JP6948209B2 - Driving support device and driving support method - Google Patents

Description

The present invention relates to a driving support device and a driving support method.

Conventionally, in Patent Document 1 below, a vehicle steering wheel is provided with a visual pattern P2 that moves independently of the steering wheel operation based on the calculated required steering wheel amount and the detected current steering wheel amount of the steering wheel 1. It is described that the visual pattern P1 that moves in conjunction with the operation of the wheel is moved.

Further, Patent Document 2 below describes a technique for highly reliable determination of a collision with an approaching object approached by the own vehicle even when the own vehicle is stopped or traveling at a low speed.

Japanese Unexamined Patent Publication No. 2006-298196 Japanese Unexamined Patent Publication No. 2014-149741

The technique described in Patent Document 1 calculates the required steering amount required for the own vehicle to travel on the center of the lane from the current lateral displacement amount of the own vehicle with respect to the center of the lane of the traveling lane, and the required steering amount. The visual pattern is moved based on the value obtained by subtracting the current steering amount from. However, with such a method, it is difficult for the driver to perform optimum steering in order to avoid a collision with an obstacle.

Therefore, the present invention has been made in view of the above problems, and an object of the present invention is that the driver can perform optimum steering in order to avoid a collision with an obstacle. The purpose is to provide new and improved driving support devices and driving support methods.

In order to solve the above problems, according to a certain viewpoint of the present invention, an obstacle determination unit that determines whether or not an obstacle exists in front of the vehicle and a display that moves according to the operation of the steering wheel are displayed. The display control unit includes a display control unit that controls the movement of the display object with respect to the movement of the steering wheel when it is determined that the obstacle is present. When the determination is made, a driving support device for controlling the display of the display object so that the movement of the display object becomes faster with respect to the movement of the steering wheel is provided. Further, in order to solve the above problems, according to another viewpoint of the present invention, an obstacle determination unit that determines whether or not an obstacle exists in front of the vehicle and a display that moves according to the operation of the steering wheel. A display control unit that controls the display of an object and controls the movement of the displayed object with respect to the movement of the steering wheel when it is determined that the obstacle exists, and a steering angle speed calculation that calculates the steering angle speed of the steering wheel. The display control unit provides a driving support device that controls the angular speed of the display object with respect to the steering angle speed when it is determined that the obstacle is present. Further, in order to solve the above problems, according to another viewpoint of the present invention, an obstacle determination unit that determines whether or not an obstacle exists in front of the vehicle and a display that moves according to the operation of the steering wheel. The display control unit includes a display control unit that controls the display of an object and controls the movement of the display object with respect to the movement of the steering wheel when it is determined that the obstacle is present. The display control unit is the steering wheel. Provided is a driving support device that controls the movement of the display object with respect to the movement of the steering wheel so that the display object moves in the direction in which the steering wheel is steered.

The displayed object may be displayed on the steering wheel and may move along the circumference of the steering wheel.

Further, the obstacle determination unit may determine that the obstacle exists when the obstacle is approaching within a predetermined distance in front of the vehicle.

Further, the display control unit may display the display object when the steering angle of the steering wheel is equal to or more than a predetermined value, and control the movement of the display object with respect to the movement of the steering wheel.

Further, a warning display may be displayed when the obstacle is approached to a distance where a collision cannot be avoided.

Further, a warning sound may be generated when the obstacle is approached to a distance where a collision cannot be avoided.

Further, the display object may be displayed on the dash panel or the windshield in front of the driver of the vehicle.

Further, the obstacle determination unit may determine whether or not an obstacle exists in front of the vehicle based on the environmental information obtained from the image information obtained by capturing the image of the front of the vehicle.

Further, in order to solve the above problems, according to another viewpoint of the present invention, a first step of determining whether or not an obstacle exists in front of the vehicle and a display object that moves according to the operation of the steering wheel. A second step of controlling the display of the display object and controlling the movement of the display object with respect to the movement of the steering wheel when it is determined that the obstacle is present is provided . A driving support method for controlling the display of the display object so that the movement of the display object becomes faster with respect to the movement of the steering wheel when it is determined to exist is provided.

