JP2017191472A - Image display method and image display device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an image display method that can cause a driver to easily perceive a region to which the driver should pay attention according to a driving scene in a wide range around a riding movable body.SOLUTION: The image display method includes the steps of: detecting (S1) a condition around a riding movable body, detecting (S3) an attention region around the riding movable body on the basis of the condition around the riding movable body, determining (S6, S9) a highlight place with respect to the attention region, generating (S6, S9) a virtual image indicating the condition around the riding movable body to highlight the highlight place, and displaying (S6, S9) the virtual image on a display unit.SELECTED DRAWING: Figure 18

Description

  The present invention relates to an image display method and an image display device for a passenger moving body such as a vehicle.

  2. Description of the Related Art Conventionally, a technique for detecting an object existing in the traveling direction of a vehicle and displaying an emphasized image of the detected object on a display screen of a head-up display (HUD) is known (see Patent Document 1).

  However, in the technique described in Patent Document 1, an object existing in the traveling direction when the vehicle goes straight is highlighted, but no consideration is given to driving scenes other than straight running. In driving scenes other than going straight, for example, with a change in the traveling direction of the vehicle, it is necessary to pay wide attention to a range other than the traveling direction.

JP 2001-23091 A

  In view of the above problems, the present invention provides an image display method and an image display device for a passenger moving body that can easily cause the passenger to perceive the surrounding situation of the passenger moving body that the passenger should be aware of depending on the driving scene. The purpose is to provide.

  According to one aspect of the present invention, the surrounding situation of the passenger moving body is detected, the attention area around the passenger moving body is detected based on the surrounding situation, and the highlighted portion is determined for the attention area, There is provided an image display method and an image display device characterized by generating a virtual image indicating a surrounding situation so as to highlight the highlighted portion and displaying the virtual image on a display unit.

  According to the present invention, it is possible to provide an image display method and an image display device for a passenger moving body that can easily cause the passenger to perceive the surrounding situation of the passenger moving body that a passenger should be aware of depending on the driving scene. Can do.

It is a block diagram which shows an example of the image display apparatus which concerns on embodiment of this invention. FIG. 2A is a schematic diagram illustrating an example of a driving scene of the host vehicle according to the embodiment of the present invention, and FIG. 2B relates to the embodiment of the present invention corresponding to FIG. It is the schematic which shows an example of a display image. FIG. 3A is a schematic diagram illustrating an example of a driving scene of the host vehicle according to the embodiment of the present invention, and FIG. 3B relates to the embodiment of the present invention corresponding to FIG. It is the schematic which shows an example of a display image. FIG. 4A is a schematic diagram illustrating an example of a driving scene of the host vehicle according to the embodiment of the present invention, and FIG. 4B relates to the embodiment of the present invention corresponding to FIG. It is the schematic which shows an example of a display image. FIG. 5A is a schematic diagram illustrating an example of a driving scene of the host vehicle according to the embodiment of the present invention, and FIG. 5B relates to the embodiment of the present invention corresponding to FIG. It is the schematic which shows an example of a display image. FIG. 6A is a schematic diagram illustrating an example of a driving scene of the host vehicle according to the embodiment of the present invention, and FIG. 6B relates to the embodiment of the present invention corresponding to FIG. It is the schematic which shows an example of a display image. FIG. 7A is a schematic diagram illustrating an example of a driving scene of the host vehicle according to the embodiment of the present invention, and FIG. 7B relates to the embodiment of the present invention corresponding to FIG. It is the schematic which shows an example of a display image. It is the schematic which shows an example of the virtual viewpoint of the display image which concerns on embodiment of this invention. FIG. 9A is a schematic diagram illustrating an example of a driving scene of the host vehicle according to the embodiment of the present invention, and FIG. 9B relates to the embodiment of the present invention corresponding to FIG. 9A. It is the schematic which shows an example of a display image. FIG. 10A is a schematic diagram illustrating an example of a driving scene of the host vehicle according to the embodiment of the present invention, and FIG. 10B relates to the embodiment of the present invention corresponding to FIG. It is the schematic which shows an example of a display image. FIG. 11A is a schematic diagram illustrating an example of a driving scene of the host vehicle according to the embodiment of the present invention, and FIG. 11B relates to the embodiment of the present invention corresponding to FIG. It is the schematic which shows an example of a display image. It is the schematic which shows an example of the driving scene of the own vehicle which concerns on embodiment of this invention. It is the schematic which shows an example of the display image which concerns on embodiment of this invention corresponding to FIG. It is the schematic which shows an example of the driving scene of the own vehicle which concerns on embodiment of this invention. It is the schematic which shows an example of the display image which concerns on embodiment of this invention corresponding to FIG. It is the schematic which shows an example of the driving scene of the own vehicle which concerns on embodiment of this invention. It is the schematic which shows an example of the display image which concerns on embodiment of this invention corresponding to FIG. It is a flowchart for demonstrating an example of the image display method which concerns on embodiment of this invention. It is a flowchart for demonstrating another example of the image display method which concerns on embodiment of this invention. It is the schematic which shows an example of the driving scene of the own vehicle which concerns on the 1st modification of embodiment of this invention. It is the schematic which shows an example of the display image which concerns on the 1st modification of embodiment of this invention corresponding to FIG. It is the schematic which shows an example of the driving scene of the own vehicle which concerns on the 2nd modification of embodiment of this invention. It is the schematic which shows an example of the display image which concerns on the 2nd modification of embodiment of this invention corresponding to FIG. FIG. 24A to FIG. 24C are schematic diagrams illustrating an example of a display image according to a third modification of the embodiment of the present invention. FIG. 25A to FIG. 25C are schematic diagrams illustrating an example of a display image according to a fourth modification of the embodiment of the present invention. It is the schematic which shows an example of the display image which concerns on other embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description of the drawings, the same or similar parts are affixed with the same or similar reference numerals. However, it should be noted that the drawings are schematic, and the relationship between the thickness and the planar dimensions, the ratio of the thickness, and the like are different from the actual ones. Moreover, it is a matter of course that portions having different dimensional relationships and ratios are included between the drawings. Further, the following embodiments exemplify apparatuses and methods for embodying the technical idea of the present invention, and the technical idea of the present invention is the material, shape, structure, and arrangement of components. Etc. are not specified as follows. The technical idea of the present invention can be variously modified within the technical scope defined by the claims described in the claims.

<Configuration of image display device>
The image display apparatus according to the embodiment of the present invention can be mounted on a passenger moving body such as a vehicle. In the following description of the embodiments of the present invention, a case of mounting on a vehicle is illustrated. As shown in FIG. 1, the image display device according to the embodiment of the present invention includes a control device 1, a vehicle position acquisition unit 2, a surrounding state detection unit 4, and a display unit 5.

  The own vehicle position acquisition unit 2 can be configured by, for example, a navigation device or a GPS receiver that receives a GPS signal from a global positioning system (GPS). The own vehicle position acquisition unit 2 acquires the current position on the map of the own vehicle.

  The surrounding situation detection unit 4 detects the surrounding situation of the host vehicle including the front situation, the rear situation, and the side situation of the own vehicle. The surrounding conditions of the host vehicle that can be detected by the surrounding condition detection unit 4 include other vehicles, pedestrians, bicycles, signals, signs, crosswalks, utility poles, intersections, and white lines. For example, a sensor using a camera such as a laser radar, a millimeter wave radar, a standing wave radar, or a CCD camera can be used as the ambient condition detection unit 4. The number, type, and arrangement position of the surrounding state detection unit 4 are not particularly limited. For example, a plurality of surrounding state detection units 4 may be installed in front, side, and rear of the host vehicle.

