Lane change assistance device, lane change assistance method and program

Abstract

To provide a lane change support device that enables a driver to intuitively determine whether a lane change is possible.SOLUTION: A lane change support device 8 comprises: a lane change necessity determining unit 46 that determines whether the own vehicle 4 is in a situation to change to an adjacent lane 40 on the basis of ambient environment information; a lane change possibility determining unit 48 that detects other vehicles 42, 44 traveling in the adjacent lane 40 on the basis of the ambient environment information and determines whether the own vehicle 4 is able to change into the adjacent lane 40; and a display control unit 50 that controls a display unit 6, on the basis of a determination result of the lane change possibility determining unit 48 so as to display an emphasis image 68a superimposed on the adjacent lane 40, the emphasis image indicating whether the own vehicle 4 is able to change into the adjacent lane 40 as viewed through a windshield 14 of the own vehicle 4 when the lane change possibility determining unit 46 determines that the situation requires the own vehicle 4 to lane change to the adjacent lane 40.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present disclosure relates to a lane change assistance device, a lane change assistance method, and a program. [Background technology]

[0002] A lane change assist device for assisting a vehicle in changing lanes to an adjacent lane is known (see, for example, Patent Document 1). A conventional lane change assist device includes a camera that captures images of the rear and sides of the vehicle, a display that displays the rear-side image captured by the camera, a determination unit that determines the degree of risk associated with the vehicle changing lanes to the adjacent lane based on the image captured by the camera, and a control unit that superimposes an enhanced image indicating the determined degree of risk on the rear-side image displayed on the display. The display is located on an instrument panel in front of the driver's seat of the vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6142784 Summary of the Invention [Problem to be solved by the invention]

[0004] However, with the conventional lane change assist device described above, there is a problem in that it is difficult for the driver to intuitively determine whether or not it is possible to change lanes.

[0005] Therefore, the present disclosure provides a lane change assistance device, a lane change assistance method, and a program that allow a driver to intuitively determine whether or not to change lanes. [Means for solving the problem]

[0006] A lane change assistance device according to one aspect of the present disclosure is a lane change assistance device for assisting a vehicle in changing lanes to an adjacent lane, and includes: a lane change necessity determination unit that determines whether the vehicle is in a situation where it is necessary to change lanes to the adjacent lane based on ambient environment information that indicates the ambient environment of the vehicle or operation information that indicates that the driver has operated the turn signal of the vehicle; a lane change feasibility determination unit that determines whether the vehicle is able to change lanes to the adjacent lane by detecting other vehicles traveling in the adjacent lane based on the ambient environment information; and a display control unit that, when the lane change necessity determination unit determines that the vehicle is in a situation where it is necessary to change lanes to the adjacent lane, controls a display unit to display an image indicating whether the vehicle is able to change lanes to the adjacent lane, superimposed on the adjacent lane, as viewed through a display medium of the vehicle, based on the determination result of the lane change feasibility determination unit.

[0007] These comprehensive or specific aspects may be realized by a system, a method, an integrated circuit, a computer program, or a non-transitory recording medium such as a computer-readable CD-ROM (Compact Disc-Read Only Memory), or may be realized by any combination of a system, a method, an integrated circuit, a computer program, and a recording medium. [Effects of the Invention]

[0008] According to the lane change assist device and the like according to one aspect of the present disclosure, the driver can intuitively determine whether or not to change lanes. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a diagram showing a host vehicle equipped with a display system according to an embodiment; [Figure 2] 1 is a diagram showing an area of ​​a windshield on which a HUD image is displayed by a display system according to an embodiment. FIG. [Figure 3] 1 is a schematic diagram illustrating a configuration of a display system according to an embodiment. [Figure 4] FIG. 10 is a diagram illustrating an example of a situation in which the host vehicle changes lanes to an adjacent lane. [Figure 5] 1 is a block diagram showing a functional configuration of a lane change assist device according to an embodiment; [Figure 6] 10A and 10B are diagrams illustrating an example of an emphasized image in the display system according to the embodiment. [Figure 7] 4 is a flowchart showing the flow of operations of the lane change assist device according to the embodiment. [Figure 8] 10A and 10B are diagrams showing examples of emphasized images in a display system according to a modified example of the embodiment; DETAILED DESCRIPTION OF THE INVENTION

