Autonomous 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 technology]

[0002] It is known that in order to provide surrounding information to a driver of an autonomous vehicle, other vehicles detected by a vehicle detection device mounted on the vehicle are displayed on a display device inside the vehicle. In the cruise control device described in Patent Document 1, when multiple other vehicles are detected around the host vehicle, these multiple other vehicles are displayed on a display device. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-187982 Summary of the Invention [Problem to be solved by the invention]

[0004] When a vehicle is autonomously traveling, the autonomous traveling of the vehicle is controlled to avoid collisions with other detected surrounding vehicles. In particular, other vehicles that may interfere with the smooth traveling of the vehicle are set as deceleration target vehicles, and the acceleration / deceleration of the vehicle is controlled so that the vehicle does not approach the deceleration target vehicles.

[0005] Therefore, the control of the vehicle changes depending on whether or not there is a vehicle to be decelerated. For this reason, it is desirable for an observer of the autonomous driving, such as a driver of the vehicle, to be able to quickly grasp the setting status of the vehicle to be decelerated. However, when multiple other vehicles are displayed on a display device, it is difficult to identify the vehicle to be decelerated from among the multiple other vehicles.

[0006] In view of the above problems, an object of the present invention is to make it easier to identify a vehicle to be decelerated on a display device when multiple other vehicles around the 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 autonomous driving system comprising: a vehicle detection device that detects other vehicles present 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 vehicle to be decelerated from among the other vehicles detected by the vehicle detection device, wherein the vehicle control unit controls the acceleration / deceleration of the host vehicle so that the host vehicle does not approach the vehicle to be decelerated; and the display control unit, when displaying multiple other vehicles detected by the vehicle detection device on the display device, displays the vehicle icon of the vehicle to be decelerated in a display manner different from the vehicle icons of the remaining other vehicles.

[0009] (2) In the autonomous driving system described in (1) above, when the vehicle to be decelerated is located in an adjacent lane to the vehicle and a preceding vehicle is detected in the vehicle's driving lane, the display control unit displays the vehicle icon of the vehicle to be decelerated in a different display manner from the vehicle icons of the remaining other vehicles if the distance between the vehicle and the vehicle to be decelerated is shorter than the distance between the vehicle and the preceding vehicle.

[0010] (3) The autonomous driving system described in (1) or (2) above, wherein when the vehicle to be decelerated is located in an adjacent lane to the vehicle and no preceding vehicle is detected in the vehicle's driving lane, if the distance between the vehicle and the vehicle to be decelerated is shorter than a predetermined distance, the display control unit displays the vehicle icon of the vehicle to be decelerated in a different display manner from the vehicle icons of the remaining other vehicles.

[0011] (4) An autonomous driving system described in any one of (1) to (3) above, wherein the display control unit displays a vehicle icon of the vehicle to be decelerated so that the vehicle to be decelerated is most highlighted among multiple other vehicles displayed on the display device.

[0012] (5) An autonomous driving system described in any one of (1) to (4) above, wherein when the vehicle to be decelerated is in an adjacent lane to the vehicle, the display control unit displays the vehicle icon of the vehicle to be decelerated so that the vehicle to be decelerated is emphasized compared to when the vehicle to be decelerated is in the lane in which the vehicle is traveling.

[0013] (6) An autonomous driving system described in any one of (1) to (5) above, wherein the display control unit displays the vehicle icon of a first preceding vehicle located in front of and closest to the vehicle in the vehicle's driving lane in a display manner different from the vehicle icons of the remaining other vehicles.

[0014] (7) The display control unit of the autonomous driving system described in (6) above displays the vehicle icon of the first preceding vehicle in a different display manner from the vehicle icons of the remaining other vehicles when the distance between the first preceding vehicle and the host vehicle is shorter than a predetermined distance.

[0015] (8) The display control unit displays the vehicle icon of the first preceding vehicle so that the first preceding vehicle is highlighted more than other vehicles other than the deceleration target vehicle, in the autonomous driving system described in (6) or (7) above.

[0016] (9) An autonomous driving system described in any one of (6) to (8) above, wherein when the vehicle control unit is changing lanes of the vehicle, the display control unit displays, instead of the first preceding vehicle, the vehicle icon of another vehicle that is located in front of the vehicle and closest to the vehicle in the lane after the lane change, in a display manner different from the vehicle icons of the remaining other vehicles.

[0017] (10) An autonomous driving system described in any one of (1) to (5) above, wherein the display control unit changes the display mode of the vehicle icon of another vehicle displayed on the display device when the other vehicle is set as the vehicle to be decelerated.

[0018] (11) An autonomous driving system described in any one of (1) to (9) above, wherein the display control unit changes the display mode of the vehicle icon of another vehicle that is in an adjacent lane to the vehicle and is displayed on the display device when the other vehicle is set as the vehicle to be decelerated.

