Vehicle display device, display method, and storage medium

Abstract

The present disclosure relates to a display device, a display method, and a storage medium for a vehicle, which causes a display area showing a foreground of a vehicle to display a specified image. The vehicle display device includes a processor, which is configured to: identify a driving lane in which the vehicle is traveling, identify the position of the vehicle relative to the driving lane, and determine whether there is a possibility that the vehicle will deviate from the driving lane based on the identified driving lane and the position of the vehicle. If it is determined that there is a possibility that the vehicle will deviate from the driving lane, the image of a three-dimensional object arranged along the driving lane is displayed in the above-mentioned display area.

Description

Technical Field

[0001] The present disclosure relates to a display device, a display method, and a storage medium for a vehicle. Background Art

[0002] Japanese Patent Application Laid-Open No. 2018-140646 discloses a vehicle display device (head-up display device) that displays a warning image clearly indicating the vehicle's departure direction when a vehicle is in danger of departing from its lane. The vehicle display device displays a bird's-eye view image of a pair of dividing lines on a road that denote lane boundaries. The images of the pair of dividing lines emphasize the dividing line on the departure direction by utilizing differences in color, brightness, thickness, and other factors, thereby indicating the vehicle's departure direction.

[0003] However, as a method for warning drivers of lane departure, a known method is to use a vibration-damping strip consisting of convex bumps arranged in a strip pattern on the road. The vibration and sound produced by the bumps when driving over the bumps allow the driver to intuitively recognize the danger of lane departure, and is therefore effective in preventing lane departure accidents. Therefore, it is desirable for a vehicle display device that warns of lane departure to also allow the driver to intuitively recognize the danger of lane departure.

[0004] However, as described in Japanese Patent Application Laid-Open No. 2018-140646, it is difficult for the driver to intuitively recognize the danger of lane departure by simply indicating the departure direction with a bird's-eye view image showing the lane boundary. Summary of the Invention

[0005] The present disclosure has been made in view of the above-mentioned points, and an object of the present disclosure is to provide a vehicle display device, a display method, and a storage medium capable of intuitively conveying the danger of lane departure to a passenger.

[0006] The first form of the present disclosure involves a vehicle display device that displays a specified image in a display area showing the foreground of the vehicle, wherein the vehicle display device includes: a lane recognition unit that recognizes the driving lane in which the vehicle is traveling; a vehicle position recognition unit that recognizes the position of the vehicle relative to the driving lane; a lane departure judgment unit that judges whether there is a possibility that the vehicle has departed from the driving lane based on the recognized driving lane and the position of the vehicle; and a display indication unit that displays an image of a three-dimensional object arranged along the driving lane in the above-mentioned display area when it is judged that there is a possibility that the vehicle has departed from the driving lane.

[0007] According to the first aspect, a vehicle display device displays a predetermined image in a display area showing the foreground of the vehicle. The vehicle display device identifies the vehicle's lane and its position relative to the lane, and based on this information, determines whether the vehicle is likely to leave the lane. If it is determined that there is a possibility of leaving the lane, the vehicle display device displays an image of a three-dimensional object located along the lane in the display area. This allows the vehicle display device to visually convey to occupants the effect of the vehicle running over the three-dimensional object, thereby intuitively conveying the danger of lane departure.

[0008] The vehicle display device involved in the second form of the present disclosure is configured as follows: on the basis of the structure described in the first form, when the distance between the dividing line in the road width direction in the driving lane and the vehicle is below a specified threshold, the lane departure judgment unit judges that there is a possibility that the vehicle has departed from the driving lane.

[0009] According to the second aspect, when a vehicle approaches a road width boundary in a driving lane, the vehicle determines that there is a possibility that the vehicle may leave the driving lane and displays an image of a three-dimensional object in the display area. This allows the occupants to recognize the danger of lane departure when the vehicle is in a driving state with a high probability of leaving the driving lane.

[0010] The vehicle display device involved in the third form of the present disclosure is constructed as follows: on the basis of the structure described in the first form, it also has a travel direction recognition unit for recognizing the travel direction of the vehicle. When the angle formed by the dividing line in the road width direction in the driving lane and the vehicle is greater than a specified threshold value, the above-mentioned lane departure judgment unit judges that there is a possibility that the vehicle has left the driving lane.

[0011] According to the vehicle display device of the third aspect, when the angle formed between the vehicle and the road width boundary in the driving lane is greater than a predetermined threshold, it is determined that the vehicle is likely to leave the driving lane, and an image of a three-dimensional object is displayed in the display area. This allows the occupants to recognize the danger of lane departure when the vehicle is traveling on a route with a high probability of leaving the driving lane, such as when traveling in a lane with a sharp curve.

[0012] A vehicle display device according to a fourth aspect of the present disclosure is configured such that, in addition to the configuration described in any one of the first to third aspects, the display instruction unit displays the image of the three-dimensional object in the display area before the vehicle leaves the driving lane.

[0013] According to the fourth aspect, the image of a three-dimensional object can be displayed in the display area before the vehicle leaves the driving lane to recognize the danger of the lane departure, thereby effectively preventing a lane departure accident of the vehicle.

