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US-12617283-B2 - Driving assistance apparatus, driving assistance method, and non-transitory recording medium

US12617283B2US 12617283 B2US12617283 B2US 12617283B2US-12617283-B2

Abstract

A driving assistance apparatus configured to assist driving of a vehicle by a driver who drives the vehicle: acquires, from at least one environment recognition device provided at a location other than the vehicle, measurement range data of the environment recognition device and measurement result data obtained by the environment recognition device; causes the measurement range data and the measurement result data visually recognizable by the vehicle's driver to be displayed on an image display in a superimposed manner on map data, a real space, or a captured image of the real space; and causes a display of a non-measurement range to be shifted to the display of the non-measurement range as time elapses when the measurement range of the environment recognition device in the real space changes. The display of the non-measurement range is a display of a range deviating from the measurement range and not being measured.

Inventors

  • Ikuo Goto

Assignees

  • Subaru Corporation

Dates

Publication Date
20260505
Application Date
20240618

Claims (12)

  1. 1 . A driving assistance apparatus configured to assist driving of a vehicle by a driver who drives the vehicle, the driving assistance apparatus comprising: one or more processors; and one or more memories communicably coupled to the one or more processors, wherein the one or more processors are configured to: acquire, from at least one environment recognition device provided at a location other than the vehicle, data on a measurement range of the environment recognition device and data on a measurement result obtained by the environment recognition device; cause the data on the measurement range and the data on the measurement result that are visually recognizable by the driver of the vehicle to be displayed on an image display in a superimposed manner on map data, a real space, or a captured image of the real space; and when the measurement range of the environment recognition device in the real space changes as time elapses, (i) cause, for a region that has moved out of the measurement range and is no longer measured, the region to be displayed on the image display as a non-measurement range, and (ii) cause a display mode of the non-measurement range on the image display to be changed according to how long the region has been outside the measurement range.
  2. 2 . The driving assistance apparatus according to claim 1 , wherein the one or more processors are configured to cause a mobile body detected by the environment recognition device to be displayed in the superimposed manner, and cause the displaying of the mobile body to be continued even after the mobile body becomes no longer detected by the environment recognition device.
  3. 3 . The driving assistance apparatus according to claim 2 , wherein the one or more processors are configured to, when the mobile body is moving toward a region ahead in a moving direction of the vehicle, cause a display mode of the mobile body to be gradually changed after the mobile body becomes no longer detected by the environment recognition device.
  4. 4 . The driving assistance apparatus according to claim 3 , wherein the one or more processors are configured to estimate a moving range of the mobile body after the mobile body becomes no longer detected by the environment recognition device, based on a position and a moving speed of the mobile body, and cause an existing range in which the mobile body is assumed to exist to be displayed.
  5. 5 . The driving assistance apparatus according to claim 2 , wherein the one or more processors are configured to, when the mobile body has been stopped or moving in a direction away from a region ahead in a moving direction of the vehicle, cause the displaying of the mobile body to be continued at a position detected before the mobile body becomes no longer detected by the environment recognition device.
  6. 6 . The driving assistance apparatus according to claim 1 , wherein the one or more processors are configured to cause a measurement range of a surrounding environment recognition device mounted on the vehicle to be displayed on the image display in the superimposed manner on the map data, the real space, or the captured image of the real space.
  7. 7 . A driving assistance method that assists driving of a vehicle by a driver who drives the vehicle, the method comprising: acquiring, from at least one environment recognition device provided at a location other than the vehicle, data on a measurement range of the environment recognition device and data on a measurement result obtained by the environment recognition device; causing the data on the measurement range and the data on the measurement result that are visually recognizable by the driver of the vehicle to be displayed on an image display in a superimposed manner on map data, a real space, or a captured image of the real space; and when the measurement range of the environment recognition device in the real space changes as time elapses, (i) causing, for a region that has moved out of the measurement range and is no longer measured, the region to be displayed on the image display as a non-measurement range, and (ii) causing a display mode of the non-measurement range on the image display to be changed according to how long the region has been outside the measurement range.
  8. 8 . A non-transitory tangible computer readable recording medium containing a program, the program causing, when executed by a computer, the computer to implement a method, the method comprising: acquiring, from at least one environment recognition device provided at a location other than a vehicle, data on a measurement range of the environment recognition device and data on a measurement result obtained by the environment recognition device; causing the data on the measurement range and the data on the measurement result that are visually recognizable by a driver who drives the vehicle to be displayed on an image display in a superimposed manner on map data, a real space, or a captured image of the real space; and when the measurement range of the environment recognition device in the real space changes as time elapses, (i) causing, for a region that has moved out of the measurement range and is no longer measured, the region to be displayed on the image display as a non-measurement range, and (ii) causing a display mode of the non-measurement range on the image display to be changed according to how long the region has been outside the measurement range.