[0019] (12) A method for controlling a vehicle equipped with a vehicle detection device that detects other vehicles and a display device that displays other vehicles detected by the vehicle detection device as vehicle icons, the method including: setting a vehicle to be decelerated from among the other vehicles detected by the vehicle detection device; controlling the acceleration / deceleration of the vehicle so that the vehicle does not approach the vehicle to be decelerated; and, when displaying multiple other vehicles detected by the vehicle detection device on the display device, displaying the vehicle icon of the vehicle to be decelerated in a display mode different from the vehicle icons of the remaining other vehicles. [Effects of the Invention]

[0020] According to the present invention, even when a plurality of other vehicles existing around the own vehicle are displayed on the display device, it is easy to identify the vehicle to be decelerated on the display device. [Brief explanation of the drawings]

[0021] [Figure 1] FIG. 1 is a diagram schematically illustrating the configuration of an autonomous driving system according to a first embodiment of the present invention. [Figure 2] FIG. 2 is a diagram schematically illustrating a part of the configuration of a vehicle equipped with an autonomous driving system according to a first embodiment of the present invention. [Figure 3] FIG. 3 is a functional block diagram of the ECU shown in FIG. [Figure 4] FIG. 4 is a diagram showing an example of an image displayed on the display device. [Figure 5] FIG. 5 is a flowchart showing a control routine for the other vehicle display processing in the first embodiment. [Figure 6] FIG. 6 is a flowchart showing a control routine for other vehicle display processing in the second embodiment. [Figure 7A] FIG. 7A is a flowchart showing a control routine for other vehicle display processing in the third embodiment. [Figure 7B] FIG. 7B is a flowchart showing a control routine for other vehicle display processing in the third embodiment. [Figure 8] FIG. 8 is a flowchart showing a control routine for other vehicle display processing in the fourth embodiment. [Figure 9] FIG. 9 is a flowchart showing a control routine for other vehicle display processing in the fifth embodiment. [Figure 10] FIG. 10 is a flowchart showing a control routine for other vehicle display processing in the sixth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0022] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, like components are designated by like reference numerals.

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

[0024] <Autonomous driving system configuration> FIG. 1 is a diagram showing a schematic configuration of an autonomous driving system 1 according to a first embodiment of the present invention. The autonomous driving system 1 is installed in a vehicle and performs autonomous driving of the vehicle. In the autonomous driving of the vehicle, some or all of the vehicle's acceleration, steering, and braking are performed automatically. In other words, the vehicle equipped with the autonomous driving system 1 is a so-called autonomously driven vehicle.

[0025] As shown in FIG. 1, the autonomous 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 a vehicle and communicatively connected to the ECU 10 via an in-vehicle network that complies with standards such as CAN (Controller Area Network).

[0026] The vehicle detection device 2 detects other vehicles present around the vehicle (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 the other vehicles, and the relative speed between the vehicle and the other vehicles. The output of the vehicle detection device 2 is transmitted to the ECU 10. In this embodiment, the vehicle detection device 2 is configured with an outside-vehicle camera, a LIDAR (Laser Imaging Detection And Ranging), a millimeter-wave radar, an ultrasonic sensor (sonar), or any combination of these.

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

[0028] The exterior camera 21 captures images of the surroundings of the vehicle 20 and generates an image of the surroundings of the vehicle 20. In this embodiment, the exterior camera 21 is disposed in front of the vehicle 20 (for example, behind the interior rearview mirror, on the front bumper, etc.) so as to capture images of the area ahead of the vehicle 20. The exterior camera 21 may be a stereo camera capable of measuring distances.

[0029] The lidar 22 emits laser light around the vehicle 20 and receives reflected light of the laser light. This allows the lidar 22 to 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 this embodiment, the lidar 22 is provided on top 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 reflected millimeter waves. This allows the millimeter-wave radar 23 to 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 this embodiment, the millimeter-wave radar 23 is provided at the front and rear of the vehicle 20 (for example, the front bumper and rear bumper of the vehicle 20).

[0031] The ultrasonic sensor 24 transmits ultrasonic waves around the vehicle 20 and receives reflected waves of the ultrasonic waves. This allows the ultrasonic sensor 24 to 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 this embodiment, the ultrasonic sensor 24 is provided on both sides of the vehicle 20 (for example, on the left and right front fenders of the vehicle 20).

[0032] The positions and numbers of the vehicle exterior camera 21, the lidar 22, the millimeter wave radar 23, and the ultrasonic sensor 24 are not limited to those described above. In addition, some of these may be omitted.

[0033] The GNSS receiver 3 captures multiple positioning satellites and receives radio waves transmitted from the positioning satellites. The GNSS receiver 3 calculates the distance to the positioning satellite based on the difference between the time the radio waves are transmitted and the time they are received, and detects the current position of the vehicle 20 (e.g., the latitude and longitude of the vehicle 20) based on the distance to the positioning satellite and the position (orbital 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, Russia's GLONASS, Europe's Galileo, Japan's QZSS, China's BeiDou, and India's 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 the map information from the map database 4.

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

[0036] The actuators 6 operate the vehicle 20. For example, the actuators 6 include a drive 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 actuators 6 for autonomous driving of the vehicle 20.

