Driving assistance devices

Abstract

To prevent a driver from feeling a flicker of display.SOLUTION: A driving support device for supporting driving of a vehicle comprises: a display unit which displays information about travel; a sight line detection unit which detects the sight line of a driver; and a display control unit which reduces the visibility of at least a portion of an image displayed by the display unit in comparison to a case where the sight line detection unit detects that the driver closely looks at the display unit when the sight line detection unit detects that the driver does not closely look at the display unit. Consequently, the device can prevent the driver from feeling a flicker of the display.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a driving assistance device, and more particularly to a driving assistance device that assists driving of a vehicle. [Background technology]

[0002] Conventionally, as a driving assistance device of this type, one has been proposed that, when a vehicle is traveling in an autonomous driving mode, displays an action plan at an action plan presentation start point that has a margin relative to the action plan of the autonomous driving system (see, for example, Patent Document 1). With this display, this device matches the action plan assumed by the driver with the action plan of the system, allowing the driver to understand the action plan in advance. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2018-187984 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the above-mentioned driving assistance device displays the next planned action even when the driver is allowed to take their eyes off the road while driving. This display remains in the driver's field of view even when the driver is not paying attention to the display. As a result, the driver may feel discomfort due to the flickering of the display.

[0005] A main object of the driving assistance device of the present invention is to make display flicker less noticeable to the driver. [Means for solving the problem]

[0006] The driving assistance device of the present invention employs the following means to achieve the above-mentioned main object.

[0007] The driving assistance device of the present invention comprises: A driving assistance device that assists driving of a vehicle, a display unit that displays information about the vehicle; a gaze detection unit that detects the driver's gaze; a display control unit that, when it is detected by the line-of-sight detection unit that the driver is not gazing at the display unit, reduces the visibility of at least a part of an image displayed by the display unit compared to when it is detected by the line-of-sight detection unit that the driver is gazing at the display unit; The gist of the project is to provide the following:

[0008] In the driving assistance device of the present invention, when the line-of-sight detection unit detects that the driver is not gazing at the display unit, the visibility of at least a part of the image displayed by the display unit is reduced compared to when the line-of-sight detection unit detects that the driver is gazing at the display unit, thereby making it possible to make the driver less likely to notice flickering of the display.

[0009] In the driving assistance device of the present invention, the display control unit may reduce the visibility of at least a portion of the image displayed by the display unit by graying out or not displaying at least a portion of the image displayed by the display unit. In this way, the visibility of at least a portion of the image displayed by the display unit can be reduced more appropriately.

[0010] In the driving assistance device of the present invention, the display control unit may display a first image showing information about visible objects in the surrounding area and a second image showing the vehicle's driving status on the display unit when the line-of-sight detection unit detects that the driver is gazing at the display unit, and may reduce the visibility of the second image when the line-of-sight detection unit detects that the driver is not gazing at the display unit compared to when the line-of-sight detection unit detects that the driver is gazing at the display unit. The first image contributes more to maintaining safe driving than the second image. Therefore, when the line-of-sight detection unit detects that the driver is not gazing at the display unit, the visibility of the second image may be reduced compared to when the line-of-sight detection unit detects that the driver is gazing at the display unit, thereby reducing the visibility of more appropriate information. This makes it possible to more appropriately reduce the driver's perception of display flicker. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a block diagram showing an example of the configuration of an automobile 20 equipped with a driving assistance device according to an embodiment of the present invention, with a main electronic control unit (hereinafter referred to as main ECU) 30 as the central block. [Figure 2] 4 is a flowchart showing an example of a display processing routine executed by the main electronic control unit 30. [Figure 3] FIG. 10 is an explanatory diagram showing an example of a normal image displayed on a meter 76. [Figure 4] 10 is an explanatory diagram showing an example of an image displayed on a meter 76 during reduction. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0012] Next, a mode for carrying out the present invention will be described using examples. [Example]

[0013] 1 is a block diagram showing an example of the configuration of an automobile 20 equipped with a driving assistance device according to an embodiment of the present invention, with a main electronic control unit (hereinafter referred to as "main ECU") 30 at the center. As shown in the figure, the automobile 20 includes a drive unit 62 that outputs drive force to drive wheels (not shown), and a drive electronic control unit (hereinafter referred to as "drive ECU") 60 that controls the drive of the drive unit 62.

