Information display device

Abstract

The present invention relates to an information display device comprising a display unit configured to display information about an object such that the information about the object at least partially overlaps with a forward visual field of a user, and a controller configured to control display of the display unit. The controller is configured to estimate or obtain an expected moving direction of the object, obtain a gaze frequency representing a frequency at which a gaze of the user is directed to the object within a predetermined time period, determine whether the gaze frequency is equal to or greater than a predetermined frequency threshold, and cause the display unit to display the expected moving direction of the object at least on a condition that the controller determines that the gaze frequency is less than the frequency threshold.

Description

TECHNICAL FIELD

[0001] The present application relates to an information display device. BACKGROUND

[0002] Conventionally, known information display devices display information about an object (e.g., another vehicle, a two-wheeled vehicle, a pedestrian) so that the information about the object at least partially overlaps with a user's forward view.

[0003] For example, JP 2021-117704 A discloses a display device that displays a virtual image of a presented image so that the virtual image at least partially overlaps with a forward scene of a moving body.

[0004] If the user's line of sight is not frequently directed toward the object, the user can not sufficiently estimate an expected moving direction of the object. In this case, it is preferable to support the user's estimation of the expected moving direction of the object by performing appropriate display on the information display device. However, the above-described conventional techniques do not take into account the frequency with which the user's line of sight is directed toward the object, which makes it difficult to assist the user in estimating the expected moving direction of the object in accordance with the frequency with which the user's line of sight is directed toward the object. SUMMARY

[0005] In view of the above-described background, an object of the present application is to provide an information display device that can assist a user in estimating an expected moving direction of an object in accordance with the frequency with which the user's line of sight is directed toward the object.

[0006] To achieve this object, one aspect of the present application provides an information display device 1 including: an object information acquisition unit (external device 4, external environment sensor 14) configured to acquire at least position information about an object O present around a mobile body (wheel-type vehicle 3); a line-of-sight information acquisition unit (on-vehicle camera 15) configured to acquire information about a line of sight of a user of the mobile body; a display unit (head-up display 16) configured to display information about the object such that the information about the object at least partially overlaps with a forward visual field of the user; and a controller (control device 17) configured to control display of the display unit, wherein the controller is configured to estimate or acquire an expected moving direction of the object based on an acquisition result of the object information acquisition unit (step ST5), acquire a line-of-sight frequency based on an acquisition result of the object information acquisition unit and an acquisition result of the line-of-sight information acquisition unit, the line-of-sight frequency indicating a frequency at which the line of sight of the user is directed toward the object within a predetermined period of time, determine whether or not the line-of-sight frequency is equal to or greater than a predetermined frequency threshold (step ST9), and cause the display unit to display the expected moving direction of the object at least on condition that the controller determines that the line-of-sight frequency is less than the frequency threshold (step ST9: No) (steps ST14, ST16).

[0007] According to this aspect, the user can be assisted in estimating the expected moving direction of the object based on the line-of-sight frequency.

[0008] In the above aspect, preferably, the controller is configured to determine whether or not the line of sight of the user has been directed toward the object at least once within the predetermined period of time (step ST7), and cause the display unit to display the expected moving direction of the object at least on condition that the controller determines that the line of sight of the user has been directed toward the object at least once within the predetermined period of time (step ST7: Yes) and that the line-of-sight frequency is less than the frequency threshold (step ST9: No) (steps ST14, ST16).

[0009] According to this aspect, the display unit can be caused to display the expected moving direction of the object after confirming that the line of sight of the user has been directed toward the object at least once within the predetermined period of time. Thus, the user can easily recognize that the expected moving direction of the object is displayed.

[0010] In the above aspect, preferably, the controller is configured to acquire a past moving direction of the object based on the acquisition result of the object information acquisition unit (step ST4), acquire a duration that indicates a period of time in which the line of sight of the user continuously points to the object within the predetermined period of time based on the acquisition result of the object information acquisition unit and the acquisition result of the line-of-sight information acquisition unit, determine whether the duration is equal to or greater than a predetermined time threshold (step ST10), and cause the display unit to display the past moving direction of the object at least on condition that the controller determines that the duration is less than the time threshold (step ST10: No).

[0011] According to this aspect, the user can be assisted in recognizing the past moving direction of the object based on the duration.

[0012] In the above aspect, preferably, the controller is configured to cause the display unit to display a prospective image 46 and a past image 47 differently from each other, the prospective image indicating the prospective moving direction of the object, the past image indicating the past moving direction of the object.

[0013] According to this aspect, the user can easily distinguish the prospective moving direction of the object and the past moving direction of the object.

[0014] In the above aspect, preferably, the prospective image and the past image each include a plurality of pattern images 51, 52 arranged at intervals, and the controller is configured to change the number of the pattern images based on a moving speed of the object.

[0015] According to this aspect, the user can recognize not only the prospective moving direction or past moving direction of the object but also the moving speed of the object based on the prospective image or the past image.

[0016] In the above aspect, preferably, the moving body is a vehicle, the user is a driver of the vehicle, the information display device further includes an operation information acquisition unit (driving operation sensor 13) configured to acquire information about a driving operation of the vehicle performed by the driver, and the controller sets the time threshold shorter in a case where the driving operation is started when the line of sight of the user is not directed to the object and the driving operation continues even after the line of sight of the user is directed to the object by an amount equal to or less than a predetermined value than in a case where the amount of change exceeds the predetermined value after the line of sight of the user is directed to the object or in a case where the driving operation is stopped after the line of sight of the user is directed to the object.

[0017] Even in the case where the driving operation continues with the amount of change in the user's line of sight after the user's line of sight is directed toward the object equal to or less than a predetermined value, it is estimated that the user is looking at the object. In this case, the time threshold is set shorter to prevent the past moving direction of the object from being displayed even if the user is looking at the object. Therefore, the user is less likely to be annoyed by the display of the past moving direction of the object.

[0018] In the above aspect, preferably, the controller is configured to estimate the expected moving direction of the object based on at least one of a type of the object, a position of the object, a moving speed of the object, a past moving direction of the object, and a surrounding environment of the object.

[0019] According to this aspect, the expected moving direction of the object can be accurately estimated.

[0020] In the above aspect, preferably, the moving body is a vehicle, the user is a driver of the vehicle, the information display device further includes an operation information acquisition unit (driving operation sensor 13) configured to acquire information on a driving operation of the vehicle performed by the driver, and the controller sets the frequency threshold lower when the driving operation is started while the user's line of sight is not directed toward the object and even in the case where the driving operation continues with the amount of change in the user's line of sight after the user's line of sight is directed toward the object equal to or less than a predetermined value, as compared to the case where the amount of change exceeds the predetermined value after the user's line of sight is directed toward the object or the case where the driving operation is stopped after the user's line of sight is directed toward the object.

