Vehicle display device, display control method, and storage medium

Abstract

The invention discloses a vehicle display device, a display control method, and a storage medium. Provided is a display device for a vehicle, comprising a display control unit that causes a mark to be displayed at a position on a display unit corresponding to a future position of the vehicle acquired from an automatic driving control unit that performs automatic driving of the vehicle, the display position of the mark on the display unit is moved toward a reference position on the display unit corresponding to the host vehicle in accordance with the travel of the host vehicle.

Description

[0001] This application is a divisional application with application number 202010221651.9, application date March 26, 2020, and invention name “Vehicle display device, display control method and storage medium”. Technical Field

[0002] The present disclosure relates to a display device, a display control method, and a storage medium for a vehicle. Background Art

[0003] Japanese Patent Application Laid-Open No. 08-178679 discloses a technology for detecting the driving state of a vehicle, estimating the predicted driving trajectory of the vehicle in the future based on the detected driving state, and displaying it on a head-up display device. In this technology, a bird's-eye view is displayed, in which a group of points is arranged at predetermined intervals on a curve representing the predicted driving trajectory of the center of gravity of the vehicle, and a frame having a width substantially the same as the width of the vehicle is configured so that the center of gravity coincides with each of the point groups.

[0004] The technology described in Japanese Patent Publication No. 08-178679 is based on the premise of displaying information on an AR (Augmented Reality) head-up display that fully covers the front field of vision of the occupant in the front seat of the vehicle, but it is very difficult to construct an optical system to realize such a large head-up display, and it is not realistic at the current time. On the other hand, when the technology described in Patent Document 1 is applied to the information display of a small display unit such as a small head-up display or a display of an instrument panel that uses a part of the front field of vision of the occupant as the display range, it is difficult to intuitively grasp the correspondence between the information displayed on the display unit and the actual prospect visually recognized by the driver, and there is room for improvement. Summary of the invention

[0005] The present disclosure is completed in consideration of the above facts, and provides a vehicle display device, display control method, and storage medium that can intuitively grasp the correspondence between displayed information and actual foreground even when information is displayed on a small display unit that does not widely cover the occupant's forward field of view.

[0006] One embodiment of the present disclosure provides a vehicle display device, including a display control unit that displays a sign at a position on a display unit corresponding to a future position of a vehicle obtained from an automatic driving control unit that performs automatic driving of the vehicle, and moves the display position of the sign on the display unit toward a reference position on the display unit corresponding to the vehicle in accordance with the travel of the vehicle.

[0007] In this method, the display position of the mark displayed on the display unit corresponding to the future position of the vehicle is moved toward the reference position on the display unit corresponding to the vehicle in accordance with the travel of the vehicle. Thus, the display position of the mark is moved in synchronization with the travel of the vehicle, so even when the information is displayed on a small display unit that does not cover the front field of view of the occupant, it is possible to intuitively grasp that the displayed information corresponds to the actual prospect. In addition, the dynamic flow of the mark also becomes an appropriate stimulus in the recognition state of the peripheral field of view, which helps to maintain the motivation for continuous monitoring action.

[0008] In this method, the display control unit may also switch the future position where the mark is displayed in such a manner that the time difference of the future position from the current moment becomes smaller as time passes, thereby moving the display position of the mark on the display unit toward the reference position on the display unit.

[0009] Moving the display position of the mark on the display unit toward the reference position on the display unit can be achieved by, for example, switching the future position where the mark is displayed in such a way that the time difference from the current moment of the future position becomes smaller as time passes. Thus, the display position of the mark on the display unit can be moved by a simple process such as switching the future position where the mark is displayed.

[0010] In this aspect, the display control unit may display the mark at a plurality of positions on the display unit corresponding to a plurality of future positions of the host vehicle that are sequentially different in time from a current time by a predetermined time.

[0011] In the above structure, the time differences from the current moment of the multiple future positions displayed by the signs are sequentially differed by a predetermined time, so the changes in the behavior of the vehicle in the time axis direction including the acceleration and deceleration of the vehicle can be intuitively grasped based on the display intervals of the multiple signs.

[0012] In this aspect, the display control unit may set the vehicle width direction of the host vehicle as the width direction and the arrangement of the future position of the host vehicle as the length direction, and display a strip-shaped track line including the mark on the display unit.

