of the vehicle icon of the other vehicle on the adjacent lane set as the deceleration target vehicle from the default display mode to the first display mode. The first display mode, the second display mode, and the default display mode are different from each other in, for example, transparency, luminance, color (hue), lightness of color, and chroma of color.

[0098] In particular, in the fourth embodiment, the display control unit 15 displays the vehicle icon of the first leading vehicle so that the first leading vehicle is emphasized more than other vehicles other than the deceleration target vehicle. By this, when there is a deceleration target vehicle, it is possible to prompt attention to the deceleration target vehicle, and when there is no deceleration target vehicle, it is possible to prompt attention to the first leading vehicle.

[0099] In this case, for example, the first display mode is set to a chromatic color different from the background color of the display device 7, the second display mode is set to an achromatic color (white, black, or gray) different from the background color of the display device 7, and the default display mode is set to the same color as the background color of the display device 7. Specifically, the first display mode is set to amber, the second display mode is set to white, and the default display mode is set to a light blue color when the background color is blue (for example, when the driver's grip on the steering wheel is not required), and is set to a light gray color when the background color is gray (for example, when the driver's grip on the steering wheel is required). Note that the transparency of the vehicle icon may be lowered or the luminance of the vehicle icon may be increased in the order of the default display mode, the second display mode, and the first display mode. Also, the first display mode, the second display mode, and the default display mode may be set to the same color, and the chroma of the color of the vehicle icon may be increased in the order of the default display mode, the second display mode, and the first display mode.

[0100] <Other vehicle display processing> Hereinafter, the above-described control will be described in detail with reference to the flowchart of FIG. 8. FIG. 8 is a flowchart showing a control routine for other vehicle display processing in the fourth embodiment. This control routine is repeatedly executed by the ECU 10 at a predetermined execution interval. The predetermined execution interval is, for example, the interval at which the detection result of other vehicles by the vehicle detection device 2 is updated.

[0101] First, in step S401, similar to step S101 of FIG. 5, the display control unit 15 determines whether there is another vehicle to be displayed on the display device 7. If it is determined that there is no other vehicle to be displayed on the display device 7, this control routine ends. On the other hand, if it is determined that there is another vehicle to be displayed on the display device 7, this control routine proceeds to step S402.

[0102] In step S402, the display control unit 15 determines whether the first leading vehicle is included in the other vehicles to be displayed on the display device 7. If it is determined that the first leading vehicle is included, this control routine proceeds to step S403.

[0103] In step S403, the display control unit 15 displays the vehicle icon of the first preceding vehicle on the display device 7 in the second display mode. After step S403, this control routine proceeds to step S404. On the other hand, if it is determined in step S402 that the first preceding vehicle is not included, this control routine skips step S403 and proceeds to step S404.

[0104] In step S404, the display control unit 15 determines whether a deceleration target vehicle on the adjacent lane of the host vehicle is included in other vehicles to be displayed on the display device 7. If it is determined that a deceleration target vehicle on the adjacent lane is included, this control routine proceeds to step S405.

[0105] In step S405, the display control unit 15 displays the vehicle icon of the deceleration target vehicle on the adjacent lane on the display device 7 in the first display mode. At this time, if another vehicle on the adjacent lane that was being displayed on the display device 7 is set as the deceleration target vehicle, the display mode of this other vehicle is changed from the default display mode to the first display mode. After step S405, this control routine proceeds to step S406. On the other hand, if it is determined in step S404 that a deceleration target vehicle on the adjacent lane is not included, this control routine skips step S405 and proceeds to step S406.

[0106] In step S406, the display control unit 15 determines whether there are any remaining other vehicles among the other vehicles to be displayed on the display device 7, excluding the first preceding vehicle and the deceleration target vehicle. If it is determined that there are no remaining other vehicles, this control routine ends. On the other hand, if it is determined that there are remaining other vehicles, this control routine proceeds to step S407.

