1. An attention-reminding device is provided with:

an object position recognition unit that recognizes a position of an object in front of the vehicle; and

a display control unit that controls image display on a display device provided in the host vehicle and executes attention calling processing, the attention calling processing being processing for: causing the display device to display a virtual image corresponding to the object so that the virtual image overlaps the object and is visually recognized by a driver of the host vehicle, based on the position of the object recognized by the object position recognition unit,

wherein the content of the first and second substances,

the attention notifying device includes an attention load reduction region setting unit that sets an attention load reduction region, which is a region monitored by the driving support device, by using a driving support function that is performed by operation of the driving support device of the host vehicle,

the object position recognition unit recognizes a position of the attention load reduction region with the attention load reduction region as the object,

in the operation of the driving assistance device, the display control unit may cause the virtual image for the attention burden reduction region to be displayed such that the virtual image has a lower visual attractiveness than regions other than the attention burden reduction region, based on the position of the attention burden reduction region identified by the object position identification unit, and execute the attention calling process.

2. The attention-reminder device according to claim 1,

the object position recognition unit recognizes a position of an object located in front of the host vehicle as the object,

when the position of the object is recognized by the object position recognition unit during operation of the driving assistance device, the display control unit executes the attention calling process by displaying the virtual image of the object in a 1 st display format when the position of the object is outside the attention burden reduction region, and executes the attention calling process by displaying the virtual image of the object in a 2 nd display format having a lower visual attractiveness than the 1 st display format when the position of the object is within the attention burden reduction region.

3. An attention-reminding device is provided with:

an object position recognition unit that recognizes a position of an object present in front of the host vehicle; and

a display control unit that controls image display on a display device provided in the host vehicle and executes attention calling processing, the attention calling processing being processing for: causing the display device to display a virtual image corresponding to the object so that the virtual image overlaps the object and is visually recognized by a driver of the host vehicle, based on the position of the object recognized by the object position recognition unit,

wherein the content of the first and second substances,

the attention notifying device includes an attention load reduction region setting unit that sets an attention load reduction region, which is a region monitored by the driving support device, by using a driving support function that is performed by operation of the driving support device of the host vehicle,

the object position recognition unit recognizes a position of an object located in front of the host vehicle as the object,

when the position of the object is recognized by the object position recognition unit and the position of the object is within the attention burden reduction region while the driving assistance device is operating, the display control unit may cause the virtual image corresponding to the object to be displayed in a 2 nd display form in which the virtual image has lower visual attractiveness than in a region other than the attention burden reduction region, and execute the attention calling process.

4. The attention calling device according to any one of claims 1 to 3,

the driving assistance function in the driving assistance device is an inter-vehicle distance maintaining function that: recognizing the position of a 1 st preceding vehicle traveling ahead of the host vehicle, and causing the host vehicle to travel following the 1 st preceding vehicle while maintaining a vehicle-to-1 st preceding vehicle distance,

the attention load reduction region setting unit sets a 1 st region based on the position of the 1 st preceding vehicle recognized by the driving assistance device having the inter-vehicle distance maintaining function as the attention load reduction region.

5. The attention calling device according to any one of claims 1 to 4,

the driving assistance function in the driving assistance device is a lane maintaining function as follows: recognizing a host vehicle lane in which the host vehicle is traveling, and performing steering control of the host vehicle so that the host vehicle travels in the host vehicle lane,

the attention load reduction region setting unit sets, as the attention load reduction region, a 2 nd region based on a range of another lane adjacent to the host vehicle lane recognized by the driving assistance device having the lane maintaining function.

6. The attention calling device according to any one of claims 1 to 5,

the driving assistance function in the driving assistance device is a preceding vehicle start notification function that: recognizing a display state of a traffic signal ahead of the host vehicle and a traveling state of a 2 nd preceding vehicle ahead of the host vehicle, and notifying the driver that the 2 nd preceding vehicle has started when a state where the traffic signal is stopped and the 2 nd preceding vehicle is stopped is shifted from a state where the traffic signal is stopped and the 2 nd preceding vehicle is traveling and the 2 nd preceding vehicle is started,

the attention load reduction region setting unit sets a 3 rd region including a range occupied by the 2 nd preceding vehicle and excluding a range occupied by the traffic signal as the attention load reduction region.

7. The attention calling device according to any one of claims 1 to 6,

the display control unit reduces the visual attractiveness of the virtual image by at least one of a process of reducing the luminance of the virtual image, a process of reducing the chromaticity of the virtual image, and a process of reducing a hue difference between the virtual image and the background of the virtual image.

8. An attention alerting method, performed by a computer, comprising:

an object position recognition step of recognizing a position of an object in front of the host vehicle; and

a display control step of controlling image display on a display device provided in the host vehicle and executing attention calling processing, the attention calling processing being processing for: causing the display device to display a virtual image corresponding to the object so that the virtual image overlaps the object and is visually recognized by a driver of the host vehicle, based on the position of the object identified by the object position identifying step,

wherein the content of the first and second substances,

the attention calling method includes an attention load reduction region setting step of setting an attention load reduction region, which is a region monitored by the driving assistance device, by using a driving assistance function that is exerted by operation of the driving assistance device provided in the host vehicle,

in the object position identifying step, the attention load reduction region is set as the object, and the position of the attention load reduction region is identified,

in the display control step, the attention-calling process is executed by causing the display device to display the virtual image for the attention-burden reduction region in a form in which the virtual image has a lower visual attractiveness than that of a region other than the attention-burden reduction region, in accordance with the position of the attention-burden reduction region identified in the object position identification step, during the operation of the driving assistance device.