[0013] In the above structure, a strip-shaped track line is displayed, but the track line has the width direction of the vehicle as the width direction and the arrangement of the future position of the vehicle as the length direction, and includes signs, so the forward position of the vehicle can be intuitively grasped according to the direction in which the track line extends.

[0014] In this aspect, the display control unit may display, on the display unit, a road width line simulating a boundary line of a lane in which the host vehicle is traveling.

[0015] In the above configuration, a road width line simulating a boundary line of a lane on which the host vehicle is traveling is displayed, so that the correspondence between the displayed information and the actual foreground can be more intuitively understood.

[0016] In this aspect, the display control unit may display a vehicle distance setting line corresponding to the set vehicle distance time on the display unit when the setting of the vehicle distance time for automatic driving control of the host vehicle is changed.

[0017] In the above structure, when the setting of the headway time in the automatic driving is changed, the headway setting line corresponding to the set headway time is displayed, so the setting of the headway time can be understood. In addition, the sign of the present disclosure is a display whose display position on the display unit moves, so it is possible to avoid confusion between the sign and the headway setting line.

[0018] In this aspect, the display unit may be a head-up display that displays a portion of the front field of the occupant of the host vehicle as a display range, or a display provided on a dashboard of the host vehicle.

[0019] In the above structure, the display unit is a small display that does not cover the front field of the occupant widely, that is, a head-up display that uses a part of the front field of the occupant of the vehicle as a display range or a display set on the dashboard of the vehicle. Thus, while adopting an easy-to-implement structure as the display unit, it is possible to intuitively understand that the information displayed on the display corresponds to the actual foreground.

[0020] A second embodiment of the present disclosure provides a display control method for a vehicle, comprising: displaying a sign at a position on a display unit corresponding to a future position of a vehicle obtained from an automatic driving control unit that performs automatic driving of the vehicle, and moving the display position of the sign on the display unit toward a reference position on the display unit corresponding to the vehicle in accordance with the travel of the vehicle.

[0021] A third embodiment of the present disclosure provides a storage medium, which is a non-temporary storage medium storing a program that enables a computer to execute a display control process for a vehicle, wherein the display control process for the vehicle includes: displaying a sign at a position on a display unit corresponding to a future position of the vehicle obtained from an automatic driving control unit that performs automatic driving of the vehicle, and moving the display position of the sign on the display unit toward a reference position on the display unit corresponding to the vehicle in accordance with the travel of the vehicle.

[0022] In the present disclosure, even when information is displayed on a small display unit that does not widely cover the front field of vision of the occupant, it is possible to intuitively understand that the displayed information corresponds to the actual foreground. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a block diagram showing a schematic configuration of an in-vehicle system according to an embodiment.

[0024] Figure 2 This is a diagram showing an example of the display range of the HUD.

[0025] Figure 3 is a flowchart showing a display control process.

[0026] Figure 4 A diagram showing an example of a normal image displayed on the HUD and the instrument display.

[0027] Figure 5 (A) is a diagram showing an example of a first-person lane display image displayed on the HUD.

[0028] Figure 5 (B) is a diagram showing an example of a third-person multi-lane display image displayed on the meter display.

[0029] Figure 6 This is a diagram showing an example of a first-person lane display image displayed on the HUD when traveling on a straight road.

[0030] Figure 7 This is a diagram showing an example of a first-person lane display image displayed on the HUD when approaching a curve in the road.

[0031] Figure 8 This is a diagram showing an example of a first-person lane display image displayed on the HUD when the host vehicle changes lanes.

[0032] Fig. 9 This is a diagram showing an example of a first-person lane display image displayed on the HUD when the vehicle arrives at a fork in the road.

[0033] Fig.10 This is a conceptual diagram for explaining a process of selecting a future position at which a marker is to be displayed.

[0034] Fig.11 This is a diagram for explaining a process of changing the display position of an image on the HUD according to the steering angle of the steering.

[0035] Fig.12 This is a diagram for explaining a process of changing the display position of an image on the HUD according to the steering angle of the steering.

[0036] Fig.13 This is a diagram showing an example of a situation in which driver intervention is required in autonomous driving.

