Vehicle-mounted display system and display method of vehicle-mounted display system

Abstract

The invention relates to a vehicle-mounted display system and a display method of the vehicle-mounted display system. The vehicle-mounted display system includes: a division line recognition unit that recognizes a division line of a lane on which the vehicle travels on the basis of a detection result of a camera of the vehicle; a road end structure recognition unit that recognizes a road end structure located outside the dividing line on the basis of the detection result of the sensor of the host vehicle; and a display control unit that controls the display of the display on the basis of the recognition results of the division line recognition unit and the road end structure recognition unit. The display control unit is configured to: display a first road end structure icon (91a) corresponding to a road end structure on the display (4) when the dividing line is not recognized and the road end structure is recognized; when a dividing line is recognized, even if a road end structure is recognized, a dividing line icon (81a) corresponding to the dividing line is displayed on a display (4), and a first road end structure icon (91a) is not displayed.

Description

Technical Field

[0001] The present disclosure relates to a vehicle-mounted display system and a display method of the vehicle-mounted display system. Background Art

[0002] Japanese Patent Application Laid-Open No. 2018-173834 is a known technical document related to an in-vehicle display system. Japanese Patent Application Laid-Open No. 2018-173834 discloses a technique for displaying lane boundary detection results on a display screen of a vehicle to inform the driver of the extent of the vehicle's lane.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 2018-173834

[0006] However, the detection results of road-side structures located outside the dividing line of the lane may sometimes be displayed on the display screen of the vehicle. In this case, if the detection of the road-side structure becomes unstable, the road-side structure will be displayed intermittently on the display screen, so the driver may feel annoyed. Summary of the Invention

[0007] An object of the present disclosure is to provide an in-vehicle display system and a display method that can reduce the driver's boredom.

[0008] One solution disclosed herein is an in-vehicle display system that is mounted on a vehicle and displays the conditions surrounding the vehicle on a display within the vehicle. The in-vehicle display system includes: a dividing line recognition unit that recognizes the dividing line of the lane in which the vehicle is traveling based on the detection results of the vehicle's camera; a road-end structure recognition unit that recognizes the road-end structure located outside the dividing line based on the detection results of the vehicle's sensor; and a display control unit that controls the display of the display based on the recognition results of the dividing line recognition unit and the road-end structure recognition unit. In a case where the dividing line is not recognized and the road-end structure is recognized, the display control unit displays a road-end structure icon corresponding to the road-end structure on the display. In a case where the dividing line is recognized, even if the road-end structure is recognized, the display control unit displays the dividing line icon corresponding to the dividing line on the display and does not display the road-end structure icon.

[0009] In this in-vehicle display system, when no lane line is recognized and a road end structure is recognized, the display control unit displays a road end structure icon on the display. On the other hand, when a lane line is recognized, even if a road end structure is recognized, the display control unit displays a lane line icon on the display and does not display the road end structure icon. Thus, when a lane line is recognized in addition to the road end structure, the road end structure icon is not displayed, so that the driver's annoyance caused by the intermittent display of the road end structure icon is reduced. Therefore, according to this in-vehicle display system, the driver's annoyance can be reduced.

[0010] Alternatively, the in-vehicle display system may further include: a pavement edge recognition unit that recognizes the pavement edge of the road on either the left or right side of the vehicle based on the detection result of the vehicle's sensor. Alternatively, when no lane line is recognized and the pavement edge is recognized, the display control unit displays a pavement edge icon corresponding to the pavement edge on the display. Alternatively, when a lane line is recognized, even if the pavement edge is recognized, the display control unit displays a lane line icon on the display and does not display the pavement edge icon.

[0011] Alternatively, when no lane line is recognized and both the road end structure and the pavement edge are recognized, the display control unit displays the pavement edge icon on the display and does not display the road end structure icon.

[0012] Another aspect of the present disclosure is a display method for an in-vehicle display system that displays the conditions around the vehicle on a display in the passenger compartment. The display method of the in-vehicle display system includes: a lane line recognition step of recognizing the lane line of the lane on which the vehicle is traveling based on the detection result of the vehicle's camera; a road end structure recognition step of recognizing a road end structure located outside the lane line based on the detection result of the vehicle's sensor; and a display control step of controlling the display on the display based on the recognition results of the lane line recognition step and the road end structure recognition step. In the display control step, when no lane line is recognized and a road end structure is recognized, a road end structure icon corresponding to the road end structure is displayed on the display. In the display control step, when a lane line is recognized, even if a road end structure is recognized, a lane line icon corresponding to the lane line is displayed on the display and the road end structure icon is not displayed.

