Driver assistance device

Abstract

A driver assistance device (10) is provided with an ECU (90). When a peripheral monitoring screen (G3) including a peripheral image and a custom button (Btc) is displayed, an ECU (90) switches the peripheral monitoring screen (G3) to a custom screen (G4a) and displays the peripheral monitoring screen (G3) when the custom button (Btc) is touched. When a predetermined condition is satisfied when the custom screen (G4a) is displayed, the ECU (90) switches the custom screen (G4a) to the attention-inducing screen (G5) and displays the custom screen (G4a).

Description

Divisional Application Instructions This application is a divisional application of the Chinese invention patent application with the application date of October 10, 2020, the invention name of which is “Driver Assistance Device” and the application number is 202011077070.9. Technical Field

[0001] The present invention relates to a driver assistance device for assisting a driver in monitoring the surroundings of a vehicle. Background Art

[0002] This existing driver assistance device (hereinafter referred to as "existing device") displays a peripheral monitoring screen including a captured image (peripheral image) of the vehicle's surrounding area captured by a vehicle-mounted camera on a display device in order to assist the driver in monitoring the vehicle's surroundings.

[0003] Patent Document 1 discloses a navigation device that presents the driver with an operation screen for adjusting navigation conditions and other settings of the navigation device. Conventional devices also present the driver with an operation screen (hereinafter referred to as a "custom screen") for adjusting the operation of driver assistance functions (e.g., parking assistance functions).

[0004] Patent Document 1: Japanese Patent Application Laid-Open No. 2005-351868 Summary of the Invention

[0005] When a request is made to display a custom screen while the surrounding monitoring screen is displayed, conventional devices switch to the custom screen and display it. Consequently, the driver cannot see the surrounding monitoring screen while the custom screen is displayed, potentially reducing the driver's ability to monitor the vehicle's surroundings. This is undesirable because it makes it difficult for the driver to understand changes in the vehicle's surroundings (e.g., changes in the presence of moving objects and / or pedestrians approaching the vehicle) based on the screen.

[0006] The present invention is developed to address the aforementioned issues. Specifically, one of the objectives of the present invention is to provide a driver assistance device that can reduce the likelihood of a decrease in the driver's ability to assist the driver in monitoring the vehicle's surroundings. Hereinafter, the driver assistance device of the present invention may sometimes be referred to as the "driver assistance device of the present invention."

[0007] The driver assistance device (10) of the present invention is mounted on a vehicle (100) and assists the driver in confirming the surroundings of the vehicle by presenting a surrounding monitoring screen to the driver. The driver assistance device comprises: a detection device (30, 40, 50), including a photographing device (40) for acquiring image information by photographing the surroundings of the vehicle, wherein the detection device detects an attention-drawing object consisting of at least one of a stationary object and a moving object existing in the surrounding area of ​​the vehicle; a touch screen (60) configured to display an image; and a display control unit (90) for generating a surrounding image as an image of the surrounding area based on the image information and controlling the display of a screen including the surrounding image displayed on the touch screen (60). The display control unit is configured to be capable of executing attention-drawing screen display control for displaying an attention-drawing screen (G5) including the peripheral image while the attention-drawing object is detected and a predetermined condition is satisfied. In addition, the display control unit is configured to, when the surrounding monitoring screen (G3) including the surrounding image and the custom button (Btc) is displayed (judged as "Yes" in step 1210), if the custom button is touched (judged as "Yes" in step 1215), switch the surrounding monitoring screen to a custom screen (G4a) that is an operation screen for adjusting the work content of a predetermined driver assistance function possessed by the vehicle and display it (step 1220), and when the predetermined condition is met (judged as "Yes" in step 1315) when the custom screen is displayed (step 1310), switch the custom screen to the attention-drawing screen and display it (step 1330).

[0008] According to the driver assistance device of the present invention, when a predetermined condition is satisfied while a custom screen is being displayed, the custom screen is switched to an attention-drawing screen and displayed.

[0009] In the above-mentioned embodiment, the display control unit is configured to switch the attention-drawing screen to the custom screen and display it only while the predetermined condition is satisfied, after switching the custom screen to the attention-drawing screen and displaying it (steps 1410, 1415, and 1420).

[0010] According to the above embodiment, when the custom screen is displayed, the attention-drawing screen is switched to the custom screen and displayed only while a predetermined condition is satisfied. Thus, the driver assistance device of the present invention can reduce the possibility of a decrease in the driver's ability to assist the driver in monitoring the vehicle's surroundings, while ensuring user convenience in operating the custom screen.

[0011] In one of the above-mentioned embodiments, the custom button is configured to be set to a state capable of accepting the touch operation when the vehicle is in a stopped state, and to be set to a state not capable of accepting the touch operation when the vehicle is not in a stopped state. In the above-mentioned embodiment, the object to be noticed is the mobile object around the vehicle approaching the vehicle, and the attention-drawing screen includes the surrounding image and a mobile object direction mark superimposed on the surrounding image and indicating the approach direction of the mobile object.

[0012] According to one embodiment, the display cannot be switched to the custom screen when the vehicle is not stopped, thereby reducing the possibility of a reduction in the driver's ability to monitor the vehicle's surroundings while the vehicle is moving. Furthermore, according to one embodiment, even if the surrounding monitoring screen is switched to the custom screen and displayed while the vehicle is stopped, moving objects requiring particular attention when the vehicle is stopped can be detected, thereby reducing the possibility of a reduction in the driver's ability to monitor the vehicle's surroundings.

[0013] In one of the above methods, The perimeter monitoring screen is a parking assistance screen that is permitted to be displayed when the parking assistance function of the vehicle is in an effective state ("Yes" is determined in step 1205), and the custom screen is an operation screen for adjusting the operation content of the parking assistance function.

[0014] According to the above aspect, the possibility of degradation of the function of assisting the driver in monitoring the surroundings of the vehicle when the parking assist function is in operation can be reduced.

[0015] In one of the above methods, the peripheral monitoring screen is a panoramic view monitor screen that is permitted to be displayed when the panoramic view monitor function of the vehicle is in a valid state (judged as "yes" in step 1505), and the custom screen is an operation screen for adjusting the working content of the panoramic view monitor function.

[0016] According to the above-described aspect, the possibility of degradation of the function of assisting the driver in monitoring the surroundings of the vehicle when the surround view monitor function is in operation can be reduced.