[0010] A lane change assistance device according to a first aspect of the present disclosure is a lane change assistance device for assisting a vehicle in changing lanes to an adjacent lane, and includes: a lane change necessity determination unit that determines whether the vehicle is in a situation where it is necessary to change lanes to the adjacent lane based on ambient environment information that indicates the ambient environment of the vehicle or operation information that indicates that the driver has operated the turn signal of the vehicle; a lane change feasibility determination unit that determines whether the vehicle is able to change lanes to the adjacent lane based on the ambient environment information by detecting other vehicles traveling in the adjacent lane; and a display control unit that, when the lane change necessity determination unit determines that the vehicle is in a situation where it is necessary to change lanes to the adjacent lane, controls a display unit to display an image indicating whether the vehicle is able to change lanes to the adjacent lane, superimposed on the adjacent lane, as viewed through a display medium of the vehicle, based on the determination result of the lane change feasibility determination unit.

[0011] According to this aspect, the adjacent lane seen through the display medium of the vehicle is a natural destination for the driver's line of sight when changing lanes to the adjacent lane. Therefore, by superimposing an image showing whether the vehicle can change lanes to the adjacent lane on the display medium of the vehicle, the driver will naturally check the image visually. As a result, the driver can intuitively determine whether or not it is possible to change lanes.

[0012] For example, in the lane change assistance device according to the second aspect, in the first aspect, the lane change feasibility determination unit may be configured to determine in stages whether the vehicle is able to change lanes to the adjacent lane by calculating a margin indicating the degree of margin for the vehicle to change lanes to the adjacent lane.

[0013] According to this aspect, the driver can determine in stages whether or not to change lanes.

[0014] For example, in the lane change assist device according to the third aspect, in the second aspect, the display control unit may be configured to change the display mode of the image depending on the margin of safety.

[0015] According to this aspect, the driver can determine in stages whether or not it is possible to change lanes depending on the display mode of the image.

[0016] For example, in the lane change assistance device according to the fourth aspect, in any one of the first to third aspects, the display unit may be configured to project light representing the image onto the display medium and reflect it off the display medium, thereby displaying the image as a virtual image through the display medium.

[0017] According to this aspect, the image can be displayed superimposed on the adjacent lane when viewed through a display medium of the vehicle using head-up display technology.

[0018] For example, in the lane change assist device according to the fifth aspect, in the fourth aspect, the display medium may be at least one of a windshield and a door glass of the host vehicle.

[0019] According to this aspect, the image can be displayed superimposed on the adjacent lane when viewed through at least one of the windshield and door glass of the vehicle.

[0020] In addition, a lane change assistance method according to a sixth aspect of the present disclosure is a lane change assistance method for assisting a vehicle to change lanes to an adjacent lane, and includes the steps of: (a) determining whether the vehicle is in a situation where it is necessary to change lanes to the adjacent lane based on ambient environment information indicating the ambient environment of the vehicle or operation information indicating that the driver has operated the turn signal of the vehicle; (b) determining whether the vehicle is able to change lanes to the adjacent lane based on the ambient environment information, by detecting other vehicles traveling in the adjacent lane; and (c) when it is determined in (a) that the vehicle is in a situation where it is necessary to change lanes to the adjacent lane, based on the determination result of (b), controlling a display unit to display an image indicating whether the vehicle is able to change lanes to the adjacent lane, superimposed on the adjacent lane, as viewed through a display medium of the vehicle, based on the determination result of (b).

[0021] According to this aspect, as described above, the driver can intuitively determine whether or not it is possible to change lanes.

[0022] A program according to a seventh aspect of the present disclosure causes a computer to execute the lane change assistance method according to the sixth aspect.

[0023] Hereinafter, the embodiments will be specifically described with reference to the drawings.

[0024] The embodiments described below are all comprehensive or specific examples. The numerical values, shapes, materials, components, component placement and connection configurations, steps, and step order shown in the following embodiments are merely examples and are not intended to limit the present disclosure. Furthermore, among the components in the following embodiments, components that are not described in the independent claims that represent the highest concepts are described as optional components.

