Display control device for vehicle, control method thereof, and storage medium

Abstract

The present application provides a vehicle display control device, a control method for the vehicle display control device, and a storage medium. The vehicle display control device includes an identification unit that identifies a road division line of a road on which a host vehicle is traveling, based on at least an output of a detection and recognition device that detects and recognizes an object existing in a traveling direction of the host vehicle, and a display processing unit that causes a display device to display a surrounding situation display image including an image representing the host vehicle icon of the host vehicle and the road division line of the road. The identification unit transmits information on a center position obtained by representing a center position of a travel lane in a first direction at points spaced at a predetermined first distance, based on the identified road division line, to the display processing unit. The display processing unit determines a position of the road division line based on the received information on the center position, and generates the surrounding situation display image.

Description

Technical Field

[0001] This invention relates to a display control device for vehicles, a control method for the display control device for vehicles, and a storage medium. Background Technology

[0002] Previously, technologies related to vehicle display devices have been disclosed that inform drivers of the vehicle's surroundings and its relative position to other vehicles traveling ahead (see, for example, Japanese Patent Application Publication No. 11-264868). In these conventional technologies, the conditions surrounding the vehicle are detected, and the display device shows an image including the lane the vehicle is traveling in and vehicle markings indicating the vehicle and other vehicles. Thus, in these conventional technologies, drivers can easily establish a correspondence between other vehicles actually traveling ahead of their vehicle and the displayed vehicle markings, enabling them to understand the conditions surrounding their vehicle.

[0003] However, images used to display the surrounding conditions of the vehicle contain a large amount of information, resulting in a high communication load when displaying them. However, conventional technologies have not considered the transmission of the displayed images. Therefore, in conventional technologies, data communication capacity is sometimes limited when transmitting the displayed images.

[0004] The present invention was made based on the above-mentioned problem and aims to provide a vehicle display control device, a control method for the vehicle display control device, and a storage medium that can reduce the amount of communication during the processing until an image is displayed that allows the driver to identify the surroundings of the vehicle and its relative positional relationship with other vehicles. Summary of the Invention

[0005] Solution for solving the problem

[0006] The vehicle display control device, the control method for the vehicle display control device, and the storage medium of the present invention adopt the following structure.

[0007] (1) : The vehicle display control device of one aspect of the present invention, wherein the vehicle display control device is provided with: a recognition section that recognizes a road division line of a road on which a host vehicle is traveling, based on at least an output of a detection knowing device that detects and knows an object existing in a traveling direction of the host vehicle; and a display processing section that causes a display device to display a surrounding situation display image that includes an image that represents a host vehicle icon of the host vehicle and that represents the road division line of the road, the recognition section transmitting information of a center position of a travel lane that is represented by the recognized road division line at points that are spaced apart by a prescribed first distance in a first direction, to the display processing section, the display processing section deciding a position of the road division line based on the received information of the center position, and generating the surrounding situation display image.

[0008] (2) : In the aspect of the above (1), the recognition section detects one lane width of the travel lane at a position of a prescribed second distance in the first direction of the host vehicle, based on the output of the detection knowing device, and transmits information of the detected lane width to the display processing section, the display processing section deciding an interval of the decided road division line based on the received information of the lane width.

[0009] (3) : In the aspect of the above (2), the display processing section decides the position of the road division line by connecting positions obtained by shifting the lane width of the travel lane represented by the information of the lane width to the left and right from the center position represented by the information of the center position.

[0010] (4) : In the aspect of the above (3), the recognition section transmits information of the center position obtained by reducing a curvature of a center line that connects the center positions, by recognizing a radius of the road based on a plurality of the center positions on a bird's eye plane viewed from above, and multiplying a compression degree corresponding to the radius in a second direction orthogonal to the first direction.

[0011] (5) In the aspect of (4) above, the object further includes another vehicle traveling in front of the host vehicle, and the recognition section, in a case where the another vehicle is recognized, performs processing of detecting a third distance and transmitting information of the detected third distance to the display processing section, the third distance being a distance between a position close to a reference position on the road division line of a position in the second direction corresponding to the center position closest to the reference position of the another vehicle, and the reference position, and the display processing section decides, based on the information of the third distance, an offset amount of offset from the road division line involved in the position close to the reference position, and generates the surrounding situation display image in which the another vehicle icon representing the another vehicle is included at a position where the another vehicle exists determined by the offset amount.

[0012] (6) In the aspect of (5) above, the recognition section performs processing of recognizing, based on the output of the detection means, whether the another vehicle is the another vehicle traveling in front of the host vehicle on the travel lane or the another vehicle traveling on a neighboring lane adjacent to the travel lane, and in a case where the another vehicle is recognized as the another vehicle traveling on the neighboring lane, transmits, to the display processing section, as the information of the third distance, a distance obtained by multiplying the second compression degree corresponding to the radius by the third distance after the curvature of the center line is reduced, and in a case where the another vehicle is recognized as the another vehicle traveling in front of the host vehicle on the travel lane, transmits the information of the third distance as it is to the display processing section.

[0013] (7) In any one of the aspects of (4) to (6) above, the recognition section sets the compression degree in such a manner that the smaller the radius of the road, the higher the compression degree.

[0014] (8) In the aspect of (7) above, the recognition section sets the compression degree in such a manner that, in a case where the radius of the road is equal to or smaller than a first prescribed value, the compression degree is the highest, in a case where the radius of the road is between the first prescribed value and a second prescribed value, the compression degree is changed in such a manner that the compression degree becomes lower as the radius of the road becomes smaller, and in a case where the radius of the road is equal to or larger than the second prescribed value, the compression degree is the lowest.

[0015] (9) The control method of the vehicle display control device according to one aspect of the present application causes a computer to perform the following processing: identifying road division lines of a road on which a host vehicle is traveling, based on at least an output of a detection means that detects an object existing in a traveling direction of the host vehicle; representing a center position of a travel lane in a first direction at points each separated by a prescribed first distance, based on the identified road division lines; and determining a position of the road division lines based on information of the center position, when causing a display device to display a surrounding situation display image including an image representing the host vehicle and the road division lines of the road.

[0016] (10) The storage medium according to one aspect of the present application stores a program that causes a computer to perform the following processing: identifying road division lines of a road on which a host vehicle is traveling, based on at least an output of a detection means that detects an object existing in a traveling direction of the host vehicle; representing a center position of a travel lane in a first direction at points each separated by a prescribed first distance, based on the identified road division lines; and determining a position of the road division lines based on information of the center position, when causing a display device to display a surrounding situation display image including an image representing the host vehicle and the road division lines of the road.

[0017] Effects of Invention

[0018] According to the aspects (1) to (10) described above, it is possible to reduce the amount of information of an image that causes a driver to recognize a surrounding of a host vehicle and a relative positional relationship with other vehicles. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a schematic configuration diagram of a vehicle display control device according to an embodiment.

[0020] Figure 2 is a flowchart showing an example of a flow of processing performed by a vehicle display control device.

[0021] Figure 3 is a diagram showing an example of a situation of a road identified by an identification unit.

[0022] Figure 4 is a diagram showing an example of a compression degree used in compression processing by a compression processing unit.

[0023] Figure 5 is a diagram showing an example of compression processing in a compression processing unit (1).

[0024] Figure 6 is a diagram showing an example of compression processing in a compression processing unit (2).

[0025] Figure 7 This is an example (1) of a display image showing the surrounding conditions.

[0026] Figure 8 This is an example (2) of a picture showing the surrounding situation. Detailed Implementation

[0027] Hereinafter, embodiments of the vehicle display control device, the control method of the vehicle display control device, and the storage medium of the present invention will be described with reference to the accompanying drawings.

