Display control device for vehicle

Abstract

The invention provides a display control apparatus for a vehicle. A display control device for a vehicle is provided with a processor and a display unit that is provided in a vehicle capable of executing driving assistance control and that is capable of displaying a vehicle image indicating the vehicle. The processor is capable of determining whether a switching condition for switching the driving assistance control from the non-operating state to the operating state has been satisfied, and, when it is determined that the switching condition has been satisfied, displaying the vehicle image while changing the display mode of the vehicle image. And a control unit that controls the display unit.

Description

Technical Field

[0001] The present disclosure relates to a display control device for a vehicle. Background Art

[0002] The specification of U.S. Patent Application Publication No. 2017 / 0136878 discloses a vehicle display control device that causes a display unit to display an image representing a vehicle (host vehicle) and an image representing the surrounding conditions of the vehicle while changing the display mode of the images.

[0003] There is still room for improvement in the specification of U.S. Patent Application Publication No. 2017 / 0136878 in terms of enabling vehicle occupants to recognize that driving assistance control has actually started to operate.

[0004] The present disclosure takes the above-mentioned facts into consideration, and an object of the present disclosure is to provide a vehicle display control device that allows a passenger who views a display unit to easily recognize that a driving assist control has been switched from a non-operating state to an operating state. Summary of the invention

[0005] A first embodiment of a vehicle display control device comprises: a display unit, which is provided on a vehicle capable of executing driving assistance control and is capable of displaying a vehicle image representing the vehicle; an assistance control determination unit, which is capable of determining whether a switching condition for switching the driving assistance control from a non-operating state to an operating state has been satisfied; and a display control unit, which controls the display unit in such a manner that the display mode of the vehicle image is changed and the vehicle image is displayed simultaneously, when the assistance control determination unit determines that the switching condition has been satisfied.

[0006] As described above, the vehicle display control device according to the present disclosure has an excellent effect of making it easy for a passenger who views the display unit to recognize that the driving assistance control has been switched from the non-operating state to the operating state. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Exemplary embodiments of the present disclosure are described in detail based on the following drawings, in which:

[0008] Figure 1 It is a schematic plan view showing a vehicle including the vehicle display control device according to the embodiment.

[0009] Figure 2 To express Figure 1 A diagram of the interior of the vehicle shown.

[0010] Figure 3 for Figure 2 The functional block diagram of the ECU is shown.

[0011] Figure 4 It is a schematic side view showing the positional relationship between the vehicle and the imaginary viewpoint.

[0012] Figure 5 A diagram showing a display unit that displays a vehicle image showing a vehicle traveling on a road and a road image showing a road when the blind spot monitoring system control is switched to an active state.

[0013] Figure 6 A diagram showing the display section when the blind spot monitoring system control is in operation.

[0014] Figure 7 A diagram showing a display unit when the blind spot monitoring system control is in an operating state and an approaching vehicle notification image is displayed.

[0015] Figure 8 A diagram showing a display unit that displays a vehicle image showing a vehicle that is stopped on a road and a road image when the safe exit assist control is switched to an active state.

[0016] Fig. 9 A diagram showing the display section when the safe exit assist control is in operation.

[0017] Fig.10 This is a diagram showing a display unit when the safe exit assist control is in an activated state and an approaching object notification image is displayed.

[0018] Fig.11 A diagram showing a display unit that displays a vehicle image showing a vehicle located in a parking lot when the parking notification control is switched to an active state.

[0019] Fig.12 A diagram showing the display section when the parking notification control is in an operating state.

[0020] Fig.13 This is a diagram showing a display unit when the parking notification control is in an activated state and a surrounding object notification image is displayed.

[0021] Fig.14 This is a flowchart showing the processing executed by the CPU of the ECU. DETAILED DESCRIPTION

[0022] Hereinafter, embodiments of a vehicle display control device according to the present disclosure will be described with reference to the drawings.

[0023] Figure 1The vehicle 10 shown in the figure includes a vehicle body 11 and four doors 12A, 12B, 12C, and 12D for opening and closing four openings formed on the side of the vehicle body 11. Each door 12A, 12B, 12C, and 12D can be in a closed position (closed position) with respect to the vehicle body 11 so as to close the corresponding opening. Figure 1 The solid line position), and the opening position where the opening is opened ( Figure 1 In addition, each door 12A, 12B, 12C, 12D is provided with a door lock device having an electric actuator. Each door lock device can switch to a latched state (locked state) in which the door 12A, 12B, 12C, 12D in the closed position is held in the closed position, and an unlatched state (unlocked state) in which the door 12A, 12B, 12C, 12D is allowed to rotate between the closed position and the open position by the driving force of the electric actuator.

[0024] Furthermore, each door 12A, 12B, 12C, 12D is provided with an inside handle 14. When the inside handle 14 is rotated while a lock knob (not shown) provided on the door 12A, 12B, 12C, 12D is in an unlocked position, the latched door 12A, 12B, 12C, 12D is unlatched.