[0017] In the above description, in order to facilitate understanding of the present invention, the names and / or reference numerals used in the embodiments described below are added in parentheses to the components of the invention corresponding to the embodiments described below. However, the components of the present invention are not limited to the embodiments specified by the names and / or reference numerals. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a diagram showing a driver assistance device according to an embodiment of the present invention and a vehicle to which the driver assistance device is applied. Figure 2 This figure shows the arrangement and detection range of the sonar sensor device. Figure 3 It is a diagram showing the arrangement and imaging range of a camera sensor device. Figure 4 It is a diagram showing the configuration of a radar sensor device. Figure 5A It is a schematic diagram showing an image displayed on the touch screen. Figure 5B It is a schematic diagram showing an image displayed on the touch screen. Figure 6 It is a schematic diagram showing an image displayed on the touch screen. Figure 7 It is a schematic diagram showing an image displayed on the touch screen. Figure 8 It is a schematic diagram showing an image displayed on the touch screen. Figure 9 It is a schematic diagram showing an image displayed on the touch screen. Figure 10A It is a schematic diagram showing an image displayed on the touch screen. Figure 10B It is a schematic diagram showing an image displayed on the touch screen. Figure 11 It is a schematic diagram showing an image displayed on the touch panel display unit. Figure 12 This is a flowchart showing a routine executed by the CPU of the ECU. Figure 13 This is a flowchart showing a routine executed by the CPU of the ECU. Figure 14 This is a flowchart showing a routine executed by the CPU of the ECU. Figure 15 This is a flowchart showing a routine executed by the CPU of the ECU. Figure 16 This is a flowchart showing a routine executed by the CPU of the ECU. Figure 17 This is a flowchart showing a routine executed by the CPU of the ECU. DETAILED DESCRIPTION

[0019] <Composition> Hereinafter, a driver assistance device according to an embodiment of the present invention will be described with reference to the accompanying drawings. In all figures of the embodiment, the same or corresponding parts are denoted by the same reference numerals. Figure 1A driver assistance device 10 according to an embodiment of the present invention and a vehicle 100 to which the driver assistance device 10 is applied are shown.

[0020] like Figure 1 As shown, the driver assistance device 10 includes an ECU 90. ECU stands for Electronic Control Unit. ECU 90 includes a microcomputer as its main component. The microcomputer includes a CPU, ROM, RAM, nonvolatile memory, and an interface. The CPU is configured to implement various functions by executing instructions, programs, or routines stored in the ROM. ECU 90 may also be composed of multiple ECUs.

[0021] Vehicle 100 is equipped with a vehicle driving force generating device 11, a braking device 12, and a steering device 13. The vehicle driving force generating device 11 generates driving force for driving vehicle 100 and applies this driving force to the drive wheels of vehicle 100. The vehicle driving force generating device 11 is, for example, an internal combustion engine or an electric motor. The braking device 12 applies braking force to the wheels of vehicle 100 to brake vehicle 100. The steering device 13 applies steering torque to the steering wheels of vehicle 100 to steer vehicle 100.

[0022] The vehicle drive force generator 11, the brake device 12, and the steering device 13 are electrically connected to the ECU 90. The ECU 90 controls the drive force applied to the drive wheels of the vehicle 100 by controlling the operation of the vehicle drive force generator 11. Furthermore, the ECU 90 controls the braking force applied to the wheels of the vehicle 100 by controlling the operation of the brake device 12. Furthermore, the ECU 90 controls the steering torque applied to the steering wheels of the vehicle 100 by controlling the operation of the steering device 13.

[0023] (Sensors, etc.) The driver assistance device 10 includes an accelerator pedal operation amount sensor 21, a brake pedal operation amount sensor 22, a steering angle sensor 23, a steering torque sensor 24, a vehicle speed sensor 25, a yaw rate sensor 26, a longitudinal acceleration sensor 27, a lateral acceleration sensor 28, a shift position sensor 29, a sonar sensor device 30, a camera sensor device 40, a radar sensor device 50, a touch screen display unit 60, a parking assist switch 70, and a camera switch 80.

[0024] The accelerator pedal operation amount sensor 21 is electrically connected to the ECU 90. The ECU 90 detects the operation amount AP of the accelerator pedal 14 via the accelerator pedal operation amount sensor 21 and acquires the accelerator pedal operation amount AP as the accelerator pedal operation amount AP. The ECU 90 controls the operation of the vehicle drive force generator 11 so that a driving force corresponding to the acquired accelerator pedal operation amount AP is applied from the vehicle drive force generator 11 to the drive wheels of the vehicle 100.

[0025] The brake pedal operation amount sensor 22 is electrically connected to the ECU 90. The ECU 90 detects the driver's operation amount BP of the brake pedal 15 via the brake pedal operation amount sensor 22 and acquires the amount as the brake pedal operation amount BP. The ECU 90 controls the operation of the brake device 12 so that a braking force corresponding to the acquired brake pedal operation amount BP is applied from the brake device 12 to the wheels of the vehicle 100.

[0026] The steering angle sensor 23 is electrically connected to the ECU 90. The ECU 90 detects the rotation angle θst of the steering wheel 16 relative to the neutral position via the steering angle sensor 23 and acquires the detected rotation angle θst as the steering angle θst.

[0027] The steering torque sensor 24 is electrically connected to the ECU 90. The ECU 90 detects the torque TQst input from the driver to the steering shaft 17 via the steering torque sensor 24 and acquires the detected torque TQst as the steering torque TQst.

[0028] The ECU 90 controls the operation of the steering device 13 so as to apply a steering torque corresponding to the acquired steering angle θst and steering torque TQst to the steered wheels of the vehicle 100 .

[0029] The vehicle speed sensor 25 is electrically connected to the ECU 90. The ECU 90 detects the rotational speed Vrot of each wheel of the vehicle 100 via the vehicle speed sensor 25 and acquires the rotational speed Vrot of each wheel. Based on the acquired rotational speed Vrot of each wheel, the ECU 90 acquires the traveling speed SPD of the vehicle 100 as the vehicle speed SPD.

[0030] The yaw rate sensor 26 is electrically connected to the ECU 90. The ECU 90 detects the yaw rate YR of the vehicle 100 via the yaw rate sensor 26 and acquires the yaw rate YR as the vehicle yaw rate YR.

[0031] The longitudinal acceleration sensor 27 is electrically connected to the ECU 90. The ECU 90 detects the longitudinal acceleration Gx of the vehicle 100 via the longitudinal acceleration sensor 27 and acquires the detected longitudinal acceleration Gx as the vehicle longitudinal acceleration Gx.

[0032] The lateral acceleration sensor 28 is electrically connected to the ECU 90. The ECU 90 detects the lateral acceleration Gy of the vehicle 100 via the lateral acceleration sensor 28 and acquires the detected lateral acceleration Gy as the vehicle lateral acceleration Gy.

[0033] The shift position sensor 29 is electrically connected to the ECU 90. It detects the position of a shift lever (not shown) (shift position). In this example, the positions of the shift lever are the parking position (P), the forward position (D), and the reverse position (R). The ECU 90 receives the position of the shift lever from the shift position sensor 29 and controls the transmission (not shown) and / or the drive direction switching mechanism of the vehicle 100 based on the position (i.e., controls the shifting of the vehicle 100). Furthermore, the ECU 90 is capable of controlling the transmission and / or the drive direction switching mechanism (not shown) and switching the position of the shift lever independently of the driver's operation of the shift lever.

[0034] The sonar sensor device 30 includes a first clearance sonar 301 to a twelfth clearance sonar 312. Hereinafter, the first clearance sonar 301 to the twelfth clearance sonar 312 will be collectively referred to as "clearance sonar 313" as needed.

[0035] like Figure 2 As shown, the first clearance sonar 301 is mounted on the vehicle 100 so as to radiate ultrasonic waves from the front left end portion of the vehicle 100 toward the left front. The second clearance sonar 302 is mounted on the vehicle 100 so as to radiate ultrasonic waves from the left front end portion of the vehicle 100 toward the front. The third clearance sonar 303 is mounted on the vehicle 100 so as to radiate ultrasonic waves from the front right end portion of the vehicle 100 toward the right front. The fourth clearance sonar 304 is mounted on the vehicle 100 so as to radiate ultrasonic waves from the right front end portion of the vehicle 100 toward the front.