[0037] The display device 7 has a display that displays digital information such as text and images, and presents various types of 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) that is configured with at least one of, for example, a touch screen, a head-up display, a digital meter panel, etc. The display device 7 may also include a speaker that generates sounds such as voice, operation buttons that the driver uses to perform input operations, a microphone that receives audio information from the driver, etc.

[0038] The ECU 10 executes various controls for 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. Although one ECU 10 is provided in this embodiment, multiple ECUs may be provided for different functions.

[0039] The communication interface 11 has an interface circuit for connecting the ECU 10 to an 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 includes, for example, a volatile semiconductor memory and a non-volatile semiconductor memory, and stores programs, data, and the like that are used when the processor 13 executes various processes.

[0041] The processor 13 includes one or more central processing units (CPUs) and their peripheral circuits. The processor 13 may further include an arithmetic circuit such as a logic operation unit or a numerical operation unit.

[0042] Fig. 3 is a functional block diagram of the ECU 10 in Fig. 1. In this embodiment, the ECU 10 has 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 that are 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 this embodiment, the display device 7 displays the vehicle 20 and other vehicles around the vehicle 20, along with the driving lane and adjacent lanes of the vehicle 20. The other vehicles around the vehicle 20 are detected by the vehicle detection device 2. The shape of the driving lane of the vehicle 20 and the shape and number of adjacent lanes are identified from map information stored in the map database 4. In other words, the display control unit 15 acquires map information corresponding to the current position of the vehicle 20, which is identified based on the output of the GNSS receiver 3, etc., from the map database 4. The driving lane and adjacent lanes of the vehicle 20 may be detected by the vehicle detection device 2.

[0044] Fig. 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 (host vehicle) and the other vehicle 30 as vehicle icons. The size and shape of the vehicle icons are predetermined.

[0045] 4, an image as viewed from a position higher than the vehicle 20 and behind the vehicle 20 is displayed on the display device 7. When there are multiple other vehicles near the vehicle 20, the display control unit 15 displays the multiple other vehicles detected by the vehicle detection device 2 on the display device 7. By visually checking such a display, the driver of the vehicle 20 can grasp the detection status of other vehicles 30 around the vehicle 20, and can therefore confirm the behavioral state of the autonomous driving of the vehicle 20.

[0046] When the autonomous driving of the vehicle 20 is performed, the vehicle control unit 16 controls the autonomous driving of the vehicle 20 using the actuator 6. For example, the vehicle control unit 16 controls the steering and acceleration / deceleration of the vehicle 20 using the actuator 6 to perform an autonomous lane change of the vehicle 20.

[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, a deceleration target vehicle refers to another vehicle whose behavior limits the speed of the vehicle 20 (host vehicle).

[0048] First, the target vehicle setting unit 17 sets, as deceleration target candidates, a preceding vehicle in the driving lane of the vehicle 20 and another vehicle in an adjacent lane that is likely to enter the driving lane ahead of the vehicle 20. At this time, the determination of whether the other vehicle in the adjacent lane is likely to enter the driving lane ahead of the vehicle 20 is made, for example, based on the lateral speed of the other vehicle. In this case, for example, when the lateral speed of the other vehicle in the direction in which the other vehicle is approaching the driving lane of the vehicle 20 is equal to or greater than a predetermined value, it is determined that the other vehicle in the adjacent lane is likely to enter the driving lane ahead of the vehicle 20. Furthermore, when an obstacle (a fallen object, a broken-down vehicle, a construction site, etc.) is detected ahead of the other vehicle in the adjacent lane based on the output of the vehicle detection device 2, it is determined that the other vehicle in the adjacent lane is likely to enter the driving lane ahead of the vehicle 20. Furthermore, when the adjacent lane disappears due to a reduction in the number of lanes and the driving lane of the vehicle 20 becomes a lane to be merged into, it is determined that the other vehicle in the adjacent lane is likely to enter the driving lane ahead 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 predetermined conditions. For example, the target vehicle setting unit 17 uses a map or the like to determine whether the 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. Furthermore, if the lane in which the vehicle 20 is traveling is a merging lane, the target vehicle setting unit 17 determines whether the deceleration target candidate on the adjacent lane satisfies the requirements for a deceleration target vehicle using a requirement that the distance between the vehicle 20 and the deceleration target candidate on the adjacent lane be equal to or greater than a predetermined distance at a predetermined point before the merging. Note that if multiple deceleration target candidates satisfy the requirements for a deceleration target vehicle, the deceleration target candidate with the largest speed limit for the vehicle 20 (e.g., the rate of deceleration of the vehicle 20) is set as the deceleration target vehicle. On the other hand, if there is no other vehicle that satisfies the requirements for a deceleration target vehicle, no deceleration target vehicle is set.