[0025] Furthermore, four opening / closing judgment switches 15 for judging whether each door 12A, 12B, 12C, 12D is in a latched state or an unlatched state are provided on the vehicle body 11. Each opening / closing judgment switch 15 outputs an unlatching signal when the corresponding door 12A, 12B, 12C, 12D changes from a latched state to an unlatched state.

[0026] like Figure 2 As shown, a turn signal lever 17 is rotatably supported on a steering column provided on a dashboard 16 of the vehicle 10. When the turn signal lever 17 is rotated from an initial position to an upper first lighting position, a turn signal 11L (see FIG. 1 ) provided on the left side of the front portion of the vehicle body 11 is turned on. Figure 1 ) will be illuminated, and when the turn signal lever 17 rotates from the initial position to the second lighting position below, the turn signal 11R (refer to Figure 1 ) will light up.

[0027] And, if Figure 2 As shown in FIG. 1 , a display unit 18 is provided on the instrument panel 16. As described later, the display unit 18 can display various images.

[0028] And, if Figure 1As shown, at the rear of the vehicle 10, a plurality of radar sensors 19 and a plurality of clearance sonars 20 are provided. The radar sensor 19 uses radio waves in the millimeter wave band (hereinafter referred to as "millimeter waves") to determine the position of the target object and the relative speed of the target object relative to the vehicle 10. Specifically, the radar sensor 19 emits the millimeter wave toward the oblique rear of the vehicle 10, and receives the millimeter wave (reflected wave) reflected by the target object, which is a three-dimensional object existing in the emission range of the millimeter wave. The radar sensor 19 transmits the transmission and reception data of the millimeter wave to the ECU (Electronic Control Unit: Electronic Control Unit) 21. The clearance sonar 20 is, for example, an ultrasonic sensor, which determines the distance from the clearance sonar 20 (vehicle 10) to the target object based on the time from when the ultrasonic wave emitted by itself is reflected by the target object (three-dimensional object) and received. The judgment distance of the clearance sonar 20 is, for example, a few cm to about 100 cm.

[0029] like Figure 2 As shown, ECU21 is configured to include CPU (Central Processing Unit: processor) 22, ROM (Read Only Memory: read-only memory) (non-temporary recording medium) 23, RAM (Random Access Memory: random access memory) 24, storage (non-temporary recording medium) 25, communication I / F (Interface: interface) 26, and input / output I / F 27. CPU22, ROM23, RAM24, storage 25, communication I / F26, and input / output I / F27 are connected together via bus 28 so as to be able to communicate with each other. ECU21 can obtain information related to date and time from a timer (not shown).

[0030] The CPU 22 is a central processing unit that executes various programs or controls various parts. That is, the CPU 22 reads the program from the ROM 23 or the storage 25, and executes the program using the RAM 24 as a work area. The CPU 22 implements the control of each structure and various calculation processing (information processing) according to the program recorded in the ROM 23 or the storage 25.

[0031] ROM23 stores various programs and various data. The data includes, for example, Figures 5 to 13The 3D (three dimensions) modeling data based on the image data of the vehicle images 30A, 30B, 30C, 30D, 30E, the road images 31A, 31B, 31C, 31D, 31E, the approaching vehicle images 32B, 32C, and the parked vehicle images 33D, 33E shown. The 3D modeling data includes, for example, the 3D modeling data of the vehicle 10, the 3D modeling data of the approaching vehicle (following vehicle) described later, the 3D modeling data of the parked vehicle described later, and the 3D modeling data of the road 100 described later. Each 3D modeling data is arranged in a 3D virtual space. When the position of the virtual viewpoint described later changes, the shape of the object represented by each 3D modeling data when observed from the virtual viewpoint will change.

[0032] The vehicle images 30A, 30B, 30C, 30D, 30E and the road images 31A, 31B, 31C, 31D, 31E are shown in the figure when the vehicle 10 is moving. Figure 2 When traveling on the road 100 shown, it is displayed on the display unit 18 .

[0033] Figure 5 The vehicle image 30A shown is based on Figure 4 An image obtained by observing the 3D modeling data of the vehicle 10 arranged in the 3D virtual space from the virtual viewpoint PA is generated by the display control unit 222 described later. Figure 5 The road image 31A shown is an image obtained based on 3D modeling data of the road 100 configured in a 3D virtual space when the road 100 is recognized by the display control unit 222 based on the detection results of multiple radar sensors 19F and multiple clearance sonars 20F arranged at the front of the vehicle 10, and is generated by the display control unit 222.

[0034] Figure 6 The vehicle image 30B and the road image 31B shown are images generated by the display control unit 222 in the same manner as the vehicle image 30A and the road image 31A, and are based on the Figure 4 The image obtained by observing the 3D modeling data of the vehicle 10 and the 3D modeling data of the road 100 from the virtual viewpoint PB. In addition, when the number of lanes of the road 100 is two, as shown in FIG. Figure 6 As shown, the road image 31B includes a lane image 31B- 1 and a lane image 31B- 2 .