[0036] Furthermore, the fifth clearance sonar 305 is mounted on the vehicle 100 so as to radiate ultrasonic waves from the rear left end portion of the vehicle 100 toward the left rear. The sixth clearance sonar 306 is mounted on the vehicle 100 so as to radiate ultrasonic waves from the left rear end portion of the vehicle 100 toward the rear. The seventh clearance sonar 307 is mounted on the vehicle 100 so as to radiate ultrasonic waves from the rear right end portion of the vehicle 100 toward the right rear. The eighth clearance sonar 308 is mounted on the vehicle 100 so as to radiate ultrasonic waves from the right rear end portion of the vehicle 100 toward the rear.

[0037] Furthermore, the ninth clearance sonar 309 is mounted on the vehicle 100 so as to radiate ultrasonic waves from the front left side of the vehicle 100 to the left. The tenth clearance sonar 310 is mounted on the vehicle 100 so as to radiate ultrasonic waves from the rear left side of the vehicle 100 to the left. The eleventh clearance sonar 311 is mounted on the vehicle 100 so as to radiate ultrasonic waves from the front right side of the vehicle 100 to the right. The twelfth clearance sonar 312 is mounted on the vehicle 100 so as to radiate ultrasonic waves from the rear right side of the vehicle 100 to the right.

[0038] The clearance sonar 313 receives ultrasonic waves reflected from objects.

[0039] The sonar sensor device 30 is electrically connected to the ECU 90. The sonar sensor device 30 transmits information related to ultrasonic waves emitted by the clearance sonar 313 and ultrasonic waves received by the clearance sonar 313 to the ECU 90. Based on the information received from the sonar sensor device 30, the ECU 90 acquires information related to objects around the vehicle 100 as "object information."

[0040] exist Figure 2 , the direction indicated by the reference numeral Dx is the front-rear direction of the vehicle 100, hereinafter referred to as the “vehicle front-rear direction Dx”, and the direction indicated by the reference numeral Dy is the width direction of the vehicle 100, hereinafter referred to as the “vehicle width direction Dy”.

[0041] The camera sensor device 40 includes a front camera 41, a rear camera 42, a left camera 43, and a right camera 44. Hereinafter, the front camera 41, the rear camera 42, the left camera 43, and the right camera 44 will be collectively referred to as "camera 45" as needed. The camera 45 is also referred to as "imaging device."

[0042] like Figure 3 As shown, the front camera 41 is mounted at the center of the front end of the vehicle 100 to capture the scenery in front of the vehicle 100, with a viewing angle 41A of approximately 180°. The rear camera 42 is mounted at the center of the rear end of the vehicle 100 to capture the scenery behind the vehicle 100, with a viewing angle 42A also of approximately 180°. The left camera 43 is mounted on the left side of the vehicle 100 to capture the scenery to the left of the vehicle 100, with a viewing angle 43A also of approximately 180°. The right camera 44 is mounted on the right side of the vehicle 100 to capture the scenery to the right of the vehicle 100, with a viewing angle 44A also of approximately 180°. Furthermore, the front camera 41 can capture the scenery in front of the vehicle 100 with a relatively narrow viewing angle, and the rear camera 42 can capture the scenery behind the vehicle 100 with a relatively narrow viewing angle.

[0043] The camera sensor device 40 is electrically connected to the ECU 90. The ECU 90 can acquire information related to the image of the scenery captured by each camera 45 via the camera sensor device 40.

[0044] Hereinafter, as needed, information related to the image of the scenery captured by the front camera 41 will be referred to as "front image information IMG1," information related to the image of the scenery captured by the rear camera 42 will be referred to as "rear image information IMG2," information related to the image of the scenery captured by the left camera 43 will be referred to as "left image information IMG3," and information related to the image of the scenery captured by the right camera 44 will be referred to as "right image information IMG4." Furthermore, hereafter, as needed, the front image information IMG1, rear image information IMG2, left image information IMG3, and right image information IMG4 will be collectively referred to as "image information IMG."

[0045] Every time a predetermined time has passed, the ECU 90 generates surrounding image information using the front image information IMG1, rear image information IMG2, left image information IMG3, and right image information IMG4. Images displayed (generated) based on the surrounding image information are referred to as "surrounding images." Surrounding images are images corresponding to at least a portion of the area surrounding the vehicle 100 and include camera viewpoint images and composite images.

[0046] The camera viewpoint image is an image with the arrangement position of each lens of the camera 45 as a viewpoint. One of the synthesized images is an image (also referred to as a “virtual viewpoint image”) obtained by viewing the surroundings of the vehicle SV from a virtual viewpoint set at an arbitrary position around the vehicle 100 .

[0047] The method for generating this virtual viewpoint image is well known (for example, see Japanese Patent Application Laid-Open Nos. 2012-217000, 2016-192772, and 2018-107754). Furthermore, the ECU 90 may generate an image by further synthesizing (overlaying) the camera viewpoint image and the virtual viewpoint image with a vehicle image (for example, a vehicle polygon SP showing the shape of the vehicle 100), graphic images such as lines that support parking maneuvers, and text images such as messages that support parking maneuvers. Such an image is also referred to as a peripheral image.

[0048] The following briefly describes a method for generating virtual viewpoint image information, which serves as the basis for virtual viewpoint images. ECU 90 projects pixels included in front image information IMG1, rear image information IMG2, left image information IMG3, and right image information IMG4 onto a predetermined projection curved surface (e.g., a bowl-shaped curved surface) in a virtual three-dimensional space.

[0049] The center of the projection curved surface is defined as the position of vehicle 100. Portions outside the center of the projection curved surface correspond to front image information IMG1, rear image information IMG2, left image information IMG3, and right image information IMG4. ECU 90 projects pixel information included in front image information IMG1, rear image information IMG2, left image information IMG3, and right image information IMG4 onto portions outside the center of the projection curved surface.

[0050] The ECU 90 places the "polygon representing the shape of vehicle 100" at the center of the projection curved surface. Furthermore, the ECU 90 sets a virtual viewpoint in a virtual three-dimensional space and cuts out a predetermined area of ​​the projection curved surface that is included in a predetermined viewing angle when viewed from the virtual viewpoint as image information (image). Furthermore, the "polygon representing the shape of vehicle 100" that is included in the predetermined viewing angle when viewed from the virtual viewpoint is superimposed on the cut-out image information (image). This generates virtual viewpoint image information.

[0051] The radar sensor device 50 includes first to fifth radar sensors 51a to 51e. Hereinafter, the first to fifth radar sensors 51a to 51e will be collectively referred to as "radar sensors 51" as needed.

[0052] Radar sensor 51 is a well-known sensor that uses radio waves in the millimeter wave band. Radar sensor 51 acquires radar sensor target information that determines the distance between vehicle 100 and a three-dimensional object, the relative speed between vehicle 100 and the three-dimensional object, and the relative position (orientation) of the three-dimensional object relative to vehicle 100, and outputs the radar sensor target information to ECU 90.

[0053] Radar sensors 51 (51a to 51e) are provided at Figure 4 The predetermined position of the vehicle 100 shown is used to acquire radar sensor target information of a three-dimensional object existing in a predetermined area described below.