[0021] Even in the case where the driving operation continues with the amount of change in the user's line of sight after the user's line of sight is directed toward the object equal to or less than a predetermined value, it is estimated that the user is looking at the object. In this case, the frequency threshold is set lower to prevent the expected moving direction of the object from being displayed even if the user is looking at the object. Therefore, the user is less likely to be annoyed by the display of the expected moving direction of the object.

[0022] In the above aspect, preferably, the controller is configured to cause the display unit to display an object image 45 representing a relative position of the object with respect to the moving body, and the object image is composed of a graphic image.

[0023] According to this aspect, the relative position of the object with respect to the mobile body can be displayed by using a simple image. Therefore, the user can easily recognize the relative position of the object with respect to the mobile body.

[0024] In the above aspect, preferably, assuming that a direction parallel to a moving direction of the object when viewed from above is defined as a first direction, the controller is configured to increase a length of the object image in the first direction as a component of a relative velocity of the object with respect to the mobile body in the first direction increases.

[0025] According to this aspect, the user can recognize not only the relative position of the object with respect to the mobile body but also the relative velocity of the object with respect to the mobile body based on the object image.

[0026] In the above aspect, preferably, assuming that a direction perpendicular to the moving direction of the object when viewed from above is defined as a second direction, the controller is configured to increase a length of the object image in the second direction as an amount of change in the relative position of the object with respect to the mobile body in the second direction increases.

[0027] According to this aspect, the user can recognize not only the relative position and the relative velocity of the object with respect to the mobile body but also an amount of change in the relative position of the object with respect to the mobile body (a degree of movement of the object with respect to the mobile body) based on the object image.

[0028] In the above aspect, preferably, the controller is configured to acquire a past moving direction of the object based on an acquisition result of the object information acquisition unit (step ST4), determine whether the line of sight of the user has been directed toward the object at least once within the predetermined period of time (step ST7), and when it is determined that the line of sight of the user has never been directed toward the object within the predetermined period of time (step ST7: No), cause the display unit to display the object image without causing the display unit to display at least one of the expected moving direction of the object and the past moving direction of the object (step ST8).

[0029] According to the above aspect, when the user is not aware of the object, the user can be informed of the relative position of the object with respect to the mobile body by simple display. Therefore, even when the object is not present in the central vision (an area in which the user is looking) of the user but in the peripheral vision (an area around the central vision) of the user, it becomes easier for the user to intuitively recognize the relative position of the object with respect to the mobile body.

[0030] In the above aspect, preferably, the controller is configured to determine whether a distance from the mobile body to the object is equal to or greater than a predetermined distance threshold, and change a color of the image related to the object when it is determined that the distance from the mobile body to the object is less than the predetermined distance threshold.

[0031] According to this aspect, the user can recognize that the object has approached the mobile body based on the image related to the object.

[0032] In the above aspect, preferably, the mobile body is a vehicle, the user is a driver of the vehicle, and the controller is configured to perform travel control of the vehicle, and change a color of the image related to the object when the object is set as a target of the travel control.

[0033] According to this aspect, the user can recognize that the object is set as the target of the travel control based on the image related to the object.

[0034] Accordingly, according to the above aspect, the user can be assisted in estimating an expected moving direction of the object based on a frequency at which the user's line of sight is directed to the object. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 is a functional block diagram illustrating an information display device according to an embodiment of the present application;

[0036] Figure 2 is a rear view illustrating a windshield on which a surrounding image (surrounding monitoring image) is displayed;

[0037] Figure 3 is an explanatory diagram illustrating a surrounding image;

[0038] Figure 4A is a plan view illustrating a state in which a vehicle and an object move in opposite directions;

[0039] Figures 4B to 4D is an explanatory diagram illustrating an example of a surrounding image in a state of Figure 4A

[0040] Figure 5A is a plan view illustrating a state in which a vehicle and an object move in mutually perpendicular directions;

[0041] Figures 5B to 5D is an explanatory diagram illustrating an example of a surrounding image in a state of Figure 5A

[0042] Figure 6A is a plan view illustrating a state in which a vehicle and an object move in opposite directions;​​

[0043] Figure 6B and Figure 6C is an explanatory diagram showing an example in a state where the surrounding image is displayed on the display unit 16; Figure 6A

[0044] Figure 7 is a flowchart showing a first half of the display content setting control;

[0045] Figure 8 is a flowchart showing a second half of the display content setting control;

[0046] Figure 9 is a flowchart showing a modified embodiment of the second half of the display content setting control; and

[0047] Figure 10 is a table showing types of recognition errors of the object made by the driver. DETAILED DESCRIPTION

[0048] <Information display device 1>

[0049] First, with reference to Figure 1 , the configuration of the information display device 1 according to one embodiment of the present application will be described. The information display device 1 includes a wheeled vehicle 3 (i.e., a self-wheeled vehicle: an example of a mobile body and a vehicle) and an external device 4 provided outside the wheeled vehicle 3.

[0050] < Wheeled vehicle 3>

[0051] The wheeled vehicle 3 is, for example, a four-wheeled automobile. The wheeled vehicle 3 includes a drive device 6, a brake device 7, a steering device 8, a human-machine interface 9 (HMI), a navigation device 10, a vehicle sensor 11, a driving operation member 12, a driving operation sensor 13 (an example of an operation information acquisition unit), an external environment sensor 14 (an example of an object information acquisition unit), a vehicle-mounted camera 15 (an example of a line-of-sight information acquisition unit), a head-up display 16 (HUD: an example of a display unit), and a control device 17 (an example of a controller).

[0052] The drive device 6 is a device that applies a driving force to the wheeled vehicle 3. For example, the drive device 6 includes an internal combustion engine such as a gasoline engine or a diesel engine and / or an electric motor.

[0053] The brake device 7 is a device that applies a braking force to the wheeled vehicle 3. For example, the brake device 7 includes a brake caliper that presses a pad against a brake rotor and an electric cylinder that supplies hydraulic pressure to the brake caliper.

[0054] ​The steering device 8 is a device that changes the steering angle of the wheels. For example, the steering device 8 includes a rack and pinion mechanism that steers the wheels and an electric motor that drives the rack and pinion mechanism.

[0055] The human-machine interface 9 is a device that displays information to the driver (an example of the user) and receives information input by the driver. The human-machine interface 9 is installed inside the wheeled vehicle 3 (for example, on the instrument panel). The human-machine interface 9 includes a touch panel with a display screen.

[0056] The navigation device 10 is a device that guides the wheeled vehicle 3 to its destination. The navigation device 10 stores map information. The navigation device 10 identifies the current position (latitude and longitude) of the wheeled vehicle 3 based on global navigation satellite system signals received from artificial satellites (positioning satellites). The navigation device 10 sets a route to the destination of the wheeled vehicle 3 based on the map information, the current position of the wheeled vehicle 3, and the destination of the wheeled vehicle 3 (input by the driver to the human-machine interface 9).