[0014] The vehicle display device involved in the fifth form of the present disclosure is constructed as follows: on the basis of the structure described in any one of the first form to the fourth form, the above-mentioned display indication unit displays the image of the above-mentioned three-dimensional object in the above-mentioned display area in a manner that moves from the far side of the above-mentioned display area to the near front side along the above-mentioned driving lane.

[0015] According to the fifth aspect of the vehicle display device, the image of the three-dimensional object is displayed so as to move along the travel lane from the far side of the display area to the near side. This allows the occupants to experience a 3D object positioned on the travel path as if it were approaching the vehicle. This allows the vehicle display device to more effectively give the occupants the visual effect of the vehicle pressing against the three-dimensional object.

[0016] A vehicle display device according to a sixth aspect of the present disclosure is configured such that, in addition to the configuration described in any one of the first to fifth aspects, the display indicator displays the image of the three-dimensional object in the display area in a manner that causes the image to vibrate.

[0017] According to the sixth aspect, the vehicle display device displays a vibrating three-dimensional object in the display area, allowing passengers to experience a sense of immersion, as if the vehicle is vibrating due to the three-dimensional object being pressed against them. Thus, the vehicle display device can more effectively provide passengers with the visual effect of the vehicle pressing against the three-dimensional object.

[0018] The vehicle display device involved in the 7th form of the present disclosure is constructed as follows: on the basis of the structure described in the 6th form, the above-mentioned display indication unit changes at least one of the vibration period and amplitude of the image of the above-mentioned three-dimensional object according to the distance between the dividing line in the road width direction in the driving lane and the vehicle and displays it in the above-mentioned display area.

[0019] According to the seventh aspect, the vibration period or amplitude of the three-dimensional object image can be changed according to the distance between the vehicle and the lane boundary in the road width direction. This allows the intensity of the visual effect on the occupant to be adjusted according to the likelihood of lane departure. For example, by shortening the vibration period and increasing the amplitude of the three-dimensional object image as the distance between the lane boundary and the vehicle approaches, the visual effect on the occupant who feels that the vehicle is pressing against the three-dimensional object can be enhanced. Thus, the vehicle display device enables the occupant to intuitively recognize the degree of lane departure risk.

[0020] The vehicle display device involved in the 8th form of the present disclosure is constructed as follows: on the basis of the structure described in any one of the 1st to 7th forms, the above-mentioned display area is a projection surface projected by a head-up display device in front of the vehicle at the driver's seat, and the above-mentioned display indicator displays the image of the above-mentioned three-dimensional object in the above-mentioned display area along the driving lane in the foreground of the vehicle visually confirmed through the above-mentioned display area.

[0021] According to the eighth aspect, the display area showing the vehicle's foreground is a projection surface projected by a head-up display device in front of the vehicle at the driver's seat. Furthermore, the three-dimensional image is displayed along the driving lane visually recognized through the display area. In this way, the three-dimensional object is displayed on the vehicle display device in a manner that blends with the foreground as viewed from the driver's seat, allowing the driver's seat occupant to recognize the danger of lane departure without significantly shifting their gaze.

[0022] The display method involved in the 9th form of the present disclosure is a display method for causing a display area showing the foreground of a vehicle to display a prescribed image, wherein the above-mentioned display method is configured to: identify the driving lane in which the vehicle is traveling, identify the position of the vehicle relative to the driving lane, judge whether there is a possibility that the vehicle will leave the driving lane based on the identified driving lane and the position of the vehicle, and when it is judged that there is a possibility that the vehicle will leave the driving lane, display an image of a three-dimensional object arranged along the driving lane in the above-mentioned display area.

[0023] According to the display method according to the ninth aspect, as described above, the danger of lane departure can be intuitively conveyed to the occupant.

[0024] The program involved in the 10th form of the present disclosure is a program for causing a display area showing the foreground of a vehicle to display a prescribed image, wherein the above-mentioned program causes a computer to execute: identifying a driving lane in which the vehicle is traveling, identifying the position of the vehicle relative to the driving lane, judging whether there is a possibility that the vehicle will leave the driving lane based on the identified driving lane and the position of the vehicle, and, when it is judged that there is a possibility that the vehicle will leave the driving lane, causing an image of a three-dimensional object arranged along the driving lane to be displayed in the above-mentioned display area.

[0025] According to the program according to the tenth aspect, as described above, the danger of lane departure can be intuitively conveyed to the occupant.

[0026] According to the present disclosure, the danger of lane departure can be intuitively conveyed to the occupant. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Exemplary embodiments of the present invention will be described in detail based on the following drawings, in which:

[0028] Figure 1 This is a schematic diagram showing the front portion of a vehicle cabin in a vehicle to which the vehicle display device according to the present embodiment is applied, as viewed from the rear side of the vehicle.

[0029] Figure 2 This is a block diagram showing the hardware configuration of the vehicle display device according to the present embodiment.