[0014] The drive device 62 may be one having an engine and an automatic transmission, a hybrid system having an engine, a motor and a battery, a fuel cell drive system having a fuel cell, a battery and a motor, or an electric system having a battery and a motor.

[0015] The drive ECU 60 is configured as a microcomputer centered around a CPU (not shown), and in addition to the CPU, is equipped with ROM, RAM, flash memory, input ports, output ports, communication ports, etc. The drive ECU 60 controls the drive of the drive device 62 based on a drive control signal from the main ECU 30.

[0016] In addition to the drive unit 62 and the drive ECU 60, the automobile 20 of the embodiment includes an ignition switch 32, a shift position sensor 34, an accelerator position sensor 36, a brake position sensor 38, a vehicle speed sensor 40, an acceleration sensor 42, a gradient sensor 44, a yaw rate sensor 46, a driving assistance switch 48, an auto cruise control switch (hereinafter referred to as an ACC switch) 50, a surrounding recognition electronic control unit (hereinafter referred to as a surrounding recognition ECU) 52, a front camera 53, a rear camera 54, other surrounding recognition devices 55, an air conditioning electronic control unit (hereinafter referred to as an air conditioning ECU) 56, an air conditioning unit 58, a line of sight detection system 59, a brake electronic control unit (hereinafter referred to as a brake ECU) 64, a brake unit 66, a steering electronic control unit (hereinafter referred to as a steering ECU) 68, a steering unit 70, a center display 72, a head-up display 74, a meter 76, a GPS (Global Positioning System, Global Positioning The vehicle is equipped with a satellite (78), a navigation system (80), a DCM (Data Communication Module) (86), etc.

[0017] The shift position sensor 34 detects the position of the shift lever. The accelerator position sensor 36 detects the accelerator opening amount according to the amount of depression of the accelerator pedal by the driver. The brake position sensor 38 detects the brake position according to the amount of depression of the brake pedal by the driver.

[0018] The vehicle speed sensor 40 detects the vehicle speed based on the wheel speed etc. The acceleration sensor 42 detects, for example, the acceleration in the front-rear direction of the vehicle. The gradient sensor 44 detects the gradient of the road surface. The yaw rate sensor 46 detects the lateral acceleration (yaw rate) in the left-right direction due to turning motion.

[0019] The driving assistance switch 48 is a switch for selecting whether or not to perform autonomous driving as one of the driving assistance controls. The ACC switch 50 is a switch for selecting whether or not to perform active cruise control as one of the driving assistance devices. The driving assistance switch 48 and the ACC switch 50 are attached to the steering wheel or an installation panel in front of the driver's seat, or in their vicinity. The driving assistance switch 48 and the ACC switch 50 also serve as switches for setting various settings, such as the distance from the vehicle ahead and the vehicle speed.

[0020] Although not shown, the surroundings recognition ECU 52 is configured as a microprocessor centered on a CPU, and in addition to the CPU, includes a ROM for storing processing programs, a RAM for temporarily storing data, an input / output port, and a communication port. Images captured by a front camera 53 capturing images in front of the vehicle and a rear camera 54 capturing images behind the vehicle, as well as information about the vehicle and its surroundings from another surroundings recognition device 55 (e.g., inter-vehicle distances D1 and D2 between the vehicle and other vehicles in front and behind the vehicle, the vehicle speeds of other vehicles, and the vehicle's position in the road lane) are input to the surroundings recognition ECU 52 via the input port. Examples of other surroundings recognition devices 55 include millimeter-wave radar, quasi-millimeter-wave radar, infrared laser radar, and sonar.

[0021] The air conditioner ECU 56 is configured as a microcomputer centered around a CPU (not shown), and in addition to the CPU, is equipped with ROM, RAM, flash memory, input ports, output ports, communication ports, etc. The air conditioner ECU 56 is incorporated into an air conditioner 58 that conditions the air in the passenger compartment, and controls the drive of an air conditioner compressor in the air conditioner 58 so that the temperature in the passenger compartment becomes a set temperature.

[0022] The gaze detection system 59 includes an imaging device fixed near the front of the driver and a point light source. Using an image of the driver's eye area acquired by the imaging device, the gaze detection system 59 extracts the position of a white dot that appears on the eyeball when light from the point light source is reflected on the corneal surface and the position of the pupil, identifies the orientation of the eyeball based on the position of the pupil relative to the position of the white dot, and detects the driver's gaze direction from the eyeball direction. Note that, because the eyeball is not a perfect sphere and the shape of the cornea varies from person to person, the relationship between the driver's actual gaze direction and the eyeball direction is determined in advance, and the driver's gaze direction is detected from this relationship and the identified eyeball direction.