[0107] In step S407, the display control unit 15 displays the vehicle icons of the other vehicles that are not yet displayed among the other vehicles to be displayed on the display device 7 in the default display mode. After step S407, this control routine ends.

[0108] <Fifth Embodiment> The automatic driving system according to the fifth embodiment is basically the same as the configuration and control of the automatic driving system according to the fourth embodiment, except for the points described below. Therefore, hereinafter, the fifth embodiment of the present invention will be described centering on the parts different from the fourth embodiment.

[0109] The degree of influence of the first preceding vehicle on the host vehicle varies depending on the position of the first preceding vehicle. Therefore, in the fifth embodiment, when the distance between the first preceding vehicle and the host vehicle is shorter than a predetermined distance, the display control unit 15 displays the vehicle icon of the first preceding vehicle in a display mode different from the vehicle icons of the other remaining vehicles. By doing so, attention is prompted to the first preceding vehicle when there is a high possibility that the first preceding vehicle affects the acceleration / deceleration control of the host vehicle, and the monitoring burden on the monitor of the autonomous driving can be reduced.

[0110] <Other vehicle display process> Hereinafter, the above-described control will be described in detail with reference to the flowchart of FIG. 9. FIG. 9 is a flowchart showing a control routine for other vehicle display processing in the fifth embodiment. This control routine is repeatedly executed by the ECU 10 at a predetermined execution interval. The predetermined execution interval is, for example, the interval at which the detection result of other vehicles by the vehicle detection device 2 is updated.

[0111] First, in step S501, similar to step S401 in FIG. 8, the display control unit 15 determines whether there is another vehicle to be displayed on the display device 7. If it is determined that there is no other vehicle to be displayed on the display device 7, this control routine ends. On the other hand, if it is determined that there is another vehicle to be displayed on the display device 7, this control routine proceeds to step S502.

[0112] In step S502, similar to step S402 in FIG. 8, the display control unit 15 determines whether the first preceding vehicle is included in the other vehicles to be displayed on the display device 7. If it is determined that the first preceding vehicle is included, this control routine proceeds to step S503.

[0113] In step S503, the display control unit 15 determines whether the distance between the first preceding vehicle and the host vehicle is shorter than a predetermined distance. As the distance between two vehicles, for example, the distance between the vehicles in the traveling direction of the host vehicle or the distance between the center coordinates of the two vehicles is used. The predetermined distance is set to a predetermined fixed value, for example. Note that the predetermined value may be set according to the inter-vehicle mode (for example, short inter-vehicle mode, medium inter-vehicle mode, or long inter-vehicle mode) set by the driver or the like, the speed of the host vehicle, or the like.

[0114] If it is determined in step S503 that the distance between the first preceding vehicle and the host vehicle is shorter than the predetermined distance, this control routine proceeds to step S504. In step S504, the display control unit 15 displays the vehicle icon of the first preceding vehicle on the display device 7 in the second display mode.

[0115] On the other hand, if it is determined in step S503 that the distance between the first preceding vehicle and the host vehicle is equal to or greater than the predetermined distance, this control routine proceeds to step S505. In step S505, the display control unit 15 displays the vehicle icon of the first preceding vehicle on the display device 7 in the default display mode.

[0116] After step S504 or step S505, this control routine proceeds to step S506. On the other hand, if it is determined in step S502 that the first preceding vehicle is not included, this control routine skips steps S503 to S505 and proceeds to step S506. Steps S506 to S509 are the same as steps S404 to S407 in FIG. 8, and thus the description thereof is omitted.

[0117] <Sixth Embodiment> The automatic driving system according to the sixth embodiment is basically the same as the configuration and control of the automatic driving system according to the fourth embodiment, except for the points described below. Therefore, hereinafter, the sixth embodiment of the present invention will be described centering on the parts different from the fourth embodiment.