[0028] [Structure of a vehicle display control device]

[0029] Figure 1 This is a simplified structural diagram of a vehicle display control device according to an embodiment. The vehicle equipped with the vehicle display control device is, for example, a four-wheeled vehicle, whose drive source is an internal combustion engine such as a diesel engine or gasoline engine, an electric motor, or a combination thereof. The electric motor operates using electricity generated by a generator connected to the internal combustion engine, or electricity discharged from a secondary battery or fuel cell.

[0030] exist Figure 1 In the present invention, among the constituent elements of a vehicle equipped with a vehicle display control device 100 (hereinafter referred to as "the vehicle M"), the detection and sensing device 10 and the display device 20 are shown as constituent elements associated with the vehicle display control device 100.

[0031] The detection and acquisition device 10 detects objects present in the direction of travel of the vehicle M. These objects include, for example, road markings drawn on the road on which the vehicle M is traveling, and other vehicles traveling in the same direction as the vehicle M (hereinafter referred to as "other vehicles V"). The detection and acquisition device 10 is, for example, a digital camera using a solid-state imaging element such as a CCD (Charge Coupled Device) or CMOS (Complementary Metal Oxide Semiconductor). In this case, the detection and acquisition device 10 is mounted at any location capable of capturing images at least in front of the vehicle M. For example, the detection and acquisition device 10 is mounted on the upper part of the windshield, behind the rearview mirror inside the vehicle, etc. The detection and acquisition device 10 periodically and repeatedly captures images of the surrounding area of ​​the vehicle M at predetermined time intervals. The detection and acquisition device 10 may also be a stereo camera. The detection and acquisition device 10 outputs the captured image data to the vehicle display control device 100. The detection and acquisition device 10 may also output information indicating the detected objects to the vehicle display control device 100. The detection and acquisition device 10 may also include a radar device or LIDAR (Light Detection and Range) in addition to a camera.

[0032] Display device 20 displays information images indicating various information to be provided to the driver of vehicle M. Display device 20 may be, for example, an LCD (Liquid Crystal Display) mounted on the front bulkhead or instrument panel of vehicle M. Display device 20 displays a driving status display image indicating the driving status of vehicle M, and an ambient situation display image output by vehicle display control device 100 indicating the surrounding conditions of vehicle M. The driving status display image may include, for example, images of a speedometer indicating the speed of vehicle M and a tachometer indicating the rotational speed of the internal combustion engine of vehicle M. The driving status display image may also include, for example, images of a fuel economy meter, a distance measuring device, a clock, etc.

[0033] The vehicle display control device 100 includes, for example, a recognition unit 120 and a display processing unit 140. The recognition unit 120 includes, for example, a road marking recognition unit 121, a lane center detection unit 122, a lane radius determination unit 123, an other vehicle recognition unit 124, and a compression processing unit 125. The display processing unit 140 includes, for example, a display information generation unit 142. These components are implemented, for example, by executing programs (software) using a hardware processor such as a CPU (Central Processing Unit). Some or all of these components can also be implemented using hardware (including circuitry) such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), and GPU (Graphics Processing Unit), or through the combined use of software and hardware. Some or all of the functions of these components can also be implemented using a dedicated LSI. The program can be pre-saved in the HDD (Hard Disk Drive), flash memory or other storage devices (storage devices with non-temporary storage media) provided by the vehicle M, or it can be saved in removable storage media (non-temporary storage media) such as DVD or CD-ROM, and installed in the HDD or flash memory provided by the vehicle M by assembling the storage media into the drive device provided by the vehicle M.

[0034] In the display control device 100 for vehicle, the recognition section 120 and the display processing section 140 can also be arranged at separate positions within the host vehicle M. In this case, the recognition section 120 and the display processing section 140 can be connected to each other through a multiplex communication line such as a CAN (Controller Area Network) communication line, a serial communication line, a wireless communication network, or the like, which is constructed within the host vehicle M. In the following description, a case where the recognition section 120 and the display processing section 140 are connected to each other through a signal line in the display control device 100 for vehicle is described. In the case where the recognition section 120 and the display processing section 140 are connected to each other through a communication line in the display control device 100 for vehicle, it is only necessary to replace the "output" of information and data from the recognition section 120 to the display processing section 140 described below with "transfer" of information and data.

[0035] The recognition section 120 recognizes a road on which the host vehicle M travels based on the image data output from the detection acquisition device 10. Also, the recognition section 120 recognizes other vehicles V traveling ahead of the host vehicle M based on the image data output from the detection acquisition device 10. The other vehicles V recognized by the recognition section 120 include other vehicles V traveling on a road (travel lane) on which the host vehicle M travels and other vehicles V traveling on another travel lane (adjacent lane) adjacent to the travel lane of the host vehicle M. The recognition section 120 transforms information on the recognized road and information on the other vehicles V so as to be used by the display processing section 140 to generate a surrounding situation display image. The recognition section 120 outputs the transformed information on the road and the other vehicles V to the display processing section 140.

[0036] The road division line recognition unit 121 recognizes a road division line drawn on a road in a traveling direction of the host vehicle M based on the image data output by the detection recognizing device 10. More specifically, the road division line recognition unit 121 generates overhead map data representing a region of a road surface in front of the host vehicle M photographed in the image data as if viewed from above (e.g., directly above) based on the image data output by the detection recognizing device 10. Also, the road division line recognition unit 121 recognizes a white line drawn on the road surface in front of the host vehicle M as a road division line from the generated overhead map data. The road division line recognition unit 121 is not limited to recognizing a white line, but can also recognize a yellow line, a traveling road boundary (road boundary) including a road shoulder, a curbstone, a median strip, a guardrail, and the like. The road division line recognition unit 121 outputs information of the recognized road division line to the lane center detection unit 122 and the other vehicle recognition unit 124, respectively. The information of the road division line output by the road division line recognition unit 121 to the lane center detection unit 122 and the other vehicle recognition unit 124 also includes information indicating whether the road division line is on the left side or the right side. This information is determined, for example, by a field angle of the image data output by the detection recognizing device 10. The road division line recognition unit 121 outputs information of the road division line that can be recognized to the lane center detection unit 122 and the other vehicle recognition unit 124, respectively, for example, in a case where a road division line on one side cannot be recognized.

[0037] Also, the road division line recognition unit 121 detects a width of one traveling lane (hereinafter referred to as "lane width") from a position in front of the host vehicle M by a prescribed distance (e.g., 2 to 3 [m]) based on the image data output by the detection recognizing device 10. The road division line recognition unit 121 can also detect the lane width based on the recognized road division line. The road division line recognition unit 121 outputs information indicating the detected lane width to the display processing unit 140. Here, the information of the lane width output by the road division line recognition unit 121 to the display processing unit 140 is information of one lane width. Therefore, in a case where the recognition unit 120 and the display processing unit 140 are disposed at the separated positions and connected by the communication line, respectively, the amount of communication for transferring the information of the lane width is reduced. That is, the communication load between the recognition unit 120 and the display processing unit 140 is reduced. The prescribed distance in front of the host vehicle M where the road division line recognition unit 121 detects the lane width is an example of the "second distance" in the technical scheme.