[0035] Figure 7The vehicle image 30C and the road image 31C shown are images generated by the display control unit 222 in the same manner as the vehicle image 30A and the road image 31A, and are based on the Figure 4 The image obtained by observing the 3D modeling data of the vehicle 10 and the 3D modeling data of the road 100 from the virtual viewpoint PC. Figure 7 The road image 31C includes a lane image 31C- 1 and a lane image 31C- 2 . Figure 6 The approaching vehicle image 32B is an image obtained based on 3D modeling data of the approaching vehicle configured in the 3D virtual space when observed from the virtual viewpoint PB, when the display control unit 222 identifies an approaching vehicle (following vehicle) that is traveling in an adjacent lane adjacent to the lane in which the vehicle 10 is traveling and is located behind the vehicle 10 based on the detection results of the radar sensor 19 and the clearance sonar 20, and is generated by the display control unit 222. Figure 7 The approaching vehicle image 32C is an image of the approaching vehicle as viewed from the virtual viewpoint PC.

[0036] like Figure 4 As shown, the virtual viewpoint PA, the virtual viewpoint PB and the virtual viewpoint PC are located on a virtual straight line L1. Figure 4 The visual angle θA shown is the visual angle when observing the vehicle 10 from the virtual viewpoint PA. The visual angle θB is the visual angle when observing the vehicle 10 from the virtual viewpoint PB, and the visual angle θC is the visual angle when observing the vehicle 10 from the virtual viewpoint PC. The distance from the virtual viewpoint PB to the vehicle 10 is longer than the distance from the virtual viewpoint PA to the vehicle 10, and the distance from the virtual viewpoint PC to the vehicle 10 is longer than the distance from the virtual viewpoint PB to the vehicle 10. Furthermore, the visual angles θA, θB, and θC are the same. Therefore, Figures 5 to 7 It can be seen that Figure 5 Compared with the vehicle image 30A Figure 6 The vehicle image 30B is smaller than the vehicle image 30B. Figure 7 The vehicle image 30C is smaller. Figure 6 Compared with the approaching vehicle image 32B Figure 7 The approaching vehicle image 32C is smaller.

[0037] Figure 8 The vehicle image 30A and the road image 31A shown are based on Figure 5 The image is generated in the same manner as the vehicle image 30A and the road image 31A, and represents the image generated from Figure 4The vehicle 10 and the road 100 are viewed from the virtual viewpoint PA of FIG. Fig. 9 The vehicle image 30D and the road image 31D shown are images generated by the display control unit 222 in the same manner as the vehicle image 30A and the road image 31A, and are based on the Figure 4 An image obtained by observing the 3D modeling data of the vehicle 10 and the 3D modeling data of the road 100 from the virtual viewpoint PD. Fig.10 The vehicle image 30E and the road image 31E shown are images generated by the display control unit 222 in the same manner as the vehicle image 30A and the road image 31A, and are based on the Figure 4 The image obtained by observing the 3D modeling data of the vehicle 10 and the 3D modeling data of the road 100 from the virtual viewpoint PE. Figure 4 As shown, the virtual viewpoints PA, PD, and PE are located on a curve CL that is substantially in the shape of a circular arc. That is, the distance from the virtual viewpoint PA to the vehicle 10, the distance from the virtual viewpoint PD to the vehicle 10, and the distance from the virtual viewpoint PE to the vehicle 10 are substantially the same. Figure 4 As shown, the virtual viewpoint PD is located in front of and above the virtual viewpoint PA, and the virtual viewpoint PE is located in front of the virtual viewpoint PD. The virtual viewpoint PE is located directly above the center of the vehicle 10 in the front-rear direction. Furthermore, the visual angle θD when the vehicle 10 is observed from the virtual viewpoint PD and the visual angle θE when the vehicle 10 is observed from the virtual viewpoint PE are the same as the visual angles θA, θB, and θC. Therefore, Figures 8 to 10 It can be seen that Figure 8 The shape of the vehicle image 30A, Fig. 9 The shape of the vehicle image 30D, Fig.10 The shapes of the vehicle images 30E are different from each other. Figure 8 The shape of the road image 31A, Fig. 9 The shape of the road image 31D, Fig.10 The shapes of the road images 31E are different from each other.