[0013] In the display control step of the display method, when no demarcation line is recognized and a road end structure is recognized, a road end structure icon is displayed on the display. On the other hand, when a demarcation line is recognized, even if a road end structure is recognized, a demarcation line icon is displayed on the display and the road end structure icon is not displayed. Thus, when a demarcation line is recognized in addition to the road end structure, the road end structure icon is not displayed, so the annoyance of the driver caused by the intermittent display of the road end structure icon is reduced. Therefore, according to this display method, the annoyance of the driver can be reduced.

[0014] Another aspect of the present disclosure is a vehicle-mounted display system that is mounted on the vehicle and displays the conditions around the vehicle on a display in the passenger compartment. The vehicle-mounted display system includes: a road end structure recognition unit that recognizes a road end structure located on either the left or right side of the vehicle based on the detection result of a sensor of the vehicle; and a display control unit that controls the display on the display based on the recognition result of the road end structure recognition unit. The road end structure includes at least two of a guardrail, a wall, and a curb. When a plurality of road end structures are recognized on either the left or right side of the vehicle, the display control unit displays a road end structure icon corresponding to the road end structure closest to the vehicle among the plurality of road end structures on the display. The display control unit does not display a road end structure icon corresponding to the remaining road end structures on the display.

[0015] In this vehicle-mounted display system, when a plurality of road end structures are recognized, the display control unit displays a road end structure icon corresponding to the road end structure closest to the vehicle on the display. On the other hand, the display control unit does not display a road end structure icon corresponding to the remaining road end structures on the display. Thus, only the road end structure icon corresponding to the road end structure closest to the vehicle is displayed, so the annoyance of the driver caused by the intermittent display of the road end structure icon corresponding to the remaining road end structures is reduced. Therefore, according to this vehicle-mounted display system, the annoyance of the driver can be reduced.

[0016] Alternatively, when a plurality of road end structures are recognized on either the left or right side of the vehicle, when the road end structure closest to the vehicle is lost, the display control unit displays a road end structure icon corresponding to the road end structure second closest to the vehicle among the plurality of road end structures on the display.

[0017] Alternatively, the above-mentioned vehicle-mounted display system further includes: a paved edge recognition unit that identifies the paved edge of the road located on either the left or right side of the vehicle based on the detection results of the vehicle's sensor. When the paved edge is identified, the display control unit displays a paved edge icon corresponding to the paved edge on the display and does not display the road end structure icon.

[0018] Effects of the Invention

[0019] According to the present disclosure, it is possible to provide an in-vehicle display system and a display method of the in-vehicle display system that can reduce the driver's annoyance. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a block diagram showing the functional configuration of an in-vehicle display system according to one embodiment.

[0021] Figure 2 It is a perspective view showing an example of the situation around the vehicle.

[0022] Figure 3 Yes Figure 1 FIG. 1 is a diagram showing an example of a display screen of a display shown.

[0023] Figure 4 Yes Figure 1 FIG. 1 is a diagram showing an example of a display screen of a display shown.

[0024] Figure 5 Yes Figure 1 FIG. 1 is a diagram showing an example of a display screen of a display shown.

[0025] Figure 6 Yes Figure 1 FIG. 1 is a diagram showing an example of a display screen of a display shown.

[0026] Figure 7 Yes Figure 1 FIG. 1 is a diagram showing an example of a display screen of a display shown.

[0027] Figure 8 Yes Figure 1 FIG. 1 is a diagram showing an example of a display screen of a display shown.

[0028] Figure 9 Is to use Figure 1 The flowchart of each step of the display method of the vehicle display system is shown.

[0029] Figure 10 Yes Figure 9 The flowchart shown shows the details of the control steps.

[0030] Description of Reference Numerals

[0031] 1: Vehicle-mounted display system; 2: Camera; 3: Sensor; 4: Display; 6: This vehicle; 11: Lane dividing line recognition unit; 12: Pavement outer edge recognition unit; 13: Road end structure recognition unit; 14: Display control unit; 81: Lane dividing line; 81a: Lane dividing line icon; 82: Pavement outer edge; 82a: Pavement outer edge icon; 91: First road end structure; 91a: First road end structure icon; 92: Second road end structure; 92a: Second road end structure icon. Detailed implementation mode

[0032] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.