[0054] The radar sensor 51 a acquires radar sensor target information of a three-dimensional object existing in the right front area of ​​the vehicle 100 . The radar sensor 51 b acquires radar sensor target information of a three-dimensional object existing in the area in front of the vehicle 100 . The radar sensor 51 c acquires radar sensor target information of a three-dimensional object existing in the left front area of ​​the vehicle 100 . The radar sensor 51 d acquires radar sensor target information of a three-dimensional object existing in the right rear area of ​​the vehicle 100 . The radar sensor 51 e acquires radar sensor target information of a three-dimensional object existing in the left rear area of ​​the vehicle 100 .

[0055] The touch panel display unit 60 is disposed at a position visible to the driver of the vehicle 100. In this example, the touch panel display unit 60 is a so-called touch panel type display provided with a navigation device.

[0056] The touch panel display unit 60 is electrically connected to the ECU 90. The ECU 90 can display (cause to be displayed) various screen images (also simply referred to as "screens") including a periphery monitoring screen image of a periphery image on the touch panel display unit 60.

[0057] The parking assist switch 70 is a switch that is operated (pressed, depressed) by a user.

[0058] The camera switch 80 is a switch operated (pressed, depressed) by the user.

[0059] (Overview of driver assistance functions) Vehicle 100 includes at least one (in this example, both) of a parking assist function and a panoramic view monitor function (hereinafter referred to as a "PVM function") as driver assistance functions for assisting the driver. When a driver assistance function is set to an active state (Enabled), execution of control corresponding to that driver assistance function is permitted. When a driver assistance function is set to an inactive state (Inactive), execution of control corresponding to that driver assistance function is not permitted (i.e., prohibited).

[0060] (Parking assist function) The parking assist function automatically assists the driver in parking or unparking the vehicle 100 by automatically steering the vehicle 100. Furthermore, the parking assist function also includes a function that presents the driver with a surrounding monitoring screen including surrounding images, assisting the driver in monitoring the surroundings of the vehicle while parking or unparking.

[0061] The ECU 90 is configured to execute control for implementing a parking assist function. The control for implementing the parking assist function includes automatic parking control for automatically moving the vehicle 100 from a parking position to a target parking position and setting the vehicle 100 to a parking state, and display control for displaying an appropriate surrounding monitoring screen on the touch screen display unit 60.

[0062] (Panoramic View Monitor function) The PVM function assists the driver in monitoring the vehicle's surroundings by displaying a surrounding monitoring screen, including a bird's-eye view or other surrounding image, on the touchscreen display unit 60 when the vehicle 100 is traveling at a relatively low speed. The ECU 90 is configured to execute control for implementing the PVM function. This control includes display control for displaying an appropriate surrounding monitoring screen on the touchscreen display unit 60.

[0063] (Mobile object alarm function) Vehicle 100 has a moving object warning function as a function to call attention. The moving object warning function detects moving objects (other vehicles, pedestrians, etc.) around vehicle 100 based on radar sensor target information acquired by radar sensor 51 and information (camera target information) regarding objects identified based on captured images acquired by camera 45. Upon detection of a moving object, the function calls the attention of the driver of vehicle 100.

[0064] Examples of the method for drawing the driver's attention include displaying an attention-drawing screen including a peripheral image, etc. The ECU 90 is configured to execute control for realizing the mobile object alarm function.

[0065] When the radar sensor 51 and the camera 45 detect a moving object and the display conditions for the attention-drawing screen (display conditions for the moving object warning screen) are met, the ECU 90 displays the moving object warning screen on the touch screen display unit 60 as the attention-drawing screen. When the radar sensor 51 and the camera 45 no longer detect a moving object and the display conditions for terminating the attention-drawing screen (display conditions for the moving object warning screen) are met, the ECU 90 terminates the display of the moving object warning screen on the touch screen display unit 60.

[0066] The moving object warning screen includes a first moving object warning image and a second moving object warning image. The first moving object warning image includes Figure 5A The forward moving object warning image Ga1 and Figure 5B There are two types of rear moving object warning images Ga2 shown.

[0067] Figure 5AThe illustrated forward moving object warning image Ga1 includes a camera viewpoint image Gfc of the forward camera 41, and a first moving object direction mark MC1, a second moving object direction mark MC2, and a third moving object direction mark MC3 superimposed on the camera viewpoint image Gfc. The first moving object direction mark MC1, the second moving object direction mark MC2, and the third moving object direction mark MC3 indicate the direction of the detected moving object approaching the vehicle (the same applies to the fourth to fourteenth moving object direction marks MC4 to MC14 described later). Although not shown, the forward moving object warning image Ga1 may also include a graphic image, such as a line that supports parking maneuvers, superimposed on the camera viewpoint image Gfc.

[0068] The first moving object direction mark MC1 is superimposed and displayed at a predetermined position P1 in the center of the front of the vehicle 100 in the camera viewpoint image Gfc of the front camera 41. The second moving object direction mark MC2 is superimposed and displayed at a predetermined position P2 in the right front of the vehicle 100 in the camera viewpoint image Gfc of the front camera 41. The third moving object direction mark MC3 is superimposed and displayed at a predetermined position P3 in the left front of the vehicle 100 in the camera viewpoint image Gfc of the front camera 41.

[0069] In addition, Figure 5A In the preceding moving object warning image Ga1, all of the moving object direction marks, namely, the first to third moving object direction marks MC1 to MC3, are displayed. However, the display of these first to third moving object direction marks MC1 to MC3 may be controlled based on the direction of the detected moving object (the direction relative to the vehicle 100). That is, for example, moving object direction marks at positions having the same direction as the moving object detected in front of the vehicle 100 may be displayed, while moving object direction marks at positions having a different direction than the moving object detected in front of the vehicle 100 may not be displayed.

[0070] Figure 5B The rearward moving object warning image Ga2 shown includes a camera viewpoint image Gbc of the rearward camera 42 and a fourth moving object direction mark MC4, a fifth moving object direction mark MC5, and a sixth moving object direction mark MC6 superimposed and displayed on the camera viewpoint image Gbc. Although not shown, the rearward moving object warning image Ga2 may also include a graphic image, such as a line that supports parking maneuvers, superimposed and displayed on the camera viewpoint image Gbc.

[0071] The fourth moving object direction mark MC4 is superimposed and displayed at a predetermined position P4 at the rear center of the vehicle 100 in the camera viewpoint image Gbc of the rear camera 42. The fifth moving object direction mark MC5 is superimposed and displayed at a predetermined position P5 at the right rear of the vehicle 100 in the camera viewpoint image Gbc of the rear camera 42. The sixth moving object direction mark MC6 is superimposed and displayed at a predetermined position P6 at the left rear of the vehicle 100 in the camera viewpoint image Gbc of the rear camera 42.

[0072] In addition, Figure 5B In the rear moving object warning image Ga2, all of the fourth to sixth moving object direction marks MC4 to MC6 are displayed. However, the display of these fourth to sixth moving object direction marks MC4 to MC6 is controlled based on the direction of the detected moving object. That is, for example, moving object direction marks are displayed at positions that have the same direction as the moving object detected behind the vehicle 100, while moving object direction marks are not displayed at positions that have a different direction than the moving object detected behind the vehicle 100.