[0025] (Embodiment) [1. Display system overview] First, an overview of a display system 2 according to an embodiment will be described with reference to Figs. 1 to 4. Fig. 1 is a diagram showing a host vehicle 4 equipped with a display system 2 according to an embodiment. Fig. 2 is a diagram showing an area 16 on a windshield 14 where a HUD image 12 is displayed by the display system 2 according to an embodiment. Fig. 3 is a schematic diagram showing the configuration of the display system 2 according to an embodiment. Fig. 4 is a diagram showing an example of a situation in which the host vehicle 4 changes lanes to an adjacent lane 40.

[0026] 1 and 2, a display system 2 according to an embodiment is mounted on a vehicle 4 such as an automobile. As shown in FIG. 3, the display system 2 includes a display unit 6 and a lane change assist device 8.

[0027] The display unit 6 is, for example, a head-up display (HUD) and is disposed inside a dashboard 10 of the vehicle 4. As shown in FIGS. 1 to 3 , the display unit 6 projects display light for displaying a virtual HUD image 12 toward, for example, an area 16 on a windshield 14 (an example of a display medium) of the vehicle 4, which is closer to the driver's seat, and the display light is reflected by the area 16 on the windshield 14 toward the driver 18. This allows the driver 18 to view the virtual HUD image 12 through the area 16 on the windshield 14, superimposed on the view ahead of the windshield 14. In other words, the driver 18 sees the HUD image 12 as if it were displayed in a space 20 ahead of the windshield 14. For ease of explanation, the HUD image 12 is not shown in FIG. 2.

[0028] As shown in FIG. 3, the display section 6 includes a main housing 22, a display unit 24, a first mirror 26, and a second mirror 28.

[0029] The main housing 22 is formed in a box shape and is made of metal such as aluminum. The main housing 22 is disposed inside the dashboard 10 of the vehicle 4. A display unit 24, a first mirror 26, and a second mirror 28 are disposed inside the main housing 22. The top surface of the main housing 22 is disposed so as to face the windshield 14. An opening 30 is formed in the top surface of the main housing 22. This opening 30 is covered with a plate-shaped cover member 32 formed of, for example, transparent resin.

[0030] The display unit 24 is a PGU (Picture Generation Unit) that projects display light for displaying the HUD image 12 toward the first mirror 26 and the second mirror 28. The display unit 24 has a display panel 34 and a backlight 36. The display panel 34 is, for example, a liquid crystal display (LCD), and displays an image that is the basis of the HUD image 12 on a display surface on the front side. The backlight 36 irradiates light toward the back side of the display panel 34.

[0031] The first mirror 26 is, for example, a convex mirror, and reflects the display light from the display unit 24 toward the second mirror 28. The second mirror 28 is, for example, a concave mirror, and reflects the display light from the first mirror 26 toward the area 16 of the windshield 14. The display light from the second mirror 28 passes through the cover member 32, is reflected by the area 16 of the windshield 14, and then enters the eyes of the driver 18.

[0032] As shown in Fig. 4, the lane change assist device 8 is a device that assists the host vehicle 4 traveling in a driving lane 38 to change lanes into an adjacent lane 40 adjacent to one side of the driving lane 38 (for example, the right side as seen from the driver 18). For example, in the adjacent lane 40, another vehicle 42 is traveling to the right front of the host vehicle 4, and another vehicle 44 is traveling to the right rear of the host vehicle 4. The functional configuration of the lane change assist device 8 will be described later.

[0033] [2. Functional configuration of lane change assist device] Next, a functional configuration of the lane change assist device 8 according to the embodiment will be described with reference to Fig. 5 and Fig. 6. Fig. 5 is a block diagram showing the functional configuration of the lane change assist device 8 according to the embodiment. Fig. 6 is a diagram showing an example of highlighted images 68a, 68b, and 68c in the display system 2 according to the embodiment.

[0034] As shown in FIG. 5, the lane change assist device 8 includes a lane change necessity determining unit 46, a lane change possibility determining unit 48, and a display control unit 50 as functional components.

[0035] The lane change necessity determination unit 46 determines whether or not the vehicle 4 is in a situation where it is necessary for the vehicle 4 to forcibly change lanes to the adjacent lane 40 (see FIG. 4) based on surrounding environment information indicating the surrounding environment of the vehicle 4.