[0033] [Vehicle-mounted display system]

[0034] Figure 1 is a block diagram of the functional configuration of a vehicle-mounted display system according to an embodiment. Figure 1 The vehicle-mounted display system 1 shown is a system that is mounted on a vehicle and displays the conditions around the vehicle on a display in the vehicle compartment. Hereinafter, the vehicle equipped with the vehicle-mounted display system 1 will be referred to as this vehicle. The vehicle-mounted display system 1 is, for example, mounted on an autonomous vehicle or a driver assistance vehicle. As Figure 1 shown, the vehicle-mounted display system 1 includes a camera 2, a sensor 3, a display 4, and an ECU [Electronic Control Unit] 10. Figure 2 This vehicle 6 is shown therein.

[0035] Figure 1 The camera 2 shown is a photographing device that photographs the external conditions of this vehicle 6. The camera 2 is mounted on this vehicle 6. The camera 2 includes, for example, a front camera that photographs the front of this vehicle 6, a rear camera that photographs the rear of this vehicle 6, and side cameras that photograph the left and right sides of this vehicle 6. Each camera may be a monocular camera or a stereo camera. The stereo camera has two photographing units configured to reproduce binocular parallax. The photographing information of the stereo camera also includes information in the depth direction. The camera 2 sends a photographed image related to the external conditions of this vehicle 6 to the ECU 10.

[0036] The sensor 3 is a detection device that detects the external conditions of this vehicle 6. The sensor 3 is mounted on this vehicle 6. The sensor 3 is, for example, a radar sensor or the like. The radar sensor is a detection device that uses radio waves (such as millimeter waves) or light to detect objects around this vehicle. The radar sensor can adopt, for example, a millimeter wave radar or a lidar [LiDAR: Light Detection and Ranging]. The sensor 3 sends information related to the external conditions of this vehicle 6 to the ECU 10.

[0037] The ECU 10 is an electronic control unit having a CPU [Central Processing Unit] and a storage unit such as a ROM [Read Only Memory] or a RAM [Random Access Memory]. In the ECU 10, various functions are implemented, for example, by the CPU executing a program stored in the storage unit. The ECU 10 is provided, for example, in the vehicle 6.

[0038] The display 4 is mounted inside the passenger compartment of the vehicle 6. The display 4 is, for example, a central display mounted on the instrument panel of the vehicle 6. The display 4 can also be a display of a tablet computer that can be set in the vehicle 6, or can also be a HUD [Head Up Display]. The in-vehicle display system 1 displays the conditions around the vehicle 6 on the display 4 inside the passenger compartment. The display 4 displays prescribed information based on a control signal sent from the ECU 10. The prescribed information is, for example, an icon or the like corresponding to various objects around the vehicle 6.

[0039] Figure 2 is a perspective view showing an example of the conditions around the vehicle. As Figure 2 shown, there may be a dividing line 81, a paving outer edge 82, a road-end structure 9, etc. around the vehicle 6. In the present embodiment, the dividing line 81 is the dividing line of the lane on which the vehicle 6 travels. In the present embodiment, the paving outer edge 82 is the outer edge of the paved road on which the vehicle 6 travels. The paving outer edge 82 is located on either the left or right side of the vehicle 6. The paving outer edge 82 is the boundary between the paved road and the land or the like outside the paved road. The dividing line 81 is located closer to the inside of the paved road than the paving outer edge 82.

[0040] The road end structure 9 includes, for example, a first road end structure 91 and a second road end structure 92. The road end structure 9 is, for example, a structure protruding from the ground or a structure provided at a position higher than the ground. The first road end structure 91 is, for example, a curbstone or the like. The second road end structure 92 is, for example, a wall or the like. The road end structure 9 may also be, for example, a traffic cone or a construction sign arranged on the ground. The first road end structure 91 is located on either the left or the right of the vehicle 6. The first road end structure 91 is located outside the lane dividing line 81. Being outside the lane dividing line means the side opposite to the inner edge of the own lane side with respect to the lane dividing line. It should be noted that being outside the lane dividing line also includes the area on the side opposite to the own lane with respect to the outer edge of the lane dividing line. In the present embodiment, when viewed from the vertical direction, the first road end structure 91 partially overlaps the lane dividing line 81 outside the inner edge of the lane dividing line 81. In the present embodiment, the first road end structure 91 is located inside the paved outer edge 82.

[0041] The second road end structure 92 is located on either the left or the right of the vehicle 6. The second road end structure 92 is located outside the lane dividing line 81. In the present embodiment, the second road end structure 92 is located outside the paved outer edge 82. The in-vehicle display system 1 displays an icon corresponding to the vehicle 6, the lane dividing line 81, the paved outer edge 82, or the road end structure 9 on the display screen of the display 4.