As described above, according to the present invention, the driver can perform optimum steering in order to avoid a collision with an obstacle.

It is a schematic diagram which shows the structure of the driving support system which concerns on one Embodiment of this invention. It is a schematic diagram which shows the state which the pattern is displayed on the steering wheel by the display device. It is a schematic diagram which shows the state which the pattern is displayed on the steering wheel by the display device. It is a schematic diagram which shows the arrangement position of a projector when the display device is composed of a projector. It is a schematic diagram which shows the example which the display device provided on the steering wheel. It is a characteristic diagram obtained by an experiment how the steering feeling of the driver changes when the movement (reaction amount) of the pattern on the steering wheel is changed with respect to the actual operation amount of the steering wheel by the driver. It is a flowchart which shows the process performed in the driving support system of this embodiment. It is a schematic diagram which shows the example which displayed the pattern on the windshield by the HUD apparatus. It is a schematic diagram which shows the example which displayed the pattern on the windshield by the HUD apparatus.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the present specification and the drawings, components having substantially the same functional configuration are designated by the same reference numerals, so that duplicate description will be omitted.

FIG. 1 is a schematic view showing a configuration of a driving support system 1000 according to an embodiment of the present invention. The driving support system 1000 is basically a system composed of a vehicle such as an automobile. As shown in FIG. 1, the driving support system 1000 includes an external sensor 100, a steering angle sensor 200, a vehicle sensor 300, a control device 400, a display device 500, a HUD device 600, a power steering device 700, and a speaker 800. Has been done.

The vehicle exterior sensor 100 is composed of a stereo camera, a monocular camera, a millimeter wave radar, an infrared sensor, and the like, and measures the position and speed of a person or vehicle around the own vehicle. When the vehicle exterior sensor 100 is composed of a stereo camera, the stereo camera is configured to have a pair of left and right cameras having image pickup elements such as a CCD sensor and a CMOS sensor, and images the external environment outside the vehicle. The image information is sent to the control device 400. As an example, a stereo camera is composed of a color camera capable of acquiring color information and is installed on the upper part of the windshield of a vehicle.

The steering angle sensor 200 detects the amount of operation (steering angle) of the steering wheel by the driver. The control device 400 is a component that controls the entire driving support system 1000, and functions as a driving support device according to the present embodiment.

The vehicle sensor 300 includes various sensors that detect vehicle information such as vehicle speed, vehicle acceleration, and angular velocity of an axle (drive shaft, etc.). Since these vehicle information is generally communicated by a CAN (Control Area Network) in the vehicle, the vehicle sensor 100 may acquire the vehicle information from the CAN.

The display device 500 is a device that projects a pattern on the steering wheel. As an example, the display device 500 is composed of a projector and projects a pattern on the steering wheel. Further, the display device 500 may be composed of a liquid crystal display device (LCD) or the like and may be mounted on the steering wheel.

The HUD (Head-up Display) device 600 is a display device that directly displays information in the human field of view, and displays a real image on glass such as a windshield or a rear glass of an automobile. Instead of the HUD device 600, a display device composed of a liquid crystal display (LCD) or the like may be provided on the dash panel in front of the driver. The power steering device 700 is a device that steers the front wheels of a vehicle by generating a driving force (assist force) that assists the steering in response to the steering of the steering wheel by the driver (driver). The speaker 800 is a device that generates a warning sound for the driver.

2 and 3 are schematic views showing a state in which the pattern (display object) 12 is displayed on the steering wheel 10 by the display device 500. Here, FIG. 2 shows an example in which a striped (strip-shaped) pattern 12 is displayed along the circumference of the steering wheel 10. Further, FIG. 3 shows an example in which an arrow-shaped pattern 12 is displayed along the circumference of the steering wheel 10. As an example, FIGS. 2 and 3 show a state in which the white pattern 12 is displayed on the black steering wheel 10. The colors of the steering wheel 10 and the pattern 12 can be arbitrarily selected, such as displaying the black pattern 12 on the white steering wheel 10.