9. An attention alerting method, performed by a computer, comprising:

an object position recognition step of recognizing a position of an object existing in front of the host vehicle; and

a display control step of controlling image display on a display device provided in the host vehicle and executing attention calling processing, the attention calling processing being processing for: causing the display device to display a virtual image of the object so as to be superimposed on the object and to be visually recognized by a driver of the host vehicle, based on the position of the object identified in the object position identifying step,

wherein the content of the first and second substances,

the attention calling method includes an attention load reduction region setting step of setting an attention load reduction region, which is a region monitored by the driving assistance device, by using a driving assistance function that is exerted by operation of the driving assistance device provided in the host vehicle,

the object position identifying step identifies a position of an object located in front of the host vehicle, with the object as the object,

in the display control step, when the position of the object is recognized by the object position recognition step and the position of the object is within the attention burden reduction region while the driving assistance device is operating, the attention notifying process is executed by displaying the virtual image corresponding to the object in a 2 nd display form in which the visual attractiveness of the virtual image is lower than in a region other than the attention burden reduction region.

10. The attention calling method according to claim 9,

in the display control step, when the position of the object is recognized by the object position recognition step and the position of the object is outside the attention burden reduction region while the driving assistance device is operating, the attention notifying process is executed by displaying the virtual image corresponding to the object in a 1 st display form having a higher visual attractiveness than the 2 nd display form.

Background

Conventionally, there is known a vehicle image Display system that detects an object existing in front of a vehicle by a camera, a radar, or the like, and displays a marker image of the object so as to overlap the actual object via a windshield by a Head Up Display (HUD) (see, for example, patent document 1). In the vehicle image display system, the display attribute of the marker image is adjusted and changed according to the degree of influence of the detected object on the vehicle.

Documents of the prior art

Patent document

Patent document 1: japanese laid-open patent publication No. 2017-21546

Disclosure of Invention

Problems to be solved by the invention

In recent years, vehicles have various driving assistance functions, and the driver's attention load around the vehicle is reduced by the operation of the driving assistance function. Therefore, in the operation of the driving assistance function, it is preferable to perform more appropriate attention based on a situation in which the attention load of the driver is reduced by the operation of the driving assistance function, rather than based on a uniform attention based on the above-described conventional system.

The present invention has been made in view of the above circumstances, and an object thereof is to provide an attention calling device and an attention calling method capable of calling for more appropriate attention in accordance with a situation in which the driver's attention burden is reduced by the operation of a driving support function.

Means for solving the problems

As a 1 st aspect for achieving the above object, there is provided an attention notifying device including: an object position recognition unit that recognizes a position of an object in front of the vehicle; and a display control unit that controls image display on a display device provided in the host vehicle and executes attention calling processing, the attention calling processing being processing for: causing the display device to display a virtual image corresponding to the object so that the virtual image is superimposed on the object and visually recognized by a driver of the host vehicle, based on the position of the object recognized by the object position recognition unit, wherein the attention notifying device includes an attention load reducing region setting unit that sets an attention load reducing region that is a region monitored by the driving assistance device, using a driving assistance function that is exerted by an operation of the driving assistance device included in the host vehicle, the object position recognition unit recognizes the position of the attention load reducing region with the attention load reducing region as the object, and the display control unit recognizes the position of the attention load reducing region based on the position of the attention load reducing region recognized by the object position recognition unit during the operation of the driving assistance device, the attention calling process is executed by causing the virtual image for the attention burden reduction region to be displayed in a form in which the visual attractiveness of the virtual image is lower than that of a region other than the attention burden reduction region.

In the above-described attention notifying device, the object position identifying unit may identify a position of an object located in front of the vehicle as the object, and when the position of the object is identified by the object position identifying unit during operation of the driving assistance device, the display control unit may execute the attention notifying process by displaying the virtual image of the object in a 1 st display format when the position of the object is outside the attention burden reduction region, and execute the attention notifying process by displaying the virtual image of the object in a 2 nd display format having a lower visual attractiveness than the 1 st display format when the position of the object is within the attention burden reduction region.

As a 2 nd aspect for achieving the above object, there is provided an attention notifying device including: an object position recognition unit that recognizes a position of an object present in front of the host vehicle; and a display control unit that controls image display on a display device provided in the host vehicle and executes attention calling processing, the attention calling processing being processing for: wherein the attention notifying device includes an attention load reducing region setting unit that sets an attention load reducing region that is a region monitored by the driving assistance device using a driving assistance function exerted by operation of the driving assistance device of the host vehicle, wherein the object position identifying unit identifies a position of the object with an object located in front of the host vehicle as the object, and wherein, when the position of the object is identified by the object position identifying unit during operation of the driving assistance device and the position of the burden object is within the attention load reducing region, the display control unit executes the attention calling process by displaying the virtual image corresponding to the object in a 2 nd display format in which the virtual image has a lower visual attractiveness than in a region other than the attention burden reduction region.

In the attention notifying device, the driving assistance function of the driving assistance device may be an inter-vehicle distance maintaining function of: the attention load reduction region setting unit sets, as the attention load reduction region, a 1 st region based on the position of the 1 st preceding vehicle recognized by the driving assistance device having the inter-vehicle distance maintaining function.

In the attention-calling device, the driving assistance function of the driving assistance device may be a lane keeping function as follows: the attention load reduction region setting unit sets, as the attention load reduction region, a 2 nd region based on a range of another lane adjacent to the host vehicle lane recognized by the driving support device having the lane maintaining function.