[0057] The vehicle sensor 11 is a sensor that detects various states of the wheeled vehicle 3. For example, the vehicle sensor 11 can include a vehicle speed sensor that detects the speed of the wheeled vehicle 3, an acceleration sensor that detects the acceleration of the wheeled vehicle 3, a yaw rate sensor that detects the angular velocity of the wheeled vehicle 3 about a vertical axis, a direction sensor that detects the direction of the wheeled vehicle 3, and the like. The vehicle sensor 11 outputs the detection results to the control device 17.

[0058] The driving operation member 12 is a device that accepts driving operations by the driver on the wheeled vehicle 3. The driving operation member 12 includes a steering wheel that accepts steering operations by the driver, an accelerator pedal that accepts acceleration operations by the driver, and a brake pedal that accepts deceleration operations by the driver.

[0059] The driving operation sensor 13 is a sensor that detects the operation amount of the driving operations on the driving operation member 12. In other words, the driving operation sensor 13 is a sensor that acquires information about the driving operations on the driving operation member 12. The driving operation sensor 13 includes a steering angle sensor that detects the rotation angle of the steering wheel, an accelerator sensor that detects the depression amount of the accelerator pedal, and a brake sensor that detects the depression amount of the brake pedal. The driving operation sensor 13 outputs the detection results to the control device 17.

[0060] The external environment sensor 14 is a sensor that detects a state of an external environment of the wheeled vehicle 3. For example, the external environment sensor 14 detects a relative position of at least one object O existing around the wheeled vehicle 3 with respect to the wheeled vehicle 3. In other words, the external environment sensor 14 acquires position information about the object O. The object O can be another vehicle, such as a preceding vehicle, a pedestrian, a bicycle, an obstacle, or the like. The external environment sensor 14 outputs a detection result to the control device 17.

[0061] The external environment sensor 14 includes a plurality of external environment cameras 21, a plurality of radars 22, and a plurality of laser radars 23 (LiDARs). Each of the external environment cameras 21 captures an image of the object O existing around the wheeled vehicle 3. Each of the radars 22 emits a radio wave, such as a millimeter wave, around the wheeled vehicle 3 and captures a reflected wave thereof, thereby detecting a relative position of the object O existing around the wheeled vehicle 3 with respect to the wheeled vehicle 3. Each of the laser radars 23 irradiates light, such as infrared rays, to the surroundings of the wheeled vehicle 3 and captures a reflected light thereof, thereby detecting a relative position of the object O existing around the wheeled vehicle 3 with respect to the wheeled vehicle 3.

[0062] The in-vehicle camera 15 is a device that captures an image of a face of the driver. In other words, the in-vehicle camera 15 is a device that acquires information about a line of sight of the driver. The in-vehicle camera 15 is installed inside the wheeled vehicle 3 (for example, in front of a steering wheel). The in-vehicle camera 15 outputs an imaging result to the control device 17.

[0063] The head-up display 16 is a device that displays information about the object O so that all of the information about the object O overlaps with a forward visual field (a foreground color) of the driver. In another embodiment, the head-up display 16 can display information about the object O so that only a part of the information about the object O overlaps with the forward visual field of the driver.

[0064] The head-up display 16 includes a windshield 25 that separates an internal space of the wheeled vehicle 3 and an external space in front of the wheeled vehicle 3, and a projection device 26 (a projector) that projects information about the object O onto a predetermined portion (for example, a portion directly in front of the driver) of the windshield 25. The windshield 25 is made of a transparent material, such as glass or a transparent resin. Thus, the driver can visually recognize the external space in front of the wheeled vehicle 3 through the windshield 25. The projection device 26 includes a light source and a plurality of mirrors that reflect light emitted from the light source.

[0065] The control device 17 is an electronic control device (ECU) constituted by a computer configured to execute various processes. The control device 17 includes an arithmetic processing unit such as a processor of a central processing unit and a microprocessor, and a storage device such as a memory of a read only memory and a random storage. The arithmetic processing unit reads out necessary software from the storage device, and executes predetermined arithmetic processing according to the read-out software. The control device 17 can be constituted by one piece of hardware, or can be constituted by a unit including a plurality of pieces of hardware. The control device 17 is connected to various components of the wheeled vehicle 3 via a communication network such as a controller area network (CAN), and controls the various components of the wheeled vehicle 3.

[0066] The control device 17 includes, as functional units, an external environment recognition unit 31, a travel control unit 32, a line-of-sight recognition unit 33, and a display control unit 34. At least a part of each functional unit of the control device 17 can be realized by means of hardware such as an LSI, an ASIC, an FPGA, and the like, or can be realized by means of a combination of software and hardware.

[0067] The external environment recognition unit 31 recognizes a state of an external environment of the wheeled vehicle 3 on the basis of a detection result of the external environment sensor 14. For example, the external environment recognition unit 31 recognizes, on the basis of a detection result of the external environment sensor 14, an object O existing around the wheeled vehicle 3, a relative position of the object O with respect to the wheeled vehicle 3, a relative speed of the object O with respect to the wheeled vehicle 3, a distance from the wheeled vehicle 3 to the object O, and the like.

[0068] The external environment recognition unit 31 acquires, on the basis of a detection result of the external environment sensor 14, a type of the object O, a position (absolute position) of the object O, a moving speed of the object O, a past moving direction of the object O, and a surrounding environment of the object O. The external environment recognition unit 31 can acquire these pieces of information not only on the basis of a detection result of the external environment sensor 14 but also on the basis of a detection result of the vehicle sensor 11 and a global navigation satellite system signal. The type of the object O can include another vehicle such as a preceding vehicle, a pedestrian, a bicycle, and the like. The surrounding environment of the object O can include a road shape around the object O, a road width, and the like. When the object O is a pedestrian, the surrounding environment of the object O can include another pedestrian located across the road from the pedestrian. When the object O is a preceding vehicle, the surrounding environment of the object O can include a traffic signal located in front of the preceding vehicle and a vehicle located in front of the preceding vehicle.

[0069] The external environment recognition unit 31 estimates the expected moving direction of the object O based on at least one of the type of the object O, the position of the object O, the moving speed of the object O, the past moving direction of the object O, and the surrounding environment of the object O. Thus, the external environment recognition unit 31 is able to accurately estimate the expected moving direction of the object O. For example, the external environment recognition unit 31 calculates a probability distribution (Gaussian distribution) that defines the direction around the object O as a random variable based on the type of the object O, the position of the object O, the moving speed of the object O, the past moving direction of the object O, and the surrounding environment of the object O. Thereafter, the external environment recognition unit 31 can estimate the direction having the highest probability density in the above-described probability distribution as the expected moving direction of the object O.