[0023] The brake ECU 64 is configured as a microcomputer centered around a CPU (not shown), and in addition to the CPU, is equipped with ROM, RAM, flash memory, input ports, output ports, communication ports, etc. The brake ECU 64 drives and controls a well-known hydraulically driven brake device 66. The brake device 66 is configured to be able to control braking force caused by the brake depression force exerted by depressing the brake pedal and braking force caused by hydraulic pressure adjustment.

[0024] The steering ECU 68 is configured as a microcomputer centered around a CPU (not shown), and in addition to the CPU, is equipped with ROM, RAM, flash memory, input ports, output ports, communication ports, etc. The steering ECU 68 drives and controls the actuator of a steering device 70, which has a steering wheel (not shown) and drive wheels mechanically connected via a steering shaft. The steering device 70 steers the drive wheels based on the driver's steering operation, and also steers the drive wheels by driving the actuator by the steering ECU 68 based on a steering control signal from the main electronic control unit 30.

[0025] The center display 72 is located in the center in front of the driver's seat and passenger seat, and also functions as a touch panel to execute various vehicle settings, audio and media applications, and also functions as the display unit 84 of the navigation system 80 to perform map navigation.

[0026] The head-up display 74 displays an image of information for the driver (as if it were an image formed at an infinite point) on the windshield, such as a speed display or a navigation guide display.

[0027] The meter 76 is incorporated into, for example, an installation panel in front of the driver's seat, and provides an image of information for the driver. Details of the image provided by the meter 76 will be described later.

[0028] The GPS 78 is a device that detects the position of a vehicle based on signals transmitted from multiple GPS satellites.

[0029] The navigation system 80 is a system that guides the vehicle to a set destination, and includes map information 82 and a display unit 84. The navigation system 80 communicates with a traffic information management center 100 via a DCM (Data Communication Module) 86, acquires road traffic information, and acquires and updates the map information 82 as necessary. When a destination is set, the navigation system 80 sets a route based on the destination information, information about the current location (current vehicle position) acquired by the GPS 78, and the map information 82.

[0030] The DCM (Data Communication Module) 86 transmits information about the vehicle to the traffic information management center 100 and receives road traffic information from the traffic information management center 100. Examples of the vehicle information include the vehicle's position, vehicle speed V, driving power, and driving mode. Examples of the road traffic information include information about current and future congestion, information about the current average vehicle speed and predicted future average vehicle speed in sections of the driving route, information about traffic regulations, information about weather, information about road surface conditions, and information about maps. The DCM 86 communicates with the traffic information management center 100 at predetermined intervals (for example, every 30 seconds, every minute, or every two minutes).

[0031] The main electronic control unit 30 is configured as a microcomputer centered around a CPU (not shown), and in addition to the CPU, includes ROM, RAM, flash memory, input ports, output ports, communication ports, etc. Various signals are input to the main electronic control unit 30 via the input ports. Examples of information input via the input ports include an ignition switch signal from the ignition switch 32, a shift position from the shift position sensor 34, an accelerator opening from the accelerator position sensor 36, and a brake position from the brake position sensor 38. Other examples of information input via the input ports include a vehicle speed V from the vehicle speed sensor 40, an acceleration from the acceleration sensor 42, a gradient from the gradient sensor 44, and a yaw rate from the yaw rate sensor 46. Other examples of information input via the input ports include an automatic driving instruction signal from the driving assistance switch 48 and an ACC instruction signal from the ACC switch 50. Various signals are output from the main electronic control unit 30 via output ports. Examples of information output via the output ports include a display control signal to the center display 72, a display control signal to the head-up display 74, and a display control signal to the meter 76.

[0032] The main electronic control unit 30 communicates with the surroundings recognition ECU 52, air conditioning ECU 56, drive ECU 60, brake ECU 64, steering ECU 68, and navigation system 80, exchanging various types of information.