FIG. 4 is a schematic view showing the arrangement position of the projector 502 when the display device 500 is composed of the projector 502. FIG. 4 shows a state in which the driver 20 is viewed from the passenger seat side. As shown in FIG. 4, the projector 502 is mounted on the ceiling of a vehicle, for example, irradiates light toward the steering wheel 10, and displays a pattern 12 on the steering wheel 10.

FIG. 5 is a schematic view showing an example in which the display device 500 is provided on the steering wheel 10. In this case, the display device 500 is composed of a liquid crystal display device 504 having a curved display surface that follows the shape of the steering wheel 10.

The pattern 12 is displayed so as to move in the same direction as the operation of the steering wheel 10 by the driver 20. That is, the pattern 12 moves along the circumferential direction of the steering wheel 10 in the same direction as the steering operation. Specifically, in the present embodiment, the steering force of the steering wheel 10 is changed by changing the moving speed of the pattern 12 on the steering wheel 10 with respect to the actual steering speed of the steering wheel 10 operated by the driver 20. Change the feeling.

If the speed at which the pattern 12 moves on the steering wheel 10 is greater than the actual steering speed of the steering wheel 10, the steering force feeling of the steering wheel 10 by the driver 20 is felt lightly. On the other hand, if the speed at which the pattern 12 moves on the steering wheel 10 is smaller than the actual steering speed of the steering wheel 10, the steering force feeling of the steering wheel 10 by the driver 20 is felt to be heavy.

FIG. 6 shows an experiment in which the steering feeling of the driver 20 changes when the movement (reaction amount) of the pattern 12 on the steering wheel 10 is changed with respect to the actual operation amount of the steering wheel 10 by the driver 20. It is a characteristic diagram obtained in. In FIG. 6, the ratio of the movement (reaction amount) of the pattern on the steering wheel 10 to the actual operation amount of the steering wheel 10 by the driver 20 is used as the horizontal axis, and the interval scale value obtained by the evaluation of the steering of the driver 20 is used. It is shown as the vertical axis.

In this experiment, a simulated device was used to display a changing image reflecting the amount of operation of the steering wheel 10 on the screen in front of the participants in the experiment. Specifically, a black striped pattern 12 at regular intervals is displayed on the steering wheel 10, and the pattern 12 is placed on the steering wheel 10 so that the pattern 12 follows and moves according to the amount of operation of the steering wheel 10. displayed. In the pattern 12, black lines having a width of about 0.3 cm were arranged on the circumference along the steering wheel 10 at intervals of about 2.0 cm.

On the horizontal axis of FIG. 6, when the ratio of the movement (reaction amount) of the pattern 12 on the steering wheel 10 to the actual operation amount of the steering wheel 10 is 100%, the actual operation amount of the steering wheel 10 and the pattern 12 Indicates that the movements of are in agreement. In this way, when the operation amount and the reaction amount have a one-to-one relationship, it is observed that the steering wheel 10 and the pattern 12 are moving exactly the same. The sensory scale shown on the vertical axis of FIG. 6 sets the steering force feeling to 0 when the experiment participant has a one-to-one relationship between the operation amount and the reaction amount, and when the experiment participant feels that the steering force feeling is heavier than that. The value is obtained by selecting a value so that the heavier the value on the plus side becomes larger, and when the feeling of steering force is lighter, the value on the minus side becomes larger as the weight becomes lighter.

As experimental conditions, a total of five levels of 25%, 50%, 200%, and 400% were set based on 100% based on the ratio of the manipulated amount and the reaction amount. Specifically, when the ratio of the reaction amount to the operation amount is 25%, 50%, 200%, and 400%, when the steering wheel 10 is rotated 90 degrees, the pattern 12 is the same as the steering wheel 10. It will rotate 22.5 degrees, 45 degrees, 180 degrees, and 360 degrees in the direction. In addition, an index that swings left and right in front of the experiment participant is presented, and a cursor that moves left and right by the reciprocating motion of the steering wheel 10 is displayed, and the task of following the index with the cursor is set as a task for the experiment participant. I set it. Three types of movement amounts of the steering wheel 10 were set and presented at random. The total amount of movement has been unified. Two conditions were presented in succession as the movement of the index, and the reaction force was evaluated by a paired comparison method by 15 experimental participants.