[0038] The lane center detection unit 122 detects the center position of the travel lane in which the host vehicle M is traveling, based on the information of the road division line output by the road division line recognition unit 121. More specifically, the lane center detection unit 122 measures the distance between the left and right road division lines of the travel lane, i.e., the width of the travel lane, at intervals of a prescribed distance (e.g., 50 [m]) from the distance in the front of the host vehicle M. In a case where the information of the road division line output by the road division line recognition unit 121 does not include the information of the road division line on either the left or the right, the lane center detection unit 122 can also be configured to assume the width of a general lane (e.g., 3.4 [m]) as the width of the travel lane, for example, as well as to measure the width of the travel lane in the front as it is when the information of the road division line on both the left and the right is included. Furthermore, the lane center detection unit 122 detects the position of the middle, i.e., the half of the measured width of the travel lane, as the center position of the travel lane. The lane center detection unit 122 outputs information indicating a point series of each center position detected at intervals of the prescribed distance (hereinafter, referred to simply as "center position information") to the lane radius determination unit 123, the other vehicle recognition unit 124, and the compression processing unit 125, respectively. The interval of the prescribed distance in the front of the host vehicle M at which the lane center detection unit 122 detects the center position is an example of the "first distance" in the technical scheme.

[0039] The lane radius determination unit 123 determines the radius of the travel lane in which the host vehicle M travels, on the basis of the information of the respective center positions output by the lane center detection unit 122. That is, the lane radius determination unit 123 determines the radius of the travel lane in which the host vehicle M travels next. More specifically, the lane radius determination unit 123 connects the respective center positions output by the lane center detection unit 122 to each other to obtain a center line of the travel lane. Further, the lane radius determination unit 123 determines the radius of the travel lane in which the host vehicle M travels next, on the basis of the curvature in a plan view in which the obtained center line is assumed to be viewed from above (for example, directly above). The lane radius determination unit 123 determines the radius of the travel lane in which the host vehicle M travels successively. In other words, the lane radius determination unit 123 determines the radius of the travel lane in which the host vehicle M travels, on the basis of the information of the respective center positions output by the road division line recognition unit 121, even in the case where the host vehicle M travels next on a straight road. Therefore, the lane radius determination unit 123 determines that (regards as) the straight road in the case where the host vehicle M travels next on a straight road, and thus sets a very large value as the radius. The lane radius determination unit 123 can determine the radius of the travel lane, for example, by applying the respective center positions output by the lane center detection unit 122 to a prescribed function. The lane radius determination unit 123 can determine the radius of the travel lane in which the host vehicle M travels, on the basis of the plan view data generated by the road division line recognition unit 121. Further, the lane radius determination unit 123 can determine the radius of the travel lane in which the host vehicle M travels, for example, on the basis of map information showing a route to a destination set by a driver of the host vehicle M to a navigation device (not shown) provided in the host vehicle M. The lane radius determination unit 123 outputs the information of the determined radius of the travel lane ahead of the host vehicle M to the compression processing unit 125.

[0040] The other vehicle recognition section 124 recognizes other vehicles V traveling in front of the host vehicle M on the basis of the image data output by the detection cognizant device 10. More specifically, the other vehicle recognition section 124 recognizes other vehicles V photographed in the image data output by the detection cognizant device 10. At this time, the other vehicle recognition section 124 also recognizes whether the other vehicles V photographed in the image data output by the detection cognizant device 10 are other vehicles V traveling in the same lane as the host vehicle M or other vehicles V traveling in an adjacent lane adjacent to the lane. The other vehicle recognition section 124 can also recognize other vehicles V on the basis of the overhead view data generated by the road division line recognition section 121. Furthermore, the other vehicle recognition section 124 detects the distance between the recognized other vehicles V and the road division lines indicated by the information on road division lines output by the road division line recognition section 121. More specifically, the other vehicle recognition section 124 extracts the center position closest to the reference position of the other vehicles V within the center position indicated by the information on the center position output by the center position detection section 122. Furthermore, the other vehicle recognition section 124 extracts the road division line closest to the other vehicles V within the road division line indicated by the information on road division lines output by the road division line recognition section 121. Furthermore, the other vehicle recognition section 124 detects the distance between the position on the extracted road division line corresponding to the extracted center position and the reference position of the other vehicles V (hereinafter referred to as "other vehicle distance"). The reference position of the other vehicles V can be, for example, the position of the center of the rear surface (i.e., rear) portion of the other vehicles V or the position of the vehicle registration number plate (so-called license plate) disposed on the rear surface of the other vehicles V. The other vehicle distance detected by the other vehicle recognition section 124 can be, for example, the distance between the position on the extracted road division line and the position of the end of the rear surface of the other vehicles V closest to the extracted road division line. The other vehicle recognition section 124 outputs information on the other vehicles V including the position (direction, distance, lane, etc.) of the recognized other vehicles V existing with the host vehicle M as a reference and the other vehicle distance to the compression processing section 125. The information on the other vehicles V output by the other vehicle recognition section 124 to the compression processing section 125 can include information indicating the type of the other vehicles V (e.g., passenger car, truck, motorbike, etc.). The other vehicle distance detected by the other vehicle recognition section 124 is an example of the "third distance" in the technical scheme.

[0041] The compression processing section 125 performs processing of transforming the center position indicated by the information of the center position outputted from the lane center detection section 122, based on the information of the radius of the travel lane of the host vehicle M outputted from the lane radius determination section 123, so as to be able to be used by the display processing section 140 to arrange the image of the road division line within the surrounding situation display image (hereinafter, referred to as "compression processing"). This is because, in the case where the host vehicle M is to travel through a curved road next, the image of the road division line is curved to the left or right side, so the display processing section 140 can not be able to arrange the entire road division line recognized by the road division line recognition section 121 within the surrounding situation display image. Therefore, the compression processing section 125 performs compression processing of compressing and reducing the curvature of the center line of the travel lane (curved road) indicated by the information of the center position outputted from the lane center detection section 122 (hereinafter, referred to as "curvature compression processing") in the case where the host vehicle M is to travel through a curved road next, in order to arrange a wider range of the road division line recognized by the road division line recognition section 121 as an image within the surrounding situation display image. On the other hand, in the case where the host vehicle M is to travel through a straight road next, the image of the road division line is straight, so the display processing section 140 is able to arrange the entire road division line recognized by the road division line recognition section 121 within the surrounding situation display image. Therefore, the compression processing section 125 can not perform the curvature compression processing of compressing the curvature of the center line of the travel lane (straight road) in the case where the host vehicle M is to travel through a straight road. However, when the processing is changed depending on the shape of the road to be passed through by the host vehicle M next, the control of the curvature compression processing in the compression processing section 125 becomes complicated. Therefore, the compression processing section 125 performs the curvature compression processing of the travel lane equally regardless of whether the road to be passed through by the host vehicle M next is a curved road or a straight road. The curvature compression processing in the compression processing section 125 is performed, for example, by multiplying the radius of the travel lane of the host vehicle M indicated by the information of the radius outputted from the lane radius determination section 123 by a compression degree which is a transformation coefficient set for the radius of the travel lane. The compression degree is set, for example, such that the smaller the radius of the travel lane (the larger the curvature), the higher the compression degree. The compression degree can be set, for example, such that the compression degree is highest in the case where the radius of the travel lane is below a first prescribed value, the compression degree changes in a manner of sequentially becoming lower in the case where the radius of the travel lane is between the first prescribed value and a second prescribed value at which the radius is large (the curvature is small), and the compression degree is lowest in the case where the radius of the travel lane is above the second prescribed value. The compression degree can be set, for example, by a table in which the radius of the travel lane and the coefficient are in a corresponding relationship. The compression processing section 125 outputs the information of the center position of the point list after the curvature compression processing to the display processing section 140.Here, the information of the center position output by the compression processing section 125 to the display processing section 140 is information of a point series obtained based on the road division line recognition section 121 detecting the road division lines on the left and right of the travel lane at a prescribed distance. That is, the amount of information (amount of data) is reduced by eliminating the information of the two road division lines in the travel lane. Therefore, in the case where the recognition section 120 and the display processing section 140 are disposed at a distance apart and are connected by a communication line, respectively, the amount of communication for transferring the information of the travel lane is reduced, and the communication load between the recognition section 120 and the display processing section 140 is lightened.