[0030] Figure 3This is a block diagram showing the functional configuration of the vehicle display device according to the present embodiment.

[0031] Figure 4A It is a top view schematically showing a traveling vehicle, and shows the distance between the vehicle and the boundary line of the traveling lane in the road width direction.

[0032] Figure 4B This is a top view schematically showing a traveling vehicle, and shows the angle formed by the boundary line of the driving lane and the traveling direction of the vehicle.

[0033] Figure 5 It is a diagram showing a display example of the display area according to this embodiment.

[0034] Figure 6 This is a flowchart showing an example of the flow of display processing in this embodiment.

[0035] Figure 7 This is a diagram showing an example of a method for displaying an image of a single three-dimensional object displayed in a display area.

[0036] Figure 8 This is a diagram showing an example of a method for displaying images of a plurality of three-dimensional objects displayed in a display area.

[0037] Figure 9 Is displayed on Figure 8 A partially enlarged view of an example of a method for displaying an image of a three-dimensional object in a region P.

[0038] Figure 10 This is a schematic diagram showing a vehicle display device according to a modified example of the present embodiment. DETAILED DESCRIPTION

[0039] A vehicle 12 to which the vehicle display device 10 according to the embodiment is applied will be described with reference to the accompanying drawings. In addition, the vehicle 12 of the present embodiment is configured as an example to be able to switch between automatic driving and manual driving. In addition, automatic driving is a driving mode of the vehicle in which a part or all of the operations of the accelerator, brake, direction indicator, steering device, etc. are automatically performed. In addition, manual driving is a driving mode of the vehicle in which the driver performs all driving operations (operations of the accelerator, brake, direction indicator, steering device, etc.). As Figure 1 As shown, a dashboard 14 is provided at the front of the interior of the vehicle 12 .

[0040] The instrument panel 14 extends in the vehicle width direction, and a steering wheel 16 is provided on the vehicle right side of the instrument panel 14. That is, in this embodiment, as an example, a right-hand drive vehicle is provided with the steering wheel 16 on the right side, and a driver's seat is provided on the vehicle right side.

[0041] A windshield 18 is provided at the front end of the instrument panel 14. The windshield 18 is arranged on the vehicle front side of the driver's seat, extends in the vehicle vertical direction and the vehicle width direction, and divides the vehicle interior from the vehicle exterior.

[0042] The right-side end of the windshield 18 is fixed to a front pillar 20 on the right side of the vehicle. The front pillar 20 extends in the vertical direction of the vehicle, and the windshield 18 is fixed to the inner end of the front pillar 20 in the vehicle width direction. Furthermore, the front end of the front side window 22 is fixed to the outer end of the front pillar 20 in the vehicle width direction. Furthermore, the left-side end of the windshield 18 is fixed to a front pillar on the left side of the vehicle (not shown).

[0043] The instrument panel 14 is provided with a first display unit 24 having a display area for a predetermined image. The first display unit 24 comprises an instrument display, which is located on the right side of the instrument panel 14 in the vehicle width direction, in front of the driver's seat. The instrument display forms part of an instrument display device (not shown) connected to various instrument devices installed in the vehicle 12. The first display unit 24 is located in a position within the driver's field of view when the driver is looking forward.

[0044] A second display unit 25 having a predetermined image display area is provided on the windshield 18. The second display unit 25 is composed of a display provided at the center of the instrument panel 14 in the vehicle width direction on the vehicle front side of the driver's seat.

[0045] The third display unit 26 having a display area of a predetermined image is provided on the windshield 18. The third display unit 26 is set on the upper side of the vehicle of the first display unit 24 and is displayed by the head-up display device 44 (see FIG. Figure 2 ) projection surface. Specifically, a head-up display device 44 is provided on the vehicle front side relative to the instrument panel 14, and an image is projected from the head-up display device 44 onto the third display unit 26 on the windshield 18. In other words, the third display unit 26 is formed by the windshield 18, which serves as the projection surface for the head-up display device 44.

[0046] (Hardware Configuration of Vehicle Display Device 10)

[0047] The vehicle 12 is provided with an ECU (Electronic Control Unit) 28 as a control unit. Figure 2 1 is a block diagram showing the hardware configuration of the vehicle display device 10. Figure 2As shown, the ECU 28 of the vehicle display device 10 includes a CPU (Central Processing Unit) 30, a ROM (Read Only Memory) 32, a RAM (Random Access Memory) 34, a storage device 36, a communication interface 38, and an input / output interface 40. These components are interconnected for communication via a bus 42. The CPU 30 is an example of a processor, and the RAM 34 is an example of a memory.

[0048] The CPU 30 is a central processing unit that executes various programs and controls various components. Specifically, the CPU 30 reads programs from the ROM 32 or storage device 36 and executes them using the RAM 34 as a work area. The CPU 30 controls the various components described above and performs various calculations based on the programs stored in the ROM 32 or storage device 36.

[0049] ROM 32 stores various programs and data. RAM 34 temporarily stores programs and data as a work area. Storage device 36, comprised of an HDD (Hard Disk Drive) or SSD (Solid State Drive), stores various programs and data, including the operating system. In this embodiment, programs and various data used for display processing are stored in ROM 32 or storage device 36.