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

[0051] Therefore, the control of vehicle 20 changes depending on whether or not there is a vehicle to be decelerated. For this reason, it is desirable for an observer of the autonomous driving, such as the driver of vehicle 20, to be able to quickly grasp the setting status of the vehicle to be decelerated. However, when multiple other vehicles around vehicle 20 are displayed on display device 7, it is difficult to identify the vehicle to be decelerated from among the multiple other vehicles.

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

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

[0054] In particular, in this embodiment, the display control unit 15 displays the vehicle icon of the deceleration target vehicle so that the deceleration target vehicle is most emphasized among the multiple other vehicles displayed on the display device 7. This makes it easier to visually identify the deceleration target vehicle 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, the first display mode is set to amber or white, and the default display mode is set to light blue when the background color is blue (e.g., when the driver is not required to grip the steering wheel), and is set to light gray when the background color is gray (e.g., when the driver is required to grip the steering wheel). Note that the transparency of the first display mode may be lower than the transparency of the default display mode, or the luminance of the first display mode may be higher than the luminance of the default display mode. Alternatively, the first display mode and the default display mode may be set to the same color, and the saturation of the color of the first display mode may be higher than the saturation of the color of the default display mode.

[0055] Furthermore, in this embodiment, the display control unit 15 displays the host vehicle (vehicle 20) together with other vehicles on the display device 7. 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 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 in black on the display device 7.

[0056] <Other vehicle display processing> The above-mentioned control will be explained below with reference to the flowchart in 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 or not there is another vehicle to be displayed on the display device 7. The other vehicle to be displayed on the display device 7 is selected from the other vehicles detected by the vehicle detection device 2. For example, a vehicle that is located in front of the host vehicle in the host vehicle's traveling lane or an adjacent lane and whose relative distance to 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 a vehicle located near the rear of 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 another 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 or not a deceleration target vehicle is included among the other vehicles to be displayed on the display device 7. In other words, the display control unit 15 determines whether or not one of the other vehicles to be displayed on the display device 7 is set as a deceleration target vehicle. If it is determined that a 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 in the driving lane of the host vehicle, the vehicle icon of the deceleration target vehicle is displayed in the driving lane, and if the deceleration target vehicle is located in an adjacent lane of the host vehicle, the vehicle icon of the deceleration target vehicle is displayed in the adjacent lane. Furthermore, if another vehicle that was 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 or not there are any other vehicles remaining other than the deceleration target vehicle among the other vehicles to be displayed on the display device 7. If it is determined that there are no other vehicles remaining, this control routine ends. On the other hand, if it is determined that there are other vehicles remaining, this control routine proceeds to step S105.

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

[0063] On the other hand, if it is determined in step S102 that no deceleration target vehicle is included, this control routine skips steps S103 and S104 and proceeds to step S105. In step S105, the display control unit 15 displays the vehicle icons of other vehicles that should be displayed on the display device 7 but have not yet been displayed, in this case, the vehicle icons of all other vehicles that should be displayed on the display device 7, in the default display mode on the display device 7. After step S105, this control routine ends.

[0064] Second Embodiment The automated driving system according to the second embodiment is basically similar in configuration and control to the automated driving system according to the first embodiment, except for the points described below. Therefore, the following description of the second embodiment of the present invention will focus on the differences from the first embodiment.

[0065] Typically, an observer of autonomous driving, such as a driver, tends to pay more attention to a preceding vehicle in the driving lane of the host vehicle than to a preceding vehicle in an adjacent lane of the host vehicle. Taking this into consideration, in the second embodiment, when a deceleration target vehicle is present in an adjacent lane of the host vehicle, the display control unit 15 displays a vehicle icon of the deceleration target vehicle so that the deceleration target vehicle is emphasized compared to when the deceleration target vehicle is present in the driving lane of the host vehicle. This makes it possible to call the observer's attention to the deceleration target vehicle when it appears in an adjacent lane, even if the observer of autonomous driving is paying attention to the preceding vehicle in the driving lane of the host vehicle.

[0066] Specifically, the display control unit 15 displays the vehicle icons of decelerating vehicles in the lane adjacent to the host vehicle in the first display mode, displays the vehicle icons of decelerating vehicles in the driving lane of the host vehicle 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 differ from each other in, for example, transparency, brightness, color (hue), color lightness, color saturation, 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, the first display mode is set to amber, the second display mode is set to white, and the default display mode is set to light blue when the background color is blue (for example, when the driver is not required to grip the steering wheel), and is set to light gray when the background color is gray (for example, when the driver is required to grip the steering wheel). Note that the transparency of the vehicle icon may be decreased or the brightness 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 saturation 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> The above-mentioned control will be described in detail below 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 in Fig. 5, the display control unit 15 determines whether or not 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] 5, in step S202, the display control unit 15 determines whether or not the other vehicles to be displayed on the display device 7 include a decelerating target vehicle. If it is determined that the other vehicles to be decelerated include a decelerating target vehicle, the present control routine proceeds to step S203.

[0071] In step S203, the display control unit 15 determines whether the deceleration target vehicle is located in an adjacent lane to the host vehicle. In other words, the display control unit 15 determines whether the other vehicle in the adjacent lane to the host vehicle is set as the deceleration target vehicle.