[0037] Fig.14 This is a diagram showing another example of a situation in which the driver's intervention is required in autonomous driving. DETAILED DESCRIPTION

[0038] Hereinafter, an example of an embodiment of the present disclosure will be described in detail with reference to the drawings. Figure 1 The vehicle-mounted system 10 shown has a communication bus 12, to which a peripheral condition acquisition device group 14, a vehicle driving state detection sensor group 26, an automatic driving ECU (Electronic Control Unit) 34, and a display control ECU 42 are connected. Figure 1 Only a part of the vehicle-mounted system 10 is shown. In addition, hereinafter, a vehicle equipped with the vehicle-mounted system 10 is referred to as a host vehicle.

[0039] The surrounding situation acquisition device group 14 includes a GPS (Global Positioning System) device 16 , an on-vehicle communication device 18 , a navigation system 20 , a radar device 22 , a camera 24 , and the like as devices for acquiring information indicating the situation of the surrounding environment of the host vehicle.

[0040] The GPS device 16 receives GPS signals from a plurality of GPS satellites and measures the position of the vehicle. The positioning accuracy of the GPS device 16 increases as the number of GPS signals that can be received increases. The vehicle-mounted communicator 18 is a communication device that performs at least one of vehicle-to-vehicle communication with other vehicles and road-to-vehicle communication with roadside equipment. The navigation system 20 includes a map information storage unit 20A that stores map information, and performs processing to display the position of the vehicle on a map or guide the route to the destination based on the position information obtained from the GPS device 16 and the map information stored in the map information storage unit 20A.

[0041] The radar device 22 includes a plurality of radar devices with different detection ranges, and detects pedestrians, other vehicles and other objects around the vehicle as point group information, and obtains the relative position and relative speed of the detected objects and the vehicle. In addition, the radar device 22 is equipped with a processing device for processing the detection results of the surrounding objects. The processing device excludes noise, roadside objects such as guardrails, etc. from the monitoring objects based on the changes in the relative position and relative speed of each object contained in the recent multiple detection results, and tracks and monitors specific objects such as pedestrians and other vehicles as monitoring objects. Then, the radar device 22 outputs information such as the relative position and relative speed of each monitoring object. The camera 24 uses a plurality of cameras to photograph the surroundings of the vehicle and outputs the photographed images.

[0042] In addition, the vehicle driving state detection sensor group 26 includes a steering angle sensor 28 for detecting the steering angle of the vehicle, a vehicle speed sensor 30 for detecting the driving speed of the vehicle, and an acceleration sensor 32 for detecting the acceleration applied to the vehicle as multiple sensors for acquiring the driving state of the vehicle.

[0043] A throttle ACT 36 for changing the throttle opening of the vehicle and a brake ACT 38 for changing the braking force generated by the brake device of the vehicle are connected to the automatic driving ECU 34. In addition, a steering ACT 40 for changing the steering amount generated by the steering device of the vehicle is connected to the automatic driving ECU 34.

[0044] The automatic driving ECU 34 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory) and other memories, a non-volatile storage unit such as a HDD (Hard Disk Drive) and a SSD (Solid State Drive), and a communication I / F (Interface). The automatic driving software is stored in the storage unit. When the CPU executes the automatic driving software to select the automatic driving mode, the automatic driving ECU 34 performs an automatic driving process that causes the vehicle to automatically drive without the driving operation performed by the occupants of the vehicle. The automatic driving process is a process of judging the conditions of the vehicle and its surroundings based on the information obtained from the surrounding condition acquisition device group 14 and the vehicle driving state detection sensor group 26 and controlling the throttle ACT 36, the brake ACT 38 and the steering ACT 40.

[0045] Furthermore, in the present embodiment, the level of the autonomous driving performed by the autonomous driving ECU 34 is level 2 or level 3. In level 2 or level 3 autonomous driving, the driver is required to monitor the autonomous driving performed by the autonomous driving ECU 34 and intervene as needed to prevent, for example, situations where the vehicle is out of the controllable range, inappropriate actions caused by misdetection, non-detection, or failure of sensors, etc.

[0046] The display control ECU 42 includes a CPU 44, a memory 46 such as a ROM or RAM, a nonvolatile storage unit 48 such as a HDD or SSD, and a communication I / F 50. The CPU 44, the memory 46, the storage unit 48, and the communication I / F 50 are connected to each other via an internal bus 52 so as to be able to communicate with each other. A display control program 54 is stored in the storage unit 48. In the display control ECU 42, the display control program 54 is read out from the storage unit 48 and expanded in the memory 46, and the display control program 54 expanded in the memory 46 is executed by the CPU 44, thereby performing the display control processing described later.