[0050] The communication interface 38 is an interface for the vehicle display device 10 to communicate with a server (not shown) and other devices, and uses standards such as Ethernet (registered trademark), LTE, FDDI, and Wi-Fi (registered trademark).

[0051] Connected to the input / output interface 40 are a head-up display device 44 that projects predetermined images onto the first display unit 24, the second display unit 25, and the third display unit 26, and an actuator 46. The actuator 46 includes a steering actuator, an accelerator actuator, and a brake actuator. The steering actuator steers the vehicle 12. The accelerator actuator accelerates the vehicle 12. The brake actuator decelerates the vehicle 12 by controlling the brakes. Furthermore, connected to the input / output interface 40 are a camera (not shown) that captures images of the surroundings of the vehicle 12, sensors for autonomously driving the vehicle 12, a GPS device, and the like.

[0052] (Functional Structure of Vehicle Display Device 10)

[0053] The vehicle display device 10 realizes various functions using the aforementioned hardware resources. Figure 3 The functional configuration implemented by the vehicle display device 10 will be described.

[0054] like Figure 3 As shown, the vehicle display device 10 includes a communication unit 50, an acquisition unit 51, an operation plan setting unit 52, an automatic driving control unit 54, a lane recognition unit 56, a vehicle position recognition unit 58, a lane departure determination unit 60, an image generation unit 62, and a display instruction unit 64 as functional components. Each functional component is implemented by the CPU 30 reading and executing a program stored in the ROM 32 or the storage device 36.

[0055] The communication unit 50 transmits and receives data to and from external servers and other devices via the communication interface 38. For example, it transmits and receives map data and traffic conditions data stored on the server. Furthermore, the communication unit 50 may be configured to perform inter-vehicle communication with surrounding vehicles.

[0056] The acquisition unit 51 acquires the driving environment of the vehicle 12 as peripheral information from an external sensor (not shown) via the input / output interface 40. The external sensor is configured to include at least one of a camera that captures a predetermined range of the surroundings of the vehicle 12, a millimeter-wave radar that transmits a probe wave to a predetermined range, and a laser radar (Light Detection and Ranging / Laser Imaging Detection and Ranging) that scans a predetermined range. In addition, as an example, the "peripheral information" includes the driving lane 70 of the vehicle 12 (see Figure 4A 、 Figure 4B as well as Figure 5 ) road width, other vehicles traveling near vehicle 12, obstacles, etc.

[0057] The operation plan setting unit 52 sets an operation plan for the vehicle 12. Specifically, the operation plan from the current location to the destination is set by the passenger inputting the destination.

[0058] The automatic driving control unit 54 controls the switching between manual and automatic driving of the vehicle 12. Furthermore, when the driving mode of the vehicle 12 is switched to automatic driving, the automatic driving control unit 54 takes into account the position information and environmental information surrounding the vehicle 12 and causes the vehicle 12 to automatically drive according to the set operation plan. Specifically, the automatic driving control unit 54 controls the actuator 46 to cause the vehicle 12 to travel automatically.

[0059] Lane recognition unit 56 has the function of identifying the vehicle's lane. Specifically, it identifies the lane by analyzing white lines drawn on the road surface based on images captured by a camera that captures the front of vehicle 12. Lane recognition includes identifying the shape and width of the lane. Alternatively, lane recognition unit 56 can identify the vehicle's lane based on vehicle position information obtained from a GPS device and high-precision map information.

[0060] The vehicle position recognition unit 58 has the function of identifying the position of the vehicle relative to the lane in which it is traveling. Specifically, it estimates the position of the vehicle 12 relative to the lane based on images captured by a camera that captures the image of the vehicle 12 in front of it. This estimation of the vehicle's position includes estimating the position of the vehicle 12 relative to the lane's road width boundary (e.g., a white line) and the vehicle's direction of travel. Alternatively, the vehicle position recognition unit 58 can identify the vehicle's position and direction relative to the lane based on vehicle position information acquired from a GPS device and high-precision map information.

[0061] The lane departure determination unit 60 determines whether there is a possibility that the vehicle will depart from the driving lane based on the driving lane and the position of the vehicle identified by the lane recognition unit 56 and the vehicle position recognition unit 58. Specifically, Figure 4A As shown, when the distance D1 between the boundary line in the road width direction in the driving lane 70 and the vehicle 12 is less than a predetermined threshold value, it is determined that there is a possibility that the vehicle 12 will leave the driving lane 70. Figure 4A In FIG. 1 , the distance D1 between the vehicle 12 and the white line L1 indicating the left boundary line in the road width direction of the driving lane 70 is shown. Figure 4A , only the distance D1 between the vehicle 12 and the white line L1 on the left side of the vehicle 12 is shown, but the lane departure determination unit 60 can also make the same determination based on the distance between the vehicle 12 and the white line L2 on the right side of the vehicle 12 .

