Driving assistance device and driving assistance method

Abstract

To improve driver convenience and safety by efficiently providing information on obstacles.SOLUTION: A driving support device includes a display control unit that controls displayed contents of a display unit installed in the interior of a vehicle, and a vehicle perimeter monitoring unit that monitors the vicinity of the vehicle based on camera and / or sensor output and detects an obstacle. When the obstacle is detected, the display control unit interrupts the display unit to display a warning indication that informs a driver of the presence of the obstacle in a portion near the outer edge of the display unit while continuing to output the displayed contents up to that point, and allows the positional relationship between the display unit and the warning indication to correspond to the positional relationship between the vehicle and the obstacle. Furthermore, when a predetermined operation corresponding to the warning indication is accepted, an image including an image of the obstacle instead of the warning indication is displayed, and an indication of the positional relationship between the vehicle and the obstacle is superimposed on the image.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a driving assistance device and a driving assistance method for assisting driving of a vehicle. [Background technology]

[0002] Conventionally, there has been known a technology for assisting vehicle driving by providing information about obstacles around the vehicle. For example, Patent Document 1 states that "a vehicle image display device is provided that allows a driver to instantly select an image from a camera that the driver desires from among images captured by multiple cameras installed in the vehicle." "The device is characterized by including display means 21 that can selectively display images captured by a front camera 3, a left side camera 4, a right side camera 5, and a rear camera 6, and image generation means 23 that generates an around-view image by performing viewpoint conversion so as to obtain a bird's-eye view of the vehicle, and operation means 27 that includes a first switch 25 for causing the around-view image to be displayed on the display means 21 in a central region thereof, and second switches 26a to 26d for causing the display means 21 to display images of each view at positions corresponding to a front view, a rear view, a left side view, and a right side view around the vehicle adjacent to the periphery of the central region, with the central region being the position of the vehicle as viewed from above." [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2012-006551 Summary of the Invention [Problem to be solved by the invention]

[0004] In conventional technologies such as those described in Patent Document 1, when a camera image of the vehicle's surroundings is displayed, the entire display area of ​​the display unit is used to display the camera image and related information. Therefore, for example, if a navigation image was previously displayed, the navigation screen is switched to a camera image display screen, and the driver cannot see the navigation screen while the camera image is displayed. However, in many situations where collision with an obstacle needs to be avoided, it is not necessary to check the entire area around the vehicle; it is sufficient to check the positional relationship between the obstacle and a part of the vehicle body that may be involved in a collision. The inability to check the information that was previously displayed due to such partial checking may actually reduce convenience for the driver.

[0005] In addition, there are cases where the driver is fully aware of an obstacle that the in-vehicle system has determined should be notified to the driver. If the driver is fully aware of the obstacle, using a large display area to notify the driver of the obstacle will not contribute to improving safety and will hinder the provision of information that the driver desires.

[0006] Therefore, an object of the present invention is to efficiently provide information about obstacles and to improve convenience and safety for drivers. [Means for solving the problem]

[0007] In order to achieve the above object, one representative driving assistance device of the present invention comprises a display control unit that controls the display content of a display unit installed in the interior of the vehicle, and a vehicle periphery monitoring unit that monitors the periphery of the vehicle based on the output of a camera and / or sensor and detects obstacles, and when the obstacle is detected, the display control unit continues to output the display content up to that point, while interrupting and displaying a warning display in a part near the outer edge of the display unit to notify the driver of the presence of the obstacle, and the positional relationship between the display unit and the warning display corresponds to the positional relationship between the vehicle and the obstacle. [Effects of the Invention]

[0008] According to the present invention, it is possible to efficiently provide information about obstacles, thereby improving convenience and safety for the driver. Problems, configurations, and effects other than those described above will become clear from the following description of the embodiment. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is an explanatory diagram illustrating an outline of driving assistance according to a first embodiment. [Figure 2] FIG. 1 is a configuration diagram of a driving assistance device according to a first embodiment. [Figure 3] FIG. 10 is an explanatory diagram of a display and a predetermined operation reception. [Figure 4] 4 is a flowchart showing a processing procedure for obstacle detection by the driving assistance device. [Figure 5] 4 is a flowchart showing a processing procedure for display control by the driving assistance device. [Figure 6] 10 is an explanatory diagram of the operation when there is a risk of tire contact. [Figure 7] FIG. 10 is an explanatory diagram of a modified example of the predetermined operation reception. [Figure 8] FIG. 10 is an explanatory diagram of a modified example of the display. [Figure 9] FIG. 10 is an explanatory diagram of a modified example of camera image display. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, an embodiment will be described with reference to the drawings. [Example]

[0011] 1 is an explanatory diagram illustrating an overview of the driving assistance of the first embodiment. A vehicle 10 is provided with a display 30, which is a display unit. The display 30 can be used to display a navigation screen related to the driving route of the vehicle 10, a radio operation screen, a music content operation screen, a vehicle information display screen, a television screen, and the like.