[0033] When the driving assistance switch 48 is off, the main electronic control unit 30 performs manual driving by operating the driver to drive the automobile 20. In manual driving, the main electronic control unit 30 sets the required driving force and required power based on the accelerator opening from the accelerator position sensor 36 and the vehicle speed from the vehicle speed sensor 40, and sends a drive control signal to the drive ECU 60 so that the required driving force and required power are output from the drive device 62.

[0034] When the driving assistance switch 48 is on, the main electronic control unit 30 performs automatic driving, which causes the automobile 20 to travel without the driver's operation. In automatic driving, the main electronic control unit 30 sets a target vehicle speed based on the route set by the navigation system 80, the current position of the vehicle, map information 82 (e.g., legal speed limit), and information about the vehicle and its surroundings from the surroundings recognition ECU 52, and sends a drive control signal to the drive ECU 60 so that the required drive force and required power are output from the drive device 62 so that the vehicle speed becomes the target vehicle speed.

[0035] Next, the operation of the automobile 20 configured as described above, particularly the operation when displaying an image of information for the driver on the meter 76 while the automobile is traveling by autonomous driving, will be described. Figure 2 is a flowchart showing an example of a display processing routine executed by the main electronic control unit 30. This display processing routine is repeatedly executed while the automobile is traveling by autonomous driving.

[0036] When the display processing routine is executed, the CPU of the main electronic control unit 30 determines whether or not the driver is permitted to perform actions other than driving (such as taking their hands off the steering wheel or looking away from the road) (step S100). Step S100 determines that the driver is permitted to perform actions other than driving when, for example, the vehicle is running at level 3 or higher automated driving as defined by the Ministry of Land, Infrastructure, Transport and Tourism of Japan or level 3 or higher automated driving as defined by the Society of Automotive Engineers of America.

[0037] If the driver is not permitted to engage in any activity other than driving in step S100, a display control signal is sent to the meter 76 so that a normal display is performed (step S120), and the display processing routine ends. Upon receiving the display control signal, the meter 76 displays a normal image.

[0038] FIG. 3 is an explanatory diagram showing an example of a normal image displayed on the meter 76. In the center of the figure, the host vehicle (automobile 20) is displayed as image 110, and information about visible objects around the host vehicle (e.g., another vehicle traveling ahead of the host vehicle) is displayed as image 112. Images 114 to 124 indicating the vehicle's traveling status are displayed on the top, bottom, left, and right sides of the figure. In the upper part of the figure, the vehicle speed V detected by the vehicle speed sensor 40 is displayed as image 114. In the left part of the figure, the shift position from the shift position sensor 34 is displayed as image 116. In the right part of the figure, the remaining fuel and battery charge are displayed as image 118. In the upper right part of the figure, the current time is displayed as image 120. In the lower left part of the figure, the outside air temperature is displayed as image 122. In the lower right part of the figure, the total mileage since the vehicle 20 was shipped is displayed as image 124. The driver can obtain various information from the display of the meter 76.

[0039] If the driver is permitted to engage in an activity other than driving in step S100, it is then determined whether or not the driver is gazing at the meter 76 (step S110). Here, when the direction of the driver's gaze detected by the line-of-sight detection system 59 is directed toward the meter 76, that is, when the line-of-sight detection system 59 detects that the driver is gazing at the meter 76, it is determined that the driver is gazing at the meter 76.

[0040] If the driver is gazing at the meter 76 in step S110, a display control signal is sent to the meter 76 so that a normal display is performed (step S120), and the display processing routine ends. Upon receiving the display control signal, the meter 76 displays the normal image exemplified in FIG. 3.

[0041] If the driver is not gazing at the meter 76 in step S110, a display control signal is sent to the meter 76 to display a reduced content version of the normal display (step S130), and the display processing routine ends. Upon receiving the display control signal, the meter 76 displays a reduced image, which is the normal image shown in FIG. 3 but with the content reduced.

[0042] FIG. 4 is an explanatory diagram showing an example of a reduction image displayed on the meter 76. FIG. 4 shows an image in which the images 110 and 112 in FIG. 3 are maintained and images 114 to 124 are not displayed. Even when the driver is not gazing at the meter 76, if the normal image shown in FIG. 3 is displayed, at least a portion of the meter 76 is included in the driver's field of view, and the driver may perceive flickering of the display of the meter 76. In the embodiment, when the driver is not gazing at the meter 76, a reduction image is displayed that does not display images 114 to 124 of the normal image, thereby making it less likely that the driver will perceive flickering of the display. Furthermore, displaying image 110 of the host vehicle and image 112 as information on visible objects around the host vehicle contributes more to maintaining safe driving than displaying images 114 to 124. Therefore, in the reduced image, by maintaining the display of images 110 and 112 and not displaying images 114 to 124, the visibility of part of the content displayed by meter 76 can be more appropriately reduced compared to the normal image.