[0062] In addition, if Figure 4B As shown, when the angle θ1 formed by the road width direction boundary line in the driving lane 70 and the vehicle's traveling direction is greater than a predetermined threshold, the lane departure determination unit 60 may determine that there is a possibility that the vehicle 12 has departed from the driving lane 70. Figure 4B In the figure, the direction of travel of the vehicle 12 (the direction of the centerline of the vehicle) is indicated by a straight line C, and the direction of the tangent to the white line L1 located on the left side in the road width direction relative to the reference position O of the vehicle 12 is indicated by a straight line T. The reference position O of the vehicle 12 is, for example, the center position of the vehicle 12. In this embodiment, as an example, the angle θ1 formed by the straight line C and the straight line T is the angle θ1 formed by the road width direction boundary line in the driving lane 70 and the direction of travel of the vehicle.

[0063] The more the tangent direction of white line L1 differs from the traveling direction of vehicle 12, the larger the angle θ1 formed between the road width boundary line in driving lane 70 and the traveling direction of the vehicle. Therefore, for example, when vehicle 12 is traveling at a sharp curve in the driving lane, the angle θ1 formed may be set to be greater than a predetermined threshold value, thereby determining that vehicle 12 is likely to leave driving lane 70.

[0064] In addition, Figure 4B , only the angle θ1 formed by the tangent direction of the white line L1 on the left side of the vehicle 12 and the traveling direction of the vehicle 12 is illustrated, but the lane departure judgment unit 60 can also make the same judgment based on the angle formed by the tangent direction of the white line L2 on the right side of the vehicle 12 and the traveling direction of the vehicle 12.

[0065] The image generating unit 62 generates an image to be displayed on the third display unit 26 as the projection surface of the head-up display device 44. The image generated by the image generating unit 62 includes, for example, a meter display M indicating the traveling speed of the vehicle 12 (see Figure 5 ), various images for the purpose of assisting manual and autonomous driving.

[0066] In this embodiment, particularly when the lane departure determination unit 60 determines that the vehicle 12 may depart from the driving lane, the image generation unit 62 causes the display area of the third display unit 26 to display the stereoscopic image B (see FIG. Figure 7 ). As an example, the stereoscopic image B is an image of a block-shaped stereoscopic object. Figure 8 As shown, in this embodiment, a plurality of stereoscopic images B are displayed on the third display unit 26 along the driving lane 70. Details of the method for displaying the stereoscopic images B will be described later.

[0067] The display instruction unit 64 has a function of displaying the image generated by the image generating unit 62 in the display area of the third display unit 26 and a function of deleting the image displayed on the third display unit 26 .

[0068] The display instruction unit 64 displays various images in the display area of the third display unit 26 in a manner that is integrated with the foreground of the vehicle 12 that is visually recognized by the occupant of the driver's seat through the third display unit 26 (windshield 18). Figure 5 2 shows an example of the third display unit 26 viewed from the driver's seat. In this figure, the display area of the third display unit 26 avoids overlapping positions of the white lines L1 and L2 on the road to display the instrument display M, considering the visibility of the driver's seat.

[0069] Furthermore, in this embodiment, particularly when the lane departure determination unit 60 determines that the vehicle 12 may depart from the driving lane, the display instruction unit 64 displays the stereoscopic image B in the display area along the driving lane 70 in the foreground of the vehicle 12, which is visually recognized through the third display unit 26 (windshield 18). Therefore, when the stereoscopic image B is displayed on the third display unit 26, the driver's seat occupant, who is visually recognizing the third display unit 26, can be given the visual effect of a block-like three-dimensional object being positioned near the driving lane 70.

[0070] Furthermore, when the lane departure determination unit 60 determines that the vehicle 12 may depart from the driving lane but then determines that the vehicle 12 may not depart from the driving lane, the display instruction unit 64 deletes the stereoscopic image B from the third display unit 26 .

[0071] (effect)

[0072] Next, the operation of this embodiment will be described.

[0073] (Display Processing)

[0074] use Figure 6 The flowchart shown in FIG. 1 illustrates an example of a display process for displaying a stereoscopic image B on the third display unit 26 as the projection surface of the head-up display device 44. This display process is performed by the CPU 30 reading a display program from the ROM 32 or the storage device 36, expanding it in the RAM 34, and executing it.

[0075] like Figure 6 As shown, the CPU 30 determines whether the vehicle 12 is traveling in step S100. If it is determined that the vehicle 12 is traveling, the CPU 30 proceeds to step S101. If it is determined that the vehicle 12 is not traveling in step S100, the CPU 30 ends the display process.

[0076] In step S101 , the CPU 30 recognizes the driving lane 70 in which the vehicle 12 is traveling based on the function of the lane recognition unit 56 .

[0077] In step S102 , the CPU 30 recognizes the position of the vehicle 12 relative to the driving lane 70 based on the function of the vehicle position recognition unit 58 .