[0042] Further, the compression processing section 125 also performs compression processing (hereinafter referred to as "distance compression processing") to reduce the other-vehicle distance included in the information of the other vehicle V outputted by the other-vehicle recognition section 124. However, the compression processing section 125, after making the other-vehicle distance correspond to the road division line whose curvature has been reduced by the curvature compression processing performed on the travel lane (making the other-vehicle distance reflect on the road division line whose curvature has been reduced), performs the distance compression processing to compress the other-vehicle distance by a compression degree (hereinafter referred to as "second compression degree") set to the radius of the travel lane. That is, the compression processing section 125 does not perform the curvature compression processing and the distance compression processing at the same time, but performs the curvature compression processing first, and then performs the distance compression processing by multiplying the other-vehicle distance by the second compression degree. The second compression degree can be the same compression degree as that used in the curvature compression processing, or can be a compression degree set to the radius of the center line of the travel lane (curve) whose curvature has been reduced by the curvature compression processing, that is, a compression degree different from that used in the curvature compression processing. At this time, the compression processing section 125 can perform the distance compression processing in the case where the other vehicle V represented by the information of the other vehicle V outputted by the other-vehicle recognition section 124 is the other vehicle V traveling on the adjacent lane, and can not perform the distance compression processing in the case where the other vehicle V is the other vehicle V traveling on the same travel lane as the host vehicle M. This is because, in the case where the other vehicle V is the other vehicle V traveling on the adjacent lane, the other-vehicle distance is a distance from the travel lane of the host vehicle M, and thus the curvature compression of the travel lane (center line) by the curvature compression processing makes the distance further apart, and in contrast, in the case where the other vehicle V is the other vehicle V traveling on the same travel lane as the host vehicle M, the other-vehicle distance is a value within the lane width of the travel lane, and thus the influence of the curvature compression processing is small. The compression processing section 125 outputs the information of the other vehicle V including the other-vehicle distance after the compression processing to reduce the other-vehicle distance to the display processing section 140. Here, the other-vehicle distance included in the information of the other vehicle V outputted by the compression processing section 140 is obtained on the basis of information (other-vehicle distance before the distance compression processing) representing the distance between the reference position of the other vehicle V detected by the other-vehicle recognition section 124 and the position on the road division line close to the other vehicle V. Thus, in the case where the recognition section 120 and the display processing section 140 are arranged at positions apart from each other and are connected by the communication line, the amount of communication for transferring the information of the other vehicle V is reduced, and the communication load between the recognition section 120 and the display processing section 140 is reduced.

[0043] The display processing section 140 generates a surrounding situation display image representing the situation around the host vehicle M based on the information of the lane width output by the road division line recognition section 121 and the information of the compressed center positions output by the compression processing section 125. The display processing section 140 can also generate a surrounding situation display image including other vehicles V based on the information of the compressed other vehicles V output by the compression processing section 125. The display processing section 140 causes the generated surrounding situation display image to be output to the display device 20 to be displayed.

[0044] The display information generation section 142 generates a surrounding situation display image. In the surrounding situation display image, as a basic structure, for example, a host vehicle icon representing the host vehicle M is arranged at the center, and the road division lines recognized by the road division line recognition section 121 are restored at positions representing the road surface in front of the host vehicle M in order to represent the lanes in which the host vehicle M is traveling. More specifically, the display information generation section 142 matches the lane widths represented by the information of the lane widths output by the road division line recognition section 121 with the respective center positions represented by the information of the compressed center positions output by the compression processing section 125. At this time, the display information generation section 142 determines the amounts of shift by which the lane widths are shifted to the left and right directions so that the center of the lane width becomes each of the center positions, and matches each of the lane widths with the determined amounts of shift. Furthermore, the display information generation section 142 connects the positions of the ends of the matched lane widths in the direction of the road surface in front of the host vehicle M, and determines the positions at which the restored road division lines are arranged in the surrounding situation display image.

[0045] Furthermore, the display information generation section 142 arranges other vehicle icons representing other vehicles V in the surrounding situation display image including the host vehicle icon and the restored road division lines. More specifically, the display information generation section 142 arranges the other vehicle icons at positions representing the other vehicle distances represented by the information of the compressed other vehicles V output by the compression processing section 125. At this time, the display information generation section 142 can also make the other vehicle icons have shapes corresponding to the vehicle types of the other vehicles V in the case where the information representing the vehicle types is included in the information of the other vehicles V output by the compression processing section 125.

[0046] Furthermore, the display information generation section 142 can also arrange a following icon representing that ACC (Adaptive Cruise Control)-based driving support is being executed in the host vehicle M at a position of an other vehicle icon of a following other vehicle V in the case where the host vehicle M is traveling while following the other vehicle V traveling in the same lane as the host vehicle M by a function of ACC-based driving support.

[0047] Thus, the display information generating portion 142 generates the surrounding situation display image that contains at least the host vehicle icon and the restored road division line. The display information generating portion 142 causes the generated surrounding situation display image to be output to the display device 20 and displayed. Thereby, the display device 20 causes the prescribed display region to display the surrounding situation display image output by the display processing portion 140 (more specifically, the display information generating portion 142), and the situation of the surroundings of the host vehicle M is prompted to the driver of the host vehicle M.

[0048] [One example of processing by the vehicle display control device]

[0049] Next, the processing in the vehicle display control device 100 will be described. Figure 2 is a flowchart showing one example of the flow of the processing performed by the vehicle display control device 100. Figures 3 to 8 is a diagram for explaining the processing performed by the vehicle display control device 100. Figure 3 An example of the plan view showing the situation of the road recognized by the recognition portion 120 in the case where the host vehicle M is to travel on a curve road where a large left turn is to be made next is shown in FIG. 12. Figure 3 The example of the situation of the road shown in FIG. 12 is a situation in which the display processing portion 140 has generated the surrounding situation display image showing the state of the host vehicle M in the case where the host vehicle M is to travel on the curve road where a large left turn is to be made next. Figure 3 is an example of the situation of the road that cannot be configured within the display region of the surrounding situation display image in the case where the curvature compression processing is not performed and the surrounding situation display image is generated, i.e., in the case where the surrounding situation display image showing the state of the host vehicle M in the case where the host vehicle M is to travel on the curve road where a large left turn is to be made next is generated. Figure 4 An example of the compression degree used by the compression processing portion 125 in the compression processing is shown in FIG. 13. Figure 5 An example of the plan view on which the curvature compression processing is performed by the compression processing portion 125 is shown in FIG. 14, Figure 6 An example of the plan view on which the distance compression processing is performed by the compression processing portion 125 is shown in FIG. 15. Figure 7 An example of the surrounding situation display image generated by the display information generating portion 142 and caused to be displayed by the display device 20 is shown in FIG. 16, Figure 8 Another example of the surrounding situation display image is shown in FIG. 17.