In the attention notifying device, the driving assistance function in the driving assistance device may be a preceding vehicle start notification function as follows: the vehicle control device includes an attention load reduction region setting unit configured to recognize a display state of a traffic signal ahead of the host vehicle and a traveling state of a 2 nd preceding vehicle ahead of the host vehicle, and notify the driver that the 2 nd preceding vehicle has started when a state where the traffic signal is displayed in a stopped state and the 2 nd preceding vehicle is stopped shifts to a state where the traffic signal is displayed in a traveling state and the 2 nd preceding vehicle starts, and the attention load reduction region setting unit sets a 3 rd region including a range occupied by the 2 nd preceding vehicle and excluding the range occupied by the traffic signal as the attention load reduction region.

In the above-described attention notifying apparatus, the display control unit may be configured to reduce the visual attractiveness of the virtual image by at least one of a process of reducing the luminance of the virtual image, a process of reducing the chromaticity of the virtual image, and a process of reducing the color difference between the virtual image and the background of the virtual image.

As a 3 rd means for achieving the above object, there is exemplified an attention calling method which is executed by a computer and includes: an object position recognition step of recognizing a position of an object in front of the host vehicle; and a display control step of controlling image display on a display device provided in the host vehicle and executing attention calling processing, the attention calling processing being processing for: causing the display device to display a virtual image corresponding to the object so that the virtual image overlaps with the object and is visually recognized by a driver of the host vehicle, based on the position of the object recognized by the object position recognition step, wherein the attention notifying method includes an attention load reduction region setting step of setting an attention load reduction region, which is a region monitored by the driving assistance device, using a driving assistance function that is exerted by an operation of the driving assistance device included in the host vehicle, identifying the position of the attention load reduction region with the attention load reduction region as the object, and the display control step of, based on the position of the attention load reduction region recognized by the object position recognition step, operating the driving assistance device, the attention calling process is executed by causing the display device to display the virtual image for the attention burden reduction region in a form in which the visual attractiveness of the virtual image is lower than that of a region other than the attention burden reduction region.

As a 4 th mode for achieving the above object, there is exemplified an attention calling method which is executed by a computer and includes: an object position recognition step of recognizing a position of an object existing in front of the host vehicle; and a display control step of controlling image display on a display device provided in the host vehicle and executing attention calling processing, the attention calling processing being processing for: wherein the attention notifying method includes an attention load reduction region setting step of setting an attention load reduction region by using a driving assistance function that is exerted by an operation of a driving assistance device provided in the host vehicle, the attention load reduction region being a region monitored by the driving assistance device, wherein the object position identifying step identifies a position of an object located in front of the host vehicle as the object, and wherein the display control step identifies the position of the object by the object position identifying step in the operation of the driving assistance device and the position of the object is within the attention load reduction region Then, the attention calling process is executed by causing the virtual image corresponding to the object to be displayed in the 2 nd display format in which the visual attractiveness of the virtual image is lower than in the region other than the attention burden reduction region.

In the attention calling method according to the above-described 4 th aspect, the display control step may be configured to execute the attention calling process by displaying the virtual image corresponding to the object in a 1 st display format having a higher visual attractiveness than that of the 2 nd display format when the position of the object is recognized in the target object position recognition step and the position of the object is outside the attention burden reduction region while the driving assistance device is in operation.

Effects of the invention

According to the above-described attention notifying device, the attention load reducing region that is the region monitored by the driving assistance device is set by the driving assistance function that is performed by the operation of the driving assistance device, and the display control unit executes the attention notifying process by displaying the virtual image of the attention load reducing region so that the visual attractiveness of the virtual image is lower than that of the region other than the attention load reducing region, in accordance with the position of the attention load reducing region recognized by the object position recognition unit, during the operation of the driving assistance device.

This can expect that the driver's attention is preferentially directed to the attention load reduction region, and therefore, it is possible to perform more appropriate attention calling in accordance with the state of the driver's attention load reduction realized by the operation of the driving assistance function.

Drawings

Fig. 1 is a configuration diagram of an attention calling device and a vehicle equipped with the attention calling device.

Fig. 2 is an explanatory view of an appearance of a front portion of the vehicle compartment.

Fig. 3 is an explanatory diagram of the HUD-based attention calling display.

Fig. 4 is a flowchart of the attention calling process.

Fig. 5 is an explanatory diagram of the attention load reduction region when the inter-vehicle distance maintaining function is operated.

Fig. 6 is an explanatory diagram of the attention calling display when the inter-vehicle distance maintaining function is operating.

Fig. 7 is an explanatory diagram of the attention load reduction region when the lane keeping function is operated.

Fig. 8 is an explanatory diagram of an attention calling display when the lane keeping function is operating.

Fig. 9 is an explanatory diagram of the attention load reduction region and the attention calling display when the preceding vehicle start notification function is activated.

Fig. 10 is an explanatory diagram of the head mounted display.

Description of the reference numerals

1: a host vehicle; 2: a windshield; a display area of the HUD; 10: an attention-reminding device; 20: a CPU; 21: an attention load reduction region setting unit; 22: an object position recognition unit; 23: a display control unit; 30: a memory; 31: a control program; 50: a driving assistance device; 51: an inter-vehicle distance maintenance control unit; 52: a lane maintenance control unit; 53: a preceding vehicle start notification control unit; 60: a front camera; 61: a radar; 62: HUD; 75: HMD.