[0012] The vehicle 10 is also equipped with cameras and sensors that capture images of the surroundings, and a driving assistance device. The driving assistance device monitors the periphery of the vehicle 10 based on the output of the cameras and sensors and detects obstacles. When the driving assistance device detects an obstacle that may interfere with the driving of the vehicle 10, it notifies the driver of the presence of the obstacle by interrupting and displaying a warning display on one of the four sides of the display 30 while continuing to output the display content up to that point. At this time, the side used for the warning display is selected depending on the positional relationship between the vehicle and the obstacle.

[0013] 1, vehicle 10 is traveling forward, and display 30 is displaying navigation screen N1. Furthermore, there is an obstacle D1 in front of and to the left of vehicle 10, and if vehicle 10 continues moving forward at the current speed, it is predicted that the left side mirror will collide with obstacle D1.

[0014] The operation of the driving assistance device will be described using this state as an example. When the driving assistance device detects obstacle D1, it displays a warning display A1 on the navigation screen N1. Since obstacle D1 is located to the left front of vehicle 10 and there is a risk of collision with the left side mirror, warning display A1 is displayed on the left side of display 30.

[0015] The warning display A1 also includes a schematic diagram of the side mirror and a line indicating the position of the obstacle D1. The schematic diagram of the side mirror indicates that the type of danger is "side mirror contact." The line is obtained by selecting the point on the predicted path of the vehicle 10 where the obstacle D1 is closest, and extending the selected point along the predicted path. This line is a virtual wall corresponding to the position of the obstacle D1. If the distance from the side mirror to the line is less than a predetermined value, the driving assistance device determines that there is a possibility that the side mirror will contact the obstacle D1. If the side mirror crosses the line, the driving assistance device determines that there is a high possibility that the side mirror will contact the obstacle D1. The degree of possibility that the side mirror will contact the obstacle D1 represents the degree (level) of danger, and the color of the line may be changed according to the danger level.

[0016] In this way, the warning display A1 can schematically indicate the type of danger posed by the obstacle D1, the degree of the danger, and the positional relationship between the vehicle 10 and the obstacle D1. Furthermore, since the positional relationship between the display 30 and the warning display A1 corresponds to the positional relationship between the vehicle 10 and the obstacle D1, the driver can easily recognize which direction to pay attention to. Furthermore, since the navigation screen N1 continues to be displayed, the driver can continue to check the content that was displayed up to that point.

[0017] When the driver confirms the warning display A1 and touches the confirmation display A1, the driving assistance device displays a camera image display V1 instead of the warning display A1. The camera image display V1 is generated by superimposing an image of the side mirror and the vehicle body on a captured camera image that includes an image of the obstacle D1. The images of the side mirror and the vehicle body function as an indication of the positional relationship between the vehicle 10 and the obstacle D1.

[0018] The warning display A1 is a schematic display in a limited display area in order to maintain the original display content as much as possible. On the other hand, the camera image display V1 is displayed when the driver, upon seeing the warning display A1, performs an explicit operation to request more detailed information, so it is allocated a larger display area than the warning display A1.

[0019] In this way, the driver can obtain the necessary detailed information with a single simple operation. Specifically, the camera image display V1 allows the driver to check the camera image of the area around the vehicle and also to confirm the positional relationship between the image in the camera image and the vehicle. In addition, since the navigation screen N1 continues to be displayed, the driver can continue to check the information that was displayed up to that point.

[0020] Fig. 2 is a configuration diagram of the driving assistance device of Example 1. As shown in Fig. 2, the driving assistance device 20 is connected to a camera 11, a shift sensor 12, a steering sensor 13, a display 30, a navigation system 41, an AV system 42, and the like.