[0078] In step S103, the CPU 30 determines whether there is a possibility that the vehicle 12 has departed from the driving lane 70 based on the function of the lane departure determination unit 60. Specifically, Figure 4AAs shown, when the distance D1 between the road width boundary (white lines L1, L2) in the driving lane 70 and the vehicle 12 is less than a predetermined threshold, it is determined that there is a possibility that the vehicle 12 will leave the driving lane 70. As an example, the threshold value of distance D1 is set to a distance at which the vehicle 12 will not run over the white lines L1, L2 of the driving lane 70. This allows the occupants of the vehicle 12 to be warned of the danger of lane departure before the vehicle 12 leaves the driving lane 70 in the steps described below.

[0079] In addition, if Figure 4B As shown, when the angle θ1 formed by the road width direction boundary lines (white lines L1, L2) in the driving lane 70 and the traveling direction of the vehicle 12 is greater than a predetermined threshold value, the CPU 30 determines that there is a possibility that the vehicle 12 will leave the driving lane 70. Therefore, for example, when the vehicle 12 is moving forward in the driving lane 70 that represents a sharp turn, the angle θ1 formed is greater than the predetermined threshold value, and the vehicle 12 is determined to have a possibility of leaving the driving lane 70.

[0080] If it is determined in step S103 that the vehicle 12 may leave the driving lane 70, the CPU 30 proceeds to step S104. On the other hand, if it is determined that the vehicle 12 may not leave the driving lane 70, the CPU 30 proceeds to step S105.

[0081] In step S104, the CPU 30 displays a block-shaped stereoscopic image B in the display area of the third display unit 26 based on the functions of the image generating unit 62 and the display instructing unit 64 before the vehicle 12 leaves the driving lane 70. Since the stereoscopic image B is displayed along the driving lane 70 ahead of the vehicle as visually recognized on the third display unit 26, the occupant in the driver's seat can be given the visual effect of a block-shaped three-dimensional object being arranged near the driving lane 70.

[0082] In this embodiment, the stereoscopic image B is displayed particularly along the boundary line of the driving lane 70 on the lane departure direction side of the vehicle 12. This allows the driver's seat occupant to recognize the lane departure direction without looking away from the foreground of the vehicle.

[0083] Here, refer to Figures 7 to 9 Next, a display example of the third display unit 26 when it is determined that there is a possibility that the vehicle 12 will deviate to the left side of the driving lane 70 will be described.

[0084] like Figure 7As shown, a block-shaped stereoscopic image B is displayed on the display area of the third display unit 26, blending with the driving lane 70 in the foreground of the vehicle 12. The stereoscopic image B moves along the white line L1 on the left side of the road width, flowing from the far side of the display area to the near side. Furthermore, the stereoscopic image B appears larger as it moves from the far side of the display area to the near side. This creates a visual effect for the driver's seat occupant, as if the moving vehicle 12 is pressing against an approaching three-dimensional object.

[0085] In this embodiment, if Figure 8 As shown, the multiple stereoscopic images B moving in the above-described manner are displayed on the display area of the third display unit 26. The multiple stereoscopic images B move in a flowing manner from the far side of the display area to the near side of the display area. After stopping at the near side of the display area, they are displayed in a row along the driving lane 70. This can give the occupant of the driver's seat the visual effect of forming a shock absorber along the white line L1 on the side of the vehicle 12 in the direction of departure (left direction).

[0086] like Figure 9 As shown in the enlarged image, a three-dimensional image B that has stopped moving is displayed in a manner that vibrates in the vertical direction near the front of the display area. This can provide the occupant of the driver's seat who is visually checking the third display unit 26 with a sense of presence as if the vehicle 12 is vibrating by pressing against a three-dimensional object. Alternatively, the angle θ1 formed by the white lines L1, L2 and the vehicle 12 (see FIG. 2 ) can be used to determine the distance D1 between the white lines L1, L2 and the vehicle 12, or the angle θ1 formed by the white lines L1, L2 and the direction of travel of the vehicle 12 (see FIG. 2 ). Figure 4B ) to change at least one of the vibration period and amplitude. For example, as the distance D1 between the white lines L1, L2 and the vehicle 12 decreases, the vibration period can be reduced and the amplitude can be increased to enhance the visual effect given to the occupants.

[0087] In addition, Figure 9 In the embodiment, an example of vibrating the stereoscopic image B in the vertical direction is described, but the present invention is not limited thereto and the stereoscopic image B may be vibrated in the horizontal direction or the oblique direction.

[0088] As described above, the vehicle display device 10 of this embodiment identifies the lane in which the vehicle 12 is traveling and the position of the vehicle 12 relative to the lane, and based on this information, determines whether the vehicle 12 is likely to leave the lane. Furthermore, if it is determined that there is a possibility of leaving the lane, the vehicle display device 10 displays a stereoscopic image B arranged along the lane in the display area. This allows the vehicle display device 10 to visually convey to the occupants the impression that the vehicle 12 is running over a three-dimensional object, thereby intuitively conveying the danger of lane departure.