Detailed Description

[1. Structure of attention calling device and vehicle ]

The configuration of the attention calling device 10 of the present embodiment and the host vehicle 1 equipped with the attention calling device 10 will be described with reference to fig. 1 to 3. The vehicle 1 includes an attention calling device 10, a driving assistance device 50, a front camera 60, a radar 61, an HMD (Head Mounted Display) 75, a HUD (Head Up Display) 62, a touch panel 63, a speed sensor 64, an acceleration sensor 65, an angular velocity sensor 66, a driving unit 70, a braking unit 71, a steering unit 72, a navigation device 80, and a communication unit 90, which are communicably connected to each other by a CAN (Controller Area Network) 100.

The HMD 75 and HUD 62 correspond to the display device of the present invention. Hereinafter, a case where the attention calling process is executed by controlling the display of the image on the HUD 62 will be described, but the same is true for the process when the attention calling process is executed by controlling the display of the image on the HMD 75.

As shown in fig. 2, the front camera 60 is disposed, for example, on the upper portion of the windshield 2 of the vehicle 1, and images the front of the vehicle 1. The radar 61 is disposed, for example, on a front grille (not shown) of the vehicle 1, and detects a position of an object existing in front of the vehicle 1. The HUD 62 projects and displays various information display images on the predetermined display area 3 of the windshield 2. The image projected by the HUD 62 is visually recognized by the driver of the vehicle 1 through the windshield 2.

The touch panel 63 displays information corresponding to an occupant of the vehicle 1, and detects a touch operation of the occupant. The speed sensor 64 detects the traveling speed of the vehicle 1, and the acceleration sensor 65 detects the acceleration of the vehicle 1. The angular velocity sensor 66 detects the angular velocity of the vehicle 1. The driving unit 70, the braking unit 71, and the steering unit 72 perform travel driving, deceleration, and steering of the vehicle 1, respectively.

The navigation device 80 includes a GPS (Global Positioning System) receiver 81 for detecting the current position of the vehicle 1 and map data 82, and performs route guidance to a destination. The communication unit 90 performs communication with a communication terminal, road equipment, a server, and the like.

The driving assistance device 50 is a control unit configured by a CPU, a memory, and the like, which are not shown. The driving assistance device 50 executes a driving assistance process for assisting the driving of the vehicle 1 by controlling the operations of the driving unit 70, the braking unit 71, and the steering unit 72 based on the situation around the vehicle 1 recognized by the front camera 60 and the radar 61, the traveling situation of the vehicle 1 detected by the speed sensor 64, the acceleration sensor 65, and the angular velocity sensor 66, the situation of the road on which the vehicle 1 is traveling detected by the navigation device 80, the traffic situation received by the communication unit 90, and the like.

In the present embodiment, the driving assistance device 50 includes: an inter-vehicle distance maintenance control unit 51 that executes inter-vehicle distance maintenance control for implementing an inter-vehicle distance maintenance function; a lane keeping control unit 52 that executes lane keeping control for implementing a lane keeping function; and a preceding vehicle start notification control unit 53 that executes preceding vehicle start notification control for implementing the preceding vehicle start notification function. The following describes the details of the inter-vehicle distance maintaining function, the lane maintaining function, and the preceding vehicle start notification function.

The attention calling device 10 is a control unit configured by a CPU 20 (corresponding to a computer of the present invention), a memory 30, and the like. The CPU 20 reads and executes the control program 31 of the attention calling device 10 stored in the memory 30, thereby functioning as the attention load reduction region setting unit 21, the object position recognition unit 22, and the display control unit 23.

The process executed by the object position recognition unit 22 corresponds to the object position recognition step in the attention calling method of the present invention, and the process executed by the attention load reduction region setting unit 21 corresponds to the attention load reduction region setting step in the attention calling method of the present invention. The processing executed by the display control section 23 corresponds to the display control step in the attention calling method of the present invention.

The attention load reduction region setting unit 21 sets a region to be monitored by the driving assistance device 50, that is, an attention load reduction region, by using an inter-vehicle distance maintaining function, a lane maintaining function, or a preceding vehicle start notification function, which are performed by the driving assistance device 50. The object position recognition unit 22 recognizes the position of an object (another vehicle, a pedestrian, road facilities, or the like) as the object in the attention reduction region located in front of the vehicle 1.

The display control unit 23 controls the image display based on the HUD 62 to execute the attention calling process of performing the attention calling display for the driver of the host vehicle 1. Fig. 3 illustrates the attention calling display in the case where the object position recognition unit 22 recognizes the positions of the preceding vehicles 200 and 210. In the example of fig. 3, the display control unit 23 projects virtual images 200a, 210a of the preceding vehicles 200, 210 onto the windshield 2 via the HUD 62. At this time, the display control unit 23 sets the projection positions of the virtual images 200a and 210a so that the virtual image 200a overlaps the front vehicle 200 and is visually recognized by the driver through the windshield 2, and so that the virtual image 210a overlaps the front vehicle 210 and is visually recognized by the driver through the windshield 2. This makes it possible for the driver to easily visually recognize the position of the preceding vehicle 200, 210, and to draw attention to the preceding vehicle 200, 210. The shape of the virtual image is not limited to the frame surrounding the object shown in fig. 3, and may be a shape covering the entire object.

[2 ] attention calling process according to operation of drive assist apparatus ]

The attention calling process executed by the display control unit 23 in accordance with the driving assistance function (inter-vehicle distance maintaining function, lane maintaining function, preceding vehicle start notifying function) described above, which is performed by the operation of the driving assistance device 50, will be described with reference to the flowchart shown in fig. 4. The attention calling device 10 repeatedly executes the processing of the flowchart shown in fig. 4 while using the vehicle 1.