[0021] The camera 11 is an image acquisition means that captures images of the surroundings of the vehicle 10 and acquires the captured images. It is preferable to install a plurality of cameras 11 in order to capture images in all directions around the vehicle 10. In addition to the camera 11, any sensor that detects objects around the vehicle may be installed. The shift sensor 12 is a sensor that acquires the state of the transmission of the vehicle 10, and the steering sensor 13 is a sensor that acquires the steering angle of the vehicle 10. In addition to these, any other sensor related to the running of the vehicle 10 may be installed.

[0022] The display 30 is a display unit installed in the interior of the vehicle 10. The display 30 also includes an arbitrary input interface. The input interface may be a touch panel integrated with the display 30, or may be physical buttons. In this embodiment, the description will be given assuming that the display 30 includes a touch panel integrated with the display 30.

[0023] The navigation system 41 is a system that manages map information, acquires road information, identifies the current location, searches for routes, provides route guidance, etc. The AV system 42 is a system that receives radio and television broadcasts, plays music and video content, etc.

[0024] The driving assistance device 20 has a vehicle periphery monitoring unit 21, a vehicle state acquisition unit 22, and a display control unit 23. When the driving assistance device 20 is realized by a computer, the functions corresponding to the vehicle periphery monitoring unit 21, the vehicle state acquisition unit 22, and the display control unit 23 can be realized by a CPU (Central Processing Unit) executing a program.

[0025] The vehicle periphery monitoring unit 21 monitors the periphery of the vehicle 10 based on the output of the camera 11 and sensors that detect objects around the vehicle, and detects obstacles. When detecting an obstacle from the output of the camera 11, the vehicle periphery monitoring unit 21 performs image recognition processing on the captured camera image to identify the object contained as an image in the camera image. The vehicle periphery monitoring unit 21 also manages the installation position and imaging range of the camera 11, and identifies the position of the object relative to the vehicle 10 using the position of the image in the camera image and the imaging range of the camera 11.

[0026] The vehicle state acquisition unit 22 acquires the state of the vehicle from the shift sensor 12, the steering sensor 13, etc. The state of the transmission acquired from the shift sensor 12 can be used to determine whether the vehicle 10 is traveling forward or backward. The steering angle acquired from the steering sensor 13 can be used in conjunction with the traveling direction to predict the behavior of the vehicle 10. In addition, any information such as the speed of the vehicle 10 and the state of lighting devices can be acquired and used to predict the behavior of the vehicle.

[0027] The display control unit 23 controls the display content of the display 30. The display content may include a navigation screen relating to the travel route of the vehicle 10, a radio operation screen, a music content operation screen, a vehicle information display screen, and a television screen. The navigation screen and the vehicle information screen are generated by, for example, a navigation system 41. The radio operation screen, music content operation screen, vehicle information display screen, and television screen are generated by, for example, an AV system 42.

[0028] When an obstacle is detected by the vehicle periphery monitoring unit 21, the display control unit 23 continues to output the display content up to that point, while interrupting the display with a warning display that notifies the driver of the presence of the obstacle in a part near the outer edge of the display 30. At this time, the position of the warning display in the display area of ​​the display 30, i.e., the positional relationship between the display 30 and the warning display, corresponds to the positional relationship between the vehicle 10 and the obstacle.

[0029] The case where an obstacle is detected by the vehicle periphery monitoring unit 21 may be, for example, the case where an obstacle is detected within a preset area. The warning display also shows in a schematic form information including at least one of the type of danger caused by the obstacle, the degree of the danger, and the positional relationship between the vehicle 10 and the obstacle.

[0030] Furthermore, when the display control unit 23 receives a predetermined operation corresponding to the warning display, it displays an image including an image of an obstacle instead of the warning display, and superimposes an indication indicating the positional relationship between the vehicle 10 and the obstacle on the image. For example, if the display 30 has a touch panel, a touch operation on the display position of the warning display may be used as the predetermined operation.

[0031] Furthermore, when the display control unit 23 receives a predetermined operation on a part near the outer edge of the display 30, regardless of whether an obstacle is present, the display control unit 23 displays an image in a direction specified by the positional relationship between the operation and the display 30, and superimposes a display indicating the positional relationship between the image in the image and the vehicle 10. In other words, the driver can display, at any timing, a display similar to that when a predetermined operation is performed on a warning display. Therefore, when the driver wants to check the surroundings of the vehicle, any camera image can be displayed and the positional relationship with the vehicle 10 can be confirmed, regardless of whether an actual obstacle is present.