[0047] A head-up display (hereinafter referred to as HUD) 56 and a meter display 58 are connected to the display control ECU 42. The HUD 56 according to the present embodiment is Figure 2 The HUD 56 is a small HUD that displays a portion of the front field of the occupant of the vehicle as a display range (imaged in the lower part of the foreground) by reflection on the windshield, etc., as shown by adding a symbol 60 in the figure. In addition, the instrument display 58 is a display provided on the instrument panel of the vehicle. The display control ECU 42 controls the information display on the HUD 56 and the instrument display 58.

[0048] The automatic driving ECU 34 is an example of an automatic driving control unit, and the display control ECU 42 is an example of a display control unit. The HUD 56 and the meter display 58 are examples of a display unit.

[0049] Next, the function of this embodiment is described. During the period when the automatic driving ECU 34 performs automatic driving, the driver needs to keep paying attention to the behavior of the vehicle and the surrounding traffic conditions, keep understanding the behavior of the vehicle and the surrounding traffic conditions, and prepare awareness and actions to prepare for intervention. However, if the vehicle side transmits the surrounding conditions captured by the sensor to the driver at all times, the burden on the driver increases due to the excessive information transmission, which goes against the purpose of automatic driving such as reducing the driving load.

[0050] In addition, when the vehicle detects a certain necessity such as a lane divergence, merging, or lane change and starts an abnormal driving operation, the vehicle can urge the driver to pay attention. However, for example, when the vehicle cannot detect a sudden obstacle on the road and must avoid the obstacle but wants to continue driving normally, the vehicle has no intention of asking for attention, so the vehicle cannot issue a warning.

[0051] Considering these issues, the display control ECU 42 performs Figure 3In step 100 of the display control process, the display control ECU 42 determines whether the automatic driving ECU 34 is performing automatic driving.

[0052] If the determination in step 100 is negative, the process proceeds to step 120, in which the display control ECU 42 displays a normal image on the HUD 56 and the meter display 58. Figure 4 (A) shows an example of a normal image displayed on the HUD 56. Figure 4 (B) shows an example of a normal image displayed on the meter display 58 .

[0053] On the other hand, when the automatic driving ECU 34 is performing the automatic driving, the judgment of step 100 is affirmative and the process transfers to step 102. In step 102, the display control ECU 42 obtains the lane information recognized by the automatic driving ECU 34 from the automatic driving ECU 34. In addition, the lane information includes the information of the lane on which the vehicle is traveling (whether it is a straight line or a curve, etc.) and the information about the adjacent lanes adjacent to the left and right of the lane (whether there are adjacent lanes, etc.). Then, the display control ECU 42 generates, for example, the lane information obtained from the automatic driving ECU 34 as an image of the road width line 62 including the boundary line of the simulated lane. Figure 5 The first-person lane display image shown in (A) and the example Figure 5 (B) shows the third-person multi-lane display image.

[0054] The first-person lane display image is an image close to the state of the driver observing the front through the windshield of the vehicle, and the lanes adjacent to the left and right of the lane are excluded from the display object. In the first-person lane display image, the lane is displayed as large as possible, and the display of information that is not important for monitoring driving is omitted, so that the image is minimized in complexity, and the various displays described later are displayed large and easy to see.

[0055] The third-person multi-lane display image is an image that displays lanes adjacent to the vehicle on the left and right, as if the vehicle is viewed from above and behind. Non-existent lanes are excluded from the display, so that under normal conditions, there are a maximum of three lanes. However, in order to make transition states associated with forks and merging easier to understand, it is not limited to a maximum of three lanes. In the third-person multi-lane display image, the vehicle is displayed as icon 64. The third-person multi-lane display image can display, for example, when changing the lane of the vehicle, with other vehicles approaching from the right rear or left rear, the lane is not changed until the other vehicle passes, and then the lane is changed, etc., and other vehicles approach, and the lane is not changed temporarily.

[0056] In the first-person single lane display image and the third-person multi-lane display image, a road width line 62 simulating a lane boundary line is displayed. Therefore, for example, when the vehicle reaches a curve on the road on which it is traveling, the road width line 62 changes from Figure 6 The display changes shown are Figure 7 As shown in the display, when the vehicle comes to the fork in the road, the road width line 62 changes from Figure 6 The display changes shown are Fig. 9 Thus, the driver can understand that the first-person single lane display image and the third-person multi-lane display image are road schematic diagrams (perspective representation of lane boundaries) that are similar to the real scene and reduced in comparison. In addition, when the vehicle wants to change lanes, Figure 8 As shown, the road width line 62 does not change, but the sign 66 and the track line 68 described later change, so that the driver can understand that the vehicle intends to change lanes.