  9. 9 . A driving assistance apparatus configured to assist driving of a vehicle by a driver who drives the vehicle, the driving assistance apparatus comprising: one or more processors; and one or more memories communicably coupled to the one or more processors, wherein the one or more processors are configured to acquire, from at least one environment recognition device provided at a location other than the vehicle, data on a measurement range of the environment recognition device and data on a measurement result obtained by the environment recognition device, cause the data on the measurement range and the data on the measurement result that are visually recognizable by the driver of the vehicle to be displayed on an image display in a superimposed manner on map data, a real space, or a captured image of the real space, and cause a display of a non-measurement range to be shifted to the display of the non-measurement range as time elapses when the measurement range of the environment recognition device in the real space changes, the display of the non-measurement range being a display of a range that deviates from the measurement range and is not being measured, wherein the one or more processors are configured to cause a mobile body detected by the environment recognition device to be displayed in the superimposed manner, and cause the displaying of the mobile body to be continued even after the mobile body becomes no longer detected by the environment recognition device.
  10. 10 . The driving assistance apparatus according to claim 9 , wherein the one or more processors are configured to, when the mobile body is moving toward a region ahead in a moving direction of the vehicle, cause the displaying of the mobile body to be gradually changed after the mobile body becomes no longer detected by the environment recognition device.
  11. 11 . The driving assistance apparatus according to claim 10 , wherein the one or more processors are configured to estimate a moving range of the mobile body after the mobile body becomes no longer detected by the environment recognition device, based on a position and a moving speed of the mobile body, and cause an existing range in which the mobile body is assumed to exist to be displayed.
  12. 12 . The driving assistance apparatus according to claim 9 , wherein the one or more processors are configured to, when the mobile body has been stopped or moving in a direction away from a region ahead in a moving direction of the vehicle, cause the displaying of the mobile body to be continued at a position detected before the mobile body becomes no longer detected by the environment recognition device.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS This application is continuation of International Application No. PCT/JP2023/001386, filed on Jan. 18, 2023, the entire contents of which are hereby incorporated by reference. BACKGROUND The disclosure relates to a driving assistance apparatus, a driving assistance method, and a non-transitory recording medium. As a technique that prevents an unexpected event at an intersection, a technique is known in which a vehicle to be assisted acquires data on another vehicle detected by, for example, a sensor or a camera provided at a location other than the vehicle to be assisted using a vehicle-to-vehicle communication system or a road-to-vehicle communication system, and gives, for example, a warning to a driver who drives the vehicle to be assisted. For example, Japanese Unexamined Patent Application Publication (JP-A) No. 2002-340583 proposes a surrounding vehicle data providing apparatus that uses vehicle-to-vehicle communication to appropriately display, to a driver who drives a vehicle, a traffic condition of surroundings including surrounding vehicles. For example, JP-A No. 2002-340583 discloses a technique that: acquires, from a radar device, data indicating a condition around an own vehicle such as presence or absence of an obstacle in front of the own vehicle; acquires, from vehicle-mounted sensors, data indicating a traveling state such as a traveling speed of the own vehicle; grasps, by a navigation device, a position of the own vehicle and a road on which the own vehicle travels; extracts data on an intersection that the own vehicle is to pay attention to from a traveling viewpoint; acquires, from another vehicle around the own vehicle using a wireless communication device, data indicating a traveling state of the other vehicle such as a relative position and an azimuth with respect to the own vehicle; determines, for example, a position and a vehicle type regarding the other vehicle traveling toward the identified intersection, based on the data indicating the traveling state of the other vehicle; determines a possibility that the traveling of the own vehicle affects the other vehicle; and extracts the other vehicle that is likely to be affected to provide data to be displayed on a display as a character. Further, JP-A No. 2010-224762 discloses a data providing apparatus that provides an occupant of a vehicle having a vehicle-to-vehicle communication capability with data on a mobile object that has no vehicle-to-vehicle communication capability and has a possibility of approaching the vehicle on a course of the vehicle. For example, the data providing apparatus has been proposed that transmits: data on an own vehicle; data on the mobile object including a position, a traveling speed, and a traveling direction of the mobile object; and a time at which these pieces of data are obtained, to a base station. The data providing apparatus receives prediction data, calculated at the base station, on the mobile object that exists within a predetermined range including the position of the own vehicle. The data providing apparatus provides the data to the occupant of the own vehicle. SUMMARY An aspect of the disclosure provides a driving assistance apparatus configured to assist driving of a vehicle by a driver who drives the vehicle. The driving assistance apparatus includes one or more processors and one or more memories communicably coupled to the one or more processors. The one or more processors are configured to: acquire, from at least one environment recognition device provided at a location other than the vehicle, data on a measurement range of the environment recognition device and data on a measurement result obtained by the environment recognition device; cause the data on the measurement range and the data on the measurement result that are visually recognizable by the driver of the vehicle to be displayed on an image display in a superimposed manner on map data, a real space, or a captured image of the real space; and cause a display of a non-measurement range to be shifted to the display of the non-measurement range as time elapses when the measurement range of the environment recognition device in the real space changes, the display of the non-measurement range being a display of a range that deviates from the measurement range and is not being measured. An aspect of the disclosure provides a driving assistance method that assists driving of a vehicle by a driver who drives the vehicle. The method includes: acquiring, from at least one environment recognition device provided at a location other than the vehicle, data on a measurement range of the environment recognition device and data on a measurement result obtained by the environment recognition device; causing the data on the measurement range and the data on the measurement result that are visually recognizable by the driver of the vehicle to be displayed on an image display in a superimposed manner on