As a result, as shown in FIG. 6, as the movement of the pattern 12 increases and the ratio of the movement (reaction amount) of the pattern 12 to the actual operation amount of the steering wheel 10 increases, the reaction force feeling decreases. That is, it was found that the steering feels lighter as the reaction amount increases. As shown in FIG. 6, it can be seen that as the movement (reaction amount) of the pattern increases and the ratio of the reaction amount to the actual operation amount of the steering wheel 10 increases, the scale of the sense of steering decreases. That is, it can be seen that the steering force feeling is felt lighter as the reaction amount increases, and the steering force feeling becomes heavier as the reaction amount decreases.

Therefore, it is possible to change the steering force feeling of the steering wheel 10 by changing the speed at which the pattern 12 on the steering wheel 10 moves with respect to the actual steering speed of the steering wheel 10 operated by the driver 20. be. As a result, the steering force feeling of the steering wheel 10 can be changed without requiring a complicated structure, so that the driver 20 can optimally perform the steering operation.

In particular, in the present embodiment, the vehicle exterior sensor 100 detects an obstacle in front of the vehicle, and when the driver steers to avoid the obstacle in front of the vehicle, the steering force feeling is lightened to promote steering. Move the pattern 12 like this. Therefore, the control device 400 includes an environmental information acquisition unit 402, an environmental state determination unit 404, a steering angular velocity calculation unit 406, and a display control unit 408. Each component of the control device 400 shown in FIG. 1 can be composed of a circuit (hardware), a central processing unit such as a CPU, and a program (software) for functioning the central processing unit.

The environmental information acquisition unit 402 uses the principle of triangulation to reach the object from the amount of deviation of the corresponding positions with respect to the pair of left and right stereo images captured by the pair of left and right stereo images of the stereo cameras constituting the vehicle exterior sensor 100. Distance information can be generated and acquired. At the same time, the environmental information acquisition unit 402 can acquire the position information of the subject from the image information. Further, the environmental information acquisition unit 402 performs a well-known grouping process on the distance information generated by the principle of triangulation, and sets the grouped distance information in advance as three-dimensional three-dimensional object data or the like. By comparing, three-dimensional object data, white line data, etc. are detected. As a result, the control device 400 can also recognize a person, another vehicle, a stop sign, a stop line, an ETC gate, and the like.

Further, the environmental information acquisition unit 402 can calculate the amount of change in the distance between the person and the other vehicle and the relative speed by using the distance information between the person and the other vehicle generated by the principle of triangulation. The amount of change in distance can be obtained by integrating the distances between the frame images detected every unit time. Further, the relative speed can be obtained by dividing the distance detected for each unit time by the unit time.

In this way, the environmental information acquisition unit 402 acquires the image information outside the vehicle obtained from the outside sensor 100, performs image analysis processing, analyzes the image information, and acquires the environment information outside the vehicle.

The environmental state determination unit 404 determines the environmental information outside the vehicle based on the environmental information acquired by the environmental information acquisition unit 402. In particular, the environmental condition determination unit 404 determines whether or not there are obstacles such as people, vehicles, and other objects around the vehicle, and the positions of obstacles such as people, vehicles, and other objects that exist around the vehicle. And the number. Therefore, the environmental state determination unit 404 functions as an obstacle determination unit that determines whether or not an obstacle exists.

The steering angular velocity calculation unit 406 calculates the steering angular velocity when the driver 20 operates the steering wheel 10 from the detected value of the steering angle sensor 200. The display control unit 408 is a component that controls the display by the display device 500. The display control unit 408 controls the movement of the pattern 12 on the steering wheel 10 so as to encourage the driver to steer to avoid the obstacle, particularly when an obstacle is present in front of the vehicle.