  As the display unit 5, a display such as a liquid crystal display can be used. The display unit 5 is installed at a position that can be easily seen by the occupant such as an instrument panel in the vehicle interior.

  The control device 1 can be constituted by an electronic control unit (ECU) including, for example, a logical operation processing device 6, a caution area storage device 3, a data storage device 7, and the like. As the attention area storage device 3 and the data storage device 7, a semiconductor storage device, a magnetic storage device, an optical storage device, or the like can be used. Note that the attention area storage device 3 and the data storage device 7 may be a register or the like provided in the logical operation processing device 6, and may include a cache memory or the like. The attention area storage device 3 and the data storage device 7 may be a virtual memory set in a secondary storage device, a secondary storage device, or the like. The caution area storage device 3 stores correspondence relationships between various driving scenes of the host vehicle and caution areas described later.

  As the logical processing unit 6, a central processing unit (CPU) or the like can be used. The logical operation processing device 6 functionally includes a scene determination unit 10, an attention area detection unit 11, a moving object detection unit 12, an emphasis location determination unit 13, and an image generation unit 14.

  The scene discriminating unit 10 includes the current position on the map of the host vehicle acquired by the host vehicle position acquiring unit 2, the surrounding state of the host vehicle detected by the surrounding state detecting unit 4, operation information of the shift lever, the turn signal switch The driving scene of the host vehicle is determined from the operation information and the like. The driving scenes that can be discriminated by the scene discriminating unit 10 include, for example, reverse parking, parallel parking, narrowing in narrow roads, passing through narrow roads, changing lanes (merging), T-shaped roads, turning left at intersections and turning right at intersections. .

  The attention area detection unit 11 refers to the correspondence relationship between the driving scene and the attention area stored in the attention area storage device 3, and determines the scene determination unit in the surrounding situation of the host vehicle detected by the surrounding situation detection unit 4. The caution area to be watched by the occupant corresponding to the driving scene determined by 10 is detected.

  Here, the “attention area” that can be detected by the attention area detection unit 11 means an area where vehicles or vehicles and people may cross each other according to the road structure on the road. The attention area includes an area where an attention object exists, an area where an attention place exists, and an area whose attention level is higher than a predetermined threshold.

  The attention object includes obstacles such as other vehicles, animals including pedestrians (especially those with weak traffic), guide dogs, bicycles, signals, signs, crosswalks, intersections, and snow. Other vehicles include oncoming vehicles, runaway vehicles, and emergency vehicles, for example. The attention object can be determined from, for example, the surrounding state of the host vehicle detected by the surrounding state detection unit 4.

  The attention place includes, for example, the surroundings of the own vehicle, an intersection, a pedestrian crossing, an interchange, and a meeting point. It should be noted that there may be a common place (object) between the attention place and the attention object, such as a pedestrian crossing. The attention place can be determined from, for example, the current position on the map of the host vehicle acquired by the host vehicle position acquisition unit 2, the surrounding situation of the host vehicle detected by the surrounding situation detection unit 4, and the like.

  The degree of caution means the degree of approach between a moving object existing around the host vehicle and the host vehicle. The degree of attention can be calculated from the distance and relative speed between the own vehicle and the moving object obtained from the surrounding situation of the own vehicle detected by the surrounding situation detection unit 4, for example. For example, the degree of attention is calculated higher as the distance between the host vehicle and the moving object is shorter, and the degree of attention is calculated higher as the relative speed between the host vehicle and the moving object is higher. Furthermore, the degree of attention may be calculated higher as the speed of the host vehicle is higher.

Here, an example of a method for calculating the attention level will be described. For example, the attention level can be calculated using the collision margin time (TTC) and the inter-vehicle time (THW). The collision allowance time t _c is an index for predicting the time until the host vehicle collides with the preceding other vehicle on the assumption that the current relative speed is maintained, and the relative speed between the host vehicle and the other vehicle is calculated. It is obtained by the following formula (1) where v _r and distance are x _r .
t _c = −x _r / v _r (1)

The inter-vehicle time t _h is an index indicating the time to reach the current preceding vehicle position at the current host vehicle speed, where the host vehicle speed is v _f , and the distance between the host vehicle and the other vehicle is x _r . (2).
t _h = −x _r / v _f (2)

Equation (1) and (2) in the collision tolerable time t _c and inter-vehicle time was determined using t _h, alertness RP can be set as the following equation (3).
RP = 1/2 (α / t _c + β / t _h ) (3)

  Here, each of α and β is an arbitrary coefficient and can be set as appropriate. The predetermined threshold for comparison with the attention level can be set as appropriate, and may be stored in advance in the data storage device 7 of the control device 1 or the like.

  The moving object detection unit 12 detects the moving object in the attention area detected by the attention area detection unit 11 using the surrounding condition of the host vehicle detected by the surrounding condition detection unit 4. The moving objects that can be detected by the moving object detection unit 12 include other vehicles, pedestrians, animals, and bicycles. The moving objects that can be detected by the moving object detection unit 12 include objects that are actually moving, and objects that are currently moving but have a possibility of moving, such as waiting for a signal.

  The emphasized part determination unit 13 determines an emphasized part for the attention region detected by the attention region detection unit 11. The highlight location determination unit 13 may determine, for example, the attention region itself as the highlight location, or may determine the region surrounding the attention region as the highlight location. Further, the emphasized part determination unit 13 may change the emphasized part and the emphasis method of the attention area according to the type of the attention area.

  The emphasis location determination unit 13 may further determine the region of the moving object detected by the moving object detection unit 12, the direction of the moving object, the movable range of the moving object, and the like as the emphasis location. When the moving object is moving, the emphasis location determination unit 13 may change the emphasis location (range) or the emphasis method of the moving object according to the relative moving speed of the moving object. For example, the emphasis location determination unit 13 may expand the emphasis location in the direction in which the moving object moves as the relative moving speed of the moving object increases.

  The image generation unit 14 displays a virtual image (computer graphic (CG) image) so as to highlight the emphasized portion determined by the emphasized portion determination unit 13 using the surrounding state detected by the surrounding state detection unit 4. Generate. The image generation unit 14 may highlight the highlighted portion by increasing the brightness of the highlighted portion, coloring, or blinking, for example.

  The image generation unit 14 can generate a virtual image such as a front image or a bird's-eye view viewed from various virtual viewpoint positions according to a driving scene or the like, and the scale, size, aspect ratio, etc. of the virtual image can be adjusted as appropriate. is there. The image generation unit 14 generates a display image signal so as to display the generated virtual image, and transmits the image signal to the display unit 5 to control the display unit 5.

  Next, an example of an image display method according to an embodiment of the present invention will be described with various driving scenes. First, FIG. 2A shows a driving scene of “reverse parking”. The host vehicle 20 is about to park in the parking frame (parking space) S <b> 1 between the other vehicles 21 and 22 behind the host vehicle 20. Based on the current position on the map of the host vehicle 20 acquired by the host vehicle position acquisition unit 2, the operation information of the shift lever, etc., the scene determination unit 10 displays the driving scene shown in FIG. Is determined.