[0042] The ECU 10 includes a lane dividing line recognition unit 11, a paved outer edge recognition unit 12, a road end structure recognition unit 13, and a display control unit 14 as its functional components.

[0043] The lane dividing line recognition unit 11 recognizes the lane dividing line 81 of the lane on which the vehicle 6 is traveling based on the detection result (image data) of the camera 2 of the vehicle 6. Specifically, the lane dividing line recognition unit 11 recognizes the lane dividing line 81, for example, by known image processing methods such as edge extraction, noise removal, pattern matching, and deep learning.

[0044] The paved outer edge recognition unit 12 recognizes the paved outer edge 82 based on the detection result of the sensor 3 of the vehicle 6. The paved outer edge recognition unit 12 may also recognize the paved outer edge 82 based on the detection results of both the sensor 3 and the camera 2. The road end structure recognition unit 13 recognizes the road end structure 9 based on the detection result of the sensor 3 of the vehicle 6. The road end structure recognition unit 13 may also recognize the road end structure 9 based on the detection results of both the sensor 3 and the camera 2.

[0045] The display control unit 14 controls the display of the display 4 based on the recognition results of the lane dividing line recognition unit 11, the paved outer edge recognition unit 12, and the road end structure recognition unit 13. Figures 3 to 8These are diagrams showing an example of the display screen of the display 4. In Figures 3 to 8 the information displayed on the display screen 41 of the display 4 is shown by solid lines, and the information not displayed on the display screen 41 of the display 4 is shown by dashed lines.

[0046] The display control unit 14 displays at least one of a dividing line icon 81a corresponding to the dividing line 81, a pavement outer edge icon 82a corresponding to the pavement outer edge 82, a first road end structure icon 91a corresponding to the first road end structure 91, a second road end structure icon 92a corresponding to the second road end structure 92, and a vehicle icon 6a corresponding to the vehicle 6 on the display screen 41 of the display 4.

[0047] As Figure 3 shown, when the dividing line recognition unit 11 recognizes the dividing line 81, the display control unit 14 displays the dividing line icon 81a on the display screen 41 of the display 4. When the dividing line 81 is recognized, even if the pavement outer edge recognition unit 12 recognizes the pavement outer edge 82, the display control unit 14 displays the dividing line icon 81a on the display screen 41 of the display 4 and does not display the pavement outer edge icon 82a.

[0048] As Figure 4 shown, when the dividing line recognition unit 11 recognizes the dividing line 81, even if the road end structure recognition unit 13 recognizes the first road end structure 91, the display control unit 14 does not display the first road end structure icon 91a. In this case, the display control unit 14 displays the dividing line icon 81a on the display screen 41 of the display 4. Similarly, when the dividing line recognition unit 11 recognizes the dividing line 81, even if the second road end structure 92 is recognized, the display control unit 14 does not display the second road end structure icon 92a. In this case, the display control unit 14 also displays the dividing line icon 81a on the display screen 41 of the display 4.

[0049] As Figure 5As shown, when the demarcation line 81 is not recognized and both the pavement outer edge 82 and the second road end structure 92 are recognized, the display control unit 14 does not display the second road end structure icon 92a. The display control unit 14 displays the pavement outer edge icon 82a on the display screen 41 of the display 4. It should be noted that it is also possible that when the demarcation line 81 is not recognized and both the pavement outer edge 82 and the first road end structure 91 are recognized, the display control unit 14 does not display the pavement outer edge icon 82a. In this case, the display control unit 14 displays the first road end structure icon 91a on the display screen 41 of the display 4. The display control unit 14 may also display either the pavement outer edge 82 or the road end structure 9 that is closer to the vehicle 6 on the display screen 41 of the display 4.

[0050] As Figure 6 shown, when both the demarcation line 81 and the pavement outer edge 82 are not recognized and the second road end structure 92 is recognized, the display control unit 14 displays the second road end structure icon 92a on the display screen 41 of the display 4. Similarly, when both the demarcation line 81 and the pavement outer edge 82 are not recognized and the first road end structure 91 is recognized, the display control unit 14 displays the first road end structure icon 91a on the display screen 41 of the display 4.