[0072] If it is determined in step S203 that the deceleration target vehicle is located on the adjacent lane, the control routine proceeds to step S204. In step S204, the display control unit 15 displays a 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 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.

[0073] On the other hand, if it is determined in step S203 that the deceleration target vehicle is not located on an adjacent lane, i.e., if it is determined that the deceleration target vehicle is located on the driving 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 deceleration target vehicle on the driving lane of the host vehicle in the second display mode on the display device 7. At this time, if another vehicle on the driving lane of the host vehicle that was 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 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 other vehicles remaining other than the deceleration target vehicle among the other vehicles to be displayed on the display device 7. If it is determined that there are no other vehicles remaining, this control routine ends. On the other hand, if it is determined that there are other vehicles remaining, this control routine proceeds to step S207.

[0075] 5, in step S207, the display control unit 15 displays the vehicle icons of other vehicles that should be displayed on the display device 7 but have not yet been displayed, in this case the vehicle icons of the remaining other vehicles other than the deceleration target vehicle, in the default display mode on the display device 7. After step S207, this control routine ends.

[0076] On the other hand, if it is determined in step S202 that no deceleration target vehicle is 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 the vehicle icons of other vehicles that should be displayed on the display device 7 but have not yet been displayed, in this case the vehicle icons of all other vehicles that should be displayed on the display device 7, in the default display mode on the display device 7. After step S207, this control routine ends.

[0077] Third Embodiment The configuration and control of the automated driving system according to the third embodiment are basically the same as those of the automated driving system according to the first embodiment, except for the points described below. Therefore, the following description of the third embodiment of the present invention will focus on the differences from the first embodiment.

[0078] In a driving environment where there are multiple other vehicles near the host vehicle, the setting of the deceleration target vehicle often changes frequently. For this reason, if the display device 7 constantly displays whether or not a deceleration target vehicle has been set, the display on the display device 7 becomes cumbersome. Furthermore, when another vehicle on an adjacent lane is set as a deceleration target vehicle, the degree of influence on the host vehicle differs depending on whether or not there is a preceding vehicle on the driving lane of the host vehicle and the position of the deceleration target vehicle.

[0079] For this reason, in the third embodiment, when the deceleration target vehicle is located on an adjacent lane to the host vehicle and a preceding vehicle is detected on the driving lane of the host vehicle, the display control unit 15 displays the deceleration target vehicle in a display mode different from the vehicle icons of the remaining other vehicles if the distance between the host vehicle and the deceleration target vehicle is shorter than the distance between the host vehicle and the preceding vehicle. On the other hand, when the deceleration target vehicle is located on an adjacent lane to the host vehicle and a preceding vehicle is not detected on the driving lane of the host vehicle, the display control unit 15 displays the deceleration target vehicle in a display mode different from the vehicle icons of the remaining other vehicles if the distance between the host vehicle and the deceleration target vehicle is shorter than a predetermined distance. As a result, attention to the deceleration target vehicle on the adjacent lane is drawn when there is a high possibility that the deceleration target vehicle on the adjacent lane will affect the acceleration / deceleration control of the host vehicle, and the display on the display device 7 can be prevented from becoming cluttered.

[0080] <Other vehicle display processing> The above-mentioned control will be described in detail below with reference to the flowcharts of Figures 7A and 7B. Figures 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 or not 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] 5, in step S302, the display control unit 15 determines whether or not the other vehicles to be displayed on the display device 7 include a decelerating target vehicle. If it is determined that the other vehicles to be decelerated include a decelerating target vehicle, the present control routine proceeds to step S303.

[0083] In step S303, the display control unit 15 determines whether the deceleration target vehicle is located in an adjacent lane to the host vehicle. In other words, the display control unit 15 determines whether the other vehicle in the adjacent lane to 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 an adjacent lane, i.e., if it is determined that the deceleration target vehicle is located in the driving lane of the host vehicle, this control routine proceeds to step S304. In step S304, the display control unit 15 displays a vehicle icon of the deceleration target vehicle in the driving lane of the host vehicle on the display device 7 in the first display mode.

[0085] On the other hand, if it is determined in step S303 that the deceleration target vehicle is located on the adjacent lane, this control routine proceeds to step S305. In step S305, the display control unit 15 determines whether a preceding vehicle has been detected on the driving lane of the host vehicle by the vehicle detection device 2. If it is determined that a preceding vehicle has been detected on the driving 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 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 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. Note that when there are multiple preceding vehicles on the traveling lane of the host vehicle, the distance between the host vehicle and the preceding vehicle closest to the host vehicle (the first preceding vehicle described later) is used as the distance between the host vehicle and the preceding vehicle.

[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 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, the control routine proceeds to step S308. In step S308, the display control unit 15 displays the vehicle icon of the deceleration target vehicle in the adjacent lane on the display device 7 in the default display mode.