  The caution area detection unit 11 refers to the correspondence relationship between the driving scene of “reverse parking” stored in the caution area storage device 3 and the caution area, and selects the rear area A1 including the inside of the turn of the host vehicle 20. Detect as caution place. The caution area detection unit 11 further detects the other vehicles 21 and 22 as caution objects from the surrounding situation detected by the surrounding situation detection unit 4. The highlighted part determination unit 13 determines, for example, the area A1 detected by the attention area detection unit 11 and the attention area where the other vehicles 21 and 22 exist as the emphasized part.

  As illustrated in FIG. 2B, the image generation unit 14 generates a virtual image I1 in which the emphasized part determined by the emphasized part determining unit 13 is highlighted. In the virtual image I1, the host vehicle M20 and the parking frame (parking frame (parking space) MS1) corresponding to the host vehicle 20 and the parking frame (parking space) S1 shown in FIG. 2A are virtually displayed.

  Furthermore, the area MA1 and the other vehicles M21 and M22 corresponding to the area A1 and the other vehicles 21 and 22 shown in FIG. 2A are highlighted. In FIG. 2B, for the sake of convenience, it is shown that it is highlighted by being hatched. For example, the area MA may be highlighted by surrounding the area MA with a frame or coloring the area MA. In addition, the other vehicles 21 and 22 may be highlighted by surrounding the other vehicles 21 and 22 with a frame line or changing the color and brightness in the other vehicles 21 and 22. In FIG. 2B, the host vehicle M20 and the other vehicles M21 and M22 simulate the actual shape of the vehicle, but may be a simple rectangle or an icon, for example.

  Next, FIG. 3A shows a driving scene of “parallel parking”. The host vehicle 20 is about to park in the parking frame (parking space) S <b> 1 between the other vehicles 21 and 22 behind the host vehicle 20. Based on the current position on the map of the host vehicle 20 acquired by the host vehicle position acquisition unit 2, the operation information of the shift lever, etc., the scene determination unit 10 displays the driving scene shown in FIG. Is determined.

  The caution area detection unit 11 refers to the correspondence relationship between the driving scene of “parallel parking” and the caution area stored in the caution area storage device 3 and wants to park in the direction approaching the other vehicles 21 and 22. An arc region A2 including the end of the front corner located in the direction and an arc region A3 including the ground contact portion of the rear wheel in the direction desired to be parked are detected as caution locations. The caution area detection unit 11 further detects the other vehicles 21 and 22 as caution objects based on the surrounding situation detected by the surrounding situation detection unit 4. The highlighted part determination unit 13 determines, for example, the attention area where the areas A2 and A3 and the other vehicles 21 and 22 exist as the emphasized part.

  As illustrated in FIG. 3B, the image generation unit 14 generates a virtual image I <b> 2 that highlights the emphasized part determined by the emphasized part determining unit 13. In the virtual image I2, the host vehicle M20 and the parking frame (parking space) MS1 corresponding to the host vehicle 20 and the parking frame (parking space) S1 shown in FIG. 3A are virtually displayed.

  Further, the areas MA2 and MA3 and the other vehicles M21 and M22 corresponding to the areas A2 and A3 and the other vehicles 21 and 22 shown in FIG. 3A are highlighted. In FIG. 3B, for the sake of convenience, it is shown that it is highlighted by being hatched. For example, the area MA may be highlighted by surrounding the area MA with a frame or coloring the area MA. In addition, the other vehicles 21 and 22 may be highlighted by surrounding the other vehicles 21 and 22 with a frame line or changing the color and brightness in the other vehicles 21 and 22.

  Next, FIG. 4A shows a driving scene of “justification in a narrow road”. As shown in FIG. 4A, the host vehicle 20 is traveling near the guardrail 31 on the left side because the other vehicle 21 that is an oncoming vehicle is approaching on a narrow road. The scene discriminating unit 10 determines the driving scene based on the current position on the map of the host vehicle 20 acquired by the host vehicle position acquiring unit 2, the surrounding state detected by the surrounding state detecting unit 4 and the like based on the “narrow road”. Is determined.

  The caution area detection unit 11 refers to the correspondence relationship between the driving scene of “narrow road narrowing” stored in the caution area storage device 3 and the caution area, and the left side surface of the steering wheel toward which the host vehicle 20 is approached The area A4 on the side surface of the vehicle body is detected as the attention place. The caution area detection unit 11 further detects the other vehicle 21 and the guard rail 31 as a caution object based on the surrounding situation detected by the surrounding situation detection unit 4. The highlight location determination unit 13 determines, for example, the region A4 detected by the attention region detection unit 11, the attention region where the other vehicle 21 and the guardrail 31 are present as the highlight location.

  As illustrated in FIG. 4B, the image generation unit 14 generates a virtual image I <b> 3 that highlights the emphasized part determined by the emphasized part determining unit 13. In the virtual image I3, the host vehicle M20 corresponding to the host vehicle 20 shown in FIG. 4A is virtually displayed. Further, the area A4, the area MA4 and the other vehicle M21 corresponding to the area A4, the other vehicle 21, and the guardrail 31 shown in FIG. 4A are highlighted. In FIG. 4B, for the sake of convenience, it is shown that it is highlighted by being hatched.

  Next, FIG. 5A shows a driving scene of “passing through a narrow path”. The own vehicle 20 tries to pass the other vehicle 22 ahead by drawing an S-shape as indicated by the dashed arrow in front of the own vehicle 20 before the other vehicle 21 that is an oncoming vehicle approaches on a narrow road. Yes. The scene discriminating unit 10 determines the driving scene based on the current position on the map of the host vehicle 20 acquired by the host vehicle position acquiring unit 2, the surrounding state detected by the surrounding state detecting unit 4 and the like based on the “narrow road”. It is determined as “pass through”.

  The caution area detection unit 11 includes the front (traveling direction) of the host vehicle 20 with reference to the correspondence relationship between the driving scene of “passing through a narrow road” and the caution area stored in the caution area storage device 3. Then, the region A5 on the left and right side surfaces of the vehicle body is detected as the attention place. The caution area detection unit 11 further detects the other vehicles 21 and 22 as caution objects based on the surrounding situation detected by the surrounding situation detection unit 4. The highlighted part determination unit 13 determines, for example, the attention area where the area A5 and the other vehicles 21 and 22 detected by the attention area detection unit 11 are present as the emphasized part.

  As illustrated in FIG. 5B, the image generation unit 14 generates a virtual image I4 in which the emphasized part determined by the emphasized part determining unit 13 is highlighted. In the virtual image I4, the host vehicle M20 corresponding to the host vehicle 20 shown in FIG. 5A is virtually displayed. Further, the area A5 shown in FIG. 5A, the area MA5 corresponding to the other vehicles 21 and 22, and the other vehicles M21 and M22 are highlighted. In FIG. 5B, for the sake of convenience, it is shown highlighted by being hatched.

  Next, FIG. 6A shows another driving scene of “passing through a narrow path”. The host vehicle 20 is about to pass between the utility pole 32 and the other vehicle 21 on a narrow road. The scene discriminating unit 10 determines the driving scene based on the current position on the map of the host vehicle 20 acquired by the host vehicle position acquiring unit 2, the surrounding state detected by the surrounding state detecting unit 4 and the like based on the “narrow road”. It is determined as “pass through”.

  The caution area detection unit 11 includes the front (traveling direction) of the host vehicle 20 with reference to the correspondence relationship between the driving scene of “passing through a narrow road” and the caution area stored in the caution area storage device 3. Then, the region A6 on the left and right side surfaces of the vehicle body is detected as the attention place. The caution area detection unit 11 further detects the other vehicle 21 and the utility pole 32 as caution objects based on the surrounding situation detected by the surrounding situation detection unit 4. The highlight location determination unit 13 determines, for example, the attention region where the region A6 detected by the attention region detection unit 11, the other vehicle 21, and the utility pole 32 exist as the highlight location.