[0051] As Figure 7 shown, when both the first road end structure 91 and the second road end structure 92 are recognized as multiple road end structures on either the left or right side of the vehicle 6, the display control unit 14 displays the first road end structure icon 91a corresponding to the first road end structure 91 that is closest to the vehicle 6 among the multiple road end structures on the display screen 41 of the display 4. The display control unit 14 does not display the second road end structure icon 92a corresponding to the remaining second road end structure 92 on the display screen 41 of the display 4. For example, even when a third road end structure is recognized outside the second road end structure 92, the display control unit 14 still displays the first road end structure icon 91a corresponding to the first road end structure 91 that is closest to the vehicle 6 on the display screen 41 of the display 4. The display control unit 14 does not display the second road end structure icon 92a corresponding to the remaining second road end structure 92 and the third road end structure icon corresponding to the third road end structure on the display screen 41 of the display 4.

[0052] Figure 8The figure shows a case where a first road end structure 91 and a second road end structure 92 are recognized as various road end structures on either the left or right side of the vehicle 6. In this case, when the first road end structure 91 closest to the vehicle 6 is lost, the display control unit 14 displays a second road end structure icon 92a corresponding to the second road end structure 92 that is the second closest to the vehicle 6 among the various road end structures on the display screen 41 of the display 4. The display control unit 14 displays a road end structure icon corresponding to the road end structure 9 that is the closest to the vehicle 6 among the road end structures recognized by the road end structure recognition unit 13 on the display screen 41 of the display 4.

[0053] [Display method of in-vehicle display system]

[0054] Next, an example of the display method of the in-vehicle display system 1 will be described with reference to the accompanying drawings. Figure 9 is a flowchart showing an example of the display method using the in-vehicle display system. As Figure 9 shown, in step S1, the ECU 10 identifies the lane dividing line 81 of the lane on which the vehicle 6 is traveling based on the detection result of the camera 2 of the vehicle 6. Step S1 corresponds to the dividing line identification step. In step S2, the ECU 10 identifies the paved outer edge 82 located on either the left or right side of the vehicle 6 based on the detection result of the sensor 3 of the vehicle 6. Step S2 corresponds to the paved outer edge identification step. In step S3, the ECU 10 identifies the road end structure 9 located outside the dividing line 81 based on the detection result of the sensor 3 of the vehicle 6. Step S3 corresponds to the road end structure identification step. In step S4, the ECU 10 controls the display of the display 4 based on the identification results of steps S1 to S3. Step S4 corresponds to the display control step. It should be noted that steps S1 to S3 can also be executed in any order or simultaneously.

[0055] Figure 10 is a flowchart showing Figure 9 the details of step S4 shown in. As Figure 10 shown, in step S41, the ECU 10 determines whether the lane dividing line 81 of the lane on which the vehicle 6 is traveling is recognized. If the dividing line 81 is recognized (step S41: Yes), the ECU 10 proceeds to step S42. In step S42, the ECU 10 displays the dividing line icon 81a on the display 4.

[0056] When the demarcation line 81 is recognized, even if the pavement outer edge 82, the first road end structure 91, or the second road end structure 92 is recognized, the ECU 10 does not display the pavement outer edge icon 82a, the first road end structure icon 91a, or the second road end structure icon 92a. The ECU 10 displays the demarcation line icon 81a on the display 4. When the demarcation line 81 is not recognized (step S41: No), the ECU 10 proceeds to step S43. In step S43, the ECU 10 determines whether the pavement outer edge 82 is recognized. When the pavement outer edge 82 is recognized (step S43: Yes), the ECU 10 proceeds to step S44. In step S44, the ECU 10 displays the pavement outer edge icon 82a on the display 4.

[0057] When the demarcation line 81 is not recognized and the pavement outer edge 82 is recognized, even if the first road end structure 91 or the second road end structure 92 is recognized, the ECU 10 does not display the first road end structure icon 91a or the second road end structure icon 92a. The ECU 10 displays the pavement outer edge icon 82a on the display 4.

[0058] When neither the demarcation line 81 nor the pavement outer edge 82 is recognized (step S43: No), the ECU 10 proceeds to step S45. In step S45, the ECU 10 determines whether the first road end structure 91 or the second road end structure 92 is recognized. When the first road end structure 91 or the second road end structure 92 is recognized (step S45: Yes), the ECU 10 proceeds to step S46. In step S46, the ECU 10 displays the first road end structure icon 91a or the second road end structure icon 92a on the display 4. When both the first road end structure 91 and the second road end structure 92 are recognized, the ECU 10 displays the first road end structure icon 91a corresponding to the first road end structure 91 closest to the vehicle 6 on the display 4. When the road end structure 9 is not recognized (step S45: No), the ECU 10 ends the process.