[0070] The travel control unit 32 performs travel control of the wheeled vehicle 3 based on the state of the external environment of the wheeled vehicle 3 recognized by the external environment recognition unit 31. For example, the travel control unit 32 performs acceleration and deceleration control and steering control of the wheeled vehicle 3 based on the relative position of the object O with respect to the wheeled vehicle 3 recognized by the external environment recognition unit 31.

[0071] The travel control unit 32 performs front vehicle following control such as adaptive cruise control (ACC) as the acceleration and deceleration control of the wheeled vehicle 3. In the front vehicle following control, the travel control unit 32 controls the drive device 6 and the brake device 7 so that the following distance between the wheeled vehicle 3 and the front vehicle thereof is maintained within a predetermined range.

[0072] The travel control unit 32 performs lane keeping control such as a lane keeping assist system (LKAS) as the steering control of the wheeled vehicle 3. In the lane keeping control, the travel control unit 32 controls the steering device 8 so that the wheeled vehicle 3 travels at a reference position (e.g., the approximate center of the lane in the width direction) within the lane defined by the delimitation line D.

[0073] The line-of-sight recognition unit 33 recognizes the line-of-sight direction of the driver based on the imaging results of the respective in-vehicle cameras 15. For example, the line-of-sight recognition unit 33 extracts the pupil position of the driver from the image of the face of the driver captured by the in-vehicle camera 15, thereby recognizing the line-of-sight direction of the driver based on the pupil position of the driver.

[0074] The display control unit 34 controls the display of the head-up display 16. More specifically, the display control unit 34 switches the image displayed on the head-up display 16 based on the recognition result of the external environment recognition unit 31, the state of the travel control performed by the travel control unit 32, the recognition result of the line-of-sight recognition unit 33, and the like.

[0075] Hereinafter, for the sake of convenience of explanation, the functional units of the control device 17 will be simply described as "the control device 17" without being distinguished.

[0076] <External device 4>

[0077] For example, the external device 4 is constituted by a control device of another vehicle, a communication device for an intelligent transport system (ITS), a map server that stores a high-precision map, or the like. The external device 4 is constituted by a computer including an arithmetic processing unit such as a processor of a central processing unit and a microprocessor, and a storage device such as a memory of a read-only memory and a random access memory. The external device 4 is connected to the control device 17 of the wheeled vehicle 3 via a wireless network N such as the Internet, so as to wirelessly communicate with the control device 17 of the wheeled vehicle 3.

[0078] The external device 4 acquires information about the object O existing around the wheeled vehicle 3 (hereinafter referred to as "object information"). The object information preferably includes information about a past moving direction of the object O, information about an expected moving direction of the object O, and the like. The external device 4 transmits the acquired object information to the control device 17 of the wheeled vehicle 3.

[0079] <Surrounding image 41>

[0080] Next, the surrounding image 41 displayed on the head-up display 16 by the control device 17 will be described with reference to Figure 2 and Figure 3

[0081] The surrounding image 41 is displayed on a predetermined portion of the windshield 25 (for example, a portion in front of the driver) regardless of the spatial positions of the wheeled vehicle 3 and the object O around the wheeled vehicle 3. For example, the surrounding image 41 is an image in a plan view that looks down on the wheeled vehicle 3 and its surrounding area from directly above. In another embodiment, the surrounding image 41 can be an image (a three-dimensional image) in a bird's-eye view that looks down on the wheeled vehicle 3 and its surrounding area from diagonally behind, or can be an image in a view other than the plan view or the bird's-eye view.

[0082] The surrounding image 41 includes one or more of the delimitation line images 44 and the own vehicle image 43. Furthermore, when a predetermined condition described later is satisfied, the surrounding image 41 includes one or more of the object images 45, and at least one expected image 46 and / or at least one past image 47.

[0083] The own vehicle image 43 is constituted by a graphic image that shows the position of the wheeled vehicle 3 (i.e., the ego wheeled vehicle). The own vehicle image 43 is preferably displayed at the approximate center of the surrounding image 41. For example, the own vehicle image 43 is constituted by an icon that imitates the shape of the wheeled vehicle 3. ​

[0084] Each of the delineation line images 44 is composed of a graphic image that represents the position of the corresponding delineation line D around the wheeled vehicle 3. For example, the delineation line image 44 is composed of a straight line or a curve having a predetermined thickness. In another embodiment, the display of the delineation line image 44 can be omitted.

[0085] Each of the object images 45 is a graphic image that represents the position of an object O (in Figure 2 , another vehicle present on the left side of the wheeled vehicle 3, or a bicycle present on the right side of the wheeled vehicle 3) present around the wheeled vehicle 3. By using a graphic image as the object image 45 in this way, the relative position of the object O with respect to the wheeled vehicle 3 can be displayed with a simple image. Therefore, the driver can easily recognize the relative position of the object O with respect to the wheeled vehicle 3. Regardless of the actual shape of the object O, the object image 45 is composed of an icon having a predetermined shape (for example, a teardrop shape that is sharpened on the tip side (front side) of the moving direction of the object O).

[0086] The expected image 46 is an image that represents the expected moving direction of the object O. The expected image 46 is composed of a plurality of pattern images 51 arranged at intervals. The pattern images 51 are aligned along the expected moving direction of the object O. For example, each of the pattern images 51 has an arc shape.

[0087] The past image 47 is an image that represents the past moving direction of the object O. The past image 47 is composed of a plurality of pattern images 52 arranged at intervals. The pattern images 52 are aligned along the past moving direction of the object O. For example, each of the pattern images 52 has a V shape.

[0088] In this way, the expected image 46 and the past image 47 are displayed differently from each other. Therefore, the driver can easily distinguish between the expected image 46 and the past image 47. In another embodiment, the expected image 46 and the past image 47 can be displayed with different line types, colors, sizes, and the like. That is, the expected image 46 and the past image 47 can be displayed in any pattern as long as they are displayed differently from each other.

[0089] <Deformation of Object Image 45>

[0090] Next, the deformation of the object image 45 will be described with reference to Figures 4A to 4D and Figures 5A to 5D .

[0091] In any one of Figure 4A and Figure 5A , the arrow X represents the expected moving direction of the wheeled vehicle 3, and in any one of Figure 4A and Figure 5A , the arrow Y represents the expected moving direction of the object O Figure 4A andFigure 5A the expected moving direction of the other vehicle. Figure 4A and Figure 5A The arrow D1 in any one of Figure 4A and Figure 5A The arrow D2 in any one of

[0092] Figure 4A The state in which the wheeled vehicle 3 and the object O move in opposite directions is shown. In this state, if the component of the relative speed of the object O in the first direction (which matches the sum of the moving speed of the object O and the moving speed of the wheeled vehicle 3 in this state) is VI, the control device 17 sets the length of the object image 45 in the first direction to PI (see Figure 4B ). On the other hand, when the component of the relative speed of the object O in the first direction increases from VI to V2, the control device 17 expands the object image 45 in the first direction, thereby increasing the length of the object image 45 in the first direction from PI to P2 (see Figure 4C ). Conversely, when the component of the relative speed of the object O in the first direction decreases from V2 to VI, the control device 17 reduces the object image 45 in the first direction, thereby decreasing the length of the object image 45 in the first direction from P2 to PI (see Figure 4B ).