  As shown in FIG. 6B, the image generation unit 14 generates a virtual image I5 in which the emphasized part determined by the emphasized part determining unit 13 is highlighted. In the virtual image I5, the host vehicle M20 and the guard rail M31 corresponding to the host vehicle 20 and the guard rail 31 illustrated in FIG. 6A are virtually displayed. Further, the region MA6, the other vehicle M21, and the utility pole 32 corresponding to the region A6, the other vehicle 21, and the utility pole 32 shown in FIG. 6A are highlighted. In FIG. 6 (b), for the sake of convenience, it is shown that it is highlighted by being hatched.

  Next, FIG. 7A shows a driving scene of “lane change”. At the interchange, the host vehicle 20 is traveling in the lane L1 before merging, and is about to change the lane to the right lane L2. The scene determination unit 10 performs “lane change” on the driving scene based on the current position on the map of the host vehicle 20 acquired by the host vehicle position acquisition unit 2, the surrounding situation detected by the surrounding state detection unit 4, and the like. Is determined.

  The attention area detection unit 11 refers to the correspondence relationship between the driving scene of “lane change” stored in the attention area storage device 3 and the attention area, and includes the rear side of the own vehicle 20 including the side of the lane L2 to be changed. The area A7 is detected as an attention place. It should be noted that an area located in front of the host vehicle 20 in the lane L2 to be changed is not detected as a caution place because there is no other vehicle. The attention area detection unit 11 further detects the other vehicle 21 as the attention object based on the surrounding situation detected by the surrounding situation detection unit 4.

  The highlighted part determination unit 13 determines, for example, the attention area where the area A7 detected by the attention area detection unit 11 and the other vehicle 21 are present as the emphasized part. The emphasis location determination unit 13 further calculates the relative speed of the other vehicle 21 and determines the relative speed as the emphasis location.

  As illustrated in FIG. 7B, the image generation unit 14 generates a virtual image I6 in which the emphasized part determined by the emphasized part determining unit 13 is highlighted. In the virtual image I6, the host vehicle M20 and the lanes ML1, ML2 corresponding to the host vehicle 20 and the lanes L1, L2 shown in FIG. 7A are virtually displayed. Further, the area MA7 and the other vehicle M21 corresponding to the area A7 and the other vehicle 21 shown in FIG. 7A are highlighted. In FIG. 7B, for the sake of convenience, it is shown that it is highlighted by being hatched. Furthermore, the relative speed is highlighted at the rear of the other vehicle M21 with an arrow M21a facing backward. The arrow M21a indicates that the relative speed of the other vehicle M21 is high in the direction away from the host vehicle M20.

  For example, as shown in FIG. 8, the viewpoint position P <b> 1 of the virtual image I <b> 5 in the driving scene “passing through a narrow road” shown in FIG. 6A is taken from above and behind the host vehicle 20. And has an imaging range R1. On the other hand, the viewpoint position P2 of the virtual image I6 in the driving scene of “lane change” shown in FIG. 7A is set so as to capture images from above and behind the host vehicle 20 relative to the viewpoint position P1. The imaging range R2 is wider than the imaging range R1 of P1. As described above, the viewpoint position of the virtual image can be appropriately adjusted according to the driving scene and the like.

  Next, FIG. 9A shows another driving scene of “lane change”. In the interchange, the own vehicle 20 is traveling in the lane L1 before the merge, and the point of trying to change the lane to the right lane L2 is the same as in FIG. 7A, and the other vehicle 21 passes the front of the own vehicle 20. The point which is drive | working differs from Fig.7 (a). The scene determination unit 10 performs “lane change” on the driving scene based on the current position on the map of the host vehicle 20 acquired by the host vehicle position acquisition unit 2, the surrounding situation detected by the surrounding state detection unit 4, and the like. Is determined.

  The caution area detection unit 11 refers to the correspondence relationship between the driving scene of “lane change” stored in the caution area storage device 3 and the caution area, and includes the front side of the host vehicle 20 including right next to the lane L2 to be changed. The area A8 is detected as a caution place. In addition, since the area | region located in the back of the own vehicle 20 of the change destination lane L2 does not have another vehicle, it is set as non-detection as a warning place. The attention area detection unit 11 further detects the other vehicle 21 as the attention object based on the surrounding situation detected by the surrounding situation detection unit 4.

  The highlighted part determination unit 13 determines, for example, the attention area where the area A8 detected by the attention area detection unit 11 and the other vehicle 21 are present as the emphasized part. The emphasis location determination unit 13 further calculates the relative speed of the other vehicle 21 and determines the relative speed as the emphasis location.

  As illustrated in FIG. 9B, the image generation unit 14 generates a virtual image I7 in which the emphasized part determined by the emphasized part determining unit 13 is highlighted. In the virtual image I7, the host vehicle M20 and the lanes ML1, ML2 corresponding to the host vehicle 20 and the lanes L1, L2 shown in FIG. 9A are virtually displayed. Furthermore, the area MA8 and the other vehicle M21 corresponding to the area A8 and the other vehicle 21 shown in FIG. 9A are highlighted. In FIG. 9B, for the sake of convenience, it is shown highlighted by being hatched. Further, the relative speed is highlighted in the forward direction of the other vehicle M21 with an arrow M21a. The arrow M21a indicates that the relative speed of the other vehicle M21 is high in the direction away from the host vehicle M20. The arrow M21a may be longer as the relative speed is higher.

  Next, FIG. 10A shows still another driving scene of “lane change”. In the interchange, the own vehicle 20 is traveling in the lane L1 before the merge, and the point of trying to change the lane to the lane L2 on the right side is the same as in FIG. 7 (a) and FIG. 9 (a). 7 differs from FIG. 7A and FIG. 9A in that 22 is traveling in front of and behind the host vehicle 20. The scene determination unit 10 performs “lane change” on the driving scene based on the current position on the map of the host vehicle 20 acquired by the host vehicle position acquisition unit 2, the surrounding situation detected by the surrounding state detection unit 4, and the like. Is determined.

  The attention area detection unit 11 refers to the correspondence relationship between the driving scene of “lane change” stored in the attention area storage device 3 and the attention area, and includes the front and rear of the host vehicle 20 including right next to the lane L2 to be changed. A direction area A9 is detected as a caution place. The caution area detection unit 11 further detects the other vehicles 21 and 22 as caution objects based on the surrounding situation detected by the surrounding situation detection unit 4.

  The highlight location determination unit 13 determines, for example, the region A9 detected by the attention region detection unit 11 and the attention region where the other vehicles 21 and 22 are present as the highlight location. The emphasized part determination unit 13 further calculates the relative speed of the other vehicles 21 and 22 and determines the relative speed as the emphasized part.

  As illustrated in FIG. 10B, the image generation unit 14 generates a virtual image I8 in which the emphasized part determined by the emphasized part determining unit 13 is highlighted. In the virtual image I8, the host vehicle M20 and the lanes ML1, ML2 corresponding to the host vehicle 20 and the lanes L1, L2 shown in FIG. 10A are virtually displayed. Further, the area MA9 and the other vehicles M21 and M22 corresponding to the area A9 and the other vehicles 21 and 22 shown in FIG. 10A are highlighted. In FIG. 10B, for the sake of convenience, it is shown that it is highlighted by being hatched.