[0050] In the following description, appropriate reference will be made to Figures 3 to 8To explain the processing performed by the vehicle display control device 100. In the following explanation, each of the constituent elements possessed by the vehicle display control device 100 appropriately performs the corresponding processing. However, in the following explanation, it is assumed that there is no other vehicle V traveling on the same travel lane as the host vehicle M, and that there is an other vehicle V traveling on the adjacent lane. Also, in the following explanation, it is assumed that the second compression degree used in the distance compression processing is the same compression degree as the compression degree used in the curvature compression processing. The processing of the present flowchart is repeatedly performed every prescribed time interval at which the detection acquisition device 10 photographs the surroundings of the host vehicle M, while the host vehicle M is traveling (moving).

[0051] When the detection acquisition device 10 photographs the surroundings of the host vehicle M, the vehicle display control device 100 acquires image data from the detection acquisition device 10 (step S100).

[0052] The road division line recognition section 121 recognizes the road division line based on the acquired image data (step S102). The road division line recognition section 121 outputs information on the recognized road division line to the lane center detection section 122 and the other vehicle recognition section 124, respectively. In Figure 3 In the example shown in FIG. 12, the road division line recognition section 121 sets the center of the host vehicle M as the origin O, sets the X axis in the front direction, and sets the Y axis in the left-right direction orthogonal to the X axis, with respect to the overhead view data obtained based on the acquired image data. Here, the XY coordinates set by the road division line recognition section 121 are common to each of the constituent elements possessed by the recognition section 120. In this state, the road division line recognition section 121 recognizes the road division line LI on the left side of the travel lane and the road division line Lr on the right side of the travel lane. Also, the road division line recognition section 121 outputs information (for example, coordinate values of the XY coordinates) indicating the recognized road division line LI and the road division line Lr to the lane center detection section 122 and the other vehicle recognition section 124, respectively. The X axis direction is an example of the "first direction" in the technical scheme, and the Y axis direction is an example of the "second direction" in the technical scheme.

[0053] The road division line recognition section 121 detects the lane width based on the acquired image data (step S104). The road division line recognition section 121 outputs information on the detected lane width to the display processing section 140. In Figure 3 In the example shown in FIG. 13, the road division line recognition section 121 detects the lane width dY between the road division line LI and the road division line Lr at the position of the prescribed distance ΔP. Also, the road division line recognition section 121 outputs the detected lane width dY (for example, length) to the display processing section 140. The prescribed distance ΔP is an example of the "second distance" in the technical scheme.

[0054] The lane center detection section 122 detects the center positions of the travel lane in which the host vehicle M is traveling at every predetermined distance based on the information of the road division line output by the road division line recognition section 121 (step S106). The lane center detection section 122 outputs information indicating a point series of the detected respective center positions to the lane radius determination section 123, the other vehicle recognition section 124, and the compression processing section 125, respectively. In Figure 3 In the example shown, the lane center detection section 122 detects respective center positions Pc at positions where the left-side width WYL and the right-side width WYR are equal and at every predetermined distance ΔX. Also, the lane center detection section 122 outputs information indicating the detected respective center positions Pc (e.g., coordinate values of XY coordinates) to the lane radius determination section 123, the other vehicle recognition section 124, and the compression processing section 125, respectively. The predetermined distance ΔX is an example of the "first distance" in the technical solution.

[0055] The lane radius determination section 123 determines the radius of the travel lane in front of the host vehicle M traveling based on the information of the respective center positions output by the lane center detection section 122 (step S108). The lane radius determination section 123 outputs information indicating the determined radius of the travel lane to the compression processing section 125. In Figure 3 In the example shown, the lane radius determination section 123 connects the respective center positions Pc to each other to obtain a center line Lc of the travel lane. Also, the lane radius determination section 123 determines the radius R of the travel lane in which the host vehicle M is traveling based on the obtained center line Lc. The lane radius determination section 123 outputs the determined radius R (e.g., length) to the compression processing section 125.

[0056] The other vehicle recognition section 124 determines whether or not there is another vehicle V based on the obtained image data (step S110). In a case where it is determined in step S110 that there is no other vehicle V, the other vehicle recognition section 124 proceeds to step S116 for processing.

[0057] On the other hand, in a case where it is determined in step S110 that there is another vehicle V, the other vehicle recognition section 124 recognizes the other vehicle V based on the obtained image data (step S112). Also, the other vehicle recognition section 124 detects an other-vehicle distance corresponding to the recognized other vehicle V (step S114). The other vehicle recognition section 124 outputs information of the recognized other vehicle V (including information of the other-vehicle distance as well) to the compression processing section 125. In Figure 3In the example shown, the other vehicle recognition unit 124 recognizes the other vehicle V traveling on the adjacent lane. Also, the other vehicle recognition unit 124 detects the other vehicle distance dL between the position Pcl on the road division line Ll corresponding to the center position Pc closest to the reference position VR of the recognized other vehicle V and the reference position VR. Also, the other vehicle recognition unit 124 outputs, to the compression processing unit 125, information of the other vehicle V including: information (for example, coordinate values of the XY coordinates of the reference position VR) indicating the position of the recognized other vehicle V existing on the adjacent lane on the road division line Ll side and at how much distance from the X axis; and the other vehicle distance dL (for example, length). The other vehicle distance dL is an example of the "third distance" in the technical solution.

[0058] The compression processing unit 125 performs curvature compression processing of the travel lane based on the radius output by the lane radius determination unit 123 (step S116). That is, the compression processing unit 125 performs curvature compression processing of compressing the curvature of the center line. At this time, the compression processing unit 125 performs curvature compression processing using the compression degree set as in the example shown in Figure 4 Figure 4 In the example shown, the compression degree C is set with respect to the size of the radius R. More specifically, in the example shown in Figure 4 In the example shown in, an example of the case where the compression degree C is highest in the case where the radius R is equal to or smaller than the relatively small (curvature is large) radius R1, the compression degree C is sequentially lower between the radius R1 and the radius R2, the compression degree C is further sequentially lower between the radius R2 and the radius R3, and the compression degree C is lowest above the radius R3 is shown. The compression processing unit 125 performs curvature compression processing of compressing the curvature of the center line Lc by multiplying the radius R output by the lane radius determination unit 123 by the corresponding compression degree C. More specifically, the compression processing unit 125 reduces (compresses) the curvature of the center line Lc by moving the position of the center position Pc in the Y axis direction by multiplying the coordinate value (Y coordinate) in the Y axis direction of each center position Pc by the compression degree C. In Figure 5 In the example shown in, an example of the case where the curvature of the portion of the turn on the center line Lc is reduced (compressed) by the curvature compression processing performed by the compression processing unit 125 and moved in the Y axis direction as shown by the center line Lc2 is shown. In Figure 5 In, the road division line Ll2 and the road division line Lr2, the lane width dY, and each center position Pc2 in the case where the curvature compression processing performed by the compression processing unit 125 is completed are also shown. As shown in Figure 5 As shown in, the lane width dY does not change in the case where the curvature compression processing performed by the compression processing unit 125 is completed. Therefore, as shown in Figure 5 ​As shown, although the position of the center position Pc is moved in the Y-axis direction to become the center position Pc2 by the curvature compression processing by the compression processing section 125, the lengths of the left-side width WYL and the right-side width WYR are not changed, that is, are the same as those of the example shown in Figure 3 Moreover, as shown in the example shown in Figure 5 The reference position VR in the case where the other-vehicle distance dL is reflected in the state where the curvature compression processing by the compression processing section 125 is completed is also shown in the center. The compression processing section 125 does not perform the distance compression processing at the stage of step S116, and thus the length of the other-vehicle distance dL is not changed (remains the same as that of the example shown in Figure 3 The position of the reference position VR is moved only in the Y-axis direction by the amount corresponding to the curvature compression processing by the compression processing section 125 as shown in Figure 5 The compression processing section 125 outputs information indicating the center position of the point series after the curvature compression processing (the point series equivalent to the center line Lc2 shown in Figure 5

[0059] Next, the compression processing section 125 determines whether or not there is the other vehicle V on the adjacent lane on the basis of the information of the other vehicle V output by the other-vehicle recognition section 124 (step S118). In other words, the compression processing section 125 determines whether or not the other vehicle V recognized by the compression processing section 125 is the other vehicle V existing on the adjacent lane. In the case where it is determined in step S118 that there is no other vehicle V on the adjacent lane, the compression processing section 125 outputs the information of the other vehicle V (including also the information of the other-vehicle distance) output by the other-vehicle recognition section 124 as it is to the display processing section 140, and proceeds to step S122 to perform the processing.