The actual steering speed of the steering wheel 10 operated by the driver 20 can be obtained from the detected value of the steering angle sensor 200. The steering angular velocity calculation unit 406 obtains the steering angular velocity of the steering wheel 10 at predetermined cycles based on the steering angle detected value by the steering angle sensor 200. For example, when the predetermined period is 500 [ms] and the steering angle changes by θ [rad] during 500 [ms], the steering angular velocity is θ / 0.5 = 2θ [rad / s]. Become.

The display control unit 408 controls the speed at which the pattern 12 moves on the steering wheel 10 with respect to the steering angular velocity calculated by the steering angular velocity calculation unit 406, and displays the display device 500 so that the pattern 12 is displayed on the steering wheel 10. Control. The speed at which the pattern 12 moves is controlled by the display control unit 408 at each predetermined cycle described above. When the movement of the pattern 12 is made faster than the actual steering speed of the steering wheel 10, the pattern 12 is designed so that the angular velocity of the pattern 12 moving on the steering wheel 10 is faster than the steering angular velocity calculated by the steering angular velocity calculation unit 406. The display of is controlled. Further, when the movement of the pattern 12 is slowed with respect to the actual steering speed of the steering wheel 10, the angular velocity of the pattern 12 moving on the steering wheel 10 is slower than the steering angular velocity calculated by the steering angular velocity calculation unit 406. The display of the pattern 12 is controlled. As a result, the movement of the pattern 12 can be made faster or slower with respect to the actual steering angular velocity of the steering wheel 10.

Further, the control device 400 may detect an obstacle and control the steering assist force by the power steering device 700 when the driver steers to avoid the obstacle in front of the vehicle. In this case, when an obstacle is detected, the control unit 400 controls so that the assist force becomes larger than when the obstacle is not detected. As a result, when an obstacle is detected, the steering force of the steering wheel 10 is reduced, and the obstacle can be quickly avoided.

FIG. 7 is a flowchart showing the processing performed by the driving support system 1000 of the present embodiment. The process of FIG. 7 is mainly performed in the control device 400 at predetermined intervals. First, in step S10, the environmental information acquisition unit 402 acquires the environmental information in front of the vehicle from the information obtained from the external sensor 100 while the vehicle is driving.

In the next step S12, the environmental condition determination unit 404 determines whether or not there is an obstacle in front of the vehicle. At this time, the environmental condition determination unit 404 determines that the obstacle exists when the obstacle exists within the range of the predetermined distance D ahead of the vehicle, and when the obstacle exists at a position farther than the predetermined distance D. May determine that there are no obstacles. The predetermined distance D may fluctuate according to the vehicle speed V. In that case, the larger the vehicle speed V, the larger the predetermined distance D can be.

As described above, the environmental information acquisition unit 402 can calculate the distance to the obstacle and the relative speed between the own vehicle and the obstacle. If the obstacle is located in front of the own vehicle and the distance to the obstacle and the relative speed between the own vehicle and the obstacle are known, the time until the obstacle collides (collision margin time) can be obtained. ..

As a result of the determination in step S12, if there is an obstacle in front of the vehicle, the process proceeds to step S14. In step S14, the vehicle speed V is acquired from the detected value of the vehicle sensor 300. On the other hand, as a result of the determination in step S12, if there is no obstacle in front of the vehicle, the process ends (END).

After step S14, the process proceeds to step S16, and the steering angle when the driver 20 operates the steering wheel 10 and the steering angular velocity at the time of steering are acquired. The steering angle can be obtained from the steering angle sensor 200. Further, the steering angular velocity is acquired from the calculation result of the steering angular velocity by the steering angular velocity calculation unit 406. In the next step S18, it is determined whether or not the driver 20 has steered the steering wheel 10 based on the steering angle acquired in step S16. Specifically, in step S18, the steering angle acquired in step S16 is compared with the predetermined threshold value θth, and when the steering angle acquired in step S16 is larger than the predetermined threshold value θth, the driver 20 determines. It is determined that the steering wheel 10 has been steered.