[0118] When the host vehicle reaches a point of lane change (for example, a lane change for merging) planned in advance in the driving plan, or when a driver instructs a lane change through an operation of the turn signal lever or the like, the vehicle control unit 16 performs an autonomous lane change. When the lane change is started, the degree of influence of other vehicles existing in the lane after the lane change on the host vehicle increases.

[0119] Therefore, in the sixth embodiment, when the vehicle control unit 16 is performing a lane change of the host vehicle, instead of the first preceding vehicle, the vehicle control unit 16 displays the vehicle icon of the other vehicle (hereinafter referred to as the "preceding vehicle after lane change") that is located in front of the host vehicle and closest to the host vehicle in the lane after the lane change in a display mode different from the vehicle icons of the other remaining vehicles. By doing so, the driver can be made aware that the other vehicle that should be noted has changed due to the implementation of the vehicle change.

[0120] <Other vehicle display process> Hereinafter, the above-described control will be described in detail with reference to the flowchart of FIG. 10. FIG. 10 is a flowchart showing a control routine for other vehicle display processing in the sixth embodiment. This control routine is repeatedly executed by the ECU 10 at a predetermined execution interval. The predetermined execution interval is, for example, the interval at which the detection result of other vehicles by the vehicle detection device 2 is updated.

[0121] First, in step S601, similar to step S401 in FIG. 8, the display control unit 15 determines whether there is any other vehicle to be displayed on the display device 7. If it is determined that there is no other vehicle to be displayed on the display device 7, this control routine ends. On the other hand, if it is determined that there is an other vehicle to be displayed on the display device 7, this control routine proceeds to step S602.

[0122] In step S602, the display control unit 15 determines whether a lane change is being performed by the vehicle control unit 16. If it is determined that the lane change is not being performed, this control routine proceeds to step S603.

[0123] In step S603, similar to step S402 in FIG. 8, the display control unit 15 determines whether the first leading vehicle is included in other vehicles to be displayed on the display device 7. If it is determined that the first leading vehicle is included, this control routine proceeds to step S604.

[0124] In step S604, similar to step S403 in FIG. 8, the display control unit 15 displays the vehicle icon of the first leading vehicle on the display device 7 in the second display mode. After step S604, this control routine proceeds to step S607. On the other hand, if it is determined in step S603 that the first leading vehicle is not included, this control routine skips step S604 and proceeds to step S607.

[0125] Also, if it is determined in step S602 that a lane change is being performed, this control routine proceeds to step S605. In step S605, the display control unit 15 determines whether the leading vehicle after the lane change is included in other vehicles to be displayed on the display device 7. If it is determined that the leading vehicle after the lane change is included, this control routine proceeds to step S606.

[0126] In step S606, the display control unit 15 displays the leading vehicle after the lane change on the display device 7 in the second display mode. After step S606, this control routine proceeds to step S607. On the other hand, if it is determined in step S605 that the leading vehicle after the lane change is not included, this control routine skips step S606 and proceeds to step S607.

[0127] Steps S607 to S610 are the same as steps S404 to S407 in FIG. 8, so the description is omitted.

[0128] As described above, the preferred embodiments according to the present invention have been explained. However, the present invention is not limited to these embodiments, and various modifications and changes can be made within the scope of the claims. For example, only other vehicles may be displayed on the display device 7, and the own vehicle (vehicle 20) may not be displayed on the display device 7.

[0129] In addition, the display device 7 of the automatic driving system 1 may be provided in a server outside the vehicle 20 for an operator to remotely monitor the autonomous driving of the vehicle 20 in addition to or instead of the vehicle 20. In this case, the output of the vehicle detection device 2 and the like may be transmitted from the vehicle 20 to the server, and the processor of the server may function as the display control unit and the target vehicle setting unit. Further, such a server may be provided with a steering device or the like for an operator to remotely control the autonomous driving of the vehicle 20.