[0073] The second moving object warning image is Figure 6 One type of the entire surrounding moving object warning image G1b is shown. Figure 6 As shown, the entire surrounding moving object warning image G1b includes the overhead image G1h, the vehicle polygon SP, and the seventh moving object direction mark MC7, the eighth moving object direction mark MC8, the ninth moving object direction mark MC9, the tenth moving object direction mark MC10, the eleventh moving object direction mark MC11, the twelfth moving object direction mark MC12, the thirteenth moving object direction mark MC13, and the fourteenth moving object direction mark MC14 superimposed and displayed on the overhead image G1h. Although not shown in the figure, the entire surrounding moving object warning image G1b may also include a graphic image, such as a line that supports parking maneuvers, superimposed and displayed on the overhead image G1h.

[0074] The seventh moving object direction mark MC7 is superimposed and displayed at a predetermined position P7 in the center of the front of the vehicle 100 in the overhead image G1h. The eighth moving object direction mark MC8 is superimposed and displayed at a predetermined position P8 in the right front of the vehicle 100 in the overhead image G1h. The ninth moving object direction mark MC9 is superimposed and displayed at a predetermined position P9 in the left front of the vehicle 100 in the overhead image G1h. The tenth moving object direction mark MC10 is superimposed and displayed at a predetermined position P10 in the right side of the vehicle 100 in the overhead image G1h. The eleventh moving object direction mark MC11 is superimposed and displayed at a predetermined position P11 in the left side of the vehicle 100 in the overhead image G1h. The twelfth moving object direction mark MC12 is superimposed and displayed at a predetermined position P12 in the center of the rear of the vehicle 100 in the overhead image G1h. The thirteenth moving object direction mark MC13 is superimposed and displayed at a predetermined position P13 in the right rear of the vehicle 100 in the overhead image G1h. The fourteenth moving object direction mark MC14 is superimposed and displayed at a predetermined position P14 on the left rear side of the vehicle 100 in the bird's-eye view image G1h.

[0075] In addition, Figure 6 In the present embodiment, all of the moving object direction marks MC7 to MC14, the seventh to fourteenth moving object direction marks, are displayed in the entire surrounding moving object warning image G1b. However, the display of these moving object direction marks MC7 to MC14 is controlled based on the direction of the detected moving object. That is, for example, moving object direction marks are displayed for positions where the direction is the same as the direction of the detected moving object, while moving object direction marks are not displayed for positions where the direction is different from the direction of the detected moving object.

[0076] <Outline of Display Control> (Parking assist display mode) When the parking assist switch 70 is operated at a predetermined timing, the ECU 90 sets the display mode of the image displayed on the touch screen display unit 60 to the parking assist display mode. The parking assist display mode is the display mode of the image displayed on the touch screen display unit 60 when the parking assist function is set to the valid state.

[0077] In the parking assist display mode, when the shift position is "D" or "N", when the vehicle 100 is moving forward or stopped, the ECU 90 will, for example, Figure 7 The parking assistance screen G1 shown is displayed on the touch panel display unit 60 .

[0078] The parking assist screen G1 is divided into a left area (an area on the left side of the dotted line In) and a right area (an area on the right side of the dotted line In).

[0079] The left area of ​​the parking assist screen G1 includes a left assist image G1L, a custom button Btc, an icon Ic1 , an icon Ic2 , a message MS1 , and a message MS2 .

[0080] The left auxiliary image G1L includes a camera viewpoint image G1c of the front camera 41 and a supporting graphic image GS1L composed of lines and the like superimposed and displayed on the camera viewpoint image G1c. In this example, the camera viewpoint image G1c includes two types of images: a normal angle image, which is a camera viewpoint image with a relatively narrow angle, and a wide angle image, which is a camera viewpoint image with a relatively wide angle. Figure 7 The illustrated camera viewpoint image G1 c is a normal angle of view image that is a relatively narrow-angle camera viewpoint image of the front camera 41 .

[0081] The custom button Btc is a button composed of an image that is operated by the user to switch to and display a custom screen. The user operates the custom button Btc by touching the custom button Btc displayed on the touch screen display unit 60. This operation is referred to as a "touch operation." The touch operation on the custom button Btc displayed on the touch screen display unit 60 generates an operation signal corresponding to the touch operation. The ECU 90 receives this generated operation signal.

[0082] When the vehicle 100 is stopped, the ECU 90 sets the custom button Btc to a state in which touch operations on the custom button Btc can be accepted. When the vehicle 100 is not stopped (i.e., when the vehicle 100 is moving), the ECU 90 sets the custom button Btc to a state in which touch operations on the custom button Btc cannot be accepted.

[0083] The ECU 90 displays the custom button Btc in either a first display mode or a second display mode, depending on the state of acceptance of a touch operation on the custom button Btc. When the touch operation on the custom button Btc can be accepted, the ECU 90 displays the custom button Btc in the first display mode. When the touch operation on the custom button Btc cannot be accepted, the ECU 90 displays the custom button Btc in the second display mode.

[0084] In addition, since the vehicle 100 is in a moving state (not stopped), the second display mode (for example, dimmed color (dark state)) is displayed. Figure 7 Therefore, Figure 7 The parking assist screen G1 is in a state where it cannot accept touch operations on the custom button Btc.

[0085] After the vehicle 100 stops, the ECU 90 sets the state to be able to accept the touch operation of the custom button Btc, and switches the custom button Btc from the second display mode to the first display mode shown in the block BR1 (for example, brightening the color tone (brightened state)) and displays it.

[0086] An icon Ic1 is displayed to indicate the operating status of the parking assist function. The ECU 90 displays the icon Ic1 when the parking assist function is active, but does not display the icon Ic1 when the parking assist function is not active. The icon Ic2 indicates the type of camera in the camera viewpoint image G1c (which camera, the front camera 41 or the rear camera 42, represents the camera viewpoint image) and whether the camera viewpoint image G1c represents a relatively narrow angle or a relatively wide angle. The ECU 90 displays the appropriate icon Ic2 depending on the type of camera viewpoint image G1c and other factors.

[0087] Messages M1 and MS2 are messages (text) displayed to inform the driver of the vehicle's direction of movement and to assist the driver in monitoring the vehicle's surroundings. The ECU 90 displays appropriate messages M1 and MS2 depending on the status of the vehicle 100. Support graphics GS1L are displayed to assist the driver in monitoring the vehicle's surroundings.

[0088] The right area of ​​the parking assist screen G1 includes a right auxiliary image G1R. Right auxiliary image G1R includes a top-view image G1h, a support graphic image GS1R composed of lines and other components superimposed on top-view image G1h, and a vehicle polygon SP. Like support graphic image GS1L, support graphic image GS1R is displayed to assist the driver in monitoring the vehicle's surroundings.

[0089] Furthermore, in the parking assist display mode, when the shift position is "R" and the vehicle 100 moves backward or stops, the ECU 90 will, for example, Figure 8 The parking assistance screen G2 shown is displayed on the touch panel display unit 60 .

[0090] The left area of ​​the parking assist screen G2 includes a left assist image G2L, a custom button Btc, an icon Ic1 , an icon Ic2 , a message MS1 , and a message MS2 .

[0091] The left auxiliary image G2L includes a camera viewpoint image G2c of the rear camera 42 and a support graphic image GS1L composed of lines and the like superimposed and displayed on the camera viewpoint image G2c. Figure 8 The camera viewpoint image G2c is a normal viewing angle image of the rear camera 42.

[0092] The right area of ​​the parking assist screen G2 includes a right auxiliary image G2R. The right auxiliary image G2R includes a bird's-eye view image G1h, a support graphic image GS1R composed of lines and the like superimposed and displayed on the bird's-eye view image G1h, and a vehicle polygon SP.