[0057] In step 104, the display control ECU 42 obtains the coordinate arrangement of the future position of the host vehicle from the automatic driving ECU 34, and selects the flag 66 (refer to Figure 5 As an example, the following situation is described, that is, the display control ECU 42 and the automatic driving ECU 34 communicate every 100 milliseconds, and in each communication, such as Fig.10 As shown, a limited number (eg, 50 = 5 seconds later) of coordinate arrangements of the future positions of the vehicle at 100 millisecond intervals are sent from the automatic driving ECU 34 to the display control ECU 42 .

[0058] At time t0, the display control ECU 42 sets the current position of the vehicle as the base point n0, sets the mark 66 to non-display for the 9 coordinates n1 to n9 from the front, and selects the future position of the mark 66 for the 10th coordinate n10. Similarly, the display control ECU 42 sets the mark 66 to non-display for the coordinates n11 to n19, and selects the future position of the mark 66 for the coordinate n20. Thus, the array of the mark 66 at 1 second intervals is generated with respect to the array of coordinates of the future position received from the automatic driving ECU 34.

[0059] In addition, at time t1 after 100 milliseconds, the host vehicle moves approximately to the position of coordinate n1 at time t0, and the display control ECU 42 generates a new array of marks 66 with the new position of the host vehicle as a reference. At this time, the display / non-display attribute of each coordinate at time t0 is maintained, and the mark 66 is set to non-display for n1 to n8, and the future position of the mark 66 is selected to be displayed for n9, and the mark 66 is set to non-display for n10 to n18, and the future position of the mark 66 is selected to be displayed for n19. In other words, the future position of the mark 66 is switched so that the time difference from the current time to the future position of the display mark 66 becomes smaller as time passes (for example, time t0 → time t1). As a result, at time t1, an array of marks 66 whose phase is moved 100 milliseconds toward the host vehicle side compared to time t0 is generated.

[0060] In step 106, the display control ECU 42 transforms the coordinates of the future position of the display mark 66 into Figure 5 The coordinates of the first-person lane display image shown in (A) are used to display the sign 66 at the transformed coordinates of the first-person lane display image. In addition, the coordinates of the future position of the display sign 66 are transformed into Figure 5 The coordinates on the third-person multi-lane display image shown in (B) are used to display the mark 66 on the coordinates after the transformation of the third-person multi-lane display image.

[0061] Through the processing of the above steps 104 and 106, the signs 66 are displayed at positions corresponding to the future positions of the vehicle on the first-person lane display image and the third-person multiple lane display image, and the arrangement of the signs 66 advances toward the reference position corresponding to the vehicle in accordance with the travel of the vehicle (moves downward in the display). This is a display like the arrangement flow of the signs 66 set on the road at fixed intervals (for example, 1 second). As a result, the driver can intuitively understand that the first-person lane display image and the third-person multiple lane display image correspond to the actual foreground.

[0062] In addition, it is preferable to calculate the display position of the mark 66 by, for example, extrapolation, and display the mark 66 during a period when the display control ECU 42 is not communicating with the automatic driving ECU 34 (for example, between time t0 and time t1). This makes it possible to display the mark 66 in a continuous motion in which the mark 66 is animated, thereby achieving a higher quality and smoother display.

[0063] In step 108, the display control ECU 42 sets the vehicle width direction as the width direction and the arrangement of the future position of the vehicle as the length direction, and displays the strip-shaped track line 68 including the arrangement of the marks 66 in the first-person single lane display image and the third-person multi-lane display image (see FIG. Figure 5 (A) Figure 5 In the first-person single lane display image and the third-person multi-lane display image, the direction in which the strip-shaped track line 68 extends indicates the advancing direction of the host vehicle, allowing the driver to intuitively grasp the advancing position of the host vehicle.

[0064] In addition, the strip-shaped track line 68 extending in the advancing direction of the host vehicle is captured by the driver as a representation similar to a guide rail laid on the road, and the sign 66 set at regular intervals is captured by the driver as a representation similar to a sleeper on the track of a railway. In this way, the representation using the sign 66 and the track line 68 is a psychological model with a sense of déjà vu for many people, so the driver can intuitively recognize that it is a forecast display of the future time when the host vehicle will travel in the future.