[0032] A warning display regarding contact with a side mirror will be described as a first specific example of a warning display by the display control unit 23. In this case, the preset area is a first area where an obstacle may contact the side mirror of the vehicle 10, and when the vehicle periphery monitoring unit 21 detects an obstacle in the first area, the display control unit 23 causes the display 30 to display an image simulating a virtual wall surface and a side mirror corresponding to the position of the obstacle as a warning display.

[0033] A warning display regarding tire contact will be described as a second specific example of a warning display by the display control unit 23. In this case, the preset area is a second area where an obstacle may come into contact with the tire of the vehicle 10, and when the vehicle periphery monitoring unit 21 detects an obstacle in the second area, the display control unit 23 causes the display 30 to display an image simulating a virtual road shoulder and tire corresponding to the position of the obstacle as a warning display.

[0034] 3 is an explanatory diagram of the display and the reception of predetermined operations. Display 30 is equipped with a touch panel, and predetermined operation reception areas 31 are provided on all four sides of the display area. In other words, the inside of the outer edge of display 30 is used for interrupting warning displays and camera image displays, and also for receiving predetermined operations that request camera image display.

[0035] Specifically, when an operation is performed on the predetermined operation reception area 31 on the left side, the driving assistance device 20 displays a camera image of the left side of the vehicle 10, and when an operation is performed on the predetermined operation reception area 31 on the right side, the driving assistance device 20 displays a camera image of the right side of the vehicle 10. Similarly, when an operation is performed on the predetermined operation reception area 31 on the top side, the driving assistance device 20 displays a camera image of the front side of the vehicle 10, and when an operation is performed on the predetermined operation reception area 31 on the bottom side, the driving assistance device 20 displays a camera image of the rear side of the vehicle 10. In other words, the display area of ​​the display 30 itself is likened to the vehicle body, and displays warnings and camera images and receives predetermined operations.

[0036] 4 is a flowchart showing the procedure for obstacle detection by the driving support device 20. This process is repeatedly executed while power is being supplied to the in-vehicle devices. First, the vehicle periphery monitoring unit 21 of the driving support device 20 acquires an image from the camera 11 (step S101). Furthermore, the vehicle state acquisition unit 22 acquires the state of the vehicle from the shift sensor 12, steering sensor 13, etc. (step S102), and determines the path of the vehicle (step S103).

[0037] The vehicle periphery monitoring unit 21 performs image recognition processing on the camera image acquired from the camera 11 to detect an obstacle (step S104). The display control unit 23 determines the danger type and danger level using the position of the detected obstacle and the vehicle's path (step S105).

[0038] The display control unit 23 determines whether a warning is necessary based on the danger type and danger level (step S106). If a warning is not necessary (step S106; No), the display control unit 23 ends the process as is, and if a warning is necessary (step S106; Yes), the display control unit 23 generates an interrupt request specifying the danger type, danger level, and danger direction (step S107), and ends the process.

[0039] FIG. 5 is a flowchart showing the display control processing procedure by the driving assistance device 20. This processing is repeatedly executed when power is supplied to the in-vehicle equipment. First, the display control unit 23 of the driving assistance device 20 performs default or user-specified display control (step S201). Default or user-specified display control is control to display a screen that is automatically displayed at startup or a screen that is displayed in response to a user operation. Hereinafter, the display content displayed in step S201 will be referred to as "existing display content." Existing display content includes a navigation screen, a radio operation screen, a music content operation screen, a vehicle information display screen, a television screen, etc.

[0040] The display control unit 23 determines whether an interrupt request has occurred (step S202). If an interrupt request has occurred (step S202; Yes), the display control unit 23 displays a warning display by interrupting the existing display content while maintaining the existing display content (step S203). The content of the warning display is determined by the danger type and danger level of the interrupt request, and the position where the warning display is to be inserted is determined by the danger direction.

[0041] Thereafter, the display control unit 23 determines whether or not a predetermined operation for the warning display has been received (step S204). If a predetermined operation for the warning display has been received (step S204; Yes), the display control unit 23 interrupts and displays the camera image while maintaining the existing display content (step S207). If a predetermined operation for the warning display has not been received (step S204; No), the display control unit 23 determines whether or not a cancellation condition has been met (step S205). The cancellation condition may be, for example, "the interrupt request has been canceled due to a change in the positional relationship with the obstacle." If the cancellation condition has not been met (step S205; No), the display control unit 23 returns to step S203. If the cancellation condition has been met (step S205; Yes), the display control unit 23 cancels the interrupt display (step S209) and ends the process.