[0093] <Work Summary> For example, when the display mode is the parking assist display mode, and the shift position is "D" or "N," the driver of vehicle 100 brakes and stops vehicle 100. In this case, the moving object warning function is enabled.

[0094] In this case, for example, it is assumed that the parking assistance screen G3 is displayed. Figure 9 The custom button Btc shown is displayed in the first display mode. Figure 7 different.

[0095] In this case, if the custom button Btc displayed in the first display mode on the parking assistance screen G3 is touched, the ECU 90 switches the parking assistance screen G3 displayed on the touch screen display unit 60 to the custom button Btc displayed in the first display mode. Figure 10A The custom screen G4 a shown is displayed on the touch panel display unit 60 .

[0096] The custom screen G4a is an operation screen used to adjust the operating contents of the parking assist function. The custom screen G4a includes the names of functions whose settings can be changed, displayed in each of a plurality of frames FR; a function change button Bt1 that is touched to change the operating contents and setting values ​​of the functions; screen switching buttons Bt2 and Bt3 that are touched to switch the custom screen to another custom screen; and a return button Btr.

[0097] in addition, Figure 10B The custom screen G4b shown is an operation screen for adjusting the working contents of the PVM function. Figure 10A If the screen switching button Bt3 is touched when the custom screen G4a is displayed, the ECU 90 will Figure 10A The custom screen G4a shown switches to Figure 10B The custom screen G4b shown is displayed. Figure 10B If the screen switching button Bt2 is touched when the custom screen G4b is displayed, the ECU 90 will Figure 10B The custom screen G4b shown switches to Figure 10A The custom screen G4a shown is displayed.

[0098] In addition, it is envisaged that Figure 10A The custom screen G4a shown is displayed on the touch screen display unit 60 when the attention-drawing function (in this example, the moving object alerting function) is enabled. Furthermore, in this situation, it is assumed that a moving object approaching the vehicle 100 from the right front side is detected, thereby satisfying the conditions for displaying the attention-drawing screen.

[0099] In this case, the ECU 90 switches the custom screen G4a to Figure 11 The moving object alarm screen G5 shown is displayed on the touch panel display unit 60 .

[0100] The left area of ​​the moving object warning screen G5 includes a forward moving object warning image Ga1 , a custom button Btc, an icon Ic1 , an icon Ic2 , a message MS1 , and a message MS2 .

[0101] The forward moving object warning image Ga1 includes a camera viewpoint image G1c of the forward camera 41, a supporting graphic image GS1L superimposed on the camera viewpoint image G1c, and a second moving object direction mark MC2. The camera viewpoint image G1c is a normal-angle image of the forward camera 41. Alternatively, the camera viewpoint image G1c may be a wide-angle image of the forward camera 41. The second moving object direction mark MC2 is superimposed on the camera viewpoint image G1c at a predetermined position around the vehicle 100 (in this example, a predetermined position P2 right in front of the vehicle 100, whose position is the same as that of the moving object in front of the right side) and whose orientation is the same as that of the detected moving object (orientation relative to the vehicle 100).

[0102] The right area of ​​the moving object warning screen G5 includes the entire surrounding moving object warning image G1b. The entire surrounding moving object warning image G1b includes a bird's-eye view image G1h, a supporting graphic image GS1R superimposed on the bird's-eye view image G1h, an eighth moving object direction marker MC8, and a vehicle polygon SP. The eighth moving object direction marker MC8 is superimposed on the bird's-eye view image G1h at a predetermined position around the vehicle 100 whose orientation is the same as that of the detected moving object (in this example, a predetermined position P8 to the right front of the vehicle 100 whose orientation is the same as that of the moving object to the right front).

[0103] After that, if the display termination condition of the moving body alarm screen G5 is satisfied, the ECU 90 turns off the screen currently displayed on the touch screen display unit 60. Figure 11 The mobile alarm screen G5 shown switches to Figure 10A The custom screen G4 a shown is displayed again on the touch panel display unit 60 .

[0104] When the return button Btr of the custom screen G4a currently displayed on the touch screen display unit 60 is touched and the display termination condition of the custom screen G4a is satisfied, the ECU 90 switches the custom screen G4a displayed on the touch screen display unit 60 to the return button Btr. Figure 9 The parking assistance screen G3 shown is displayed on the touch panel display unit 60 .

[0105] (PVM display mode) When the camera switch 80 is operated while the vehicle 100 is in a predetermined state, the ECU 90 sets the display mode of the image displayed on the touch panel display unit 60 to the PVM display mode. The PVM display mode is the display mode of the image displayed when the PVM function is set to the valid state.

[0106] In the PVM display mode, a perimeter monitoring screen (hereinafter also referred to as a "PVM screen") including a predetermined perimeter image is displayed according to the shift position when the camera switch 80 is operated. The PVM screen is, for example, a screen including both a composite image or a bird's-eye view image as if viewed from an oblique upper position around the vehicle and a camera viewpoint image.

[0107] In addition, by touching a screen switching switch included in the PVM screen (not shown), the PVM screen (for example, a screen including an overhead view image and a camera viewpoint image) can be switched to another type of PVM screen (for example, a screen including a camera viewpoint image of the left camera 43 and a camera viewpoint image of the right camera 44), etc.

[0108] <Work Summary> For example, assume that when the display mode is the PVM display mode, the user performs a brake operation with the shift position at “D” or “N”, thereby stopping the vehicle 100 .

[0109] In this case, similar to the above-mentioned parking assist display mode, the ECU 90 displays a PVM screen (a screen including a bird's-eye view image and a camera viewpoint image (not shown)) including the custom button Btc. If the custom button Btc in the PVM screen is touched, the ECU 90 switches the PVM screen currently displayed on the touch screen display unit 60 to Figure 10B The custom screen G4 b shown is displayed on the touch panel display unit 60 .

[0110] In addition, while the custom screen G4b is displayed on the touch screen display unit 60, when the attention-drawing function (in this case, the moving body alarm function) is in an effective state and the attention-drawing screen display condition is met, the ECU 90 switches the custom screen G4b to the moving body alarm screen and displays the moving body alarm screen on the touch screen display unit 60.

[0111] After that, if the display termination condition of the moving object alarm screen is satisfied, the ECU 90 switches the moving object alarm screen to Figure 10B The custom screen G4b shown is displayed again on the touch panel display unit 60.

[0112] When the return button Btr of the custom screen G4b displayed on the touch screen display unit 60 is touched and the custom screen display termination condition is satisfied, the ECU 90 switches the custom screen G4b displayed on the touch screen display unit 60 to the PVM screen and displays the PVM screen on the touch screen display unit 60.

[0113] <Specific work> The CPU of the ECU 90 (hereinafter referred to as "CPU") executes the following operation every time a predetermined time has passed. Figure 12 The routine shown.

[0114] Therefore, the CPU starts at a predetermined timing. Figure 12 The process starts at step 1200 and proceeds to step 1205 to determine whether the display mode is the parking assist display mode.

[0115] When the display mode is not the parking assist display mode, the CPU makes a "No" determination in step 1205, proceeds to step 1295, and temporarily terminates this routine.

[0116] On the other hand, when the display mode is the parking assist display mode, the CPU makes a “YES” determination in step 1205 and proceeds to step 1210 to determine whether the parking assist screen is displayed on the touch panel display unit 60 .