[0089] In addition, in the vehicle display device 10 according to this embodiment, as shown in FIG. Figure 4AAs shown, when the vehicle 12 approaches the white lines L1 and L2 indicating the road width boundary in the driving lane 70, it is determined that the vehicle 12 is likely to leave the driving lane 70. Thus, when the vehicle 12 is traveling in a state where there is a high possibility of leaving the driving lane, the occupants can be made aware of the danger of lane departure.

[0090] In addition, in the vehicle display device 10 according to this embodiment, as shown in FIG. Figure 4B As shown, when the angle θ1 formed between the white lines L1 and L2, which represent the road width direction boundary lines in the driving lane 70, and the vehicle 12 is equal to or greater than a predetermined threshold value, it is determined that the vehicle 12 is likely to leave the driving lane 70. This allows the occupants to recognize the danger of lane departure when the vehicle 12 is traveling on a route where there is a high possibility of the vehicle 12 leaving the driving lane, such as when the vehicle 12 is traveling in a lane with a sharp curve.

[0091] Furthermore, in this embodiment, the 3D image B can be displayed in the display area of the third display unit 26 to allow the occupant to recognize the danger before the vehicle 12 leaves the driving lane 70. Therefore, lane departure accidents of the vehicle 12 can be effectively prevented.

[0092] Furthermore, in this embodiment, the stereoscopic image B is displayed so as to move from the far side of the display area toward the near side along the driving lane 70 (white lines L1 and L2). This allows the occupant to experience a 3D object positioned on the driving path as if it were approaching the vehicle. Consequently, the vehicle display device 10 can more effectively provide the occupant with the visual effect of the vehicle 12 pressing against the 3D object.

[0093] In addition, in this embodiment, the vibrating stereoscopic image B is displayed in the display area, so that the occupants can feel the immersive feeling of the vehicle vibrating as if they were pressing against the three-dimensional object. As a result, the vehicle display device 10 can more effectively give the occupants a visual effect of the vehicle 12 pressing against the three-dimensional object.

[0094] Furthermore, in this embodiment, the vibration period or amplitude of the stereoscopic image B can be varied based on the distance D1 between the white lines L1 and L2 of the driving lane 70 and the vehicle 12, or the angle θ1 formed between the white lines L1 and L2 and the direction of travel of the vehicle 12. This allows the intensity of the visual effect imparted to the occupants to be adjusted according to the likelihood of lane departure. For example, by shortening the vibration period or increasing the amplitude of the stereoscopic image B as the distance D1 between the white lines L1 and L2 of the driving lane 70 and the vehicle 12 decreases, the visual effect on the occupants who perceive the vehicle 12 as pressing against the three-dimensional object can be enhanced. Consequently, the vehicle display device 10 enables the occupants to intuitively recognize the degree of risk of lane departure.

[0095] Furthermore, in this embodiment, the display area of the third display unit 26, which displays the vehicle's foreground, is the projection surface of the head-up display device 44, which is located in front of the vehicle at the driver's seat. Furthermore, a stereoscopic image B is displayed along the driving lane 70 visually recognized through the display area. In this way, the vehicular display device 10 displays the three-dimensional object in a manner that blends with the foreground as viewed from the driver's seat of the vehicle. This allows the driver's seat occupant to recognize the danger of lane departure without significantly shifting their gaze from the foreground.

[0096] [Supplementary explanation]

[0097] In the above embodiment, the case where the display area showing the foreground of the vehicle is composed of the projection surface of the head-up display device 44 is described, but the present disclosure is not limited to this. Figure 10 As in the vehicle display device 100 according to the modified example shown, the stereoscopic image B may be displayed in the display area of the second display unit 25 which is a display provided on the instrument panel 14. Figure 10 The second display unit 25 shown displays a map image N indicating the current position of the vehicle 12 in the lower portion of the display area, and a foreground image F indicating the foreground of the vehicle in the upper portion of the display area. Foreground image F is composed of, for example, an image captured by a camera (not shown) that captures the front of the vehicle 12, or an animated foreground image. A stereoscopic image B is displayed along the lane 70 of the vehicle 12 that is included in the foreground image F. This allows passengers viewing the second display unit 25 to experience the visual effect of the vehicle 12 pressing against a three-dimensional object, regardless of their seating position.

[0098] Similarly, a configuration may be employed in which the three-dimensional image B is displayed in the display area of the first display unit 24, which is an instrument display provided in front of the driver's seat, on the instrument panel 14. Since the first display unit 24 is provided in front of the driver's seat, the driver's seat occupant can visually check the first display unit 24 without having to look away from the foreground of the vehicle, thereby enhancing the visual effect of the vehicle 12 pressing down on the three-dimensional object.

[0099] Furthermore, while the above embodiment describes a configuration in which multiple stereoscopic images B are displayed in the display area, the present disclosure is not limited thereto. Alternatively, a configuration may be employed in which a single stereoscopic image B is displayed in the display area. Furthermore, the stereoscopic image B is not limited to a block shape and can be modified to various shapes. For example, a stereoscopic image may be formed in the shape of a wall extending from the road width boundary of the driving lane 70.