Steps S1 to S2 in fig. 4 are processes of the attention load reduction region setting unit 21. The attention load reduction region setting portion determines whether or not the driving assistance function is in operation in step S1, and advances the process to step S2 when the driving assistance function is in operation. In step S2, the attention load reduction region setting unit 21 sets the attention load reduction region based on the driving assistance function being operated.

In the next step S3, the display control portion 23 projects the virtual image of the attention load reducing region to the windshield 2 with the HUD 62 in a display form that is lower in visual attractiveness than the surrounding region. This makes it possible to give priority to the attention of the driver to a range outside the attention load reduction region than to the attention load reduction region. Here, as a method of reducing the visual attractiveness of the virtual image, for example, any of the following methods (1) to (3), or any combination of (1) to (3) may be employed.

(1) The luminance of the corresponding virtual image is made lower than the actual luminance of the object and lower than the surrounding area.

(2) The chromaticity of the corresponding virtual image is made lower than the actual chromaticity of the object and lower than the surrounding area.

(3) The hue difference between the corresponding virtual image and the background of the virtual image is made smaller than the actual hue difference between the object and the background of the object.

When the visual attractiveness of the virtual image is reduced by the above-described (1) to (3), the display control unit 23 sets the color of the virtual image in the attention load reduction region to a color close to the luminance, chromaticity, and hue of the road surface around the attention load reduction region, and superimposes and displays the color in the attention load reduction region. The display control unit 23 recognizes the brightness, chromaticity, and hue of the attention load reduction region from the captured image of the front camera 60. Here, since the recognized color changes depending on the environment of the road surface (daytime, nighttime, sunset, road surface paint, rainy day, etc.), the display control unit 23 sequentially recognizes the luminance, chromaticity, and color tone of the road surface when the attention calling process is performed from the captured image of the front camera 60, and adjusts the color of the virtual image in the attention load reduction region.

When the region including the preceding vehicle is set as the attention load reduction region, the display control unit 23 sets a color having a luminance, a chromaticity, and a hue close to those of the surrounding color of the preceding vehicle. In addition to the color of the road surface, the color of the surroundings of the vehicle ahead affects structures such as plants and buildings around the road in situations such as a narrow road, and affects sunset and blue sky in places where the sky is open. Therefore, the display control unit 23 sequentially recognizes the colors of the surroundings of the front vehicle when the attention calling process is executed from the captured image of the front camera 60, and adjusts the color of the virtual image of the attention load reduction region.

The following steps S4 to S5 are processing performed by the object position recognition unit 22. In step S4, the object position recognition unit 22 searches for an object in front of the host vehicle 1 as an object based on the captured image of the front camera 60 and the position detection information of the radar 61. In the next step S5, the object position recognition unit 22 advances the process to step S6 when an object is detected, and advances the process to step S1 when an object is not detected.

When a plurality of objects are detected, the processing of steps S6 to S7 and S10 is executed for each object to display a virtual image of each object. In step S6, the display control unit 23 determines whether or not the position of the detected object is within the attention load reducing region. Then, when the position of the object is outside the attention burden reduction region, the display control unit 23 advances the process to step S10 to superimpose and display the virtual image of the object on the object in the 1 st display format by the HUD 62.

On the other hand, when the position of the object is within the attention burden reduction region, the display control unit 23 advances the process to step S7 to superimpose and display the virtual image of the object on the object in the 2 nd display format having a lower visual attractiveness than that of the 1 st aspect by the HUD 62. In this case, the display control unit 23 also reduces the visual attractiveness of the virtual image of the object displayed in the 2 nd display format by the above-described methods (1) to (3). Thus, the driver's attention is more likely to be directed toward an object outside the attention load reduction region than to an object inside the attention load reduction region, and attention to an object outside the attention load reduction region can be promoted.

[3. attention calling processing corresponding to the operation of the inter-vehicle distance maintaining function ]

With reference to fig. 5 and 6, the attention calling process executed by the attention calling device 10 when the inter-vehicle distance maintaining control is executed by the inter-vehicle distance maintaining control unit 51 and the inter-vehicle distance maintaining function is operating will be described.

Fig. 5 shows a situation in which the preceding vehicle 320 and the preceding vehicle 321 are traveling ahead of the host vehicle 1. In this case, the inter-vehicle distance maintenance control unit 51 recognizes the preceding vehicle 320 (corresponding to the 1 st preceding vehicle of the present invention) by the front camera 60, and detects the position of the preceding vehicle 320 by the radar 61. Then, the inter-vehicle distance maintenance control unit 51 controls the operations of the driving unit 70, the braking unit 71, and the steering unit 72 so that the own vehicle 1 travels following the preceding vehicle 320 while maintaining the distance between the own vehicle 1 and the preceding vehicle 320 at a constant distance set according to the traveling speed of the own vehicle 1.

The attention load reduction region setting unit 21 sets a range 301 from the front end of the host vehicle 1 to the front end of the preceding vehicle 320 of the host vehicle lane 300 on which the host vehicle 1 is traveling as an attention load reduction region 310 (corresponding to the 1 st region of the present invention). The object position recognition unit 22 recognizes the position of the attention load reduction region 310. As shown in fig. 6, the display control unit 23 displays a virtual image 310a of the attention burden reduction region 310 by the HUD 62 so as to overlap the attention burden reduction region 310, based on the position of the attention burden reduction region 310 recognized by the object position recognition unit 22.