[0065] In step 112, the display control ECU 42 determines whether the vehicle distance setting for the automatic driving is being changed. If the vehicle distance setting is being changed, the determination of step 112 is affirmative and the process moves to step 114. In step 114, the display control ECU 42 displays the vehicle distance setting lines 70 (the number of vehicle distance setting lines 70 varies according to the set vehicle distance time) indicating the set vehicle distance time on the first-person single lane display image and the third-person multi-lane display image (refer to FIG. 1 ). Figure 5 (A) Figure 5 (B)).

[0066] In this way, when the vehicle distance setting line 70 is displayed, the driver can understand the set vehicle distance time. In addition, in the present embodiment, the vehicle distance setting line 70 is stationary on the first-person single lane display image and the third-person multi-lane display image. On the other hand, the mark 66 is a mark whose display position moves as the vehicle travels, so it is possible to avoid confusion between the mark 66 and the vehicle distance setting line 70.

[0067] If the vehicle distance setting is not being changed, the determination of step 112 is negative, and step 114 is skipped. In this case, the vehicle distance setting line 70 is not displayed in the first-person single lane display image and the third-person multiple lane display image.

[0068] In step 116, the display control ECU 42 also performs the following steps: Figure 5 As shown in (A) of FIG. 1 , a first-person lane display image is displayed on the HUD 56 . When the image is displayed on the HUD 56 , a process is performed to change the display position of the image on the HUD 56 according to the steering angle of the steering.

[0069] That is, first, the steering angle of the steering detected by the steering angle sensor 28 is acquired. Then, if the steering angle of the steering is 0, as an example, Fig.11 As shown, the first-person lane display image is displayed on the HUD 56 so that the image center of the first-person lane display image displayed on the HUD 56 coincides with the center CL of the display range of the HUD 56 .

[0070] On the other hand, when the steering angle is not 0, as an example, Fig.12 As shown, the first-person lane display image is displayed on HUD 56 in such a manner that the image center of the first-person lane display image displayed on HUD 56 is offset in the direction of the steering angle (rightward or leftward) by a deviation amount corresponding to the steering angle amount relative to the center CL of the display range of HUD 56.

[0071] Furthermore, as an example, in Fig.12 In the embodiment of the present invention, the image center of the first-person lane display image is offset to the right relative to the center CL of the display range of the HUD 56. Thus, when the road on which the vehicle is traveling is curved, the image displayed on the HUD 56 will not deviate to the outside of the corner, and the vehicle can always feel that it is in a suitable position within the lane.

[0072] In the next step 118, the display control ECU 42 also performs the following operation: Figure 5 As shown in (B), the third-person multi-lane display image is displayed on the meter display 58. After the processing of step 118 is performed, the process returns to step 100, and while the determination of step 100 is affirmative, steps 102 to 118 are repeated.

[0073] In Level 2 or Level 3 autonomous driving, situations may arise that require driver intervention. As an example, Fig.13The situation in which the vehicle intends to change lanes to the left lane even though the bus is traveling in the left lane adjacent to the vehicle's lane (the vehicle does not recognize the bus as a dangerous presence when changing lanes), and it is preferred that the driver intervene to stop the lane change. In such a case, the sign 66, the track line 68, the road width line 62, etc. are also displayed on the HUD 56, so that the driver can quickly notice that the vehicle intends to change lanes to the left lane. Moreover, even if the vehicle does not make a special warning, the driver can recognize that the bus is a dangerous presence when changing lanes, and intervene to stop the lane change.

[0074] Also, as an example, Fig.14 The vehicle intends to go straight ahead even though the lane ahead is closed due to lane restriction (the vehicle side does not recognize that the lane ahead is closed), and the driver is advised to intervene to change lanes. In such a case, the sign 66, the track line 68, the road width line 62, etc. are also displayed on the HUD 56 and the instrument display 58, so that the driver can quickly notice that the vehicle intends to go straight ahead. Moreover, even if the vehicle side does not make a special attention reminder, the driver can recognize that the lane ahead of the vehicle intends to go straight ahead is closed, and intervene to change lanes.