[0042] If an interrupt request has not occurred (step S202; No), the display control unit 23 determines whether or not the driver has performed a predetermined operation to check the surroundings (step S206). If a predetermined operation for checking the surroundings has not been received (step S206; No), the display control unit 23 returns to step S201. If a predetermined operation for checking the surroundings has been received (step S206; Yes), the display control unit 23 displays a camera image by interrupting it while maintaining the existing display content (step S207). The side on which the camera image is to be interrupted is the side on which the predetermined operation has been received.

[0043] After step S207, the display control unit 23 determines whether a cancellation condition is met (step S208). The cancellation condition may be, for example, the reception of a cancellation operation. If the cancellation condition is not met (step S208; No), the display control unit 23 returns to step S207. If the cancellation condition is met (step S208; Yes), the display control unit 23 cancels the interrupt display (step S209) and ends the process.

[0044] Fig. 6 is an explanatory diagram of the operation when there is a risk of tire contact. In Fig. 6, the vehicle 10 is traveling forward, and the display 30 is displaying the navigation screen N1. Also, an obstacle D2 is present to the left front of the vehicle 10, and if the vehicle 10 continues moving forward at the current speed, it is predicted that the left tire will contact the obstacle D2.

[0045] When the driving assistance device detects obstacle D2, it displays a warning display A2 on the navigation screen N1. Obstacle D2 is located on the left front side of the vehicle 10 and there is a risk of contact with the left tire, so warning display A2 is displayed on the left side of the display 30.

[0046] The warning display A2 also includes a schematic diagram of a tire and a line indicating the position of the obstacle D2. The schematic diagram of the tire indicates that the type of danger is "tire contact." The line is obtained by selecting the point on the predicted path of the vehicle 10 where the obstacle D2 is closest, and extending the selected point along the predicted path. This line is a virtual shoulder corresponding to the position of the obstacle D2, and if the distance from the tire to the line is less than a predetermined value, the driving assistance device determines that there is a possibility that the tire will contact the obstacle D2. If the tire crosses the line, the driving assistance device determines that there is a high possibility that the tire will contact the obstacle D2. The degree of possibility that the tire will contact the obstacle D2 represents the degree (level) of danger, and the color of the line may be changed according to the danger level.

[0047] In this way, the warning display A2 can schematically indicate the type of danger posed by the obstacle D2, the degree of the danger, and the positional relationship between the vehicle 10 and the obstacle D2. Furthermore, since the positional relationship between the display 30 and the warning display A2 corresponds to the positional relationship between the vehicle 10 and the obstacle D2, the driver can easily recognize which direction to pay attention to. Furthermore, since the display of the navigation screen N1 continues, the driver can continue to check the content that was displayed up to that point.

[0048] When the driver, having checked the warning display A2, touches the confirmation display A2, the driving assistance device displays a camera image display V2 instead of the warning display A2. The camera image display V2 is generated by superimposing an image of the vehicle body viewed from above on a camera image captured including an image of the obstacle D2. The image of the vehicle body viewed from above functions as a display showing the positional relationship between the vehicle 10 and the obstacle D2.

[0049] The warning display A2 is a schematic display in a limited display area in order to maintain the original display content as much as possible. On the other hand, the camera image display V2 is displayed when the driver, upon seeing the warning display A2, performs an explicit operation to request more detailed information, so it is allocated a larger display area than the warning display A2.

[0050] Fig. 7 is an explanatory diagram of a modified example of the predetermined operation reception. The display 30a shown in Fig. 7 has predetermined operation reception areas 31a on four sides and four corners of the display area. In this configuration, the inside of the outer edge of the display 30 is divided into eight areas. The driving assistance device 20 displays warnings and camera images in eight directions of the vehicle 10, and receives predetermined operations to request camera images to be displayed in the eight directions.

[0051] Specifically, when an operation is performed on the predetermined operation reception areas 31a on the top, bottom, left, or right sides, the driving assistance device 20 displays camera images of the front, rear, left, or right, respectively. Similarly, when an operation is performed on the predetermined operation reception areas 31a on the upper left, lower left, lower right, or upper right corners, the driving assistance device 20 displays camera images of the left front, left rear, right rear, or right front, respectively.