[0036] The lane change necessity determination unit 46 receives, as the surrounding environment information, for example, (a) map information from a map database 52 mounted on the host vehicle 4, (b) current position information indicating the current position of the host vehicle 4 from a GPS (Global Positioning System) receiver 54 mounted on the host vehicle 4, (c) route information indicating the planned route of the host vehicle 4 and VICS (registered trademark) (Vehicle Information and Communication System) information from a navigation system 56 mounted on the host vehicle 4, (d) forward image information indicating an image of the front of the host vehicle 4 captured by a forward camera 58 mounted on the host vehicle 4, (e) rear image information indicating an image of the rear of the host vehicle 4 captured by a rear camera 60 mounted on the host vehicle 4, (f) vehicle speed information indicating the vehicle speed of the host vehicle 4 detected by a vehicle speed sensor 62 mounted on the host vehicle 4, and (g) LiDAR (Laser Imaging Detection and Response Detection) information mounted on the host vehicle 4. The map information includes information indicating the distance between the vehicle 4 and other vehicles 42, 44, etc., detected by a distance sensor 64 such as GPS, sonar, or radar. The map information includes information indicating the reduction in lanes, right-turn lanes, left-turn lanes, etc., on the route on which the vehicle 4 is traveling.

[0037] Here, "a situation in which the vehicle 4 is forced to change lanes to the adjacent lane 40" refers to, for example, (a) a situation in which the lane 38 (see Figure 4) of the vehicle 4 is no longer available ahead due to a reduction in the number of lanes (hereinafter referred to as "Case 1"); (b) a situation in which the lane 38 of the vehicle 4 is restricted ahead due to construction or the like (hereinafter referred to as "Case 2"); (c) a situation in which the vehicle 4 is traveling in a right-turn-only lane (or a left-turn-only lane) without the driver 18's intention to turn right (or left) (hereinafter referred to as "Case 3"); (d) another vehicle (not shown) is parked on the shoulder in front of the vehicle 4, and there is no space for the vehicle 4 to travel in the lane it is currently traveling in (hereinafter referred to as "Case 4"); or (e) a situation in which an emergency vehicle such as an ambulance is traveling in the same lane as the lane 38 of the vehicle 4 and is approaching the vehicle 4 from behind (hereinafter referred to as "Case 5").

[0038] In the above-described cases 1 and 2, the lane change necessity determination unit 46 determines whether or not the situation requires the host vehicle 4 to forcibly change lanes to the adjacent lane 40, based on surrounding environment information acquired from various databases, such as route information and VICS (registered trademark) information. Also, in the above-described cases 4 and 5, the lane change necessity determination unit 46 determines whether or not the situation requires the host vehicle 4 to forcibly change lanes to the adjacent lane 40, based on surrounding environment information acquired in real time from various sensors, such as distance measurement information. Also, in the above-described case 3, the lane change necessity determination unit 46 determines whether or not the situation requires the host vehicle 4 to forcibly change lanes to the adjacent lane 40, based on surrounding environment information acquired from various databases and surrounding environment information acquired in real time from various sensors.

[0039] The above-mentioned "case where the vehicle 4 is traveling in a right-turn lane (or a left-turn lane) without the driver 18's intention to turn right (or left)" includes, for example, a case where the vehicle 4 is traveling in a right-turn lane (or a left-turn lane) while the navigation system 56 is guiding the vehicle to go straight through an intersection. Furthermore, the lane change necessity determination unit 46 determines whether the driver 18 intends to turn right (or left) based on, for example, an image of the driver 18 captured by an in-vehicle camera (not shown) of the vehicle 4 or route information from the navigation system 56.

[0040] In addition to (or instead of) the various pieces of information described above, the lane change necessity determination unit 46 may acquire, as the surrounding environment information, operation information indicating that the turn signal 66 of the vehicle 4 has been operated by the driver 18. In this case, the lane change necessity determination unit 46 may determine, based on the operation information from the turn signal 66, whether or not the situation is such that the driver 18 intends to change lanes to the adjacent lane 40.

[0041] The lane change feasibility determination unit 48 determines whether or not the vehicle 4 is able to change lanes to the adjacent lane 40 by detecting other vehicles 42, 44, etc. traveling in the adjacent lane 40 based on the surrounding environment information.