[0130] In addition, a plurality of types of vehicle icons may be used as the vehicle icon indicating another vehicle. For example, if the other vehicle detected by the vehicle detection device 2 is identified as a passenger car or a truck, a passenger car icon and a truck icon may be used as the vehicle icon indicating the other vehicle.

[0131] In addition, the above-described embodiments can be implemented in any combination. For example, when the second embodiment and the third embodiment are combined, in step S304 of FIG. 7A, similar to step S205 of FIG. 6, the display control unit 15 displays the vehicle icon of the deceleration target vehicle on the traveling lane of the host vehicle in the second display mode on the display device 7. Further, when the fifth embodiment and the sixth embodiment are combined, in the control routine of FIG. 10, steps S502 to S505 of FIG. 9 are executed instead of steps S603 and S604.

Description of Reference Numerals

[0132] 1 Automatic driving system 2 Vehicle detection device 7 Display device 10 Electronic control unit (ECU) 15 Display control unit 16 Vehicle control unit 17 Target vehicle setting unit 20 Vehicle

Claims

1. A vehicle detection device that detects other vehicles existing around the host vehicle; a display device that displays the other vehicle detected by the vehicle detection device as a vehicle icon; A display control unit that controls the display content of the display device; A vehicle control unit that controls autonomous driving of the host vehicle; a target vehicle setting unit that sets a deceleration target vehicle from among other vehicles detected by the vehicle detection device; Equipped with the vehicle control unit controls acceleration / deceleration of the host vehicle so that the host vehicle does not approach the deceleration target vehicle; the display control unit displays a vehicle icon of the deceleration target vehicle in a display manner different from vehicle icons of the remaining other vehicles when displaying the multiple other vehicles detected by the vehicle detection device on the display device; The display control unit, when the vehicle to be decelerated is located in an adjacent lane to the vehicle itself and a preceding vehicle is detected in the vehicle's driving lane, displays the vehicle icon of the vehicle to be decelerated in a different display manner from the vehicle icons of the remaining vehicles if the distance between the vehicle itself and the vehicle to be decelerated is shorter than the distance between the vehicle itself and the preceding vehicle.

2. The autonomous driving system according to claim 1 , wherein the display control unit displays a vehicle icon of the decelerating target vehicle in an adjacent lane of the host vehicle in a hue different from vehicle icons of other remaining vehicles.

3. The autonomous driving system of claim 1 or 2, wherein the display control unit displays a vehicle icon of the decelerating vehicle in an adjacent lane of the host vehicle in a first display mode, and displays a vehicle icon of a first preceding vehicle that is located in front of the host vehicle in the host vehicle's driving lane and is closest to the host vehicle in a second display mode, and the first display mode and the second display mode have different hues.

4. The autonomous driving system according to claim 3 , wherein the first display mode is a chromatic color and the second display mode is an achromatic color.

5. The autonomous driving system according to claim 3 or 4, wherein the display control unit changes the display mode of the vehicle icon of another vehicle that is in an adjacent lane of the host vehicle and is displayed on the display device to the first display mode when the other vehicle is set as the deceleration target vehicle.

6. A method for controlling a vehicle including a vehicle detection device that detects another vehicle and a display device that displays the other vehicle detected by the vehicle detection device as a vehicle icon, comprising: setting a deceleration target vehicle from among other vehicles detected by the vehicle detection device; controlling acceleration / deceleration of the vehicle so that the vehicle does not approach the deceleration target vehicle; When displaying the plurality of other vehicles detected by the vehicle detection device on the display device, a vehicle icon of the deceleration target vehicle is displayed in a display mode different from vehicle icons of the remaining other vehicles; When the deceleration target vehicle is located on an adjacent lane of the vehicle and a preceding vehicle is detected on the driving lane of the vehicle, if the distance between the vehicle and the deceleration target vehicle is shorter than the distance between the vehicle and the preceding vehicle, the vehicle icon of the deceleration target vehicle is displayed in a different display mode from the vehicle icons of the remaining other vehicles. A method for controlling a vehicle.

Images