[0075] As described above, in the present embodiment, the display control ECU 42 displays the mark 66 at a position on the HUD 56 and the instrument display 58 corresponding to the future position of the vehicle acquired from the automatic driving ECU 34 that performs the automatic driving of the vehicle, and moves the display position of the mark 66 on the HUD 56 and the instrument display 58 toward the reference position on the HUD 56 and the instrument display 58 corresponding to the vehicle in accordance with the travel of the vehicle. Thus, the display position of the mark 66 moves in synchronization with the travel of the vehicle, so that even when information is displayed on a small HUD 56 and the instrument display 58 that do not cover the front field of the occupant's field of vision in a wide range, it is possible to intuitively understand that the displayed information corresponds to the actual foreground.

[0076] In addition, in the present embodiment, the display control ECU 42 switches the future position of the host vehicle to display the mark 66 so that the time difference of the future position of the host vehicle from the current time becomes smaller as time passes, thereby moving the display position of the mark 66 on the HUD 56 and the meter display 58 toward the reference position on the HUD 56 and the meter display 58. Thus, the display position of the mark 66 on the HUD 56 and the meter display 58 can be moved by a simple process such as switching the future position to display the mark 66.

[0077] In addition, in the present embodiment, the display control ECU 42 displays the mark 66 at multiple positions on the HUD 56 and the instrument display 58 corresponding to multiple future positions of the host vehicle that are sequentially different from the current time by a predetermined time. Thus, the change in the behavior of the host vehicle in the time axis direction including the acceleration and deceleration of the host vehicle can be intuitively grasped based on the display intervals of the multiple marks 66.

[0078] In addition, in the present embodiment, the display control ECU 42 sets the vehicle width direction as the width direction, sets the arrangement of the future position of the vehicle as the length direction, and displays the strip-shaped track line 68 including the arrangement of the marks 66 on the HUD 56 and the instrument display 58. Thus, the forward position of the vehicle can be intuitively grasped according to the direction in which the track line 68 extends.

[0079] In the present embodiment, the display control ECU 42 displays the road width line 62 simulating the boundary line of the lane on which the host vehicle is traveling on the HUD 56 and the meter display 58. This allows the user to more intuitively understand that the displayed information corresponds to the actual foreground.

[0080] In the present embodiment, when the inter-vehicle time is changed, the display control ECU 42 displays the inter-vehicle time setting line 70 corresponding to the set inter-vehicle time on the HUD 56 and the meter display 58 , so the inter-vehicle time can be grasped.

[0081] In addition, in the present embodiment, the mark 66 is formed into a rhombus shape, but the shape is not limited thereto, and other shapes such as a circle shape, an ellipse shape, etc. may be used.

[0082] In addition, in the above description, the method in which the automatic driving ECU 34 performs level 2 or level 3 automatic driving is described, but it is not limited to this, and it can also be applied to the method of performing level 4 or level 5 automatic driving. In the automatic driving above level 4, the driver does not need to intervene, but by performing the display related to the present disclosure, the occupants of the vehicle can intuitively understand that the automatic driving function is functioning normally, giving them a sense of security.

[0083] In addition, in the above description, a method of performing display related to the present disclosure (display of signs 66, track lines 68, road width lines 62, etc.) on each of the HUD 56 and the instrument display 58 is described, but the present disclosure is not limited thereto. It is also possible to perform display related to the present disclosure on only one of the HUD 56 and the instrument display 58, and perform normal display on the other display (for example, Figure 4 of the display).

[0084] In addition, the display control program 54 of the present disclosure may also be stored in an external server and expanded in a memory via a network. In addition, the display control program 54 may also be stored in a non-transitory recording medium such as a DVD (Digital Versatile Disc) and expanded in a memory via a recording medium reading device.

Claims

1. A vehicle display device, comprising a display control unit, The display control unit displays on the display unit a mark displayed on a position corresponding to the future position of the vehicle obtained from the automatic driving control unit that performs automatic driving of the vehicle, and a display image of a strip-shaped track line having the width direction of the vehicle as a width direction and the arrangement of the future position of the vehicle as a length direction and including the mark, and moves the display position of the mark on the display unit toward a reference position on the display unit corresponding to the vehicle in accordance with the travel of the vehicle. The display control unit switches the future position at which the marker is displayed so that the time difference from the current time at the future position becomes smaller as time passes, thereby moving the display position of the marker on the display unit toward the reference position on the display unit, The track line including the moving mark changes on the display unit in a manner indicating the advancing direction of the host vehicle, The display unit includes a head-up display that uses a portion of the front field of view of the occupant of the host vehicle as a display range, and the display image functions as a road schematic diagram that is in a reduced contrast relationship with a real scene in the front field of view of the occupant of the host vehicle.