If it is determined in step S18 that the driver 20 has steered the steering wheel 10, the process proceeds to step S20. In this case, since the driver 20 is steering the steering wheel 10 in a situation where there is an obstacle in front of the vehicle, it is determined that the driver 20 is steering the steering wheel 10 in order to avoid a collision with the obstacle. can. Therefore, in step S20, the movement of the pattern 12 is controlled so that the pattern 12 moves at a speed higher than the actual steering angular velocity acquired in step S16. The pattern 12 is controlled to move in the steering direction when the driver 20 determines that the steering wheel 10 has been steered in step S18. On the other hand, if it is determined in step S18 that the driver 20 is not steering the steering wheel 10, the process ends (END).

In the next step S22, it is determined whether or not the collision with the obstacle is difficult to avoid by steering. Specifically, in step S22, it is determined whether or not the time to collision (collision margin time) obtained based on the relative speed with the obstacle and the distance to the obstacle is smaller than the predetermined threshold value t1. When the collision margin time is smaller than the predetermined threshold value t1, it is determined that the collision with the obstacle is difficult to avoid by steering.

If it is determined in step S22 that the collision with the obstacle is difficult to avoid by steering, the process proceeds to step S24. In step S24, the driver 20 is alerted by displaying a warning on the HUD device 600 on the windshield, a display device provided on the dash panel, and the like, and generating a warning sound by the speaker 800. On the other hand, if it is determined in step S22 that the collision with the obstacle is not difficult to avoid by steering, the process ends (END).

In step S12, instead of determining whether or not an obstacle exists, the possibility of collision with the obstacle may be determined. In this case, for example, the possibility of collision with an obstacle may be determined by the method described in Patent Document 2 described above.

As described above, when the driver 20 steers the steering wheel 10 in an attempt to avoid obstacles in front of the vehicle, it is desirable to lighten the steering feeling of the steering wheel 10 and facilitate the avoidance operation by steering. Therefore, if it is determined that the driver 20 has steered the steering wheel 10 in step S18, the process proceeds to step S20, and the pattern 12 moves so that the pattern 12 moves at a speed faster than the actual steering angular velocity acquired in step S14. To control. As a result, when the driver 20 operates the steering wheel 10, the steering feeling felt by the driver 20 becomes lighter, and the steering operation in the direction of avoiding obstacles can be promoted.

It is not necessary to display the pattern 12 when it is determined in step S12 that an obstacle exists, and not to display the pattern 12 when it is not determined that an obstacle exists. Similarly, if it is determined in step S18 that the driver 20 has steered the steering wheel 10, the pattern 12 is displayed, and if it is not determined that the driver 20 has steered the steering wheel 10, the pattern 12 is not displayed. Is also good.

As described above, according to the present embodiment, when an obstacle in front of the vehicle is detected, the speed at which the pattern 12 on the steering wheel 10 moves is increased with respect to the actual steering speed of the steering wheel 10. I made it. As a result, the driver 20 can feel the steering feeling of the steering wheel 10 lightly, and it is possible to promote the steering in the direction of avoiding obstacles by the driver 20.

In each of the above-described embodiments, the pattern 12 is displayed on the steering wheel 10, but the pattern 12 may be displayed in a place other than the steering wheel 10. For example, the pattern 12 may be displayed on a display device provided on the dash panel or on the windshield. FIG. 8 is a schematic view showing an example in which the pattern 12 is displayed on the windshield 602 by the HUD device 600. The HUD device 600 changes the moving speed of the pattern 12 on the windshield 602 with respect to the actual steering speed of the steering wheel 10 operated by the driver 20 under the control of the display control unit 408. The steering force feeling of 10 is changed.

Specifically, the pattern 12 shown in FIG. 8 is arranged concentrically with the steering wheel 10, and the angular speed of the pattern 12 centered on the rotation center axis of the steering wheel 10 with respect to the actual steering angular speed of the steering wheel 10. Is controlled. As a result, it is possible to optimize the steering force feeling of the driver 20 by controlling the movement of the pattern 12 on the windshield 602 as in the case where the pattern 12 is displayed on the steering wheel 10.