[0093] Further, in the state of Figure 4A , if the dispersion of the relative position of the object O in the second direction (i.e., the average value of the square of the deviation of the relative position of the object O in the second direction from the average relative position of the object O in the second direction) is Al over a predetermined period of time, the control device 17 sets the length of the object image 45 in the second direction to Ql (see Figure 4B ). The dispersion of the relative position of the object O in the second direction is an example of the amount of change in the relative position of the object O in the second direction over a predetermined period of time. On the other hand, when the dispersion of the relative position of the object O in the second direction increases from Al to A2, the control device 17 expands the object image 45 in the second direction, thereby increasing the length of the object image 45 in the second direction from Ql to Q2 (see Figure 4D ). Conversely, when the dispersion of the relative position of the object O in the second direction decreases from A2 to Al, the control device 17 reduces the object image 45 in the second direction, thereby decreasing the length of the object image 45 in the second direction from Q2 to Ql (seeFigure 4B ).

[0094] Figure 5A The diagram shows a state where the wheeled vehicle 3 and the object O are moving in mutually perpendicular directions. In this state, if the component of the relative velocity of the object O in the first direction (which, in this state, matches the moving velocity of the object O) is V1, then the control device 17 sets the length of the object image 45 in the first direction to P1 (see...). Figure 5B On the other hand, when the component of the relative velocity of object O in the first direction increases from V1 to V2, the control device 17 expands the object image 45 along the first direction, thereby increasing the length of the object image 45 in the first direction from P1 to P2 (see...). Figure 5C Conversely, when the component of the relative velocity of object O in the first direction decreases from V2 to V1, the control device 17 shrinks the object image 45 along the first direction, thereby reducing the length of the object image 45 in the first direction from P2 to P1 (see...). Figure 5B ).

[0095] exist Figure 5A In this state, if the dispersion of the relative position of object O in the second direction is A1, then the control device 17 sets the length of object image 45 in the second direction to Q1 (see...). Figure 5B On the other hand, when the dispersion of the relative position of object O in the second direction increases from A1 to A2, the control device 17 expands the object image 45 along the second direction, thereby increasing the length of the object image 45 in the second direction from Q1 to Q2 (see...). Figure 5D Conversely, when the dispersion of the relative position of object O in the second direction decreases from A2 to A1, the control device 17 shrinks the object image 45 along the second direction, thereby reducing the length of the object image 45 in the second direction from Q2 to Q1 (see...). Figure 5B ).

[0096] As described above, as the component of the relative velocity of object O in the first direction increases, the control device 17 increases the length of object image 45 in the first direction. Therefore, based on object image 45, the driver can not only identify the relative position of object O relative to wheeled vehicle 3, but also the relative velocity of object O relative to wheeled vehicle 3.

[0097] Furthermore, as the dispersion of the relative position of object O in the second direction increases, the control device 17 increases the length of object image 45 in the second direction. Therefore, based on object image 45, the driver can not only identify the relative position and relative speed of object O relative to wheeled vehicle 3, but also the dispersion of the relative position of object O (the degree of movement of object O relative to wheeled vehicle 3).

[0098] The control device 17 can perform the above-described deformation of the object image 45 at any time. For example, the control device 17 can display the deformed object image 45 at the start of its display, or can deform the object image 45 after the start of its display.

[0099] <Change in color of object image 45>

[0100] Next, a change in color of the object image 45 will be described.

[0101] When the distance from the wheeled vehicle 3 to the object O is identified based on the detection result of the external environment sensor 14, the control device 17 determines whether the distance from the wheeled vehicle 3 to the object O is equal to or greater than a predetermined distance threshold. When it is determined that the distance from the wheeled vehicle 3 to the object O is equal to or greater than the predetermined distance threshold, the control device 17 sets the color of the object image 45 to a first color. On the other hand, when it is determined that the distance from the wheeled vehicle 3 to the object O is less than the predetermined distance threshold, the control device 17 changes at least one of the hue, the brightness, and the saturation of the object image 45, thereby changing the color of the object image 45 from the first color to a second color. For example, the second color is a color having a higher brightness and / or saturation than the first color (a more conspicuous color than the first color). However, in another embodiment, the second color can be a color having a lower brightness and / or saturation than the first color (a less conspicuous color than the first color).

[0102] As described above, when it is determined that the distance from the wheeled vehicle 3 to the object O is less than the predetermined distance threshold, the control device 17 changes the color of the object image 45 compared to when the control device 17 determines that the distance from the wheeled vehicle 3 to the object O is equal to or greater than the predetermined distance threshold. Therefore, the driver can identify that the object O has approached the wheeled vehicle 3 based on the object image 45. In another embodiment, the control device 17 changes the color of the prospective image 46 and / or the past image 47, or the color of the object image 45 and the color of the prospective image 46 and / or the past image 47, in accordance with the distance from the wheeled vehicle 3 to the object O.

[0103] When the travel control of the wheeled vehicle 3 is executed, the control device 17 sets the object O as a target of the travel control (for example, a preceding vehicle of preceding vehicle follow-up control) in accordance with the positional relationship between the wheeled vehicle 3 and the object O. While the object O is not set as the target of the travel control, the control device 17 sets the color of the object image 45 to the third color. On the other hand, when the object O is set as the target of the travel control, the control device 17 changes the color of the object image 45 from the third color to a fourth color. For example, the fourth color is a color (a more conspicuous color than the third color) having a higher brightness and / or saturation than the third color. However, in another embodiment, the fourth color can be a color (a less conspicuous color than the third color) having a lower brightness and / or saturation than the third color.

[0104] As described above, when the object O is set as the target of the travel control, the control device 17 changes the color of the object image 45 as compared with the case where the object O is not set as the target of the travel control. Therefore, the driver can recognize that the object O has been set as the target of the travel control on the basis of the object image 45. In another embodiment, the control device 17 can change the color of the prospective image 46 and / or the past image 47 in accordance with whether the object O is set as the target of the travel control, or the color of the object image 45 and the color of the prospective image 46 and / or the past image 47.

[0105] <Number of pattern images 51 and 52>

[0106] Next, the number of the pattern images 51 and 52 including the prospective image 46 and the past image 47 will be described with reference to Figures 6A to 6C Figure 6A The contents indicated by the arrows X, Y, D1, and D2 in Figure 4A and Figure 5A are the same as those indicated by the arrows X, Y, D1, and D2 in

[0107] Figure 6A A state in which the wheeled vehicle 3 and the object O move in opposite directions is shown. In this state, when the moving speed of the object O is VI, the control device 17 sets the number of the pattern images 51 including the prospective image 46 to N1 (see Figure 6B ). On the other hand, when the moving speed of the object O increases from VI to V2, the control device 17 increases the number of the pattern images 51 from N1 to N2 (see Figure 6C ). In contrast, when the moving speed of the object O decreases from V2 to VI, the control device 17 decreases the number of the pattern images 51 from N2 to N1 (see Figure 6B ).