[0089] Furthermore, if it is determined in step S305 that no preceding vehicle is detected in the driving 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, for example, a predetermined fixed value. Note that the predetermined value may be set according to a vehicle distance mode (for example, a short vehicle distance mode, a medium vehicle distance mode, or a long vehicle distance mode) set by the driver or the like, the speed of the host vehicle, etc.

[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, the control routine proceeds to step S310. In step S310, the display control unit 15 displays the vehicle icon of the deceleration target vehicle in the adjacent lane in the first display mode on the display device 7. At this time, if another vehicle in the adjacent lane that was 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, if it is determined in step S309 that the distance between the decelerating target vehicle and the host vehicle is equal to or greater than the predetermined distance, the control routine proceeds to step S311. In step S311, the display control unit 15 displays the vehicle icon of the decelerating target vehicle in the adjacent lane on the display device 7 in the default display mode.

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

[0093] 5, in step S313, the display control unit 15 displays the vehicle icons of other vehicles that should be displayed on the display device 7 but have not yet been displayed, in this case, the vehicle icons of the remaining other vehicles other than the deceleration target vehicle, in the default display mode on the display device 7. After step S313, this control routine ends.

[0094] On the other hand, if it is determined in step S302 that no deceleration target vehicle is 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 other vehicles that should be displayed on the display device 7 but have not yet been displayed, in this case the vehicle icons of all other vehicles that should be displayed on the display device 7, in the default display mode on the display device 7. After step S313, this control routine ends.

[0095] <Fourth embodiment> The automated driving system according to the fourth embodiment is basically similar in configuration and control to the automated driving system according to the first embodiment, except for the points described below. Therefore, the following description of the fourth embodiment of the present invention will focus on the differences from the first embodiment.

[0096] It is desirable for an observer of autonomous driving, such as a driver, to basically pay attention to the leading vehicle located immediately ahead in the driving lane of the host vehicle when there is no vehicle to be decelerated. For this reason, in the fourth embodiment, the display control unit 15 displays the vehicle icon of the first leading vehicle, which is located ahead of the host vehicle in the driving lane of the host vehicle and closest to the host vehicle, in a display mode different from the vehicle icons of the remaining other vehicles. This makes it easy to identify the first leading vehicle on the display device 7, even when multiple other vehicles around the host vehicle are displayed on the display device 7.

[0097] Specifically, the display control unit 15 displays the vehicle icon of the deceleration target vehicle in the lane adjacent to the host vehicle in a first display mode, displays the vehicle icon of the first preceding vehicle in a second display mode, and displays the vehicle icons of the remaining other vehicles in a default display mode. Therefore, the display control unit 15 displays the vehicle icon of the first preceding vehicle in the second display mode regardless of whether the first preceding vehicle is a deceleration target vehicle. On the other hand, when a vehicle in the adjacent lane displayed on the display device 7 is set as a deceleration target vehicle, the display control unit 15 changes the display mode of the vehicle icon of the vehicle in the adjacent lane set as a 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 differ from one another in, for example, transparency, brightness, color (hue), color lightness, color saturation, etc.

[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. This makes it possible to call attention to the deceleration target vehicle when a deceleration target vehicle exists, and to call attention to the first leading vehicle when a deceleration target vehicle does not exist.

[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 light blue when the background color is blue (for example, when the driver is not required to grip the steering wheel), and is set to light gray when the background color is gray (for example, when the driver is required to grip the steering wheel). Note that the transparency of the vehicle icon may be decreased or the brightness 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 saturation 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> The above-mentioned control will be described in detail below 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 in Fig. 5, the display control unit 15 determines whether or not 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 or not 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 S403.

[0103] In step S403, the display control unit 15 displays the vehicle icon of the first leading vehicle in the second display mode on the display device 7. After step S403, this control routine proceeds to step S404. On the other hand, if it is determined in step S402 that the first leading 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 or not a deceleration target vehicle in an adjacent lane to the host vehicle is included in the other vehicles to be displayed on the display device 7. If it is determined that a deceleration target vehicle in an adjacent lane is included, this control routine proceeds to step S405.

[0105] In step S405, the display control unit 15 displays a vehicle icon of a 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 displayed on the display device 7 is set as a 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, the 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, the control routine skips step S405 and proceeds to step S406.

[0106] In step S406, the display control unit 15 determines whether or not there are any other vehicles other than the first leading vehicle and the deceleration target vehicle that should be displayed on the display device 7. If it is determined that there are no other vehicles, this control routine ends. On the other hand, if it is determined that there are other vehicles, this control routine proceeds to step S407.

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

[0108] Fifth Embodiment The configuration and control of the automated driving system according to the fifth embodiment are basically the same as those of the automated driving system according to the fourth embodiment, except for the points described below. Therefore, the following description of the fifth embodiment of the present invention will focus on the differences from the fourth embodiment.