[0042] The lane change feasibility determination unit 48 acquires, as surrounding environment information, for example, (a) forward image information showing an image of the area in front of the vehicle 4 captured by the forward camera 58 mounted on the vehicle 4, (b) rearward image information showing an image of the area behind the vehicle 4 captured by the rearward camera 60 mounted on the vehicle 4, (c) vehicle speed information showing the vehicle speed of the vehicle 4 detected by the vehicle speed sensor 62 mounted on the vehicle 4, and (d) ranging information showing the distance between the vehicle 4 and other vehicles 42, 44, etc. detected by the ranging sensor 64 mounted on the vehicle 4.

[0043] More specifically, the lane change feasibility determination unit 48 calculates a margin indicating the degree of margin that the host vehicle 4 has to change lanes to the adjacent lane 40 based on the surrounding environment information, thereby determining in stages whether the host vehicle 4 can change lanes to the adjacent lane 40. The margin is expressed as a three-level value, for example, "1," "2," and "3," and the larger the value, the greater the margin that the host vehicle 4 has to change lanes to the adjacent lane 40. In other words, a margin of "1" indicates that changing lanes is dangerous, a margin of "2" indicates that caution is required when changing lanes, and a margin of "3" indicates that changing lanes is safe.

[0044] For example, if the distance between the vehicle 4 and other vehicles 42, 44, etc. traveling in the adjacent lane 40 is less than a predetermined distance and there is not enough free space in the adjacent lane 40 for the vehicle 4 to change lanes, the lane change feasibility determination unit 48 determines that the vehicle 4 cannot change lanes to the adjacent lane 40 and calculates a margin of safety of "1."

[0045] For example, if the distance between the vehicle 4 and other vehicles 42, 44, etc. traveling in the adjacent lane 40 is equal to or greater than the above-mentioned predetermined distance, but it cannot be said that there is sufficient free space in the adjacent lane 40 for the vehicle 4 to change lanes, the lane change feasibility determination unit 48 determines that it is possible for the vehicle 4 to change lanes to the adjacent lane 40 if sufficient care is taken, and calculates a margin of safety of "2."

[0046] Also, for example, if the distance between the vehicle 4 and other vehicles 42, 44, etc. traveling in the adjacent lane 40 is significantly longer than the above-mentioned specified distance, and there is sufficient free space in the adjacent lane 40 for the vehicle 4 to change lanes, the lane change feasibility determination unit 48 determines that the vehicle 4 can change lanes to the adjacent lane 40 and calculates a margin of safety of "3."

[0047] The display control unit 50 controls the display of highlighted images 68a, 68b, and 68c (examples of images) that are the HUD image 12 displayed on the display panel 34 of the display unit 6. Specifically, when the lane change necessity determination unit 46 determines that the host vehicle 4 is in a situation where it is necessary to change lanes to the adjacent lane 40, the display control unit 50 controls the display panel 34 of the display unit 6, etc., based on the determination result of the lane change feasibility determination unit 48, so as to display one of the highlighted images 68a, 68b, and 68c superimposed on the adjacent lane 40 when viewed through the windshield 14 of the host vehicle 4, as shown in (a) to (c) of FIG. 6. Each of the highlighted images 68a, 68b, and 68c is an image that indicates whether the host vehicle 4 is able to change lanes to the adjacent lane 40.

[0048] Here, the display control unit 50 changes the colors (examples of display modes) of the emphasized images 68a, 68b, and 68c depending on the margin of safety calculated by the lane change feasibility determination unit 48. Specifically, when the lane change feasibility determination unit 48 calculates a margin of safety of "1," the display control unit 50 sets the color of the emphasized image 68a to "red," which indicates that changing lanes is dangerous, as shown in FIG. 6(a). When the lane change feasibility determination unit 48 calculates a margin of safety of "2," the display control unit 50 sets the color of the emphasized image 68b to "yellow," which indicates that caution is required when changing lanes, as shown in FIG. 6(b). When the lane change feasibility determination unit 48 calculates a margin of safety of "3," the display control unit 50 sets the color of the emphasized image 68c to "blue," which indicates that changing lanes is safe, as shown in FIG. 6(c).

[0049] In the present embodiment, the display control unit 50 makes the colors of the highlighted images 68a, 68b, and 68c different from one another depending on the margin of error. However, the present invention is not limited to this. For example, the color intensity, pattern, brightness, etc. (all of which are examples of display aspects) of the highlighted images 68a, 68b, and 68c may be made different from one another depending on the margin of error.