Further, the display control unit 23 displays the virtual image 321a of the preceding vehicle 321 positioned outside the attention burden reduction region 310 (here, in front of the attention burden reduction region 310) in the 1 st display format, and displays the virtual image 320a of the preceding vehicle 230 in the attention burden reduction region 310 in the 2 nd display format having a lower visual attractiveness than in the 1 st display format. This makes it easier for the driver of the host vehicle 1 to direct his or her attention to the preceding vehicle 321 traveling ahead of the attention load reduction region 310 than to the preceding vehicle 320 in front of the vehicle, thereby promoting attention to the preceding vehicle 321. In addition, fig. 6 shows a case where the virtual image 321a corresponding to the preceding vehicle 321 located outside the attention load reduction region 310 is displayed in the 1 st display form having higher visual attractiveness than the 2 nd display form, but there is also a case where the virtual image 321a corresponding to the preceding vehicle 321 is not displayed.

[4. attention calling processing corresponding to the operation of the lane keeping function ]

With reference to fig. 7 and 8, a description will be given of processing performed by the attention calling device 10 in a case where the lane keeping control is performed by the lane keeping control portion 52 and the lane keeping function is operating.

Fig. 7 shows a situation in which the front vehicle 420 and the front vehicle 421 are traveling ahead of the own vehicle 1. In this case, the lane keeping control unit 52 recognizes the boundary lines 405 and 406 between the own vehicle lane 401, on which the own vehicle 1 is traveling, and the adjacent other lanes 400 and 402 by the front camera 60, and detects the positions of the boundary lines 405 and 406 by the radar 61. The lane keeping control unit 52 executes steering control of the vehicle 1 by the steering unit 72 so that the host vehicle 1 travels near the center of the host vehicle lane 401 divided by the boundary lines 405 and 406.

The attention load reduction region setting unit 21 sets the range ahead of the front portion of the host vehicle 1 of the other lanes 400 and 402 adjacent to the host vehicle lane 401 on which the host vehicle 1 is traveling as the attention load reduction regions 410 and 411 (corresponding to the 2 nd region of the present invention). The object position recognition unit 22 recognizes the positions of the attention load reduction regions 410 and 411. As shown in fig. 8, the display control unit 23 displays a virtual image 410a of the attention burden reduction region 410 by the HUD 62 so as to overlap the attention burden reduction region 410, based on the position of the attention burden reduction region 410 recognized by the object position recognition unit 22. Further, the display control unit 23 displays a virtual image 411a of the attention burden reduction region 411 by the HUD 62 so as to overlap the attention burden reduction region 411, based on the position of the attention burden reduction region 411 recognized by the object position recognition unit 22.

In this case, the display control unit 23 sets the visual attractiveness of the virtual image 410a of the attention burden reduction region 410 and the virtual image 411a of the attention burden reduction region 411 to be lower than that of the surrounding region. This allows the driver of the vehicle 1 to be more attentive to the own vehicle lane 401 than to the adjacent lanes 400 and 402. Further, the display control unit 23 displays the virtual image 420a of the preceding vehicle 420 so as to overlap with the preceding vehicle 420, and displays the virtual image 421a of the preceding vehicle 421 so as to overlap with the preceding vehicle 421.

[5. attention-calling process corresponding to operation of preceding vehicle start notification function ]

With reference to fig. 9, a description will be given of a process executed by the attention calling device 10 when the preceding vehicle start notification control is executed by the preceding vehicle start notification control unit 53 and the preceding vehicle start notification function is operating.

Fig. 9 shows a state in which a preceding vehicle 520 (corresponding to the 2 nd preceding vehicle of the present invention) of the host vehicle 1 stops in response to a stop display (for example, lighting of a red light) of the traffic light 530. The preceding vehicle start notification control unit 53 recognizes the display state of the traffic signal 530 from the captured image of the front camera 60. In addition, the display state of the traffic signal 530 may be recognized by road-to-vehicle communication between the traffic signal 530 and the vehicle 1. The preceding vehicle start notification control unit 53 recognizes that the preceding vehicle 520 has started, based on the change in the position of the preceding vehicle 520 detected by the radar 61.

When the display of the traffic signal 530 is changed from the stop display to the travel display (for example, the green light is turned on) and the preceding vehicle 520 starts, the preceding vehicle start notification control unit 53 notifies the driver of the vehicle 1 that the preceding vehicle 520 has started, for example, by outputting a guidance sound from a speaker (not shown).

As shown in S1 of fig. 9, the attention load reduction region setting unit 21 sets the range including the preceding vehicle 520 and excluding the traffic signal 530 as the attention load reduction region 510 (corresponding to the 3 rd region of the present invention). The object position recognition unit 22 recognizes the position of the attention load reduction region 510. Then, the display control unit 23 displays a virtual image 510a of the attention burden reduction region 510 by the HUD 62 so as to overlap the attention burden reduction region 510, based on the position of the attention burden reduction region 510 recognized by the object position recognition unit 22. In this case, the display control unit 23 sets the visual attractiveness of the virtual image 510a of the attention load reduction region 510 to be lower than that of the surrounding region. This makes it possible to give priority to the attention of the driver of the vehicle 1 that is parked toward the traffic signal 530 rather than the preceding vehicle 520.

When the preceding vehicle start notification control unit 53 recognizes that the traffic signal 530 has been switched to the travel display and the preceding vehicle 520 has started, the display control unit 23 ends the display of the virtual image 510a of the attention load reduction region 510 as shown in S2 of fig. 9. This makes it possible to make the driver of the vehicle 1 recognize that the preceding vehicle 520 has started, and to prompt the vehicle 1 to start quickly.