[0043] According to the automobile 20 equipped with the driving assistance device of the embodiment described above, when the line-of-sight detection system 59 detects that the driver is not gazing at the meter 76, the image displayed by the meter 76 is reduced compared to when the line-of-sight detection system 59 detects that the driver is gazing at the meter 76, thereby making it less likely that the driver will notice flickering of the display.

[0044] In the automobile 20 equipped with the driving assistance device of the embodiment, when the driver is not gazing at the meter 76 in step S110, a reduction image is displayed on the meter 76. However, when the driver is not gazing at the meter 76 in step S110, it is only necessary to reduce the visibility of some of the images 110 to 124 in the normal image on the meter 76, and therefore images 114 to 124 of the images 110 to 124 in the normal image on the meter 76 may be displayed in gray. Also, when the driver is not gazing at the meter 76 in step S110, none of the images 110 to 124 may be displayed on the meter 76.

[0045] 3, in an automobile 20 equipped with the driving assistance device of the embodiment, images 114 to 124 are displayed as images showing the vehicle's driving conditions to be displayed on the meter 76. However, a part of the images 114 to 124 may be displayed as a normal image, or an image showing the vehicle's driving conditions different from the images 114 to 124 may be displayed.

[0046] The correspondence between the main elements of the embodiment and the main elements of the invention described in the "Means for Solving the Problem" section will be explained below. In the embodiment, the meter 76 corresponds to the "display unit," the line-of-sight detection system 59 corresponds to the "line-of-sight detection unit," and the main ECU 30 corresponds to the "display control unit."

[0047] The correspondence between the main elements of the Examples and the main elements of the invention described in the "Means for Solving the Problem" section does not limit the elements of the invention described in the "Means for Solving the Problem" section, since the Examples are examples for specifically explaining the mode for implementing the invention described in the "Means for Solving the Problem" section. In other words, the interpretation of the invention described in the "Means for Solving the Problem" section should be based on the description in that section, and the Examples are merely specific examples of the invention described in the "Means for Solving the Problem" section.

[0048] The above describes the form for carrying out the present invention using examples, but the present invention is not limited to these examples in any way, and it goes without saying that the present invention can be carried out in various forms within the scope that does not deviate from the gist of the present invention. [Industrial Applicability]

[0049] The present invention can be used in the manufacturing industry of driving assistance devices. [Explanation of symbols]

[0050] 20 Automobile, 30 Main electronic control unit, 32 Ignition switch, 34 Shift position sensor, 36 Accelerator position sensor, 38 Brake position sensor, 40 Vehicle speed sensor, 42 Acceleration sensor, 44 Gradient sensor, 46 Yaw rate sensor, 48 Driving assistance switch, 50 Auto cruise control switch (ACC switch), 52 Surrounding recognition electronic control unit (surrounding recognition ECU), 53 Forward camera, 54 Rearward camera, 55 Other surrounding recognition devices, 56 Air conditioning system electronic control unit (air conditioning ECU), 58 Air conditioning system, 59 Line of sight detection system, 60 Drive electronic control unit (drive ECU), 62 Drive system, 64 Brake electronic control unit (brake ECU), 66 Brake system, 68 Steering electronic control unit (steering ECU), 70 Steering system, 72 Center display, 74 Head-up display, 76 Meter, 78 GPS, 80 Navigation system, 82 Map information, 84 Display unit, 86 DCM, 100 Traffic information management center, 110-124 Images.

Claims

[Claim 1] A driving assistance device that assists driving of a vehicle, a display unit that displays information about the vehicle; a gaze detection unit that detects the driver's gaze; a display control unit that, when it is detected by the line-of-sight detection unit that the driver is gazing at the display unit, displays on the display unit a first image showing information about visible objects in the surroundings and a second image showing a driving situation of the vehicle, and, when it is detected by the line-of-sight detection unit that the driver is not gazing at the display unit, reduces the visibility of the second image compared to when it is detected by the line-of-sight detection unit that the driver is gazing at the display unit; A driving assistance device comprising:

Images