[0050] [3. Operation of lane change assist device] Next, the operation of the lane change assist device 8 according to the embodiment will be described with reference to Figures 6 and 7. Figure 7 is a flowchart showing the flow of the operation of the lane change assist device 8 according to the embodiment.

[0051] 7, each of the lane change necessity determination unit 46 and the lane change possibility determination unit 48 acquires surrounding environment information (S101). Next, the lane change necessity determination unit 46 determines, based on the surrounding environment information, whether or not the situation requires the host vehicle 4 to change lanes to the adjacent lane 40. If the situation does not require the host vehicle 4 to change lanes to the adjacent lane 40 (NO in S102), the process returns to step S101 described above.

[0052] On the other hand, if the situation requires the vehicle 4 to change lanes to the adjacent lane 40 (YES in S102), the lane change feasibility determination unit 48 determines in stages whether the vehicle 4 can change lanes to the adjacent lane 40 by calculating the margin of safety based on the surrounding environment information.

[0053] When the lane change possibility determination unit 48 calculates the margin of safety "1" ("margin of safety" = 1 in S103), the display control unit 50 controls the display unit 6 to display a red highlighted image 68a superimposed on the adjacent lane 40 as viewed through the windshield 14 of the host vehicle 4, as shown in (a) of FIG. 6 (S104). Note that at this time, the display control unit 50 may control the display unit 6 to display the red highlighted image 68a superimposed on the adjacent lane 40 as viewed through the windshield 14 of the host vehicle 4, and also to display an image showing text such as "Danger" superimposed on the adjacent lane 40. Thereafter, when the driver 18 continues driving the host vehicle 4 (NO in S105), the process returns to step S101 described above. On the other hand, when the driver 18 ends driving the host vehicle 4 (YES in S105), the process of the flowchart in FIG. 7 ends.

[0054] In step S103, when the lane change possibility determination unit 48 calculates a margin of safety of "2" ("margin of safety" in S103), the display control unit 50 controls the display unit 6 to display a yellow highlighted image 68b superimposed on the adjacent lane 40 when viewed through the windshield 14 of the vehicle 4, as shown in FIG. 6(b) (S106). Note that at this time, the display control unit 50 may also control the display unit 6 to display the yellow highlighted image 68b superimposed on the adjacent lane 40 when viewed through the windshield 14 of the vehicle 4, and to display an image showing text such as "Caution" superimposed on the adjacent lane 40. Then, the process proceeds to step S105.

[0055] In step S103, when the lane change possibility determination unit 48 calculates the margin of safety "3" ("margin of safety=3" in S103), the display control unit 50 controls the display unit 6 to display a blue highlighted image 68c superimposed on the adjacent lane 40 when viewed through the windshield 14 of the vehicle 4, as shown in FIG. 6(c) (S107). Note that at this time, the display control unit 50 may control the display unit 6 to display the blue highlighted image 68c superimposed on the adjacent lane 40 when viewed through the windshield 14 of the vehicle 4, and also to display an image showing text such as "safe" superimposed on the adjacent lane 40. Thereafter, the process proceeds to step S105.

[0056] [4. Effects] The adjacent lane 40 seen through the windshield 14 of the vehicle 4 is a natural destination for the driver 18 to look at when changing lanes to the adjacent lane 40. Therefore, by displaying one of the enhanced images 68a, 68b, and 68c superimposed on the adjacent lane 40 when viewed through the windshield 14 of the vehicle 4, the driver 18 will naturally visually confirm one of the enhanced images 68a, 68b, and 68c.

[0057] For example, when the driver 18 is about to change lanes to the adjacent lane 40, the driver 18 can intuitively recognize that changing lanes is dangerous by visually checking the red highlighted image 68a that is displayed in the direction of the driver's natural gaze. Also, for example, when the driver 18 is about to change lanes to the adjacent lane 40, the driver 18 can intuitively recognize that caution is required when changing lanes by visually checking the yellow highlighted image 68b that is displayed in the direction of the driver's natural gaze. Also, for example, when the driver 18 is about to change lanes to the adjacent lane 40, the driver 18 can intuitively recognize that changing lanes is safe by visually checking the blue highlighted image 68c that is displayed in the direction of the driver's natural gaze.