[0108] ​In the present embodiment, the control device 17 changes the number of the pattern image 51 including the expected image 46 based on the moving speed of the object O. Therefore, the driver can recognize not only the expected moving direction of the object O but also the moving speed of the object O based on the expected image 46. In another embodiment, the control device 17 can change the number of the pattern image 52 including the past image 47 based on the moving speed of the object O, or the number of the pattern image 51 including the expected image 46 and the number of the pattern image 52 including the past image 47. Alternatively, in another embodiment, the control device 17 can change the number of the pattern image 51 including the expected image 46 and / or the number of the pattern image 52 including the past image 47 based on the relative speed of the object O.

[0109] <Display content setting control>

[0110] Next, an example of the display content setting control performed by the control device 17 will be described with reference to Figure 7 and Figure 8 The display content setting control is a control for determining the display content of the surrounding image 41. When a plurality of objects O exist around the wheeled vehicle 3, the control device 17 can perform the display content setting control for each object O.

[0111] When the display content setting control is started, the control device 17 recognizes the object O existing around the wheeled vehicle 3 based on the detection result of the external environment sensor 14 (step ST1). In another embodiment, the control device 17 can recognize the object O existing around the wheeled vehicle 3 based on the object information received from the external device 4.

[0112] Next, the control device 17 determines whether the object O recognized in step ST1 is an object that is a display target in the surrounding image 41 (hereinafter referred to as a “display target object”) (step ST2). For example, when the distance from the wheeled vehicle 3 to the object O is within a predetermined reference distance, the control device 17 determines that the object O is the display target object. On the other hand, when the distance from the wheeled vehicle 3 to the object O exceeds the reference distance, the control device 17 determines that the object O is not the display target object.

[0113] When it is determined that the object O recognized in step ST1 is not the display target object (step ST2: No), the control device 17 does not cause the head-up display 16 to display the object image 45, the expected image 46, and the past image 47 (step ST3). That is, the control device 17 does not cause the head-up display 16 to display the relative position of the object O, the expected moving direction of the object O, and the past moving direction of the object O.

[0114] On the other hand, when it is determined that the object O identified in step ST1 is a display target object (step ST2: YES), the control device 17 acquires a past moving direction of the object O based on the detection result of the external environment sensor 14 (step ST4). In another embodiment, the control device 17 can acquire the past moving direction of the object O based on the object information received from the external device 4.

[0115] Next, the control device 17 estimates an expected moving direction of the object O based on the detection result of the external environment sensor 14 (step ST5). In another embodiment, the control device 17 can estimate the expected moving direction of the object O based on the object information received from the external device 4. Alternatively, the control device 17 can acquire the expected moving direction of the object O estimated by the external device 4 from the external device 4.

[0116] Next, the control device 17 identifies a line-of-sight direction of the driver based on the imaging result of the in-vehicle camera 15 (step ST6).

[0117] Next, the control device 17 determines whether the line-of-sight of the driver has been directed toward the object O at least once within a predetermined period of time based on the relative position of the object O and the line-of-sight direction of the driver (step ST7).

[0118] When the control device 17 determines that the line-of-sight of the driver has not been directed toward the object O within the predetermined period of time (step ST7: NO), the control device 17 causes the head-up display 16 to display the object image 45 without causing the head-up display 16 to display the expected image 46 and the past image 47 (step ST8). That is, the control device 17 causes the head-up display 16 to display the relative position of the object O without causing the head-up display 16 to display the expected moving direction of the object O and the past moving direction of the object O. In another embodiment, the control device 17 can cause the head-up display 16 to display the relative position of the object O without displaying only one of the expected moving direction of the object O and the past moving direction of the object O.

[0119] On the other hand, when it is determined that the line-of-sight of the driver has been directed toward the object O at least once within the predetermined period of time (step ST7: YES), the control device 17 acquires a line-of-sight frequency based on the detection result of the external environment sensor 14 and the imaging result of the in-vehicle camera 15, and determines whether the line-of-sight frequency is equal to or greater than a predetermined frequency threshold (step ST9). The line-of-sight frequency is a frequency at which the line-of-sight of the driver is directed toward the object O within the predetermined period of time (for example, the number of times the line-of-sight of the driver is directed toward the object O within the predetermined period of time). The frequency threshold is set to an integer equal to or greater than 2.

[0120] When it is determined that the line-of-sight frequency is equal to or greater than the frequency threshold (step ST9: YES), the control device 17 acquires a duration based on the detection result of the external environment sensor 14 and the imaging result of the on-vehicle camera 15, and determines whether the duration is equal to or greater than a predetermined time threshold (step ST10). The duration is a period of time in which the driver's line of sight is continuously directed toward the object O for a predetermined period of time. When a plurality of durations are acquired for the predetermined period of time, the control device 17 can make the above determination by using the longest duration among the plurality of durations, or by using a total value of the plurality of durations.

[0121] When it is determined that the duration is equal to or greater than the time threshold (step ST10: YES), the control device 17 does not cause the head-up display 16 to display the object image 45, the expected image 46, and the past image 47 (step ST11). That is, the control device 17 does not cause the head-up display 16 to display the relative position of the object O, the expected moving direction of the object O, and the past moving direction of the object O.

[0122] On the other hand, when it is determined that the duration is less than the time threshold (step ST10: NO), the control device 17 causes the head-up display 16 to display the object image 45 and the past image 47 without displaying the expected image 46 (step ST12). That is, the control device 17 causes the head-up display 16 to display the relative position of the object O and the past moving direction of the object O without displaying the expected moving direction of the object O.

[0123] Further, when it is determined in step ST9 that the line-of-sight frequency is less than the frequency threshold (step ST9: NO), the control device 17 determines whether the duration is equal to or greater than the time threshold as in step ST10 (step ST13).

[0124] When it is determined that the duration is equal to or greater than the time threshold (step ST13: YES), the control device 17 causes the head-up display 16 to display the object image 45 and the expected image 46 without displaying the past image 47 (step ST14). That is, the control device 17 causes the head-up display 16 to display the relative position of the object O and the expected moving direction of the object O without displaying the past moving direction of the object O.

[0125] On the other hand, when it is determined that the duration is less than the time threshold (step ST13: No), the control device 17 causes the head-up display 16 to display the object image 45 and one of the expected image 46 and the past image 47 (step ST15). That is, the control device 17 causes the head-up display 16 to display the relative position of the object O and the expected moving direction or the past moving direction of the object O. For example, the control device 17 can calculate the priority of the expected image 46 from the difference between the line-of-sight frequency and the frequency threshold, calculate the priority of the past image 47 from the difference between the duration and the time threshold, and cause the head-up display 16 to display the expected image 46 or the past image 47 having the higher priority.