[0060] On the other hand, in the case where it is determined in step S118 that there is the other vehicle V on the adjacent lane, the compression processing section 125 performs the distance compression processing of the other-vehicle distance included in the information of the other vehicle V output by the other-vehicle recognition section 124 (step S120). In Figure 6 In the example shown in the example shown in, the case where the other-vehicle distance dL reflected in the state where the curvature compression processing by the compression processing section 125 is completed is compressed (reduced) to the other-vehicle distance dL2 by the second compression degree C which is the same compression degree as the curvature compression processing by the distance compression processing by the compression processing section 125 is shown. Thereby, the reference position VR is moved in the Y-axis direction by the amount corresponding to the distance compression processing by the compression processing section 125 as shown in Figure 6 ​As shown in one example, it has moved along the Y-axis. The compression processing unit 125 outputs information about other vehicles V, including the distance dL of other vehicles after distance compression processing, i.e., the distance dL2 of other vehicles (e.g., length), to the display processing unit 140.

[0061] Next, the display information generation unit 142 generates an ambient situation display image (step S122). Here, the ambient situation display image generated by the display information generation unit 142 does not, for example, represent... Figure 3 The surrounding environment of the state shown in the example is displayed as an image, but it represents... Figure 6 The image shows an example of the surrounding conditions display. More specifically, the display information generation unit 142 first places the vehicle icon in the surrounding conditions display image. Then, the display information generation unit 142 matches the lane width dY (length) output by the road marking recognition unit 121 with the center positions Pc2 (XY coordinates) representing the center line Lc2 output by the compression processing unit 125, thereby restoring the road marking lines Ll2 and Lr2, and determining the positions of the restored road marking lines Ll and Lr on the surrounding conditions display image where the vehicle icon is placed. Finally, based on the information of other vehicles V output by the compression processing unit 125, other vehicle icons are placed in the surrounding conditions display image where the vehicle icon, road marking lines Ll, ​​and road marking lines Lr are placed at positions reflecting the distance dL2 of other vehicles. In this way, the display information generation unit 142 generates a surrounding conditions display image based on the information output by the various components provided by the recognition unit 120. Furthermore, the display information generation unit 142 outputs the generated surrounding situation display image to the display device 20 for display, thereby alerting the driver to the surrounding situation of the vehicle M. Then, the vehicle display control device 100 ends the processing of this flowchart for the image data acquired this time.

[0062] Here, the surrounding situation display image generated by the display information generation unit 142 in step S122 is a representation Figure 6The image shown is an example of a state, that is, an image representing the surrounding conditions of the vehicle M from a top-down plane. Therefore, the display information generation unit 142 can also transform the generated surrounding condition display image into a representation of the front (depth direction) with the vehicle M as the reference (i.e., a transformation to a three-dimensional view), and then output it to the display device 20. More specifically, the display information generation unit 142 can also perform a transformation along the X-axis direction to compress the coordinates of each road dividing line in such a way that the distance between the road dividing lines L1 and Lr restored in the surrounding condition display image becomes shorter as they are further away from the vehicle M, thereby representing the depth direction with the vehicle M as the reference. At this time, the display information generation unit 142 can also perform a smoothing process (so-called smoothing process) to smooth each road dividing line.

[0063] Figure 7 The diagram shows the overall display area of ​​the display device 20, including representations. Figure 6 The example shown is an example of an information image IM1 displaying the surrounding conditions. As described above, the display device 20 displays various information intended for the driver of the vehicle M. Figure 7 In one example of the information image IM1 shown, a rotating speedometer image Ma-1 is displayed on the left side of the display area, a speedometer image Ma-2 is displayed on the right side, and an image showing the surrounding conditions is displayed in between. If the vehicle M is, for example, an electric vehicle such as an electric motor or a hybrid electric vehicle that operates using electricity supplied to an electric motor, the rotating speedometer image Ma-1 may be replaced by other information or omitted. Figure 7 In the information image IM1 shown, various other information and icons representing that information are also displayed. Figure 7 The information image IM1 shown has pre-defined positions and areas for various images, icons, including the surrounding environment display image, the rotation speedometer image Ma-1, the speedometer image Ma-2, and other information. Figure 7 The information image IM1 shown illustrates an example of displaying an image of the surrounding conditions in the display area Sa.

[0064] exist Figure 7In the example of the surrounding situation display image within the information image IM1 shown in FIG. 6, the host vehicle icon Im representing the host vehicle M is arranged at the center, and an image of the road division line obtained by simulating the road division lines Ll2 and Lr2 after restoration is arranged in order to represent the lane in which the host vehicle M is traveling. The road division lines Ll2 and Lr2 become shapes of a gentle curve corresponding to the curvature compression processing by the curvature compression processing section 125, as compared with the curvature of the actual traveling lane. Therefore, the road division lines Ll2 and Lr2 are arranged on the surrounding situation display image in a manner representing the entire road division line recognized by the road division line recognition section 121. In this manner, the arrangement of each road division line in a manner representing the entire road division line recognized by the road division line recognition section 121 is more appropriate for the driver, as compared with the case where the original road division line actually recognized by the road division line recognition section 121 (for example, the road division line of the curve that makes a large turn to the left as shown in FIG. 5) is displayed on the surrounding situation display image. Figure 3

[0065] Further, in the example of the surrounding situation display image within the information image IM1 shown in FIG. 6, the other vehicle icon Iv (hereinafter referred to as "other vehicle icon Iv-1") representing the other vehicle V (hereinafter referred to as "other vehicle V-1") traveling on the adjacent lane on the left side recognized by the other vehicle recognition section 124 is arranged at a position corresponding to the position where the other vehicle V-1 exists. Figure 7 Figure 7 In the example of the surrounding situation display image shown in FIG. 6, in the case where the other vehicle recognition section 124 recognizes another other vehicle V (hereinafter referred to as "other vehicle V-2") traveling in front of the host vehicle M, the other vehicle icon Iv-2 representing the other vehicle V-2 is arranged at a position corresponding to the front of the host vehicle M. The surrounding situation display image does not include information on the intersection existing in front of the host vehicle M, or the other vehicle V passing through the intersection, i.e., crossing in front of the host vehicle M. In the example of the surrounding situation display image shown in FIG. 6, the other vehicle icon Iv-2 is arranged at a position corresponding to the front of the host vehicle M, but the other vehicle icon Iv-2 can be arranged at a position corresponding to the intersection existing in front of the host vehicle M. Figure 7 In the example of the surrounding situation display image shown in FIG. 6, an example is shown in which each other vehicle icon Iv represents a passenger car, but the other vehicle icon Iv can change its shape based on the information on the other vehicle V output by the other vehicle recognition section 124. That is, the other vehicle icon Iv can change to a shape representing a truck, or a shape representing a motorbike.