[0038] Fig.11 The vehicle image 30A shown is based on Figure 5 The image is generated in the same manner as the vehicle image 30A of FIG. 1 , and shows the vehicle 10 when the vehicle 10 is traveling at a low speed in the parking lot and is viewed from the virtual viewpoint PA. Fig.12 The vehicle image 30D shown is based on Figure 5The image is generated in the same manner as the vehicle image 30A of FIG. 1 , and shows the vehicle 10 when the vehicle 10 traveling at a low speed in the parking lot is viewed from the virtual viewpoint PD. Fig.13 The vehicle image 30E shown is based on Figure 5 The image is generated in the same manner as the vehicle image 30A of FIG. 1 , and shows the vehicle 10 when the vehicle 10 is traveling at a low speed in the parking lot and is observed from the virtual viewpoint PE. Fig.12 The parked vehicle image 33D shown is an image obtained based on 3D modeling data of the parked vehicle configured in the 3D virtual space when observed from the virtual viewpoint PD when the display control unit 222 identifies a parked vehicle located obliquely rearward of the vehicle 10 and parked in the above-mentioned parking lot based on the detection results of the radar sensor 19 and the clearance sonar 20, and is generated by the display control unit 222. Fig.13 The parked vehicle image 33E shown is an image when the parked vehicle is viewed from a virtual viewpoint PE.

[0039] Furthermore, in ROM 23, there is stored Figure 7 The approaching vehicle notification image (notification image) 35 shown, Fig.10 The approaching object notification image (notification image) 36 shown, and Fig.13 The surrounding object notification image (notification image) 37 shown. The approaching vehicle notification image 35, the approaching object notification image 36, and the surrounding object notification image 37 will be described later. In the following description, the vehicle images 30A, 30B, 30C, 30D, 30E, the road images 31A, 31B, 31C, 31D, 31E, the approaching vehicle images 32B, 32C, the parked vehicle images 33D, 33E, the approaching vehicle notification image 35, the approaching object notification image 36, and the surrounding object notification image 37 are sometimes referred to as "driving assistance related images."

[0040] RAM24 temporarily stores programs or data as a work area. Storage 25 is composed of storage devices such as HDD (Hard Disk Drive) or SSD (Solid State Drive), and stores various programs and various data. Communication I / F26 is an interface that can communicate with a device located outside the vehicle 10. For example, communication I / F26 can communicate wirelessly with an external server (not shown). Communication I / F26 uses communication standards such as CAN (Controller Area Network), Bluetooth (registered trademark), and Wi-Fi (registered trademark). In addition, communication I / F26 can communicate with ECUs other than ECU21 provided on the vehicle 10 via an external bus.

[0041] like Figure 3 As shown, the ECU 21 (processor) has a driving assistance control unit (assistance control determination unit) 221 and a display control unit 222 as a functional structure. The driving assistance control unit 221 and the display control unit 222 are implemented by the CPU 22 of the ECU 21 reading and executing a program stored in the ROM 23.

[0042] The driving assistance operation device 16a (see FIG. 1 ) provided on the instrument panel 16 Figure 2 ) is in the ON state, the driving assistance control unit 221 uses the sensor group and the actuator group (omitted in the figure) provided on the vehicle 10 to make the vehicle 10 perform the driving assistance control of any driving level specified by SAE (Society of Automotive Engineers). In addition, when the driving assistance operation device 16a is in the ON state, the occupant of the vehicle 10 can select the driving level and the driving assistance control to be performed by operating the driving assistance operation device 16a. The driving assistance control of this embodiment includes, for example, blind spot monitoring system control (hereinafter, BSM control), safe exit assistance control (hereinafter, SEA control), and parking notification control. The sensor group provided on the vehicle 10 includes radar sensors 19, 19F and clearance sonars 20, 20F. The actuator group provided on the vehicle 10 includes, for example, an electric motor as a drive source.

[0043] When the driving assistance operation device 16a is in the on state, when the radar sensor 19 detects that the distance between the vehicle 10 and a vehicle (hereinafter, the approaching vehicle) traveling in an adjacent lane adjacent to the lane in which the vehicle 10 is traveling and located behind the vehicle 10 is less than the first predetermined distance, and the turn signal lever 17 is operated in the direction indicating the position of the adjacent lane, the driving assistance control unit 221 determines that the first switching condition (switching condition) for switching the BSM control from the non-operating state to the operating state has been satisfied. In other words, when the distance between the vehicle 10 and the approaching vehicle is greater than the first predetermined distance, or the turn signal lever 17 is not operated in the direction indicating the position of the adjacent lane, the driving assistance control unit 221 determines that the first switching condition is not satisfied, and the BSM control becomes the non-operating state. When the BSM control becomes the operating state, the lamp (not shown) provided on the door mirror of the vehicle 10 becomes lit. In addition, there is a time difference between a first time when the driving assistance control unit 221 determines that the first switching condition is satisfied and a second time when the BSM control is actually switched from the non-operating state to the operating state.

[0044] When the driving assistance operation device 16a is in the on state, when the vehicle speed of the vehicle 10 is less than the first predetermined speed, the radar sensor 19 detects that an object (hereinafter referred to as an approaching object) located behind the vehicle 10 is approaching the vehicle 10, and any of the opening and closing judgment switches 15 outputs an unlock signal, the driving assistance control unit 221 determines that the second switching condition (switching condition) for switching the SEA control from the non-operating state to the operating state has been satisfied. In other words, when the vehicle speed of the vehicle 10 is higher than the first predetermined speed, the radar sensor 19 does not detect that the approaching object is approaching the vehicle 10, or any of the opening and closing judgment switches 15 does not output an unlock signal, the driving assistance control unit 221 determines that the second switching condition is not satisfied, and the SEA control becomes the non-operating state. When the SEA control becomes the operating state, a speaker (not shown) of the vehicle 10 generates a first notification sound. In addition, there is a time difference between the first time when the driving assistance control unit 221 determines that the second switching condition is satisfied and the second time when the SEA control is actually switched from the non-operating state to the operating state.