[0052] The display 30b shown in Fig. 7 has operation units 32 on the outside of each of the top, bottom, left, and right sides of the display area. In this configuration, the driving assistance device 20 displays warnings and camera images in four directions of the vehicle 10, and accepts predetermined operations in the four directions using the operation unit 32. In this configuration, the display 30b does not need to have a touch panel. It is also possible to display warnings by operating the operation unit 32, for example.

[0053] FIG. 8 is an explanatory diagram of a modified display. Display 30c shown in FIG. 8 has a display area in which the left and right sides are longer than the top and bottom sides, and predetermined operation reception areas 31c are provided on the top, bottom, left, and right sides. Display 30d shown in FIG. 8 has a circular display area, and predetermined operation reception areas 31d are provided on the top, bottom, left, and right sides inside the outer edge. In this way, predetermined operation reception areas can be appropriately provided for displays having display areas of any shape, and predetermined operations requesting camera image display can be received. Furthermore, while FIG. 8 illustrates four predetermined operation reception areas corresponding to the four directions (top, bottom, left, and right), any number of predetermined operation reception areas can be provided, such as eight predetermined operation reception areas corresponding to eight directions.

[0054] FIG. 9 is an explanatory diagram of a modified example of a camera image display. In FIG. 9, a camera image display V3 is inserted into the navigation screen N1. The camera image display V3 is generated by superimposing part position displays P1 to P4 on a camera image captured by the camera 11. The part position displays P1 to P4 function as displays that indicate the positional relationship between an object captured in the camera image and the vehicle 10. Specifically, the part position display P1 indicates the position of the side mirror (position in the vehicle width direction and height), the part position display P2 indicates the position of the vehicle body with the sliding door open (position in the vehicle width direction and height), the part position display P3 indicates the position of the vehicle body with the door closed (position in the vehicle width direction and height), and the part position display P4 indicates the position of the tire (position in the vehicle width direction and height). The driver can recognize the risk of contact with each part of the vehicle body from the part position displays P1 to P4 and the camera image. Therefore, it is possible to assist in driving operations that require highly accurate recognition of the positional relationship between the vehicle body and obstacles, such as "pulling the vehicle 10 as close to the shoulder of the road as possible without hitting the curb when the sliding door is opened."

[0055] As described above, the disclosed device comprises a display control unit 23 that controls the display content of a display unit installed in the interior of the vehicle, and a vehicle periphery monitoring unit 21 that monitors the periphery of the vehicle based on the output of a camera and / or sensor and detects obstacles, and when the obstacle is detected, the display control unit 23 continues to output the display content up to that point, while interrupting and displaying a warning display in a part near the outer edge of the display unit to notify the driver of the presence of the obstacle, and corresponds the positional relationship between the display unit and the warning display to the positional relationship between the vehicle and the obstacle. With this configuration and operation, the driving assistance device can efficiently provide information about obstacles, thereby improving convenience and safety for the driver.

[0056] Furthermore, when the obstacle is detected within a preset area, the display control unit causes the warning display to be displayed in an interrupt manner. According to this operation, the driving assistance device can easily determine the influence of the obstacle and notify the driver.

[0057] The warning display also shows in a schematic form information including at least one of the type of danger posed by the obstacle, the degree of the danger, and the positional relationship between the vehicle and the obstacle. According to this operation, the driving assistance device can efficiently provide information about danger in a small display area that has little effect on the existing display.

[0058] In addition, when the display control unit receives a specified operation corresponding to the warning display, it displays an image including an image of the obstacle instead of the warning display, and superimposes on the image a display indicating the positional relationship between the vehicle and the obstacle. In addition, when the display control unit receives a specified operation on a part near the outer edge of the display unit, regardless of whether or not there is an obstacle, it displays an image in a direction specified by the positional relationship between the operation and the display unit, and superimposes a display showing the positional relationship between the image in the image and the vehicle. According to this operation, the driver can obtain the necessary detailed information with one simple operation.