[6 ] other embodiments ]

In the above-described embodiment, as shown in fig. 6, the display control unit 23 displays the virtual image 310a of the attention load reduction region 310 and the virtual image 320a of the preceding vehicle 320 in the attention load reduction region 310 during the operation of the inter-vehicle distance maintaining function, but may display only one of the virtual images.

In the above-described embodiment, the inter-vehicle distance maintaining function, the lane maintaining function, and the preceding vehicle start notification function are exemplified as the driving assistance functions, but the present invention is applicable to a case where an attention load reduction region is generated in comparison with the driving assistance function exerted by the operation of the driving assistance function device with respect to the other driving assistance functions.

In the above embodiment, the display control unit 23 controls the image display to the HUD 62 to execute the attention calling process, but may control the image display to the HMD 75 to execute the attention calling process. Here, the structure of the HMD 75 will be described with reference to fig. 10. The HMD 75 includes: a display panel 75b provided in goggles (not shown) worn by the driver; an illumination unit 75a disposed on the rear surface side of the display panel 75b, for irradiating the display panel 75b with illumination light; an optically transmissive mirror 75 d; and a projection lens 75c provided between the display panel 75b and the reflecting mirror 75 d. The mirror 75d reflects light half and transmits light half, for example, so that the driver can see the scene outside the vehicle.

Then, the light emitted from the illumination unit 75a passes through the display panel 75b and is emitted to the driver's eye E via the projection lens 75c and the reflection mirror 75d, whereby the image displayed on the display panel 75b is directly formed on the retina of the driver's eye E. Thereby, the driver's eye E recognizes the virtual image V at a distance corresponding to the length of the optical path. In this way, as in the case of the HUD 62, the HMD 75 can make the virtual image of the object overlap with the object and allow the driver to visually confirm the object.

Fig. 1 is a schematic diagram showing the configuration of the attention calling device 10 in a manner differentiated according to the main processing contents in order to facilitate understanding of the invention of the present application, and the configuration of the attention calling device 10 may be configured by other means. The processing of each component may be executed by one hardware unit, or may be executed by a plurality of hardware elements. The processing of each component shown in fig. 4 may be executed by one program or may be executed by a plurality of programs.

[7 ] Structure supported by the above-described embodiment ]

The above embodiment is a specific example of the following structure.

(claim 1) an attention-calling device comprising: an object position recognition unit that recognizes a position of an object in front of the vehicle; and a display control unit that controls image display on a display device provided in the host vehicle and executes attention calling processing, the attention calling processing being processing for: causing the display device to display a virtual image corresponding to the object so that the virtual image is superimposed on the object and visually recognized by a driver of the host vehicle, based on the position of the object recognized by the object position recognition unit, wherein the attention notifying device includes an attention load reducing region setting unit that sets an attention load reducing region that is a region monitored by the driving assistance device, using a driving assistance function that is exerted by an operation of the driving assistance device included in the host vehicle, the object position recognition unit recognizes the position of the attention load reducing region with the attention load reducing region as the object, and the display control unit recognizes the position of the attention load reducing region based on the position of the attention load reducing region recognized by the object position recognition unit during the operation of the driving assistance device, the attention calling process is executed by causing the virtual image for the attention burden reduction region to be displayed in a form in which the visual attractiveness of the virtual image is lower than that of a region other than the attention burden reduction region.

According to the attention calling device of claim 1, the attention load reducing region that is the region monitored by the driving assistance device is set by the driving assistance function that is performed by the operation of the driving assistance device, and the display control unit executes the attention calling process by displaying the virtual image of the attention load reducing region so that the visual attractiveness of the virtual image is lower than that of the region other than the attention load reducing region, based on the position of the attention load reducing region recognized by the object position recognition unit during the operation of the driving assistance device. This can expect that the driver's attention is preferentially directed to the attention load reduction region, and therefore, it is possible to perform more appropriate attention calling in accordance with the state of the driver's attention load reduction realized by the operation of the driving assistance function.

(claim 2) the attention calling device according to claim 1, wherein the object position recognition unit recognizes a position of an object located in front of the host vehicle as the object, when the position of the object is recognized by the object position recognition portion in operation of the driving assistance apparatus, the display control section causes the virtual image of the object to be displayed in a 1 st display form to execute the attention calling process when the position of the object is outside the attention burden reduction region, when the position of the object is within the attention burden reduction region, the display control unit causes the virtual image of the object to be displayed in a 2 nd display form having a lower visual attractiveness than the 1 st display form, thereby executing the attention calling process.

According to the attention calling device of claim 2, the driver can be alerted to the attention of the object located outside the attention burden reduction region, as compared with the object located inside the attention burden reduction region.

(claim 3) an attention-calling device comprising: an object position recognition unit that recognizes a position of an object present in front of the host vehicle; and a display control unit that controls image display on a display device provided in the host vehicle and executes attention calling processing, the attention calling processing being processing for: wherein the attention notifying device includes an attention load reducing region setting unit that sets an attention load reducing region that is a region monitored by the driving assistance device using a driving assistance function exerted by operation of the driving assistance device of the host vehicle, wherein the object position identifying unit identifies a position of the object with an object located in front of the host vehicle as the object, and wherein, when the position of the object is identified by the object position identifying unit during operation of the driving assistance device and the position of the burden object is within the attention load reducing region, the display control unit executes the attention calling process by displaying the virtual image corresponding to the object in a 2 nd display format in which the virtual image has a lower visual attractiveness than in a region other than the attention burden reduction region. .