[0045] When the driving assistance operation device 16a is in the on state, when the vehicle 10 is traveling at a speed faster than 0 km / h and slower than the second predetermined speed, and the clearance sonar 20 detects that the distance between the vehicle 10 and the object mark located around the vehicle 10 (hereinafter, the surrounding object mark) is less than the second predetermined distance, the driving assistance control unit 221 determines that the third switching condition (switching condition) for switching the parking notification control from the non-operating state to the operating state has been satisfied. In other words, when the vehicle 10 is stopped, the vehicle speed of the vehicle 10 is greater than the second predetermined speed, and the clearance sonar 20 does not detect that the distance between the vehicle 10 and the surrounding object mark is less than the second predetermined distance, the driving assistance control unit 221 determines that the third switching condition is not satisfied, and the parking notification control becomes the non-operating state. When the parking notification control becomes the operating state, the speaker generates the second notification sound. In addition, there is a time difference between a first time when the driving assistance control unit 221 determines that the third switching condition is satisfied and a second time when the parking notification control is actually switched from the non-operating state to the operating state.

[0046] As described above, the display control unit 222 generates an image obtained based on the 3D modeling data. In addition, the display control unit 222 causes the display unit 18 to display various images. For example, when the navigation system mounted on the vehicle 10 is in operation, the display control unit 222 causes the display unit 18 to display a map image (not shown). In addition, the display control unit 222 can cause the display unit 18 to display an image indicating the vehicle speed of the vehicle 10.

[0047] Then, the display control unit 222 switches the type of image to be displayed on the display unit 18 according to whether the switching conditions (the first switching condition, the second switching condition, and the third switching condition) are satisfied.

[0048] When the driving assistance control unit 221 determines that the driving assistance control is in the non-operating state, the display control unit 222 sets the display unit 18 to the normal mode. In other words, when the driving assistance control unit 221 determines that the switching condition is not satisfied, the display control unit 222 sets the display unit 18 to the normal mode. When the normal mode is set, the display control unit 222 can, for example, cause the display unit 18 to display a map image, or cause the display unit 18 to display an image indicating the vehicle speed of the vehicle 10.

[0049] When the driving assistance control unit 221 determines that the switching condition is satisfied, the display control unit 222 sets the display unit 18 to the driving assistance mode. Figures 5 to 13As shown, the display unit 18 displays the vehicle images 30A, 30B, 30C, 30D, and 30E. As described above, there is a time difference between the first moment and the second moment. Therefore, the display control unit 222 can switch the display unit 18 from the normal mode to the driving assistance mode after the second moment, switch the display unit 18 from the normal mode to the driving assistance mode before the second moment, and switch the display unit 18 from the normal mode to the driving assistance mode at the same time as the second moment.

[0050] For example, when it is determined that the first switching condition related to the BSM control has been satisfied while the map image is displayed on the display unit 18 in the normal mode, the display control unit 222 switches the display unit 18 to the driving assistance mode. That is, the display control unit 222 removes the map image from the display unit 18 and switches the display unit 18 to the driving assistance mode instead. Figure 5 In addition, the display control unit 222 switches the display unit 18 to Figure 6 The state is switched, and the display unit 18 is further turned to Figure 7 In addition, the display unit 18 actually switches from the state of displaying a plurality of vehicle images representing the vehicle 10 when viewed from a plurality of imaginary viewpoints located on the imaginary straight line L1, a plurality of road images representing the road 100, and an approaching vehicle image representing an approaching vehicle. Figure 5 The state of Figure 6 The display unit 18 switches continuously while experiencing various states of displaying vehicle images, road images, and approaching vehicle images. Figure 6 The state of Figure 7 Therefore, the vehicle images 30A, 30B, and 30C displayed on the display unit 18 gradually and continuously become smaller as time passes. In addition, the display positions of the vehicle images 30A, 30B, and 30C on the display unit 18 gradually move forward.

[0051] Furthermore, when the display unit 18 becomes Figure 7 , the display control unit 222 causes the display unit 18 to display the approaching vehicle notification image 35. The approaching vehicle notification image 35 is a sector-shaped image located between the vehicle image 30C and the approaching vehicle image 32C. Furthermore, the approaching vehicle notification image 35 gradually and continuously expands from the vehicle image 30C toward the approaching vehicle image 32C. That is, the approaching vehicle notification image 35 starts to expand from point A and expands to the area B shown by the double-dashed line. Furthermore, the approaching vehicle notification image 35 expands to the area C shown by the single-dashed line, and thereafter becomes a sector-shaped shape shown by the solid line.