[0059] In addition, the predetermined area is a first area in which the obstacle may come into contact with the side mirror of the vehicle, and when the vehicle surroundings monitoring unit detects the obstacle in the first area, the display control unit displays an image simulating a virtual wall surface and a side mirror corresponding to the position of the obstacle on the display unit as the warning display. In addition, the predetermined area is a second area in which the obstacle may come into contact with the vehicle's tires, and when the vehicle surroundings monitoring unit detects the obstacle in the second area, the display control unit displays an image of a virtual road shoulder and tire corresponding to the position of the obstacle on the display unit as the warning display. This operation makes it possible to efficiently provide information indicating the relationship between the side mirrors or tires and the obstacle.

[0060] In addition, the disclosed driving assistance device can provide information about obstacles while continuing to display and output information about the vehicle's driving route on a navigation screen, a radio operation screen, a music content operation screen, a vehicle information display screen, a television screen, etc., thereby improving convenience for the driver and contributing to improved safety.

[0061] The present invention is not limited to the above-described embodiments, but includes various modifications. For example, the above-described embodiments have been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to those including all of the described configurations. Furthermore, not only can the configurations be deleted, but also replacements and additions of configurations are possible. [Explanation of symbols]

[0062] 10: vehicle, 11: camera, 12: shift sensor, 13: steering sensor, 20: driving assistance device, 21: vehicle surroundings monitoring unit, 22: vehicle state acquisition unit, 23: display control unit, 30: display, 31: predetermined operation reception area, 32: operation unit, 41: navigation system, 42: AV system

Claims

1. a display control unit that controls the display content of a display unit installed in a vehicle interior; a vehicle surroundings monitoring unit that monitors the surroundings of the vehicle based on outputs of a camera and / or a sensor and detects obstacles; Equipped with The display control unit When the obstacle is detected, a side of the display unit is selected in accordance with a positional relationship between the vehicle and the obstacle, and a warning display that notifies the driver of the presence of the obstacle is displayed in an interrupt manner in a part near an outer edge of an area of ​​the display unit that includes the selected side while continuing to output the display content up to that point, When a predetermined operation corresponding to the warning display is received, an image including an image of the obstacle is displayed in place of the warning display, and an indication indicating a positional relationship between the vehicle and the obstacle is superimposed on the image, The area where the image is displayed is larger than the area where the warning is displayed. A driving assistance device characterized by:

2. 2. The driving support device according to claim 1, wherein the display control unit causes the warning display to be displayed in an interrupt manner when the obstacle is detected within a preset area.

3. 2. The driving assistance device according to claim 1, wherein the warning display schematically displays information including at least one of the type of danger posed by the obstacle, the degree of the danger, and a positional relationship between the vehicle and the obstacle.

4. The driving assistance device according to claim 1, characterized in that, when the display control unit receives a predetermined operation on a part near the outer edge of the display unit, regardless of whether or not there is an obstacle, it displays an image in a direction specified by the positional relationship between the operation and the display unit, and superimposes a display indicating the positional relationship between an image in the image and the vehicle.

5. 3. The driving assistance device according to claim 2, wherein the predetermined area is a first area in which the obstacle may come into contact with the side mirror of the vehicle, and when the vehicle periphery monitoring unit detects the obstacle in the first area, the display control unit causes an image simulating a virtual wall surface and a side mirror corresponding to the position of the obstacle to be displayed on the display unit as the warning display.

6. 3. The driving assistance device according to claim 2, wherein the predetermined area is a second area in which the obstacle may come into contact with a tire of the vehicle, and when the vehicle periphery monitoring unit detects the obstacle in the second area, the display control unit causes an image simulating a virtual road shoulder and tire corresponding to the position of the obstacle to be displayed on the display unit as the warning display.

7. 2. The driving assistance device according to claim 1, wherein the display content can be any one of a navigation screen relating to the vehicle's driving route, a radio operation screen, a music content operation screen, a vehicle information display screen, and a television screen.

8. The in-vehicle device controlling display content of a display unit installed in a vehicle interior; monitoring the surroundings of the vehicle based on the output of a camera and / or a sensor to detect an obstacle; when the obstacle is detected, selecting a side of the display unit in accordance with a positional relationship between the vehicle and the obstacle, and displaying a warning display informing the driver of the presence of the obstacle in an interrupt manner in a part near an outer edge of an area of ​​the display unit including the selected side while continuing to output the display content up to that point; and when a predetermined operation corresponding to the warning display is received, displaying an image including an image of the obstacle in place of the warning display, and superimposing an indication indicating a positional relationship between the vehicle and the obstacle on the image, The area where the image is displayed is larger than the area where the warning is displayed. A driving assistance method comprising:

Images