  Further, the relative speed is highlighted forward by an arrow M21a at the front of the other vehicle M21 located behind the host vehicle M20, indicating that the relative speed of the other vehicle M21 is higher in the direction approaching the host vehicle M20. Yes. Further, the relative speed is highlighted with an arrow M22a in a rearward direction at the rear part of the other vehicle M22 located in front of the host vehicle M20, indicating that the relative speed of the other vehicle M22 is high in the direction approaching the host vehicle M20. Yes. The arrows M21a and M22a may be longer as the relative speed is higher.

  Next, FIG. 11A shows the driving scene of “lane change” similar to FIG. 10A, but the attention area detection unit 11 detects the surrounding situation detected by the surrounding situation detection unit 4. Based on this, the surroundings of the host vehicle 20 may be virtually divided into a plurality (12 in FIG. 11A) of regions RA, and the attention level may be calculated for each region RA. In FIG. 11A, a plurality of regions RA are set along the lane based on the position of the host vehicle 20. In addition, the shape, position, and number of the plurality of regions RA are not particularly limited, and can be set as appropriate according to the driving scene and the like.

  For example, when there are other vehicles 21 and 22 in the region RA, the attention region detection unit 11 calculates the degree of attention from the relative distance and the relative speed of the other vehicles 21 and 22. The attention area detection unit 11 further determines whether or not the attention level is equal to or higher than a predetermined threshold, and detects an area RA (for example, an area including the other vehicle 21) RA equal to or higher than the predetermined threshold as the attention area. The highlight location determination unit 13 determines, for example, the region RA including the other vehicle 21 detected by the attention region detection unit 11 as the highlight location.

  As illustrated in FIG. 11B, the image generation unit 14 generates a virtual image I8 in which the emphasized part determined by the emphasized part determining unit 13 is highlighted. In the virtual image I8, the host vehicle M20, the other vehicles M21, M22, and the lanes ML1, ML2 corresponding to the host vehicle 20, the other vehicles 21, 22 and the lanes L1, L2 shown in FIG. ing. Further, a region RB corresponding to the region RA including the other vehicle 21 shown in FIG. 11A is highlighted. In FIG. 11 (b), for the sake of convenience, it is shown highlighted by being hatched.

  Next, FIG. 12 shows a driving scene of “T-junction”. The host vehicle 20 is about to enter a forward T-junction. On the T-shaped road, a sign 51 and pedestrian crossings 41 and 42 are installed, and other vehicles 21 and 22 and bicycles 61 to 64 exist. The scene discriminating unit 10 determines the driving scene based on the current position on the map of the host vehicle 20 acquired by the host vehicle position acquiring unit 2, the surrounding state detected by the surrounding state detecting unit 4, and the like. Is determined.

  The caution area detection unit 11 refers to the correspondence relationship between the driving scene of “T-junction” stored in the caution area storage device 3 and the caution area, and determines the surrounding situation detected by the surrounding situation detection unit 4. Based on the left and right direction regions A11 and A12 of the host vehicle 20 and the semicircular region A10 located at the center of the intersection are detected as caution locations. The attention area detection unit 11 further includes other vehicles 21 and 22, bicycles 61 to 64, a sign 51, and a pedestrian crossing 41 that are traveling on the intersection road based on the surrounding conditions detected by the surrounding condition detection unit 4. , 42 are detected as attention objects.

  The highlighted part determination unit 13 highlights the attention area where the areas A10 to A12, the other vehicles 21 and 22, the bicycles 61 to 64, the sign 51, and the pedestrian crossings 41 and 42 detected by the attention area detection unit 11 are emphasized. Determine as.

  As illustrated in FIG. 13, the image generation unit 14 generates a virtual image I <b> 9 in which the emphasized part determined by the emphasized part determining unit 13 is highlighted. In the virtual image I9, the host vehicle M20 corresponding to the host vehicle 20 shown in FIG. 12 is virtually displayed. Furthermore, areas A10 to A12, other vehicles 21, 22 and bicycles 61 to 64, sign 51, regions MA10 to MA12 corresponding to pedestrian crossings 41 and 42, other vehicles M21 and M22, bicycles M61 to M64, shown in FIG. A sign M51 and pedestrian crossings M41 and M42 are highlighted. For the sake of convenience, FIG. 13 shows that highlighting is given by hatching.

  Next, FIG. 14 shows a driving scene of “turn left at the intersection”. At the intersection, a sign 51, a traffic light 53, and pedestrian crossings 41, 42 are installed, and there are other vehicles 21, 22, two-wheeled vehicles 81, 82, a pedestrian 71, and a bicycle 61. The scene determination unit 10 determines the driving scene as “turn left at the intersection” based on the current position on the map of the host vehicle 20 acquired by the host vehicle position acquisition unit 2, the operation information of the direction indicator, and the like.

  The attention area detection unit 11 refers to the correspondence relationship between the driving scene of “intersection left turn” stored in the attention area storage device 3 and the attention area, and based on the surrounding situation detected by the surrounding situation detection unit 4. Then, an arc region A13 of about 3/4 that does not include the traveling direction (left turn) of the host vehicle 20 with respect to the intersection center C1 is detected as a caution place. The attention area detection unit 11 further includes other vehicles 21, 22, two-wheeled vehicles 81, 82, a pedestrian 71, a bicycle 61, a sign 51, a traffic light 53, a pedestrian crossing, based on the surroundings detected by the surroundings detection unit 4. 41 and 42 are detected as attention objects.

  The highlight location determination unit 13 includes, for example, the region A13 detected by the attention region detection unit 11, the other vehicles 21, 22, two-wheeled vehicles 81 and 82, the pedestrian 71, the bicycle 61, the sign 51, the traffic lights 53, and the pedestrian crossings 41 and 42. The attention area in which is present is determined as an emphasis location.

  As shown in FIG. 15, the image generation unit 14 generates a virtual image I10 in which the emphasized part determined by the emphasized part determining unit 13 is highlighted. In the virtual image I10, the host vehicle M20 corresponding to the host vehicle 20 shown in FIG. 14 is virtually displayed. Further, the area A13, the other vehicles 21, 22, the two-wheeled vehicles 81, 82, the pedestrian 71, the bicycle 61, the sign 51, the traffic light 53, the region MA13 corresponding to the pedestrian crossings 41, 42, the other vehicles M21, M22 shown in FIG. The motorcycles M81 and M82, the pedestrian M71, the bicycle M61, the sign M51, the traffic light M53, and the pedestrian crossings M41 and M42 are highlighted. In FIG. 15, for the sake of convenience, it is shown highlighted by being hatched.

  Next, FIG. 16 shows a driving scene of “turn right at the intersection”. Signs 51 and 52, traffic lights 53 and pedestrian crossings 41 and 42 are installed at the intersection, and there are other vehicles 21 to 23, two-wheeled vehicles 81 to 83, pedestrians 71 and 72, and bicycles 61 to 64. The scene determination unit 10 determines that the driving scene is “turn right at the intersection” based on the current position on the map of the host vehicle 20 acquired by the host vehicle position acquisition unit 2, the operation information of the direction indicator, and the like.

  The caution area detection unit 11 refers to the correspondence between the driving scene of the “intersection right turn” stored in the caution area storage device 3 and the caution area, and is based on the surrounding situation detected by the surrounding situation detection unit 4. Thus, an arc region A14 of about 3/4 that does not include the traveling direction (right turn) of the host vehicle 20 with respect to the center of the intersection is detected as a caution place. The attention area detection unit 11 further includes other vehicles 21 to 23, two-wheeled vehicles 81 to 83, pedestrians 71 and 72, bicycles 61 to 64, and signs 51 and 52 based on the surroundings detected by the surroundings detection unit 4. The traffic light 53 and the pedestrian crossings 41 and 42 are detected as the attention objects.