[0066] Further, in the example of the surrounding situation display image within the information image IM1 shown in FIG. 6, the other vehicle icon Iv (hereinafter referred to as "other vehicle icon Iv-1") representing the other vehicle V (hereinafter referred to as "other vehicle V-1") traveling on the adjacent lane on the left side recognized by the other vehicle recognition section 124 is arranged at a position corresponding to the position where the other vehicle V-1 exists. Figure 7 ​​In the example of the surrounding situation display image shown, in order to indicate that the host vehicle M is traveling while following the other vehicle V-2 by a function of driving support based on ACC (Adaptive Cruise Control), a following icon It is arranged at a position behind the other vehicle V-2 (more specifically, the lower side of the other vehicle icon Iv-2). The surrounding situation display image can also be made to differ in the depth direction of the host vehicle M that is displayed, between a case where driving support based on ACC is being executed in the host vehicle M and a case where it is not being executed. For example, it can be that, in the case where driving support based on ACC is being executed in the host vehicle M, the depth direction is lengthened (for example, up to the range (that is, the range of detection) that can be imaged by the detection means 10) and, in the case where driving support based on ACC is not being executed in the host vehicle M, the depth direction is shortened compared to the case where driving support based on ACC is being executed.

[0067] However, as described above, the compression processing section 125 performs the curvature compression processing for the travel lane identically regardless of whether the road through which the host vehicle M will pass next is a curved road or a straight road. In this case, the radius of the straight road is very large, so although multiplied by the lowest compression degree, the respective center positions will not move in the Y-axis direction due to the curvature compression processing. In this case, the compression processing section 125 also performs distance compression processing on the other vehicle distance included in the information of the other vehicle V. However, the other vehicle distance is the distance between the reference position of the other vehicle V and the position on the road division line close to the other vehicle V extracted by the other vehicle recognition section 124, so even if the compression processing section 125 performs the distance compression processing, the reference position of the other vehicle V will not become within the travel lane in which the host vehicle M is traveling due to the other vehicle distance after the distance compression processing. That is, the position of the other vehicle V traveling on the adjacent lane will not become a position within the same travel lane as the host vehicle M.

[0068] Here, an example of a surrounding situation display image in a case where the host vehicle M will travel on a straight road next is described. Figure 8 An example is shown in which the entire display region of the display device 20 displays an information image IM2 including a surrounding situation display image indicating a state in which the host vehicle M is passing through a straight road. Figure 8 In the example of the information image IM2 shown, also as with the example of the information image IM1 shown in FIG. 6, the surrounding situation display image is displayed at a position between the rotation speed meter image Ma-1 and the speed meter image Ma-2. In the example of the information image IM2 shown, the surrounding situation display image is displayed at a position between the rotation speed meter image Ma-1 and the speed meter image Ma-2. Figure 7 In the example of the information image IM1 shown, the surrounding situation display image is displayed at a position between the rotation speed meter image Ma-1 and the speed meter image Ma-2. In the example of the information image IM1 shown, the surrounding situation display image is displayed at a position between the rotation speed meter image Ma-1 and the speed meter image Ma-2. Figure 8In the example of the surrounding situation display image shown, the host vehicle icon Im is disposed at the center, and in order to indicate the lane of the straight road on which the host vehicle M is traveling, an image of the road division line obtained by simulating the road division lines Ll3 and Lr3 after restoration is disposed. Figure 8 In the example of the surrounding situation display image shown, the road division lines Ll3 and Lr3 are also disposed in a manner that indicates the entirety of the road division lines of the straight road recognized by the road division line recognition unit 121. Also, in the example of the surrounding situation display image shown, the other vehicle icon Iv-1 is also disposed in a manner that indicates the position of the other vehicle V-1 traveling on the adjacent lane to the left. Figure 8 In the example of the surrounding situation display image shown, the other vehicle icon Iv-1 is also disposed in a manner that indicates the position of the other vehicle V-1 traveling on the adjacent lane to the left. Figure 8 In the example of the surrounding situation display image shown, the other vehicle icon Iv-1 is also disposed in a manner that indicates the position of the other vehicle V-1 traveling on the adjacent lane to the left. Figure 7 In the example of the surrounding situation display image shown, other icons and information are also disposed. In this way, even in the case where the compression processing unit 125 performs compression processing identically regardless of the road through which the host vehicle M will pass next, the positional relationship between the host vehicle M and the other vehicle V does not change. Thus, even in the case where the surrounding situation display image switches in conjunction with a change in the road through which the host vehicle M will pass next, the driver of the host vehicle M does not feel an unnatural sense of discomfort.

[0069] The display device 20 displays various information related to the travel of the host vehicle M by displaying information images such as the information image IM1 and the information image IM2, thereby presenting the information to the driver of the host vehicle M. Information included in the information images IM1 and IM2 other than the surrounding situation display image can be generated by a display processing unit not shown that is different from the display processing unit 140, or can be generated by the display processing unit 140 together with the surrounding situation display image. That is, the display processing unit 140 can generate not only the surrounding situation display image but also the entirety of the information images displayed by the display device 20.

[0070] With such a configuration and processing, the vehicle display control device 100 acquires image data captured by the detection means 10, and recognizes the road on which the host vehicle M is to travel next. Also, the vehicle display control device 100 reduces (compresses) the curvature of the recognized road in such a manner that the entirety of the recognized road is displayed in the surrounding situation display image. That is, the vehicle display control device 100 reduces (compresses) the curvature of the road in such a manner that the images of the road division lines Ll and Lr representing the recognized road are always arranged within the surrounding situation display image. Also, the vehicle display control device 100 recognizes other vehicles V traveling in the vicinity of the host vehicle M. Also, the vehicle display control device 100 compresses the distance between the road division lines of the road and the other vehicles V in such a manner that the positional relationship between the recognized other vehicles V and the road on which the host vehicle M is to travel next is not changed, at a second compression degree (for example, it can be the same compression degree as that by which the curvature of the road is reduced (compressed), or it can be a different compression degree). In other words, the vehicle display control device 100 changes the positions of the other vehicles V in coordination with the road whose curvature has been reduced (compressed). Also, the vehicle display control device 100 generates a surrounding situation display image including the recognized road and the other vehicles V, and causes the display device 20 to display the image. Thus, in the host vehicle M equipped with the vehicle display control device 100, it is possible to avoid the shape of the road on which the host vehicle M is to travel next, and the positions of the other vehicles V from exceeding the range (display area) of the surrounding situation display image displayed by the surrounding situation display image. Thus, the driver of the host vehicle M equipped with the vehicle display control device 100 can grasp the situation in the vicinity while avoiding the information on the relative positional relationship between the host vehicle M and the other vehicles V existing in the vicinity of the host vehicle M from being impaired, and can cause the host vehicle M to travel.

[0071] Also, in the vehicle display control device 100, the recognition section 120 reduces the amount of information (amount of data) related to the recognized road and the other vehicles V, and outputs (transfers) it to the display processing section 140 that generates the surrounding situation display image. Thus, in the vehicle display control device 100, even in the case where the recognition section 120 and the display processing section 140 are arranged at a distance apart from each other, and are connected by a communication line, the amount of communication in the process of displaying the surrounding situation display image for enabling the driver to recognize the situation in the vicinity of the host vehicle M and the relative positional relationship between the host vehicle M and the other vehicles V is reduced, and it is possible to reduce the communication load between the recognition section 120 and the display processing section 140.

[0072] In the embodiment, the structure of the vehicle display control device 100 in a case where the recognition section 120 is provided with the compression processing section 125 is described. However, the compression processing section 125 may, for example, also be a constituent element provided to the display processing section 140. The operation, processing, and the like of the compression processing section 125, other constituent elements provided to the recognition section 120, and constituent elements provided to the display processing section 140 in this case can be the same as the operation, processing, and the like of the above-described embodiment.