Further, as shown in FIG. 9, the pattern 12 moving in the horizontal direction may be displayed on the windshield 602 by the HUD device 600. In this case, the steering angular velocity of the steering wheel 10 and the reference speed of the pattern 12 corresponding to the steering wheel 10 are set, and the speed at which the pattern 12 moves on the front glass 602 is set with respect to the actual steering speed of the steering wheel 10 operated by the driver 20. Change with respect to the reference speed. As a result, it is possible to adjust the steering force feeling of the driver 20 in the same manner as when the pattern 12 is moved in the circumferential direction.

Although the preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, the present invention is not limited to such examples. It is clear that a person having ordinary knowledge in the field of technology to which the present invention belongs can come up with various modifications or modifications within the scope of the technical ideas described in the claims. , These are also naturally understood to belong to the technical scope of the present invention.

10 Steering wheel 12 Pattern 400 Control device 404 Environmental condition judgment unit 406 Steering angular velocity calculation unit 408 Display control unit

Claims (11)

An obstacle determination unit that determines whether or not there is an obstacle in front of the vehicle,
A display control unit that controls the display of a display object that moves according to the operation of the steering wheel and controls the movement of the display object with respect to the movement of the steering wheel when it is determined that the obstacle exists.
With
The display control unit is characterized in that, when it is determined that the obstacle is present, the display of the display object is controlled so that the movement of the display object becomes faster with respect to the movement of the steering wheel . OPERATION support device. An obstacle determination unit that determines whether or not there is an obstacle in front of the vehicle,
A display control unit that controls the display of a display object that moves according to the operation of the steering wheel and controls the movement of the display object with respect to the movement of the steering wheel when it is determined that the obstacle exists.
A steering angular velocity calculation unit that calculates the steering angular velocity of the steering wheel, and a steering angular velocity calculation unit .
With
Wherein the display control unit, when the obstacle is determined to exist, and controlling the angular velocity of the display object with respect to the steering angular velocity, OPERATION support apparatus. An obstacle determination unit that determines whether or not there is an obstacle in front of the vehicle,
A display control unit that controls the display of a display object that moves according to the operation of the steering wheel and controls the movement of the display object with respect to the movement of the steering wheel when it is determined that the obstacle exists.
With
Wherein the display control unit is characterized in that the steering wheel to control the movement of the display object to the movement of the steering wheel so that the display object is moved to the steering has been direction, OPERATION support apparatus. The obstacle determination unit according to any one of claims 1 to 3 , wherein the obstacle determination unit determines that the obstacle exists when the obstacle is approaching within a predetermined distance in front of the vehicle. Driving support device. The display control unit displays the display object when the steering angle of the steering wheel is equal to or greater than a predetermined value, and controls the movement of the display object with respect to the movement of the steering wheel. The driving support device according to any one of 4. The driving support device according to any one of claims 1 to 5 , which displays a warning when the obstacle is approached to a distance where a collision cannot be avoided. The driving support device according to any one of claims 1 to 6 , which generates a warning sound when the obstacle is approached to a distance where a collision cannot be avoided. The driving support device according to any one of claims 1 to 7, wherein the display object is displayed on the steering wheel and moves along the circumference of the steering wheel. The driving support device according to any one of claims 1 to 7, wherein the display is displayed on a dash panel or a windshield in front of the driver of the vehicle. The obstacle determination unit is based on environmental information obtained from image information obtained by capturing an image of the front of the vehicle.
The driving support device according to any one of claims 1 to 9 , wherein it determines whether or not an obstacle exists in front of the vehicle. The first step to determine if there is an obstacle in front of the vehicle,
A second step of controlling the display of a display object that moves according to the operation of the steering wheel and controlling the movement of the display object with respect to the movement of the steering wheel when it is determined that the obstacle is present.
Equipped with a,
In the second step, when it is determined that the obstacle is present, the display of the display object is controlled so that the movement of the display object becomes faster with respect to the movement of the steering wheel. Driving support method.

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