[0109] The degree of influence of the first leading vehicle on the host vehicle varies depending on the position of the first leading vehicle. Therefore, in the fifth embodiment, when the distance between the first leading vehicle and the host vehicle is shorter than a predetermined distance, the display control unit 15 displays the vehicle icon of the first leading vehicle in a different display mode from the vehicle icons of the remaining other vehicles. This draws attention to the first leading vehicle when there is a high possibility that the first leading vehicle will affect the acceleration / deceleration control of the host vehicle, thereby reducing the monitoring burden on the monitor of the autonomous driving.

[0110] <Other vehicle display processing> The above-mentioned control will be described in detail below 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 or not 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] 8, in step S502, the display control unit 15 determines whether or not 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 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, for example, a predetermined fixed value. Note that the predetermined value may be set according to a vehicle distance mode (for example, short vehicle distance mode, medium vehicle distance mode, or long vehicle distance mode) set by the driver or the like, the speed of the host vehicle, etc.

[0114] If it is determined in step S503 that the distance between the first leading vehicle and the host vehicle is shorter than the predetermined distance, the control routine proceeds to step S504, in which the display control unit 15 displays the vehicle icon of the first leading 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 leading vehicle and the host vehicle is equal to or greater than the predetermined distance, the control routine proceeds to step S505. In step S505, the display control unit 15 displays the vehicle icon of the first leading 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 similar to steps S404 to S407 in Figure 8, and therefore their explanation will be omitted.

[0117] Sixth Embodiment The automated driving system according to the sixth embodiment is basically similar in configuration and control to the automated driving system according to the fourth embodiment, except for the points described below. Therefore, the following description of the sixth embodiment of the present invention will focus on the differences from the fourth embodiment.

[0118] The vehicle control unit 16 performs an autonomous lane change when the vehicle reaches a lane change point (e.g., a lane change for merging) that is planned in advance in the travel plan, or when the driver instructs the vehicle to change lanes by operating a turn signal lever, etc. When the lane change is started, the degree of influence on the vehicle by other vehicles that are in the lane after the lane change increases.

[0119] For this reason, in the sixth embodiment, when the vehicle control unit 16 is executing a lane change of the host vehicle, the vehicle control unit 16 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 (hereinafter referred to as the "preceding vehicle after the lane change") in a display mode different from that of the vehicle icons of the remaining other vehicles, instead of the first preceding vehicle. This allows the driver to recognize that the other vehicle that requires attention has changed due to the execution of the vehicle change.

[0120] <Other vehicle display processing> The above-mentioned control will be described in detail below 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 or not 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 S602.

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

[0123] 8, in step S603, the display control unit 15 determines whether or not 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 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 in the second display mode on the display device 7. After step S604, the 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, the control routine skips step S604 and proceeds to step S607.

[0125] If it is determined in step S602 that a lane change is being performed, the control routine proceeds to step S605. In step S605, the display control unit 15 determines whether or not the preceding vehicle after the lane change is included in the other vehicles to be displayed on the display device 7. If it is determined that the preceding vehicle after the lane change is included, the control routine proceeds to step S606.

[0126] In step S606, the display control unit 15 displays the preceding vehicle after the lane change in the second display mode on the display device 7. After step S606, the control routine proceeds to step S607. On the other hand, if it is determined in step S605 that the preceding vehicle after the lane change is not included, the 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, and therefore a description thereof will be omitted.

[0128] Although the preferred embodiments of the present invention have been described above, 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 host vehicle (vehicle 20) may not be displayed on the display device 7.

[0129] Furthermore, the display device 7 of the autonomous driving system 1 may be provided in a server external to the vehicle 20 in addition to or instead of the vehicle 20 so that an operator can remotely monitor the autonomous driving of the vehicle 20. In this case, the output of the vehicle detection device 2, etc. may be transmitted from the vehicle 20 to the server, and the processor of the server may function as a display control unit and a target vehicle setting unit. Furthermore, such a server may be provided with a steering device, etc., which allows an operator to remotely control the autonomous driving of the vehicle 20.

[0130] Furthermore, multiple types of vehicle icons may be used as vehicle icons representing other vehicles. For example, other vehicles detected by the vehicle detection device 2 may be identified as cars or trucks, and a vehicle icon for a car and a vehicle icon for a truck may be used as vehicle icons representing other vehicles.

[0131] Furthermore, 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, the display control unit 15 displays the vehicle icon of the decelerating target vehicle on the driving lane of the host vehicle in the second display mode on the display device 7, similar to step S205 of Fig. 6. 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. [Explanation of symbols]

[0132] 1. Autonomous 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 section 20 vehicles

Claims

1. a vehicle detection device that detects other vehicles present around the vehicle; a display device that displays 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 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 and deceleration of the host vehicle so that the host vehicle does not approach the deceleration target vehicle; When the vehicle to be decelerated is located in an adjacent lane of the vehicle and a preceding vehicle is detected in the lane in which the vehicle is traveling, the display control unit displays a vehicle icon of the vehicle to be decelerated in the adjacent lane of the vehicle in a first display mode, displays a vehicle icon of the preceding vehicle in a second display mode, and displays vehicle icons of the remaining other vehicles in a default display mode.