[0052] When the radar sensor 19 no longer detects that the distance between the vehicle 10 and the approaching vehicle is less than the first predetermined distance, it is determined that the first switching condition is not satisfied and the BSM control is switched to the non-operating state. Therefore, the display control unit 222 switches the display unit 18 to the normal mode.

[0053] Furthermore, when it is determined that the second switching condition related to the SEA control has been satisfied while the map image is displayed on the display unit 18 in the normal mode, the display control unit 222 switches the display unit 18 to the driving assistance mode. That is, the display control unit 222 removes the map image from the display unit 18 and switches the display unit 18 to the driving assistance mode instead. Figure 8 In addition, the display control unit 222 switches the display unit 18 to Fig. 9 The state is switched, and the display unit 18 is further turned to Fig.10 When the SEA control is in operation, the display unit 18 also switches from the state of displaying various vehicle images and road images. Figure 8 The state of Fig.10 Therefore, as time passes, the shapes of the vehicle images 30A, 30D, and 30E displayed on the display unit 18 continuously change. In addition, the display positions of the vehicle images 30A, 30D, and 30E on the display unit 18 gradually move forward.

[0054] Furthermore, when the display unit 18 becomes Fig.10 , the display control unit 222 causes the display unit 18 to display the approaching object notification image 36. For example, when the radar sensor 19 detects that an approaching object located in an area to the left and rear of the vehicle 10 is approaching the vehicle 10, the approaching object notification image 36 is displayed in an area to the left of the road image 31E and to the rear of the vehicle image 30E. On the other hand, when the radar sensor 19 detects that an approaching object located in an area to the right and rear of the vehicle 10 is approaching the vehicle 10, the approaching object notification image 36 is displayed in an area to the right of the road image 31E and to the rear of the vehicle image 30E. The approaching object notification image 36 includes a first image 36-1, a second image 36-2, and a third image 36-3. Furthermore, the display control unit 222 first causes the display unit 18 to display only the first image 36-1, then causes the display unit 18 to display the first image 36-1 and the second image 36-2, and finally causes the display unit 18 to display the first image 36-1, the second image 36-2, and the third image 36-3. Therefore, the approaching object notification image 36 is continuously enlarged from the rear toward the front.

[0055] When the radar sensor 19 no longer detects the approaching object approaching the vehicle 10 , it is determined that the second switching condition is not satisfied and the SEA control is switched to the non-operating state. Therefore, the display control unit 222 switches the display unit 18 to the normal mode.

[0056] Furthermore, when it is determined that the third switching condition related to the parking notification control is satisfied while the map image is displayed on the display unit 18 in the normal mode, the display control unit 222 switches the display unit 18 to the driving assistance mode. That is, the display control unit 222 removes the map image from the display unit 18 and switches the display unit 18 to the normal mode. Fig.11 In addition, the display control unit 222 switches the display unit 18 to Fig.12 The state is switched, and the display unit 18 is further turned to Fig.13 When the parking notification control is in the working state, the display unit 18 also undergoes various vehicle image display states. Fig.11 The state of Fig.12 The state is continuously switched. And the display unit 18 changes from the state of displaying various vehicle images and parked vehicle images to the state of displaying various vehicle images and parked vehicle images. Fig.12 The state of Fig.13 Furthermore, the display positions of the vehicle images 30A, 30D, and 30E on the display unit 18 gradually move forward.

[0057] Furthermore, when the display unit 18 becomes Fig.13 , the display control unit 222 causes the display unit 18 to display the surrounding object notification image 37. For example, when the clearance sonar 20 detects that the parked vehicle (surrounding object) is located in an area to the right and rear of the vehicle 10, the surrounding object notification image 37 is displayed in the area between the vehicle image 30E and the parked vehicle image 33E. The surrounding object notification image 37 includes a first image 37-1, a second image 37-2, and a third image 37-3. Furthermore, the display control unit 222 first causes the display unit 18 to display only the first image 37-1, then causes the display unit 18 to display the first image 37-1 and the second image 37-2, and finally causes the display unit 18 to display the first image 37-1, the second image 37-2, and the third image 37-3. Therefore, the surrounding object notification image 37 is continuously expanded from the vehicle image 30E side toward the parked vehicle image 33E side.

[0058] When the speed of the vehicle 10 reaches 0 km / h, or the clearance sonar 20 no longer detects that the distance between the vehicle 10 and the surrounding object is less than the second predetermined distance, it is determined that the third switching condition is not satisfied, and the parking notification control is switched to the non-operating state. Therefore, the display control unit 222 switches the display unit 18 to the normal mode.

[0059] Among the above-described structures, the display unit 18 and the ECU 21 are components of the vehicle display control device 40 .