[0117] When the parking assistance screen is not displayed on the touch panel display unit 60 , the CPU makes a “No” determination in step 1210 and proceeds to step 1295 to temporarily terminate this routine.

[0118] When the parking assistance screen is displayed on the touch panel display unit 60 , the CPU makes a “YES” determination in step 1210 and proceeds to step 1215 to determine whether the custom button Btc (the custom button Btc displayed in the first display mode) is touched.

[0119] If it is determined that the custom button Btc has not been touched, the CPU makes a "No" determination in step 1215 and proceeds to step 1295 to temporarily terminate this routine.

[0120] On the other hand, when it is determined that the custom button Btc is touched, the CPU makes a "Yes" determination at step 1215, performs the processing of step 1220 described below, and then proceeds to step 1095 to temporarily terminate this routine.

[0121] Step 1220 : The CPU switches the parking assistance screen to the custom screen G4 a and displays the custom screen G4 a on the touch screen display unit 60 .

[0122] The CPU is configured to execute the Figure 13 Therefore, the CPU starts at a predetermined timing. Figure 13 The process starts at step 1300 and proceeds to step 1305 to determine whether the display mode is the parking assist display mode.

[0123] If the display mode is not the parking assist display mode, the CPU determines "No" in step 1305 and proceeds to step 1395 to temporarily terminate this routine. On the other hand, if the display mode is the parking assist display mode, the CPU determines "Yes" in step 1305 and proceeds to step 1310 to determine whether the custom screen G4a is displayed on the touch screen display unit 60.

[0124] When the custom screen G4a is not displayed on the touch panel display unit 60, the CPU makes a "No" determination in step 1310 and proceeds to step 1395 to temporarily terminate this routine.

[0125] On the other hand, when the custom screen G4a is displayed on the touch panel display unit 60, the CPU makes a "yes" determination in step 1310 and proceeds to step 1315 to determine whether the display condition for the moving object alarm screen is satisfied.

[0126] If the display condition for the moving object alarm screen is not satisfied, the CPU makes a "yes" determination in step 1315 and proceeds to step 1320 to determine whether the display termination condition for the custom screen G4a is satisfied.

[0127] If the display termination condition for the custom screen G4a is not satisfied, the CPU makes a "No" determination at step 1320 and proceeds to step 1395 to temporarily terminate this routine.

[0128] On the other hand, when the display termination condition of the custom screen G4a is satisfied, the CPU performs the processing of step 1325 described below and then proceeds to step 1395 to temporarily terminate this routine.

[0129] Step 1325 : The CPU switches the custom screen G4 a to the parking assistance screen, and displays the parking assistance screen on the touch screen display unit 60 .

[0130] At the time point of executing the processing of step 1315, if the display conditions of the moving body alarm screen are met, the CPU determines "yes" in step 1315, and after executing the processing of steps 1330 and 1335 described below in sequence, proceeds to step 1395 and temporarily terminates this routine.

[0131] Step 1330 : The CPU switches the custom screen G4 a to the moving object alarm screen, and displays the moving object alarm screen on the touch screen display unit 60 . Step 1335: Set the value of flag Xf to "1." Flag Xf is set to "0" during the initialization routine executed by the CPU when the ignition key switch (not shown) of vehicle 100 is turned from the OFF position to the ON position. Flag Xf can also be set to "0" during the processing of step 1425, described later. Flag Xf indicates that the display of custom screen G4a has switched to the mobile object warning screen.

[0132] The CPU is configured to execute the Figure 14 Therefore, the CPU starts at a predetermined timing. Figure 14 The process starts at step 1400 and proceeds to step 1405 to determine whether the display mode is the parking assist display mode.

[0133] If the display mode is not the parking assist display mode, the CPU makes a "No" determination in step 1405 and proceeds to step 1495 to temporarily terminate this routine.

[0134] In a case where the display mode is the parking assist display mode, the CPU makes a "YES" determination in step 1405 and proceeds to step 1410 to determine whether the value of the flag Xf is "1".

[0135] When the value of the flag Xf is not "1", the CPU makes a "No" determination in step 1410 and proceeds to step 1495 to temporarily terminate this routine.

[0136] On the other hand, if the value of flag Xf is "1," the CPU determines "yes" in step 1410 and proceeds to step 1415 to determine whether the conditions for redisplaying the custom screen G4a are met. For example, if the conditions for terminating the display of the moving object alarm screen are met, the conditions for redisplaying the custom screen G4a are met.

[0137] If the redisplay condition for the custom screen G4a is not satisfied, the CPU makes a "No" determination at step 1415 and proceeds to step 1495 to temporarily terminate this routine.

[0138] On the other hand, when the redisplay condition of the custom screen G4a is satisfied, the CPU determines "yes" in step 1415 and performs the processing of steps 1420 and 1425 described below in sequence, then proceeds to step 1495 to temporarily terminate this routine.

[0139] Step 1420: The CPU switches the mobile object alarm screen to the custom screen G4a and displays the custom screen G4a on the touch screen display unit 60. Furthermore, at this time, the CPU displays the custom screen G4a on the touch screen display unit 60 in the same state as the custom screen G4a before switching to the mobile object alarm screen in step 1330.

[0140] Therefore, when switching to the custom screen G4a in step 1420, the user can operate the custom screen G4a in the same state as before switching to the moving object alarm screen in step 1330. This ensures user convenience in operating the custom screen G4a. Step 1425: The CPU sets the value of the flag Xf to "0".

[0141] The CPU is configured to execute the Figure 15 The flowchart shows the routine. Figure 15 The routine is only at the following points, with Figure 12 The routines are different. The point where the processing of step 1505 is executed instead of step 1205. That is, instead of determining whether the display mode is the parking assist display mode, the CPU determines whether the display mode is the PVM mode. The point at which the processing of step 1510 is executed instead of step 1210. That is, instead of determining whether the parking assist screen is being displayed, the CPU determines whether the PVM screen is being displayed. A point at which the process of step 1520 is executed instead of step 1220 . That is, a point at which the custom screen G4b is displayed on the touch panel display unit 60 instead of switching the PVM screen to the custom screen G4b.

[0142] The CPU is configured to execute the Figure 16 The flowchart shows the routine. Figure 16 The routine is only at the following points, with Figure 13 The routines are different. The point where the processing of step 1605 is executed instead of step 1305. That is, instead of determining whether the display mode is the parking assist display mode, the CPU determines whether the display mode is the PVM mode. The point at which the processing of step 1625 is executed instead of step 1325. That is, the point at which the CPU displays the PVM screen instead of displaying the parking assist screen.

[0143] The CPU is configured to execute the Figure 17 The flowchart shows the routine. Figure 17 The flowchart is only relevant at the following points Figure 14 The flow chart is different. The point where the processing of step 1705 is executed instead of step 1405. That is, instead of determining whether the display mode is the parking assist display mode, the CPU determines whether the display mode is the PVM mode.

[0144] Effects As described above, according to the driver assistance device (driver assistance device 10) according to the embodiment of the present invention, when a custom screen is displayed, if a moving object is detected approaching the vehicle 100 and a predetermined condition is satisfied, the custom screen is switched to a moving object warning screen including a surrounding image and displayed. Therefore, the driver assistance device according to the embodiment of the present invention can reduce the possibility of a decrease in the function of assisting the driver in monitoring the vehicle's surroundings.