2. The autonomous driving system according to claim 1 , wherein the display control unit displays the vehicle icon of the decelerating target vehicle in a color different from the vehicle icons of the leading vehicle and the remaining other vehicles.

3. The autonomous driving system according to claim 2 , wherein the display control unit displays the vehicle icon of the leading vehicle in a color different from the vehicle icons of the remaining other vehicles.

4. The autonomous driving system according to claim 3 , wherein the first display mode and the second display mode are chromatic colors having different hues.

5. The automated driving system according to claim 4 , wherein the remaining other vehicles are achromatic.

6. The autonomous driving system according to claim 1, wherein the display control unit displays the vehicle icon of the vehicle to be decelerated so as to be most emphasized, and displays the vehicle icon of the preceding vehicle so as to be more emphasized than the remaining other vehicles.

7. a vehicle detection device that detects other vehicles present around the vehicle; a display device that displays other vehicles detected by the vehicle detection device as vehicle icons; a display control unit that controls the display content of the display device; Equipped with the display control unit, when displaying the plurality of other vehicles detected by the vehicle detection device on the display device, displays a vehicle icon of the other vehicle that is expected to enter a driving lane ahead of the host vehicle in a display mode different from the vehicle icons of the remaining other vehicles; The display control unit displays a vehicle icon of another vehicle that is expected to enter the driving lane ahead of the host vehicle in a different hue than the vehicle icons of the remaining other vehicles.

8. A vehicle detection device that detects other vehicles present around the vehicle; a display device that displays other vehicles detected by the vehicle detection device as vehicle icons; a display control unit that controls the display content of the display device; Equipped with the display control unit, when displaying the plurality of other vehicles detected by the vehicle detection device on the display device, displays a vehicle icon of the other vehicle that is expected to enter a driving lane ahead of the host vehicle in a display mode different from the vehicle icons of the remaining other vehicles; The display control unit displays a vehicle icon of another vehicle that is expected to enter the driving lane ahead of the vehicle in a first display mode, and displays a vehicle icon of a first preceding vehicle that is located ahead of the vehicle in the driving lane of the vehicle and is closest to the vehicle in a second display mode, and the first display mode and the second display mode have different hues.

9. The autonomous driving system according to claim 8 , wherein the first display mode and the second display mode are chromatic colors having different hues.

10. The automated driving system of claim 9 , wherein the remaining other vehicles are achromatic.

11. The autonomous driving system according to claim 8 or 9, wherein the display control unit changes the display mode of the vehicle icon of the other vehicle displayed on the display device to the first display mode when the other vehicle is set as a deceleration target vehicle.

12. a display control unit that controls the display content of a display device that displays other vehicles detected by a vehicle detection device that detects other vehicles present around the host vehicle as vehicle icons; 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 and deceleration of the host vehicle so that the host vehicle does not approach the deceleration target vehicle; When the vehicle to be decelerated is located in an adjacent lane of the vehicle and a preceding vehicle is detected in the lane in which the vehicle is traveling, the display control unit displays a vehicle icon of the vehicle to be decelerated in the adjacent lane of the vehicle in a first display mode, displays a vehicle icon of the preceding vehicle in a second display mode, and displays vehicle icons of the remaining other vehicles in a default display mode.

13. Controlling the display content of a display device that displays other vehicles detected by a vehicle detection device that detects other vehicles present around the subject vehicle as vehicle icons; Controlling autonomous driving of the host vehicle; setting a deceleration target vehicle from among other vehicles detected by the vehicle detection device; An automatic driving program that causes a processor to execute controlling the autonomous traveling of the host vehicle includes controlling acceleration / deceleration of the host vehicle so that the host vehicle does not approach the deceleration target vehicle; An autonomous driving program in which controlling the display content includes, when the decelerating vehicle is located in an adjacent lane of the vehicle and a preceding vehicle is detected in the lane in which the vehicle is traveling, displaying a vehicle icon of the decelerating vehicle in the adjacent lane of the vehicle in a first display mode, displaying a vehicle icon of the preceding vehicle in a second display mode, and displaying vehicle icons of the remaining other vehicles in a default display mode.

14. Controlling the display content of a display device that displays other vehicles detected by a vehicle detection device that detects other vehicles present around the subject vehicle as vehicle icons; Controlling autonomous driving of the host vehicle; setting a deceleration target vehicle from among other vehicles detected by the vehicle detection device; An automated driving method including: controlling the autonomous traveling of the host vehicle includes controlling acceleration / deceleration of the host vehicle so that the host vehicle does not approach the deceleration target vehicle; The autonomous driving method includes controlling the display content, when the decelerating target vehicle is located in an adjacent lane of the vehicle and a preceding vehicle is detected in the lane in which the vehicle is traveling, displaying a vehicle icon of the decelerating target vehicle in the adjacent lane of the vehicle in a first display mode, displaying a vehicle icon of the preceding vehicle in a second display mode, and displaying vehicle icons of the remaining other vehicles in a default display mode.

Images