[0060] Next, the processing executed by the CPU 22 of the ECU 21 will be described. The CPU 22 repeatedly executes the following processing every predetermined time. Fig.14 Processing of the flowchart shown.

[0061] In step S10 (hereinafter, the text of the step is omitted), the CPU 22 determines whether the switching condition is satisfied.

[0062] When the determination result in S10 is YES, the CPU 22 proceeds to S11 and sets the display unit 18 to the driving assistance mode.

[0063] When the processing of S11 is completed, the CPU 22 proceeds to S12 to continuously change the image displayed on the display unit 18. For example, when the BSM control is in operation, the display unit 18 is changed from Figure 5 The state of Figure 7 state and changes continuously.

[0064] When the processing of S12 is completed, the CPU 22 enters S13 and causes the display unit 18 to display the notification image. For example, when the BSM control is in the working state, the display unit 18 is Figure 7 The approaching vehicle notification image 35 shown is displayed.

[0065] After completing the process of S13 , the CPU 22 proceeds to S14 to determine whether the switching condition is not satisfied.

[0066] When the determination result in S10 is NO or when the determination result in S14 is YES, the CPU 22 proceeds to S15 and sets the display unit 18 to the normal mode.

[0067] If the result of determination in S14 is negative, or if the process in S15 is completed, the CPU 22 temporarily terminates the process. Fig.14 Flowchart of the process.

[0068] As described above, when the driving assistance control unit 221 determines that the switching condition related to the driving assistance control executable by the vehicle 10 is satisfied, the vehicle display control device 40 of the present embodiment continuously changes the display modes of the vehicle images 30A, 30B, 30C, 30D, 30E, the road images 31A, 31B, 31C, 31D, 31E, the approaching vehicle images 32B, 32C, and the parked vehicle images 33D, 33E, and causes the display unit 18 to display these images. Therefore, compared with the case where the display modes of these images are not changed, the vehicle display control device 40 allows the occupant who views the display unit 18 to easily recognize that the driving assistance control has been switched from the non-operating state to the operating state.

[0069] Furthermore, when it is determined that the first switching condition related to the BSM control has been satisfied, the vehicle images 30A, 30B, 30C displayed on the display unit 18 gradually and continuously become smaller with the passage of time. Therefore, the occupant who observes the display unit 18 can easily recognize that the BSM control has been switched from the non-operating state to the operating state.

[0070] Furthermore, the size of the vehicle images 30A, 30B, 30C on the display unit 18 gradually decreases, and the display positions of the vehicle images 30A, 30B, 30C on the display unit 18 gradually move forward. Figures 5 to 7 ) is gradually expanded. Therefore, when the vehicle images 30B and 30C are displayed on the display unit 18, the images (approaching vehicle images 32B and 32C, approaching vehicle notification image 35) located behind the vehicle images 30B and 30C are displayed in the lower display area. Therefore, compared with the case where a part of the display unit 18 (the lower display area) is always ensured as an area for displaying the approaching vehicle images 32B and 32C and the approaching vehicle notification image 35, the vehicle images 30A and 30B can be displayed larger on the display unit 18.

[0071] Furthermore, when it is determined that the switching condition related to the SEA control or the parking notification control has been satisfied, the vehicle images 30A, 30D, and 30E displayed on the display unit 18 are changed from the image when the imaginary viewpoint is located at PA (first viewpoint) which is rearward of the vehicle 10 to the image when the imaginary viewpoint is located at PE (second viewpoint) which is forward and above the PA as time passes. Therefore, as time passes, the shape of the vehicle images 30A, 30D, and 30E displayed on the display unit 18 changes. That is, the vehicle image 30A which represents the shape of the vehicle 10 when the vehicle 10 is viewed from the rear and above changes to the vehicle image 30E which represents the vehicle 10 when the vehicle 10 is viewed from directly above. Therefore, the occupant who views the display unit 18 can easily recognize that the SEA control or the parking notification control has been switched from the non-operating state to the operating state.

[0072] Furthermore, when it is determined that the switching condition related to the SEA control or the parking notification control is satisfied, the display position of the vehicle images 30A, 30D, 30E on the display unit 18 gradually moves forward. Figures 8 to 13 ) is gradually expanded. Therefore, when the vehicle images 30D and 30E are displayed on the display unit 18, the images (parked vehicle images 33D and 33E, approaching object notification image 36, and surrounding object notification image 37) located behind the vehicle images 30D and 30E are displayed in the lower display area. Therefore, compared with the case where a part of the display unit 18 (lower display area) is always ensured as an area for displaying the parked vehicle images 33D and 33E, the approaching object notification image 36, and the surrounding object notification image 37, the vehicle images 30A and 30D can be displayed larger on the display unit 18.

[0073] Furthermore, when it is determined that the switching condition is satisfied, the vehicle display control device 40 causes the display unit 18 to display a notification image (approaching vehicle notification image 35, approaching object notification image 36, and surrounding object notification image 37) indicating that the driving assist control is in operation. Therefore, the vehicle display control device 40 allows the occupant who is viewing the display unit 18 to easily recognize that the driving assist control is in operation.