[0126] When the display content of the surrounding image 41 is set in step ST3, ST8, ST11, ST12, ST14, or ST15, the control device 17 returns to step ST1 and executes the display content setting control again.

[0127] In the above-described embodiment, when it is determined in step ST9 that the line-of-sight frequency is less than the frequency threshold (step ST9: No), the control device 17 determines whether the duration is equal to or greater than the time threshold (step ST13). On the other hand, in a modified embodiment, as shown in Figure 9

[0128] In addition, in the above-described embodiment, after it is determined whether the line-of-sight frequency is equal to or greater than the frequency threshold (step ST9: Yes), the control device 17 determines whether the duration is equal to or greater than the time threshold (step ST10). In another embodiment, after it is determined whether the duration is equal to or greater than the time threshold, the control device 17 can determine whether the line-of-sight frequency is equal to or greater than the frequency threshold. That is, in another embodiment, the order of the determination in step ST9 and the determination in step ST10 can be reversed from the above-described embodiment.

[0129] <Changes in Frequency Threshold and Time Threshold>

[0130] ​In a predetermined period of time including the time when the driver's line of sight is directed toward the object O, the driving operation (for example, the steering operation, the acceleration operation, or the deceleration operation) of the wheeled vehicle 3 can be started in a state where the driver's line of sight is not directed toward the object O, and after the driver's line of sight is directed toward the object O, the amount of change in the driving operation can exceed the predetermined value. Alternatively, in a predetermined period of time including the time when the driver's line of sight is directed toward the object O, the driving operation (for example, the steering operation, the acceleration operation, or the deceleration operation) of the wheeled vehicle 3 can be started in a state where the driver's line of sight is not directed toward the object O, and after the driver's line of sight is directed toward the object O, the driving operation can be stopped. In these cases, the control device 17 sets the frequency threshold to the first frequency Fl and sets the time threshold to the first time Tl.

[0131] On the other hand, in a predetermined period of time including the time when the driver's line of sight is directed toward the object O, the driving operation of the wheeled vehicle 3 can be started in a state where the driver's line of sight is not directed toward the object O, and even after the driver's line of sight is directed toward the object O, the driving operation whose amount of change is equal to or less than the predetermined value can continue. In this case, the control device 17 sets the frequency threshold to a second frequency F2 lower than the first frequency Fl and sets the time threshold to a second time T2 shorter than the first time Tl.

[0132] In the case where the driving operation whose amount of change is equal to or less than the predetermined value continues even after the driver's line of sight is directed toward the object O, it is estimated that the driver is looking at the object O. In this case, the frequency threshold is set lower or the time threshold is set shorter to prevent the expected image 46 or the past image 47 from being displayed even if the driver is looking at the object O. Therefore, the driver is less likely to be annoyed by the expected image 46 or the past image 47.

[0133] <Recognizing the type of error>

[0134] Next, the type of error in the driver's recognition will be described with reference to Figure 10

[0135] ​In the case where the gaze frequency is equal to or greater than the frequency threshold value, it is estimated that the driver accurately estimates the expected moving direction of the object O after he / she moves his / her eyes from the object O. In this case, the orbitofrontal cortex of the driver's brain, which plays an important role in decision making, tends to be activated, and it is considered that the driver accurately estimates the expected moving direction of the object O. In contrast, in the case where the gaze frequency is less than the frequency threshold value, it is estimated that the driver cannot accurately estimate the expected moving direction of the object O. Hereinafter, this type of recognition error of the driver will be referred to as "a first type". For example, in the case where the driver optimistically estimates the expected moving direction of the object O while the driver is driving the wheeled vehicle 3 (in the case where the driver performs so-called optimistic driving), the recognition error of the driver falls into the first type.

[0136] In the case where the recognition error of the driver falls into the first type, the control device 17 causes the head-up display 16 to display the object image 45 and the expected image 46 (step ST14) to assist the driver in estimating the expected moving direction of the object O in accordance with the gaze frequency. The above-mentioned "expected moving direction" can include uncertainty.

[0137] In the case where the duration is equal to or greater than the time threshold value, it is estimated that the driver has been looking at the object O for a long time continuously. In this case, the superior parietal lobe of the driver's brain, which plays an important role in spatial understanding, tends to be activated, and it is considered that the driver can spatially predict the movement of the object O. In contrast, in the case where the duration is less than the time threshold value, it is estimated that the driver cannot spatially predict the movement of the object O. Hereinafter, this type of recognition error of the driver will be referred to as "a second type". For example, in the case where the driver's visual estimation of the object O is incorrect, the recognition error of the driver falls into the second type.

[0138] When the recognition error of the driver falls into the second type, the control device 17 causes the head-up display 16 to display the object image 45 and the past image 47 (step ST12) to assist the driver in recognizing the past moving direction of the object O in accordance with the duration. Accordingly, the driver can recognize the past moving direction of the object O, and thus estimate the expected moving direction of the object O assuming that the object O continues to move in the same manner as before (that is, the definite expected moving direction of the object O).

[0139] In the case where the driver's gaze does not point at the object O for a predetermined period of time, it is estimated that the driver is unaware of the object O. Hereinafter, this type of recognition error of the driver will be referred to as "a third type". For example, in the case where the driver looks down at the object O, the recognition error of the driver falls into the third type.

[0140] In the case where the recognition error of the driver falls into the third type, the control device 17 causes the head-up display 16 to display the object image 45 without causing the head-up display 16 to display the expected image 46 and the past image 47 (step ST8). Thus, when the driver is not aware of the object O, it is possible to notify the driver of the relative position of the object O with respect to the wheeled vehicle 3 by using a simple display. Thus, even if the object O does not exist in the central vision of the driver (an area in which the driver is looking), but exists in the peripheral vision of the driver (an area around the central vision), it becomes easier for the driver to intuitively recognize the relative position of the object O with respect to the wheeled vehicle 3.

[0141] In particular, the head-up display 16 displays the information on the object O such that the information on the object O at least partially overlaps with the forward vision of the driver. Thus, when the type of the image displayed on the head-up display 16 and its display area increase, the image can obstruct the forward vision of the driver. As such, it has a greater advantage that the driver is notified of the relative position of the object O with respect to the wheeled vehicle 3 by using a simple display.

[0142] As described above, the information display device 1 according to the present embodiment can provide the driver with information according to the recognition state (recognition level) of the driver with respect to the object O. Thus, it is possible to effectively assist the driver in driving the wheeled vehicle 3.

[0143] <Other modifications>

[0144] In the above-described embodiment, the control device 17 causes the head-up display 16 to display the object image 45. In another embodiment, the control device 17 does not cause the head-up display 16 to display the object image 45. In such an embodiment, the control device 17 can use the object O in the actual space seen by the driver through the windshield 25 in place of the object image 45, and display the expected image 46 and / or the past image 47 at a position corresponding to the object O in the actual space.