[0100] In the above embodiment, the stereoscopic image B that has stopped moving on the near side of the display area is displayed in a vibrating manner. However, the stereoscopic image displayed on the far side of the display area may be displayed so as to move toward the near side while vibrating.

[0101] In the above embodiment, the vehicle is separated from the vehicle in the driving lane 70 along the dividing line (at Figure 7 If it is determined that the vehicle 12 may leave the driving lane 70, the stereoscopic image B may be displayed along the dividing lines on both sides of the driving lane 70 in the road width direction.

[0102] In addition, the display processing and lane change display processing in which the CPU reads and executes the software (program) in the above-mentioned embodiment can also be performed by various processors other than the CPU. As processors in this case, FPGA (Field-Programmable Gate Array) and other PLD (Programmable Logic Device: Programmable Logic Controller) whose circuit structure can be changed after manufacturing, and ASIC (Application Specific Integrated Circuit: Application Specific Integrated Circuit) as dedicated electronic circuits such as processors with circuit structures specially designed to perform specific processing are exemplified. In addition, the display processing and lane change display processing can also be performed by one of these various processors, or by a combination of two or more processors of the same type or different types (for example, multiple FPGAs, and a combination of a CPU and an FPGA, etc.). In addition, more specifically, the hardware structure of these various processors is an electronic circuit composed of a combination of circuit elements such as semiconductor elements.

[0103] Furthermore, in the above-described embodiments, the display processing and lane change display processing programs are pre-stored (installed) in a ROM or storage device, but the present invention is not limited thereto. The programs may also be provided by recording them on a storage medium such as a CD-ROM (Compact Disk Read Only Memory), a DVD-ROM (Digital Versatile Disk Read Only Memory), or a USB (Universal Serial Bus) memory device. Furthermore, the programs may be downloaded from an external device via a network.

Claims

1. A vehicle display device that displays a predetermined image in a display area showing a foreground of a vehicle, wherein: The vehicle display device includes: Memory; and a processor connected to the memory, The processor is composed of: Identify the lane in which the vehicle is traveling, Identify the vehicle's position relative to the lane it is traveling in, Based on the identified driving lane and the vehicle's position, it is determined whether there is a possibility that the vehicle will leave the driving lane. When it is determined that there is a possibility that the vehicle will deviate from the driving lane, an image of a three-dimensional object arranged along the driving lane is displayed in the display area in a vibrating manner; Furthermore, at least one of a vibration period and an amplitude of the image of the three-dimensional object is changed according to a distance between a road width direction boundary line in the driving lane and the vehicle, and the image is displayed in the display area.

2. The vehicle display device according to claim 1, wherein The processor determines that there is a possibility that the vehicle will deviate from the driving lane when the distance between the vehicle and a boundary line in the road width direction in the driving lane is equal to or smaller than a predetermined threshold value.

3. The vehicle display device according to claim 1, wherein The processor determines that there is a possibility that the vehicle will deviate from the driving lane when an angle formed by a boundary line in the road width direction of the driving lane and the traveling direction of the vehicle is equal to or greater than a predetermined threshold value.

4. The vehicle display device according to any one of claims 1 to 3, wherein: The processor displays the image of the three-dimensional object on the display area before the vehicle leaves a driving lane.

5. The vehicle display device according to any one of claims 1 to 4, wherein: The processor displays the image of the three-dimensional object on the display area so as to move from a far side to a near side of the display area along the driving lane.

6. The vehicle display device according to any one of claims 1 to 5, wherein: The display area is a projection surface projected by the head-up display device in front of the vehicle at the driver's seat. The processor displays the image of the three-dimensional object on the display area along a driving lane in the foreground of the vehicle visually recognized through the display area.

7. A display method for displaying a predetermined image in a display area showing a foreground of a vehicle, wherein: The display method is composed of: Identify the lane in which the vehicle is traveling, Identify the vehicle's position relative to the lane it is traveling in, Based on the identified driving lane and the vehicle's position, it is determined whether there is a possibility that the vehicle will leave the driving lane. When it is determined that there is a possibility that the vehicle will deviate from the driving lane, an image of a three-dimensional object arranged along the driving lane is displayed in the display area in a vibrating manner; Furthermore, at least one of a vibration period and an amplitude of the image of the three-dimensional object is changed according to a distance between a road width direction boundary line in the driving lane and the vehicle, and the image is displayed in the display area.

8. A computer-readable storage medium storing a program for causing a display area showing a foreground of a vehicle to display a predetermined image, wherein: The storage medium stores a program that, when executed by a processor, performs the following processing: Identify the lane in which the vehicle is traveling, Identify the vehicle's position relative to the lane it is traveling in, Based on the identified driving lane and the vehicle's position, it is determined whether there is a possibility that the vehicle will leave the driving lane. When it is determined that there is a possibility that the vehicle will deviate from the driving lane, an image of a three-dimensional object arranged along the driving lane is displayed in the display area in a vibrating manner; Furthermore, at least one of a vibration period and an amplitude of the image of the three-dimensional object is changed according to a distance between a road width direction boundary line in the driving lane and the vehicle, and the image is displayed in the display area.

Images