[0145] Modifications The present invention is not limited to the above-described embodiment, and various modifications can be adopted within the scope of the present invention.

[0146] For example, in this embodiment, the vehicle 100 may also include at least one of the following functions and a moving object alarm function as the above-mentioned attention-drawing function. In addition, the vehicle 100 may also include at least one of the following functions as the above-mentioned attention-drawing function instead of the moving object alarm function.

[0147] (Clearance sonar function) The clearance sonar function is a function that detects the distance between the vehicle 100 and a stationary object using the clearance sonar 313 and, when the stationary object is detected (when the detected distance is equal to or less than a predetermined distance), calls the attention of the driver of the vehicle 100. The ECU 90 is configured to execute control for implementing the clearance sonar function.

[0148] If the clearance sonar 313 detects a stationary object (obstacle) and the conditions for displaying the attention-drawing screen are met, the ECU 90 displays the attention-drawing screen for drawing attention to the presence of the obstacle on the touchscreen display unit 60. If the clearance sonar 313 no longer detects the stationary object (obstacle) and the conditions for terminating the display of the attention-drawing screen are met, the ECU 90 terminates the display of the attention-drawing screen currently being displayed on the touchscreen display unit 60.

[0149] (Front Cross Traffic Warning function) The front cross traffic alert function (hereinafter referred to as the "FCTA (front cross traffic alert) function") is a function that detects the approach of other vehicles crossing from the left or right in front of vehicle 100 based on radar sensor target information obtained by radar sensor 51a and radar sensor 51c installed at the right front end of vehicle 100. When such other vehicles are detected, the ECU 90 is configured to execute control to implement the FCTA function.

[0150] If at least one of the radar sensors 51a and 51c detects an approaching other vehicle and a condition for displaying the attention-drawing screen is satisfied, the ECU 90 displays the attention-drawing screen, which draws attention to the approaching other vehicle, on the touchscreen display unit 60. If both the radar sensors 51a and 51c no longer detect the other vehicle and a condition for terminating the display of the attention-drawing screen is satisfied, the ECU 90 terminates the display of the attention-drawing screen currently being displayed on the touchscreen display unit 60.

[0151] (Rear Cross Traffic Warning function) The rear cross traffic alert (hereinafter referred to as the "RCTA (rear cross traffic alert) function") is a function that detects the approach of other vehicles crossing from the left or right behind the vehicle 100 based on radar sensor target information obtained by radar sensor 51d installed at the right rear end and radar sensor 51e installed at the left rear end of the vehicle 100. When such other vehicles are detected, the ECU 90 is configured to execute control to implement the RCTA function.

[0152] If at least one of the radar sensors 51d and 51e detects another vehicle approaching, and thus a condition for displaying the attention-drawing screen is satisfied, the ECU 90 displays the attention-drawing screen for drawing attention to the approaching other vehicle on the touchscreen display unit 60. If at least one of the radar sensors 51d and 51e no longer detects the other vehicle, and thus a condition for terminating the display of the attention-drawing screen is satisfied, the display of the attention-drawing screen currently being displayed on the touchscreen display unit 60 is terminated.

[0153] (Rear camera detection function) The rear camera detection function (hereinafter referred to as the "RCD (rear camera detection) function") is a function that detects pedestrians within a predetermined range behind the vehicle 100 based on camera target information acquired by the rear camera 42 when the vehicle 100 is reversing, and, if a pedestrian is detected, draws the attention of the driver of the vehicle 100. The ECU 90 is configured to execute control for implementing the RCD function.

[0154] If the rear camera 42 detects a pedestrian and the conditions for displaying the attention-drawing screen are met, the ECU 90 displays the attention-drawing screen on the touch screen display unit 60 to draw attention to the presence of the pedestrian behind. If the rear camera 42 no longer detects a pedestrian and the conditions for terminating the display of the attention-drawing screen are met, the ECU 90 terminates the display of the attention-drawing screen currently being displayed on the touch screen display unit 60.

[0155] The attention-drawing function described above also operates similarly to the above-described embodiment when the function is active. Specifically, when a custom screen is being displayed, if the display conditions for the attention-drawing screen are met, the ECU 90 switches from the custom screen to the attention-drawing screen and displays the attention-drawing screen on the touchscreen display unit 60. When the attention-drawing screen is being switched from the custom screen and displayed, if the display termination conditions for the attention-drawing screen are met, the ECU 90 switches from the attention-drawing screen to the custom screen and displays the custom screen on the touchscreen display unit 60.

[0156] For example, in this embodiment, the custom button may be a physical button. In this case, the parking assist screen and the PVM screen may not include the custom button Btc. In this case, the touch screen display unit 60 may be a display type other than a touch screen display. Description of the label

[0157] 10: Driver assistance device; 11: Vehicle driving force generation device; 12: Braking device; 13: Steering device, 30: Sonar sensor device; 40: Camera sensor device; 50: Radar sensor device, 60: Touch screen display unit.

Claims

1. A driver assistance device, mounted on a vehicle, assisting the driver in checking the surroundings of the vehicle by presenting a surrounding monitoring screen to the driver, the driver assistance device comprising: A detection device including a camera that acquires image information by photographing the surroundings of the vehicle, wherein the detection device detects an attention-getting object consisting of at least one of a stationary object and a moving object existing in a peripheral area of ​​the vehicle; A touch screen configured to display an image; as well as a display control unit that generates a peripheral image as an image of the peripheral area based on the image information and controls display of a screen displayed on the touch screen, The display control unit is configured to execute attention-attracting screen display control for displaying an attention-attracting screen including the peripheral image while the attention-attracting object is detected and a predetermined condition is satisfied. Furthermore, the display control unit is configured to switch the surrounding monitoring screen including the surrounding image and the custom button to the custom screen as an operation screen for adjusting the working content of the predetermined driver assistance function possessed by the vehicle and display the custom button when the custom button is touched while the surrounding monitoring screen including the surrounding image and the custom button is displayed, When the predetermined condition is satisfied while the custom screen is being displayed, the custom screen is switched to the attention-drawing screen and displayed.

2. The driver assistance device according to claim 1, wherein: The display control unit is configured to switch the attention-drawing screen to the custom screen and display it only while the predetermined condition is satisfied, after the custom screen is switched to the attention-drawing screen and displayed.

3. The driver assistance device according to claim 1 or claim 2, wherein: The custom button is configured so that when the vehicle is in a stopped state, the custom button is set to a state in which the touch operation can be accepted, and when the vehicle is not in a stopped state, the custom button is set to a state in which the touch operation cannot be accepted.

4. The driver assistance device according to any one of claims 1 to 3, wherein: The object to be noticed is the moving object approaching the vehicle, The attention-drawing screen includes the surrounding image and a moving object direction mark indicating an approach direction of the moving object that is displayed superimposed on the surrounding image.

5. The driver assistance device according to any one of claims 1 to 4, wherein: The surrounding monitoring screen is a parking assistance screen that is permitted to be displayed when a parking assistance function provided in the vehicle is in an effective state. The custom screen is an operation screen for adjusting the operation content of the parking assist function.

6. The driver assistance device according to any one of claims 1 to 4, wherein: The surrounding monitoring screen is a panoramic view monitor screen that is permitted to be displayed when a panoramic view monitor function provided in the vehicle is in an effective state. The custom screen is an operation screen for adjusting the working contents of the panoramic view monitor function.

Images