According to the attention calling device of item 3, the region monitored by the driving assistance device, that is, the attention load reduction region is set by using the driving assistance function exerted by the operation of the driving assistance device. Further, when the position of the object is within the attention burden reduction region, the display control unit causes the virtual image of the object to be displayed in the 2 nd display form in which the visual attractiveness of the virtual image is lower than in a region other than the attention burden reduction region, thereby executing the attention calling process. This makes it possible to direct the driver's attention to an object located outside the attention load reduction region, as compared with an object located inside the attention load reduction region, thereby making it possible to provide attention.

(claim 4) the attention notifying device according to any one of claims 1 to 3, wherein the driving assistance function in the driving assistance device is an inter-vehicle distance maintaining function of: the attention load reduction region setting unit sets, as the attention load reduction region, a 1 st region based on the position of the 1 st preceding vehicle recognized by the driving assistance device having the inter-vehicle distance maintaining function.

According to the attention calling device of claim 4, when the inter-vehicle distance maintaining function is operating, the driver's attention can be directed to the outside of the attention load reduction region as compared to the inside of the attention load reduction region.

(claim 5) the attention calling device according to any one of claims 1 to 4, wherein,

the driving assistance function in the driving assistance device is a lane maintaining function as follows: the attention load reduction region setting unit sets, as the attention load reduction region, a 2 nd region based on a range of another lane adjacent to the host vehicle lane recognized by the driving support device having the lane maintaining function.

According to the attention calling device of claim 5, when the lane keeping function is operating, the driver's attention can be directed to the outside of the attention load reduction region as compared with the inside of the attention load reduction region.

(claim 6) the attention notifying device according to any one of claims 1 to 5, wherein the driving assistance function in the driving assistance device is a preceding vehicle start notification function of: the vehicle control device includes an attention load reduction region setting unit configured to recognize a display state of a traffic signal ahead of the host vehicle and a traveling state of a 2 nd preceding vehicle ahead of the host vehicle, and notify the driver that the 2 nd preceding vehicle has started when a state where the traffic signal is displayed in a stopped state and the 2 nd preceding vehicle is stopped shifts to a state where the traffic signal is displayed in a traveling state and the 2 nd preceding vehicle starts, and the attention load reduction region setting unit sets a 3 rd region including a range occupied by the 2 nd preceding vehicle and excluding the range occupied by the traffic signal as the attention load reduction region.

According to the attention notifying device of claim 6, when the host vehicle start notifying function is operating, the driver's attention can be directed to the outside of the attention load reducing region as compared with the inside of the attention load reducing region.

(claim 7) the attention notifying device according to any one of claims 1 to 6, wherein the display control portion reduces the visual attractiveness of the virtual image by at least any one of a process of reducing the luminance of the virtual image, a process of reducing the chromaticity of the virtual image, and a process of reducing a hue difference between the virtual image and a background of the virtual image.

According to the attention calling device of claim 7, the visual attractiveness of the virtual image can be reduced by adjusting the luminance, the chromaticity, and the hue difference.

(technical means 8) an attention calling method, which is executed by a computer, comprising: an object position recognition step of recognizing a position of an object in front of the host vehicle; and a display control step of controlling image display on a display device provided in the host vehicle and executing attention calling processing, the attention calling processing being processing for: causing the display device to display a virtual image corresponding to the object so that the virtual image overlaps with the object and is visually recognized by a driver of the host vehicle, based on the position of the object recognized by the object position recognition step, wherein the attention notifying method includes an attention load reduction region setting step of setting an attention load reduction region, which is a region monitored by the driving assistance device, using a driving assistance function that is exerted by an operation of the driving assistance device included in the host vehicle, identifying the position of the attention load reduction region with the attention load reduction region as the object, and the display control step of, based on the position of the attention load reduction region recognized by the object position recognition step, operating the driving assistance device, the attention calling process is executed by causing the display device to display the virtual image for the attention burden reduction region in a form in which the visual attractiveness of the virtual image is lower than that of a region other than the attention burden reduction region.

The configuration of the attention calling device according to claim 1 can be realized by executing the attention calling method according to claim 8 by a computer.

(technical means 9) an attention calling method, which is executed by a computer, comprising: an object position recognition step of recognizing a position of an object existing in front of the host vehicle; and a display control step of controlling image display on a display device provided in the host vehicle and executing attention calling processing, the attention calling processing being processing for: wherein the attention notifying method includes an attention load reduction region setting step of setting an attention load reduction region by using a driving assistance function that is exerted by an operation of a driving assistance device provided in the host vehicle, the attention load reduction region being a region monitored by the driving assistance device, wherein the object position identifying step identifies a position of an object located in front of the host vehicle as the object, and wherein the display control step identifies the position of the object by the object position identifying step in the operation of the driving assistance device and the position of the object is within the attention load reduction region Then, the attention calling process is executed by causing the virtual image corresponding to the object to be displayed in the 2 nd display format in which the visual attractiveness of the virtual image is lower than in the region other than the attention burden reduction region.

The configuration of the attention calling device according to claim 3 can be realized by executing the attention calling method according to claim 9 by a computer.

(claim 10) the attention calling method according to claim 9, wherein in the display control step, when the position of the object is recognized by the object position recognition step and the position of the object is outside the attention burden reduction region while the driving assistance device is operating, the attention calling process is executed by displaying the virtual image corresponding to the object in a 1 st display format having a higher visual attractiveness than the 2 nd display format.

According to the attention calling method of claim 10, the driver's attention can be directed to an object existing outside the attention burden reduction region as compared with the object existing inside the attention burden reduction region.