  The highlight location determination unit 13 includes, for example, the region A14 detected by the attention region detection unit 11, the other vehicles 21 to 23, the two-wheeled vehicles 81 to 83, the pedestrians 71 and 72, the bicycles 61 to 64, the signs 51 and 52, and the traffic lights 53. The attention area where the pedestrian crossings 41 and 42 exist is determined as an emphasis location.

  As illustrated in FIG. 17, the image generation unit 14 generates a virtual image I <b> 11 in which the emphasized part determined by the emphasized part determining unit 13 is highlighted. In the virtual image I11, the host vehicle M20 corresponding to the host vehicle 20 shown in FIG. 16 is virtually displayed. Further, the area MA14 corresponding to the area A14, the other vehicles 21 to 23, the two-wheeled vehicles 81 to 83, the pedestrians 71 and 72, the bicycles 61 to 64, the signs 51 and 52, the traffic lights 53, and the pedestrian crossings 41 and 42 shown in FIG. Other vehicles M21 to M23, motorcycles M81 to M83, pedestrians M71 and M72, bicycles M61 to M64, signs M51 and M52, traffic lights M53, and crosswalks M41 and M42 are highlighted. In FIG. 17, for the sake of convenience, it is shown that it is highlighted by being hatched.

<Image display method>
Next, an example of an image display method for a riding vehicle according to an embodiment of the present invention will be described with reference to the flowchart of FIG. Note that a series of processes in the flowchart of FIG. 18 can be repeatedly executed at a predetermined control cycle.

  In step S <b> 1, the host vehicle position acquisition unit 2 acquires the current position of the host vehicle 20 on the map, and inputs the acquired current position of the host vehicle 20 on the map to the control device 1. The surrounding state detection unit 4 detects the surrounding state of the host vehicle 20 and inputs the detected surrounding state of the host vehicle 20 to the control device 1.

  In step S <b> 2, the scene determination unit 10 determines the current position on the map of the host vehicle 20 acquired by the host vehicle position acquisition unit 2, the surrounding state detected by the surrounding state detection unit 4, and operation information of the shift lever and the blinker switch. Based on the above, the driving scene of the host vehicle 20 is determined.

  In step S <b> 3, the attention area detection unit 11 refers to the correspondence relationship between the driving scene and the attention area stored in the attention area storage device 3, and the attention area corresponding to the driving scene determined by the scene determination unit 10. To extract. Then, the attention area detection unit 11 includes an area where the attention place exists, an area where the attention object exists, and an area where the attention level is equal to or higher than a predetermined threshold in the surrounding conditions of the host vehicle detected by the surrounding condition detection unit 4 Detecting attention area including etc.

  In step S <b> 4, the moving object detection unit 12 detects a moving object in the attention area detected by the attention area detection unit 11 based on the surrounding condition detected by the surrounding condition detection unit 4. In step S <b> 5, the emphasis location determination unit 13 determines whether or not there is a moving object detected by the moving object detection unit 12. When it is determined that there is a moving object, the process proceeds to step S6, and the emphasis location determination unit 13 determines the moving object in the attention area as the emphasis location. The image generation unit 14 generates a virtual image in which a moving object in the attention area is highlighted. The display unit 5 displays the virtual image generated by the image generation unit 14.

  In step S <b> 7, the image generation unit 14 determines whether or not the moving object has moved out of the attention area based on the surrounding state detected by the surrounding state detection unit 4. When it is determined that the moving object has moved out of the attention area, the process proceeds to step S8. In step S <b> 8, the image generation unit 14 outputs a signal for stopping highlighting of the moving object in the virtual image to the display unit 5.

  If it is determined in step S5 that there is no moving object detected by the moving object detection unit 12, the process proceeds to step S9. In step S <b> 9, the emphasis location determination unit 13 determines an emphasis location for the attention region detected by the attention region detection unit 11. The image generation unit 14 generates a virtual image in which the attention area is highlighted, and causes the display unit 5 to display the virtual image.

  In step S <b> 10, the image generation unit 14 determines whether or not the own vehicle has passed the highlighted attention area based on the position of the own vehicle 20 obtained from GPS or the like. If it is determined that the vehicle has passed the caution area, the process proceeds to step S8, and the image generation unit 14 outputs a signal to the display unit 5 to stop highlighting the caution area in the virtual image.

  The image display program for a passenger moving body according to the embodiment of the present invention causes the computer constituting the control device 1 to execute the procedure of the image display method shown in FIG. That is, the driving support program according to the embodiment of the present invention provides a procedure for detecting a surrounding situation of the riding mobile body, a procedure for detecting a caution area around the riding mobile body based on the surrounding situation, and a caution area. The computer which comprises the control apparatus 1 is made to perform the procedure which determines the emphasis location, the procedure which produces | generates the virtual image which displays a surrounding condition so that an emphasis location may be emphasized, the procedure which displays a virtual image on a display part, etc. The image display program according to the embodiment of the present invention can be stored in, for example, the data storage device 7.

  The image display method according to the embodiment of the present invention may be, for example, a flowchart shown in FIG. After executing the steps S1 to S3 as in the flowchart shown in FIG. 18, the process proceeds to step S11, and the emphasis location determination unit 13 does not determine the presence or absence of the moving object detected by the moving object detection unit 12. The emphasis location may be determined for the attention area attention area detected by the attention area detection unit 11. The image generation unit 14 generates a virtual image in which the attention area is highlighted. The display unit 5 displays the virtual image generated by the image generation unit 14.

  Thereafter, in step S12, as in step S10 of the flowchart shown in FIG. 18, the image generation unit 14 displays the highlighted attention area based on the position of the host vehicle 20 obtained from GPS or the like. It is determined whether or not. When it is determined that the vehicle has passed the caution area, the process proceeds to step S13, and the image generation unit 14 stops highlighting the caution area in the virtual image, similarly to step S10 in the flowchart shown in FIG. .

  In the flowchart illustrated in FIG. 18, the case where the attention area or the moving object is alternatively highlighted in step S6 and step S9 is illustrated, but the attention area and the moving object may be highlighted simultaneously.

  As described above, according to the embodiment of the present invention, a driving scene is discriminated, and an area where vehicles or vehicles and people may cross each other according to the road structure on the road is used as an attention area. The attention area corresponding to the driving scene is detected in a wide range around the vehicle 20, and the attention area is highlighted. As a result, it is possible to cause the occupant to easily and widely perceive a region that the occupant should pay attention to in addition to the traveling direction according to the driving scene.

  In particular, when the entire surrounding situation of the host vehicle 20 is displayed as a CG image as in the embodiment of the present invention, unnecessary information during driving in the real world can be eliminated by CG, while the occupant perceives the attention area. Loss of information that can help you. On the other hand, according to the embodiment of the present invention, it is possible to make the occupant easily perceive the attention area so as to compensate for the loss of information due to CG.

  Further, the periphery of the host vehicle 20 is virtually divided into a plurality of regions RA, a degree of attention is calculated for each of the plurality of regions RA, and a virtual image is generated so as to emphasize a region where the degree of attention is a predetermined threshold or more. By doing so, it is possible to easily perceive the area to which the occupant should pay attention in units of a plurality of areas RA.