[0058] Therefore, the driver 18 can intuitively determine whether or not to change lanes by naturally checking one of the highlighted images 68a, 68b, and 68c with his or her eyes.

[0059] [5. Modifications] FIG. 8 shows an example of highlighted images 70 and 74 in a display system 2A according to a modified example of the embodiment.

[0060] 8, in the display system 2A according to the modified example, an emphasized image 70 is displayed superimposed on the adjacent lane 40 when viewed through the windshield 14 of the vehicle 4, and an emphasized image 74 is displayed superimposed on the adjacent lane 40 when viewed through a door glass 72 (an example of a display medium) in front of the driver's seat of the vehicle 4. In this case, the emphasized images 70, 74 can be displayed superimposed using the head-up display technology described above. This allows the driver 18 to naturally visually check the emphasized images 70, 74, allowing them to more intuitively determine whether or not to change lanes.

[0061] In this modification, both the emphasized images 70 and 74 are superimposed, but the present invention is not limited to this, and it is also possible to superimpose at least one of the emphasized images 70 and 74. Alternatively, in addition to superimposing at least one of the emphasized images 70 and 74, a forward image captured by the forward camera 58 may be displayed on a center display (not shown) disposed in the cabin of the vehicle 4, for example, and the emphasized image may be superimposed on the adjacent lane on the forward image.

[0062] (Other variations) While the lane change assist device according to one or more aspects has been described based on the above-mentioned embodiment, the present disclosure is not limited to the above-mentioned embodiment. As long as it does not deviate from the spirit of the present disclosure, various modifications conceivable by a person skilled in the art to the above-mentioned embodiment or configurations constructed by combining components of different embodiments may also be included within the scope of one or more aspects.

[0063] For example, in the above embodiment, the display light from the display unit 6 is reflected by the area 16 of the windshield 14, but this is not limited to this, and the display light from the display unit 6 may also be reflected by a combiner (an example of a display medium).

[0064] Furthermore, in the above embodiment, the display unit 6 is configured as a head-up display, but this is not limiting, and for example, the display unit 6 may be configured as a windshield display in which the windshield 14 itself is configured as a transparent display.

[0065] In the above-described embodiments, each component may be configured with dedicated hardware, or may be realized by executing a computer program suitable for each component. Each component may be realized by a program execution unit such as a CPU or processor reading and executing a computer program recorded on a non-transitory recording medium such as a hard disk or semiconductor memory.

[0066] Furthermore, some or all of the functions of the lane change assist device 8 according to the above-described embodiment may be realized by a processor such as a CPU executing a computer program.

[0067] Some or all of the components constituting each of the above devices may be configured as an IC card or a standalone module that can be attached to each device. The IC card or module is a computer system composed of a microprocessor, ROM, RAM, etc. The IC card or module may include the above-mentioned ultra-multifunctional LSI. The IC card or module achieves its functions when the microprocessor operates according to a computer program. The IC card or module may be tamper-resistant.

[0068] The present disclosure may be a lane change assistance method according to the sixth aspect. It may also be a computer program for implementing the lane change assistance method by a computer, or a digital signal including the computer program. The present disclosure may also be a computer program or a digital signal recorded on a computer-readable non-transitory recording medium, such as a flexible disk, hard disk, CD-ROM, MO, DVD, DVD-ROM, DVD-RAM, Blu-ray (registered trademark) Disc, or semiconductor memory. It may also be a digital signal recorded on such a recording medium. The present disclosure may also be a computer program or a digital signal transmitted via a telecommunications line, a wireless or wired communication line, a network such as the Internet, data broadcasting, or the like. The present disclosure may also be a computer system including a microprocessor and a memory, in which the memory stores the computer program and the microprocessor operates in accordance with the computer program. The computer program or the digital signal may also be implemented by another independent computer system by recording it on the recording medium and transferring it, or by transferring it via the network or the like. [Industrial Applicability]

[0069] The present disclosure is applicable to, for example, a lane change assist device that assists a vehicle in changing lanes to an adjacent lane. [Explanation of symbols]