[0073] The vehicle display control device 100 according to the above-described embodiment is provided with: a recognition section 120 that recognizes road division lines (road division line LI and road division line Lr) of a road on which a host vehicle M travels, based on at least an output of a detection and recognition device 10 that detects and recognizes an object (road division line, other vehicle V) existing in a traveling direction of the host vehicle M; and a display processing section 140 that causes a display device 20 to display a surrounding situation display image including an image representing the host vehicle icon Im of the host vehicle M and an image representing the road division line of the road, the recognition section 120 transmits (outputs) information of a center position (for example, center position Pc) obtained by representing a center position of a travel lane in the X-axis direction at points at regular first distances (for example, regular distance ΔX) apart, based on the recognized road division line, to the display processing section 140, and the display processing section 140 determines a position of the road division line based on the received (input) information of the center position, and generates the surrounding situation display image, whereby it is possible to reduce the amount of communication in the process until the surrounding situation display image that enables the driver to recognize the relative positional relationship between the host vehicle M and the other vehicle V in the periphery of the host vehicle M is displayed. Moreover, the driver of the host vehicle M equipped with the vehicle display control device 100 can avoid the information of the relative positional relationship between the host vehicle M and the other vehicle V existing in the periphery of the host vehicle M being damaged, and can grasp the situation of the periphery and cause the host vehicle M to travel.

[0074] The above-described embodiment can be expressed as follows.

[0075] A vehicle display control device is configured to include:

[0076] a hardware processor; and

[0077] a storage device in which a program is stored,

[0078] the program stored in the storage device is read and executed by the hardware processor to perform the following processing:

[0079] recognize road division lines of a road on which a host vehicle travels, based on at least an output of a detection and recognition device that detects and recognizes an object existing in a traveling direction of the host vehicle;

[0080] based on the recognized road division line, representing a center position of a travel lane at points every predetermined first distance in a first direction;

[0081] when causing the display device to display a surrounding situation display image including an image representing a host vehicle icon of the host vehicle and representing the road division line of the road, the position of the road division line is decided based on information of the center position.

[0082] The above describes specific embodiments of the present application using the embodiments, but the present application is not limited at all by such embodiments, and various modifications and substitutions can be applied within the scope of the gist of the present application.

Claims

1. A display control device for a vehicle, wherein, The vehicle display control device includes: The identification unit identifies the road markings on the road on which the vehicle is traveling, based at least on the output of a detection and recognition device that detects objects present in the direction of travel of the vehicle. as well as The display processing unit causes the display device to display an image of the surrounding conditions, including a vehicle icon representing the vehicle and an image of road markings representing the road. The recognition unit sends the center position information, obtained based on the recognized road dividing line representing the center position of the driving lane at predetermined first intervals in the first direction, to the display processing unit. The display processing unit determines the position of the road dividing line based on the received information about the center position, and generates the surrounding situation display image. Based on the output of the detection and sensing device, the identification unit detects a lane width of the driving lane at a predetermined second distance in the first direction of the vehicle, and sends the detected lane width information to the display processing unit. The display processing unit determines the spacing of the road markings based on the received lane width information. The display processing unit connects the lane width information (represented by the lane width information) to the positions obtained by shifting the lane width to the left and right from the center position information to determine the position of the road dividing line. The identification unit sends the center position information obtained as follows to the display processing unit: the radius of the road is identified based on multiple center positions on the overhead plane viewed from above, and the center position information is obtained by multiplying the radius by a compression degree corresponding to the radius in a second direction orthogonal to the first direction, thereby reducing the curvature of the center line connecting the center positions.

2. The vehicle display control device according to claim 1, wherein, The object further includes other vehicles traveling in front of this vehicle. When the identification unit detects other vehicles, it performs the following processing: The third distance is detected and the information of the detected third distance is sent to the display processing unit. The third distance refers to the distance between the position closest to the reference position and the reference position on the road dividing line in the second direction, which is the position of the center position that is closest to the reference position of the other vehicle. Based on the information of the third distance, the display processing unit determines the offset from the road dividing line for the position closest to the reference position, and generates the surrounding situation display image containing icons of other vehicles representing the other vehicles at the position where the other vehicles are located, as determined by the offset.

3. The vehicle display control device according to claim 2, wherein, The identification unit performs the following processing: Based on the output of the detection and recognition device, it is determined whether the other vehicle is traveling in front of the vehicle in the driving lane or in an adjacent lane adjacent to the driving lane. If it is recognized that the other vehicle is traveling in the adjacent lane, the third distance information is sent to the display processing unit after the curvature of the center line is reduced and the distance obtained by multiplying the second compression corresponding to the radius by the third distance is sent as the third distance information. If it is identified that the other vehicle is traveling in front of the vehicle in the driving lane, the information of the third distance is sent to the display processing unit as is.

4. The vehicle display control device according to any one of claims 1 to 3, wherein, The recognition unit sets the compression degree as follows: the smaller the radius of the road, the higher the compression degree.

5. The vehicle display control device according to claim 4, wherein, The recognition unit sets the compression degree as follows: when the radius of the road is below a first predetermined value, the compression degree is maximized; when the radius of the road is between the first predetermined value and a second predetermined value, the compression degree is varied in a manner that decreases according to the radius of the road; and when the radius of the road is above the second predetermined value, the compression degree is minimized.

6. A control method for a vehicle display control device, wherein, The control method of the vehicle display control device causes the computer to perform the following processing: The road markings on the road on which the vehicle is traveling are identified based at least on the output of a detection device that detects objects present in the direction of travel of the vehicle. Based on the identified road markings, the center position of the driving lane is represented in a first direction by a series of points at predetermined first intervals; When the display device displays an image of the surrounding conditions, including an icon representing the vehicle and an image of road markings representing the road, the position of the road markings is determined based on the information of the center position. Based on the output of the detection and knowledge device, a lane width of the driving lane at a predetermined second distance in the first direction of the vehicle is detected; The interval of the road dividing lines is determined based on the detected lane width information. The position of the road dividing line is determined by connecting the positions obtained by shifting the lane width of the driving lane, represented by the information on the lane width, to the left and right from the center position, represented by the information on the center position. The radius of the road is identified based on multiple center locations on a top-view plane, and the information of the center locations is obtained by multiplying the radius by a compression corresponding to the radius in a second direction orthogonal to the first direction, thereby reducing the curvature of the centerline connecting the center locations.

7. A storage medium storing a program, wherein, The program causes the computer to perform the following processing: The road markings on the road on which the vehicle is traveling are identified based at least on the output of a detection device that detects objects present in the direction of travel of the vehicle. Based on the identified road markings, the center position of the driving lane is represented in a first direction by a series of points at predetermined first intervals; When the display device displays an image of the surrounding conditions, including an icon representing the vehicle and an image of road markings representing the road, the position of the road markings is determined based on the information of the center position. Based on the output of the detection and knowledge device, a lane width of the driving lane at a predetermined second distance in the first direction of the vehicle is detected; The interval of the road dividing lines is determined based on the detected lane width information. The position of the road dividing line is determined by connecting the positions obtained by shifting the lane width of the driving lane, represented by the information on the lane width, to the left and right from the center position, represented by the information on the center position. The radius of the road is identified based on multiple center locations on a top-view plane, and the information of the center locations is obtained by multiplying the radius by a compression corresponding to the radius in a second direction orthogonal to the first direction, thereby reducing the curvature of the centerline connecting the center locations.

Images