<First Modification>
As a first modification of the embodiment of the present invention, a traveling direction that may intersect with the subject vehicle 20 of the attention object existing in the attention area is detected, and a virtual image in which the detected traveling direction is emphasized is generated. The case where it does is demonstrated.

  FIG. 20 shows a driving scene of “turn left at the intersection”. Signs 51 and 52 and pedestrian crossings 41 and 42 are installed at the intersection, and there are other vehicles 21 to 23, two-wheeled vehicles 81 to 83, pedestrians 71 to 73, and bicycles 61 to 67. The scene determination unit 10 determines the driving scene as “turn left at the intersection” based on the current position on the map of the host vehicle 20 acquired by the host vehicle position acquisition unit 2, the operation information of the direction indicator, and the like.

  The caution area detection unit 11 determines that the other vehicles 21 to 23 and the two-wheeled vehicle 81 from the surroundings detected by the surroundings detection unit 4 based on the fact that the driving scene determined by the scene determination unit 10 is “turn left at the intersection”. ˜83, pedestrians 71 to 73, bicycles 61 to 67, signs 51 and 52, and pedestrian crossings 41 and 42 are detected as attention objects. As in the case of the driving scene of “turn left at the intersection” shown in FIG. 14, the attention area detection unit 11 may further detect an arc area of about ¾ of the center of the intersection as the attention place.

  The highlight location determination unit 13 includes the other vehicles 21 to 23, the two-wheeled vehicles 81 to 83, the pedestrians 71 to 73, the bicycles 61 to 67, the signs 51 and 52, and the pedestrian crossings 41 and 42 detected by the attention region detection unit 11. The attention area to be emphasized is determined as an emphasis location. The highlighted part determination unit 13 further includes other vehicles 21 to 23, two-wheeled vehicles 81 to 83, pedestrians 71 to 73, and bicycles 61 to 67 that are moving objects among the attention objects detected by the attention region detection unit 11. A traveling direction that may intersect when the host vehicle 20 turns left is detected.

  For example, the emphasis location determination unit 13 determines that the other vehicle 21 entering the intersection from the left side may go straight or turn left or right, but there is no possibility of crossing when the host vehicle 20 turns left. The emphasis location determination unit 13 may go straight or turn left or right for the other vehicle 22 and the two-wheeled vehicle 81 entering the intersection from the oncoming lane side, but may turn when the host vehicle 20 makes a left turn. Is determined as an emphasis point.

  The emphasis point determination unit 13 emphasizes the straight direction in which the other vehicle 23 and the two-wheeled vehicle 83 entering the intersection from the right side may go straight or turn right or left but may cross when the host vehicle 20 turns left. Determine as the location. The emphasis location determination unit 13 determines, as the emphasis location, a straight traveling direction that may be involved when the host vehicle 20 makes a left turn with respect to the two-wheeled vehicle 82 behind the host vehicle 20.

  The emphasis point determination unit 13 crosses the pedestrian crossing 41 that may intersect when the own vehicle 20 makes a left turn for the pedestrians 71 and 72 and the bicycles 61, 62, and 64 in the vicinity of the left pedestrian crossing 41. Are determined as emphasized points. The emphasis location determination unit 13 is located in front of the host vehicle 20 that may cross when the host vehicle 20 makes a left turn with respect to the pedestrian 73 and the bicycles 61, 65, and 67 located away from the crosswalk at the intersection. The crossing direction is determined as an emphasis location.

  As illustrated in FIG. 21, the image generation unit 14 generates a virtual image I13 in which the emphasized part determined by the emphasized part determining unit 13 is highlighted. In the virtual image I13, other vehicles M21 to M23 corresponding to the other vehicles 21 to 23 shown in FIG. 20 are highlighted, and arrows D22 and D23 indicating the traveling directions of the other vehicles M22 and M23 are also highlighted. .

  Further, the two-wheeled vehicles M81 to M83 corresponding to the two-wheeled vehicles 81 to 83 shown in FIG. 20 are highlighted, and the arrows D81 to D83 indicating the traveling directions of the two-wheeled vehicles M81 to M83 are also highlighted. Furthermore, the pedestrians M71 to M73 and the bicycles M61 to M67 corresponding to the pedestrians 71 to 73 and the bicycles 61 to 67 shown in FIG. The arrows D71 to D73 and D61 to D67 are also highlighted.

  According to the first modification of the embodiment of the present invention, a virtual image in which a traveling direction that may intersect with the subject vehicle 20 of the attention object existing in the attention region is detected and the detected traveling direction is emphasized. By generating I13, it is possible to easily grasp the traveling direction of the attention object to be noted.

<Second Modification>
As a third modified example of the embodiment of the present invention, as in the first modified example, a traveling direction that may intersect with the subject vehicle 20 of the attention object existing in the attention region is detected and detected. In the case of generating a virtual image in which the traveling direction is emphasized, a case where the intersection is turned to the right unlike the first modification will be described.

  FIG. 22 shows a driving scene of “turn right at the intersection”. The host vehicle 20 is going to turn right at an intersection where there is no traffic light. Signs 51, 52 and pedestrian crossings 41, 42 are installed at the intersection, and there are other vehicles 21-24, two-wheeled vehicles 81-84, pedestrians 71, and bicycles 61-63. The scene determination unit 10 determines that the driving scene is “turn right at the intersection” based on the current position on the map of the host vehicle 20 acquired by the host vehicle position acquisition unit 2, the operation information of the direction indicator, and the like.

  The caution area detection unit 11 determines that the other vehicles 21 to 24 and the two-wheeled vehicle 81 are based on the surroundings detected by the surroundings detection unit 4 based on the fact that the driving scene determined by the scene determination unit 10 is “turn right at the intersection”. To 84, pedestrian 71, bicycles 61 to 63, signs 51 and 52, and pedestrian crossings 41 and 42 are detected as attention objects. As in the case of the “intersection left turn” driving scene shown in FIG. 16, the caution area detection unit 11 may further detect an arc area of about ¾ of the center of the intersection as the caution place.

  The emphasis location determination unit 13 includes other vehicles 21 to 24, two-wheeled vehicles 81 to 84, pedestrians 71, bicycles 61 to 63, signs 51 and 52, and pedestrian crossings 41 and 42 detected by the attention region detection unit 11. The area is determined as an emphasis point. Further, among the attention objects detected by the attention region detection unit 11, the highlighted part determination unit 13 further turns the other vehicles 21 to 24, the two-wheeled vehicles 81 to 84, the pedestrian 71, and the bicycles 61 to 63 that are moving objects. The direction of travel that may be interlaced with each other is determined as an emphasis point.

  For example, the emphasis location determination unit 13 determines, as the emphasis location, the other vehicle 21 and the two-wheeled vehicle 81 that enter the intersection from the left side, which are likely to cross each other when the host vehicle 20 makes a right turn. The emphasis location determination unit 13 determines, as an emphasis location, the other vehicle 22 and the two-wheeled vehicle 82 that enter the intersection from the oncoming lane side as the emphasized locations that may cross each other when the host vehicle 20 makes a right turn.

  The emphasis location determination unit 13 determines, for the other vehicle 23 and the two-wheeled vehicle 84 entering the intersection from the right side, the straight traveling direction and the right turn direction that may intersect when the host vehicle 20 makes a right turn as the emphasis location. The emphasis location determination unit 13 determines that there is no possibility of crossing the other vehicle 24 moving away from the intersection on the side of the host vehicle 20 when the host vehicle 20 makes a right turn. The emphasis location determination unit 13 determines, for the two-wheeled vehicle 83 behind the host vehicle 20, the straight traveling direction and the right turn direction that may be involved when the host vehicle 20 makes a right turn as the emphasis location.