[0070] 2 Display System 4 Vehicle 6 Display section 8 Lane change assist device 10. Dashboard 12 HUD images 14 Windshield 16 areas 18 Driver 20 Space 22 Main Housing 24 display units 26 First Mirror 28 Second Mirror 30 Opening 32 Cover member 34 Display panel 36 Backlight 38 Traveling lanes 40 adjacent lanes 42,44 Other vehicles 46 Lane change necessity determination unit 48 Lane change possibility determination unit 50 Display control unit 52 Map Database 54 GPS receiver 56 Navigation System 58 Front camera 60 Rear camera 62 Vehicle speed sensor 64 Distance measurement sensor 66 Turn signal 68a,68b,68c,70,74 Enhanced image 72 Door glass

Claims

1. A lane change assist device for assisting a vehicle in changing lanes to an adjacent lane, a lane change necessity determination unit that determines whether or not the vehicle is in a situation where it is necessary to change lanes to the adjacent lane, based on surrounding environment information that indicates a surrounding environment of the vehicle or operation information that indicates that a turn signal of the vehicle has been operated by a driver; a lane change possibility determination unit that determines whether the host vehicle is able to change lanes to the adjacent lane by detecting another vehicle traveling in the adjacent lane based on the surrounding environment information; a display control unit that controls the display unit to display an emphasized image indicating whether the host vehicle can change lanes to the adjacent lane, as viewed through a display medium of the host vehicle, superimposed on the adjacent lane, based on a determination result of the lane change possibility determination unit, when the lane change necessity determination unit determines that the host vehicle is in a situation where it is necessary to change lanes to the adjacent lane, the lane change possibility determination unit determines in a stepwise manner whether the host vehicle is able to change lanes to the adjacent lane by calculating a margin indicating a degree of margin for the host vehicle to change lanes to the adjacent lane; The margin of safety indicates whether it is safe to change lanes, whether caution is required when changing lanes, or whether it is dangerous to change lanes, The display control unit displays the highlighted image in a different color depending on the margin. Lane change assist device.

2. The display unit projects light representing the enhanced image onto the display medium and reflects the enhanced image from the display medium, thereby displaying the enhanced image as a virtual image through the display medium. The lane change assist device according to claim 1 .

3. The display medium is at least one of a windshield and a door glass of the vehicle. The lane change assist device according to claim 2.

4. The situation in which the host vehicle needs to change lanes to the adjacent lane is any of the following: (a) a situation in which the number of lanes is reduced and the host vehicle's travel lane disappears ahead; (b) a situation in which the host vehicle's travel lane is restricted due to construction or the like ahead; (c) a situation in which the host vehicle is traveling in a right-turn exclusive lane or a left-turn exclusive lane without the driver's intention to turn right or left; (d) a situation in which another vehicle is parked on the shoulder in front of the host vehicle and no travel space for the host vehicle is secured in the lane in which the host vehicle is currently traveling; and (e) a situation in which an emergency vehicle is traveling in the same lane as the host vehicle's travel lane and is approaching the host vehicle from behind. The lane change assist device according to any one of claims 1 to 3.

5. A lane change assistance method for assisting a vehicle in changing lanes to an adjacent lane, comprising: (a) determining whether the vehicle is in a situation where it is necessary to change lanes to the adjacent lane based on surrounding environment information indicating a surrounding environment of the vehicle or operation information indicating that a turn signal of the vehicle has been operated by a driver; (b) detecting another vehicle traveling in the adjacent lane based on the surrounding environment information, and determining whether the host vehicle can change lanes to the adjacent lane; (c) when it is determined in (a) that the situation requires the host vehicle to change lanes to the adjacent lane, controlling the display unit based on the determination result of (b) to display an emphasis image, as viewed through a display medium of the host vehicle, superimposed on the adjacent lane, which indicates whether the host vehicle can change lanes to the adjacent lane, In the step (a), a margin indicating a margin for the host vehicle to change lanes to the adjacent lane is calculated, and thereby it is determined in stages whether the host vehicle can change lanes to the adjacent lane; The margin of safety indicates whether it is safe to change lanes, whether caution is required when changing lanes, or whether it is dangerous to change lanes, In the step (c), the emphasized image is displayed in a different color depending on the margin. Lane change assistance methods.

6. A lane change assistance method according to claim 5 is executed by a computer. program.

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