[0074] Furthermore, when it is determined that the switching condition is satisfied, the vehicle display control device 40 displays the vehicle images 30A, 30B, 30C, 30D, 30E, the road images 31A, 31B, 31C, 31D, 31E, the approaching vehicle images 32B, 32C, and the parked vehicle images 33D, 33E in the center portion (predetermined position) of the display unit 18. In other words, when the driving assist control is in the non-operating state, these images are not displayed on the display unit 18. Therefore, compared with the case where these images are displayed in the center portion of the display unit 18 when the driving assist control is in the non-operating state, it is less likely to annoy the occupant who is viewing the display unit 18.

[0075] Although the vehicle display control device according to the embodiment has been described above, these aspects can be appropriately modified in design without departing from the gist of the present disclosure.

[0076] For example, when it is determined that the switching condition is satisfied, the display modes of the vehicle images 30A, 30B, 30C, 30D, 30E, the road images 31A, 31B, 31C, 31D, 31E, the approaching vehicle images 32B, 32C, and the parked vehicle images 33D, 33E in the display unit 18 may be changed intermittently. For example, when it is determined that the first switching condition related to the BSM control is satisfied, the vehicle image 30A may be changed directly to the vehicle image 30B without passing through other vehicle images, and the vehicle image 30B may be changed directly to the vehicle image 30C without passing through other vehicle images. In addition, the vehicle image 30A may be changed directly to the vehicle image 30C without passing through other vehicle images.

[0077] It is also possible to set the display unit 18 to display a vehicle image representing the vehicle 10 and a road image representing the road on which the vehicle 10 is traveling, and an image other than the vehicle image and the road image simultaneously when the display unit 18 is set to the normal mode. The other image includes, for example, a map image and an image representing the speed of the vehicle 10. Furthermore, it is also possible to set the display unit 18 to display the other image in the center (predetermined position) of the display unit 18 when the display unit 18 is set to the normal mode, and to display the vehicle image and the road image on the side of the display unit 18. Furthermore, it is also possible to set the display unit 18 to display a driving assistance-related image in the center of the display unit 18, and to display the other image on the side of the display unit 18 when the display unit 18 is set to the driving assistance mode.

[0078] When it is determined that the switching condition related to the SEA control or the parking notification control is satisfied, the position of the virtual viewpoint may be changed and the size of the visible angle may be changed as time passes.

[0079] It is also possible that image data representing vehicle images, road images, approaching vehicle images, and parked vehicle images that are not created based on 3D modeling data are recorded in ROM 23. In this case, it is also possible that image data representing vehicle images, road images, approaching vehicle images, and parked vehicle images when observed from a plurality of virtual viewpoints located between virtual viewpoint PA and virtual viewpoint PE on curve CL and different from virtual viewpoint PD are stored in ROM 23.

[0080] It is also possible to set the vehicle images 30A, 30B, 30C, 30D, 30E, road images 31A, 31B, 31C, 31D, 31E, approaching vehicle images 32B, 32C, and parked vehicle images 33D, 33E displayed on the display unit 18 as images generated based on image data obtained by multiple cameras mounted on the vehicle 10.

Claims

1. A vehicle display control device comprising: a display unit provided on a vehicle capable of executing driving assistance control and capable of displaying a vehicle image representing the vehicle; an assist control determination unit capable of determining whether a switching condition for switching the driving assist control from a non-operating state to an operating state has been satisfied; A display control unit controls the display unit so as to display the vehicle image while changing a display mode of the vehicle image when the assist control determination unit determines that the switching condition is satisfied.

2. The vehicle display control device according to claim 1, wherein: The display control unit performs the following control, namely, When the switching condition is satisfied, the display unit is controlled to display a notification image indicating that the driving assistance control is in the active state.

3. The vehicle display control device according to claim 1 or claim 2, wherein: The display control unit performs the following control, namely, When the switching condition is satisfied, the display unit is controlled so that the vehicle image gradually becomes smaller as time passes.

4. The vehicle display control device according to claim 1 or claim 2, wherein: The vehicle image is an image of the vehicle when the vehicle is viewed from a predetermined virtual viewpoint. The display control unit performs the following control, namely, When the switching condition is satisfied, the display unit is controlled so that the vehicle image changes over time from an image when the imaginary viewpoint is located at a first viewpoint that is rearward of the vehicle to an image when the imaginary viewpoint is located at a second viewpoint that is forward and upward of the first viewpoint.

5. The vehicle display control device according to claim 1 or claim 2, wherein: The display control unit performs the following control, namely, The display unit is controlled so that the display mode of the vehicle image continuously changes.

6. The vehicle display control device according to claim 1 or claim 2, wherein: The display control unit performs the following control, namely, When the assist control determination unit determines that the switching condition is satisfied, the display unit is controlled so that the vehicle image is displayed at a predetermined position on the display unit.

Images