  As shown in FIG. 23, the image generation unit 14 generates a virtual image I14 in which the emphasized part determined by the emphasized part determining unit 13 is highlighted. In the virtual image I14, other vehicles M21 to M24 corresponding to the other vehicles 21 to 24 shown in FIG. 22 are highlighted, and arrows D21 to D23 indicating the traveling directions of the other vehicles M21 to M23 are also highlighted. .

  Further, the two-wheeled vehicles M81 to M84 corresponding to the two-wheeled vehicles 81 to 84 shown in FIG. 22 are highlighted, and the arrows D81 to D84 indicating the traveling directions of the two-wheeled vehicles M81 to M84 are also highlighted. Furthermore, the pedestrian M71 and the bicycles M61 to M63 corresponding to the pedestrian 71 and the bicycles 61 to 63 shown in FIG. -D63 are also highlighted.

  According to the second modification of the embodiment of the present invention, a virtual image in which a traveling direction that may intersect with the subject vehicle 20 of the attention object existing in the attention region is detected and the detected traveling direction is emphasized. By generating I14, it is possible to easily grasp the traveling direction of the attention object to be noted.

<Third Modification>
As a third modified example of the embodiment of the present invention, a modified example of the highlight display when the driving scene is “passing through a narrow road” will be described. When the driving scene is “passing through a narrow road” and the own vehicle 20 passes the other vehicle 21 parked forward, the own vehicle is displayed in the virtual image I15 as shown in FIG. Parallel straight lines L11 and L12 that define the vehicle width W1 may be highlighted in front of M20. By highlighting the straight lines L11 and L12, the distance from the other vehicle M21 and the vehicle width W1 of the host vehicle M20 can be easily grasped.

  Accordingly, as shown in FIG. 24 (b), when the host vehicle 20 is turned and overtakes the other vehicle M21 as shown in FIG. 24 (c), the other vehicle is also detected by the straight lines L11 and L12 in the virtual image I15. The distance from M21 can be easily grasped, and other vehicle M21 can be safely overtaken.

<Fourth Modification>
As a fourth modified example of the embodiment of the present invention, a modified example of highlighting when the driving scene is “passing through a narrow road” will be described. When the driving scene is “passing through a narrow road” and the host vehicle 20 passes between the guardrail 31 and the other vehicle 21 as shown in FIG. You may generate the virtual image I16 which highlighted the straight lines L11 and L12 which prescribe | regulate the vehicle width W1 of the vehicle M20. By highlighting the straight lines L11 and L12, the distance from the guardrail M31 and the other vehicle M21 that is the oncoming vehicle can be easily grasped.

  Further, when the driving scene is “passing through a narrow road” and the host vehicle 20 passes between the utility pole 32 and the other vehicle 21 as shown in FIG. 6A, as shown in FIG. The virtual image I17 in which the straight lines L11 and L12 defining the vehicle width W1 of the host vehicle M20 are highlighted may be generated. By highlighting the straight lines L11 and L12, the distance from the utility pole M32 and the other vehicle M21 which is an oncoming vehicle can be easily grasped.

  Further, when the driving scene is “passing through a narrow road” and the host vehicle 20 makes a left turn, curves L11 and L12 that define the trajectory of the host vehicle M20 are highlighted as shown in FIG. A virtual image I18 may be generated. By highlighting the straight lines L11 and L12, it is possible to easily grasp the locus of the left turn.

(Other embodiments)
As mentioned above, although this invention was described by embodiment, it should not be understood that the statement and drawing which form a part of this indication limit this invention. From this disclosure, various alternative embodiments, examples and operational techniques will be apparent to those skilled in the art.

  In the embodiment of the present invention, the case where the passenger moving body is a vehicle (automobile) is exemplified, but the passenger moving body is not limited to the vehicle, and an occupant such as an airplane such as an airplane or a helicopter, or a ship moves on board. It can also be applied to moving objects. For example, the attention area when the passenger moving body is an aircraft means an area where aircrafts in the sky may cross each other, and the attention area can be highlighted as in the embodiment of the present invention. Moreover, the attention area | region in case a passenger moving body is a ship means the area | region where ships on the sea have a possibility of crossing, and an attention area | region can be highlighted like the embodiment of this invention.

  In the embodiment of the present invention, the case where the image generation unit 14 generates a bird's-eye view image as a virtual image is illustrated. However, as shown in FIG. 26, a front image I19 may be generated as a virtual image. In the front image I19, the other vehicle M21 is highlighted at the intersection. In addition to highlighting the pedestrian M71 itself, a circular region M71a is also highlighted so as to surround the feet of the pedestrian M71. For example, the region M71a may be extended in a direction in which the pedestrian M71 is facing (a direction in which the pedestrian M71 is facing) while surrounding the foot of the pedestrian M71. Furthermore, an arrow D71 indicating the traveling direction of the pedestrian M71 is highlighted with an arrow. As described above, various variations can be adopted as an emphasis method for the attention area.

  As described above, the present invention naturally includes various embodiments not described herein. Therefore, the technical scope of the present invention is defined only by the invention specifying matters according to the scope of claims reasonable from the above description.

DESCRIPTION OF SYMBOLS 1 ... Control apparatus 2 ... Own vehicle position acquisition part 3 ... Caution area memory | storage device 4 ... Ambient condition detection part 5 ... Display part 6 ... Logical operation processing apparatus 7 ... Data storage device 10 ... Scene discrimination | determination part 11 ... Caution area detection part 12 ... moving object detection unit 13 ... emphasis point determination unit 14 ... image generation unit 20 ... own vehicle 21-24 ... other vehicle 31 ... guard rail 32 ... electric pole 41, 42 ... pedestrian crossing 51, 52 ... sign 53 ... traffic lights 61-67 ... Bicycles 71-73 ... Pedestrians 81-84 ... Motorcycles

Claims (6)

Detecting the surroundings of the passenger vehicle;
Detecting a caution area around the riding vehicle based on the surrounding situation;
Determining an emphasis location for the attention area;
Generating a virtual image indicating the surrounding situation so as to highlight the highlighted portion;
And a step of displaying the virtual image on a display unit.   The image display method according to claim 1, wherein the attention area is an area where vehicles or vehicles and people may cross each other according to a road structure on the road. The step of determining the emphasized portion includes:
Calculating a degree of attention for each of a plurality of regions virtually divided around the passenger moving body;
The image display method according to claim 1, wherein an area where the degree of attention is greater than or equal to a predetermined threshold is determined as the emphasized portion. The step of determining the emphasized portion includes:
Detecting a moving object in the detected attention area;
The image display method according to any one of claims 1 to 3, wherein a traveling direction of the detected moving object is determined as the emphasized portion. The step of detecting the attention area includes:
Determine the driving scene of the passenger moving body,
The image display method according to claim 1, wherein the attention area is detected according to the determined driving scene. An ambient condition detection unit for detecting the ambient condition of the passenger moving body;
A caution area detection unit that detects a caution area around the passenger moving body based on the surrounding situation;
An emphasis location determination unit that determines an emphasis location for the attention area;
An image generation unit that generates a virtual image indicating the surrounding situation so as to highlight the highlighted portion;
An image display device comprising: a display unit that displays the virtual image.

Images