[0145] In the above-described embodiment, the head-up display 16 projects the information on the object O onto the windshield 25. In another embodiment, the head-up display 16 can project the information on the object O onto a projection member (so-called combiner) mounted on the inside of the windshield 25 and separate from the windshield 25.

[0146] In the above-described embodiment, the head-up display 16 including the windshield 25 and the projection device 26 that projects the information on the object O onto the windshield 25 is used as an example of the display unit. In another embodiment, a glass window including a built-in transparent display having an image display function can be used as an example of the display unit. In other words, the display unit does not necessarily include the projection device 26.

[0147] In the above-described embodiment, a car is used as an example of the moving body. In another embodiment, a wheeled vehicle other than a car, such as a two-wheeled vehicle like a motorcycle and a self-balancing transporter, can be used as an example of the moving body, or a carrier other than a wheeled vehicle, such as a ship, an airplane, and the like, can be used as an example of the moving body. Further, in another embodiment, the user himself / herself can be used as an example of the moving body. In this case, the display unit can be provided on an article worn by the user (for example, a helmet worn by a two-wheeled vehicle driver or sunglasses worn by a pedestrian).

[0148] The specific embodiments of the present application have been described heretofore, but the present application should not be limited to the above-described embodiments, and various modifications and changes can be made within the scope of the present application.

Claims

1. An information display apparatus comprising: an object information acquisition unit configured to acquire at least position information about an object present around a mobile body; a line-of-sight information acquisition unit configured to acquire information about a line of sight of a user of the mobile body; a display unit configured to display information about the object so that the information about the object at least partially overlaps with a forward visual field of the user; and a controller configured to control display of the display unit, wherein the controller is configured to: estimate or acquire an expected moving direction of the object based on an acquisition result of the object information acquisition unit, acquire a line-of-sight frequency representing a frequency at which the line of sight of the user is directed toward the object within a predetermined period of time based on the acquisition result of the object information acquisition unit and an acquisition result of the line-of-sight information acquisition unit, determine whether or not the line-of-sight frequency is equal to or greater than a predetermined frequency threshold, and cause the display unit to display the expected moving direction of the object at least on condition that the controller determines that the line-of-sight frequency is less than the frequency threshold, wherein the controller is configured to: acquire a past moving direction of the object based on an acquisition result of the object information acquisition unit, acquire a duration representing a period of time within the predetermined period of time during which the line of sight of the user is continuously directed toward the object based on the acquisition result of the object information acquisition unit and the acquisition result of the line-of-sight information acquisition unit, determine whether or not the duration is equal to or greater than a predetermined time threshold, and cause the display unit to display the past moving direction of the object at least on condition that the controller determines that the duration is less than the time threshold. the controller is configured to:

2. The information display device according to claim 1, wherein determine whether or not the line of sight of the user has been directed toward the object at least once within the predetermined period of time, and cause the display unit to display the expected moving direction of the object at least on condition that the controller determines that the line of sight of the user has been directed toward the object at least once within the predetermined period of time and that the line-of-sight frequency is less than the frequency threshold. the controller is configured to cause the display unit to display an expected image and a past image differently from each other, the expected image representing the expected moving direction of the object, the past image representing the past moving direction of the object.

3. The information display device according to claim 1, wherein the expected image and the past image each include a plurality of pattern images arranged at intervals, and 4. The information display device according to claim 3, wherein the controller is configured to change a number of the pattern images based on a moving speed of the object. the mobile body is a vehicle, 5. The information display device according to claim 1, wherein the user is a driver of the vehicle, the information display apparatus further includes an operation information acquisition unit configured to acquire information about a driving operation of the vehicle performed by the driver, and the controller is configured to acquire the expected moving direction of the object based on the acquisition result of the object information acquisition unit and the acquisition result of the operation information acquisition unit. The controller sets the time threshold shorter when the driving operation is started while the line of sight of the user is not directed to the object, and the driving operation continues even after the amount of change of the line of sight of the user directed to the object is equal to or smaller than a predetermined value, than when the amount of change exceeds the predetermined value after the line of sight of the user is directed to the object or when the driving operation is stopped after the line of sight of the user is directed to the object.

6. The information display device according to any one of claims 1 to 5, wherein The controller is configured to estimate the expected moving direction of the object based on at least one of a type of the object, a position of the object, a moving speed of the object, a past moving direction of the object, and a surrounding environment of the object.

7. The information display device according to any one of claims 1 to 5, wherein The moving body is a vehicle, The user is a driver of the vehicle, The information display device further includes an operation information acquisition unit configured to acquire information on a driving operation of the vehicle performed by the driver, and The controller sets the frequency threshold lower when the driving operation is started while the line of sight of the user is not directed to the object, and the driving operation continues even after the amount of change of the line of sight of the user directed to the object is equal to or smaller than a predetermined value, than when the amount of change exceeds the predetermined value after the line of sight of the user is directed to the object or when the driving operation is stopped after the line of sight of the user is directed to the object.

8. The information display device according to any one of claims 1 to 5, wherein The controller is configured to cause the display unit to display an object image representing a relative position of the object with respect to the moving body, and The object image is constituted by a graphic image.

9. The information display device according to claim 8, wherein Assuming that a direction parallel to a moving direction of the object when viewed from above is defined as a first direction, the controller is configured to increase a length of the object image in the first direction as a component of a relative speed of the object with respect to the moving body in the first direction increases.

10. The information display device according to claim 9, wherein Assuming that a direction perpendicular to the moving direction of the object when viewed from above is defined as a second direction, the controller is configured to increase a length of the object image in the second direction as an amount of change of the relative position of the object with respect to the moving body in the second direction increases.

11. The information display device according to claim 8, wherein The controller is configured to: acquire a past moving direction of the object based on a result of acquisition by the object information acquisition unit, determine whether the line of sight of the user has been directed to the object at least once within the predetermined period of time, and when it is determined that the line of sight of the user has never been directed to the object within the predetermined period of time, cause the display unit to display the object image without causing the display unit to display at least one of the expected moving direction of the object and the past moving direction of the object.

12. The information display apparatus according to any one of claims 1 to 5, wherein The controller is configured to: determine whether a distance from the moving body to the object is equal to or greater than a predetermined distance threshold, and change a color of an image related to the object when it is determined that the distance from the mobile body to the object is less than the predetermined distance threshold.

13. The information display apparatus according to any one of claims 1 to 5, wherein the mobile body is a vehicle, the user is a driver of the vehicle, and the controller is configured to: perform travel control of the vehicle, and change a color of an image related to the object when it is determined that the distance from the mobile body to the object is less than the predetermined distance threshold. the object is set as a target of the travel control.

Images