2. The vehicle display device according to claim 1, wherein: The display control unit displays the mark at a plurality of positions on the display unit corresponding to a plurality of future positions of the host vehicle that are sequentially different in time from a current time by a predetermined time.

3. The vehicle display device according to claim 1, wherein: The head-up display is imaged downwardly in the foreground in the forward field of view of an occupant of the host vehicle.

4. The vehicle display device according to claim 1, wherein: The display image is a first-person lane display image corresponding to a viewpoint observed from a driver of the host vehicle.

5. The vehicle display device according to claim 1, wherein: The display control unit causes a road width line simulating a boundary line of a lane in which a host vehicle is traveling to be displayed on the display image.

6. The vehicle display device according to claim 1, wherein: The display control unit causes the display image to display a vehicle distance setting line corresponding to the set vehicle distance time when the setting of the vehicle distance time for automatic driving control of the host vehicle is changed.

7. The vehicle display device according to claim 6, wherein: The number of the inter-vehicle distance setting lines varies according to the inter-vehicle distance time, and the inter-vehicle distance setting lines are stationary on the display image.

8. The vehicle display device according to claim 1, wherein: The display unit further includes a second display provided on an instrument panel of the host vehicle.

9. The vehicle display device according to claim 1, wherein: The display control unit acquires a steering angle of the steering of the host vehicle, When the steering angle is not zero, the display image is displayed such that the image center of the display image is offset from the center of the display range of the display unit in the direction of the steering angle by an amount corresponding to the steering angle amount.

10. The vehicle display device according to claim 1, wherein: The display control unit communicates with the automatic driving control unit at first specified time intervals, receives an arrangement of coordinates of the future position of the vehicle at the first specified time scale from the automatic driving control unit, generates an arrangement of marks at second specified time intervals, and displays the marks on the display image.

11. The vehicle display device according to claim 1, wherein: The display control unit calculates a display position of a sign by extrapolation while not communicating with the automatic driving control unit, and displays the sign on the display image.

12. A vehicle display control method, comprising: A display image including a mark displayed on a display unit corresponding to the future position of the vehicle acquired from an automatic driving control unit that performs automatic driving of the vehicle, and a strip-shaped track line including the mark having the width direction of the vehicle as a width direction and the arrangement of the future position of the vehicle as a length direction is displayed on the display unit, In accordance with the travel of the host vehicle, the display position of the mark on the display unit is moved toward a reference position on the display unit corresponding to the host vehicle, wherein the display position of the marker on the display unit is moved toward the reference position on the display unit by switching the future position where the marker is displayed in such a manner that the time difference of the future position from the current moment becomes smaller as time passes, The track line including the moving mark changes on the display unit in a manner indicating the advancing direction of the host vehicle, The display unit includes a head-up display that uses a portion of the front field of view of the occupant of the host vehicle as a display range, and the display image functions as a road diagram that is in a reduced contrast relationship with a real scene in the front field of view of the occupant of the host vehicle.

13. A storage medium, which is a non-transitory storage medium storing a program for causing a computer to execute a vehicle display control process, wherein: The vehicle display control process includes: A display image including a mark displayed on a display unit corresponding to the future position of the vehicle acquired from an automatic driving control unit that performs automatic driving of the vehicle, and a strip-shaped track line including the mark having the width direction of the vehicle as a width direction and the arrangement of the future position of the vehicle as a length direction is displayed on the display unit, In accordance with the travel of the host vehicle, the display position of the mark on the display unit is moved toward a reference position on the display unit corresponding to the host vehicle, wherein the display position of the marker on the display unit is moved toward the reference position on the display unit by switching the future position where the marker is displayed in such a manner that the time difference of the future position from the current moment becomes smaller as time passes, The track line including the moving mark changes on the display unit in a manner indicating the advancing direction of the host vehicle, The display unit includes a head-up display that uses a portion of the front field of view of the occupant of the host vehicle as a display range, and the display image functions as a road diagram that is in a reduced contrast relationship with a real scene in the front field of view of the occupant of the host vehicle.

Images