[0059] As described above, in the in-vehicle display system 1, when the dividing line 81 is not recognized and the road-end structure 9 is recognized, the display control unit 14 displays a road-end structure icon corresponding to the road-end structure 9 on the display 4. On the other hand, when the dividing line 81 is recognized, even if the road-end structure 9 is recognized, the display control unit 14 does not display the road-end structure icon (the first road-end structure icon 91a or the second road-end structure icon 92a). Thus, when the dividing line 81 is recognized in addition to the road-end structure 9, the road-end structure icon is not displayed, and thus the annoyance of the driver due to the intermittent display of the road-end structure icon is reduced. The intermittent display of the road-end structure icon refers to the following display state: depending on the detection status of the road-end structure, etc., the road-end structure icon disappears and appears intermittently. Therefore, according to the in-vehicle display system 1, the annoyance of the driver can be reduced.

[0060] When the dividing line 81 is not recognized and the pavement outer edge 82 is recognized, the display control unit 14 displays a pavement outer edge icon 82a on the display 4. When the dividing line 81 is recognized, even if the pavement outer edge 82 is recognized, the display control unit 14 does not display the pavement outer edge icon 82a. Thus, when the dividing line 81 is recognized in addition to the pavement outer edge 82, the pavement outer edge icon 82a is not displayed, and thus the annoyance of the driver due to the intermittent display of the pavement outer edge icon 82a is reduced.

[0061] When the dividing line 81 is not recognized and both the road-end structure 9 and the pavement outer edge 82 are recognized, the display control unit 14 does not display the road-end structure icon. The road-end structure icon includes the first road-end structure icon 91a or the second road-end structure icon 92a. Thus, the annoyance of the driver due to the intermittent display of the road-end structure icon is reduced.

[0062] In step S4 (display control step) of the display method of the present embodiment, when the dividing line 81 is not recognized and the road-end structure 9 is recognized, a road-end structure icon is displayed on the display 4. On the other hand, when the dividing line 81 is recognized, even if the road-end structure 9 is recognized, a dividing line icon 81a is displayed on the display 4 and the road-end structure icon is not displayed. Thus, when the dividing line 81 is recognized in addition to the road-end structure 9, the road-end structure icon is not displayed, and thus the annoyance of the driver due to the intermittent display of the road-end structure icon is reduced. Therefore, according to this display method, the annoyance of the driver can be reduced.

[0063] In the in-vehicle display system 1, when multiple road-end structures 9 are recognized, the display control unit 14 displays a first road-end structure icon 91a corresponding to the first road-end structure 91 closest to the host vehicle 6 on the display 4. The display control unit 14 does not display a second road-end structure icon 92a corresponding to the remaining second road-end structure 92 on the display 4. Thus, only the first road-end structure icon 91a corresponding to the first road-end structure 91 closest to the host vehicle 6 is displayed, so the driver's annoyance caused by the intermittent display of the second road-end structure icon 92a corresponding to the remaining second road-end structure 92 is reduced. Therefore, according to this in-vehicle display system, the driver's annoyance can be reduced.

[0064] When multiple road-end structures 9 are recognized on either the left or right side of the host vehicle 6, when the first road-end structure 91 closest to the host vehicle 6 is lost, the display control unit 14 displays the second road-end structure icon 92a on the display 4. The second road-end structure icon 92a in this case is an icon corresponding to the second road-end structure 92 that is the second closest to the host vehicle 6 among the multiple road-end structures 9. Thus, the driver's annoyance caused by the intermittent display of the second road-end structure icon 92a corresponding to the remaining second road-end structure 92 is reduced.

[0065] Alternatively, when the pavement outer edge 82 is recognized, the display control unit 14 displays a pavement outer edge icon 82a corresponding to the pavement outer edge 82 on the display 4. In this case, the display control unit 14 may also not display the first road-end structure icon 91a and the second road-end structure icon 92a. Thus, the driver's annoyance caused by the intermittent display of the first road-end structure icon 91a or the second road-end structure icon 92a is reduced.

[0066] Above, an embodiment of the present disclosure has been described, but the present disclosure is not limited to the above-described embodiment.

[0067] The first road-end structure 91 or the second road-end structure 92 may, for example, also be a guardrail. The first road-end structure 91 or the second road-end structure 92 may also be a road sign or a utility pole.

[0068] The in-vehicle display system 1 may not include the pavement outer edge recognition unit 12. In this case, alternatively, when the dividing line 81 is not recognized and the first road-end structure 91 or the second road-end structure 92 is recognized, the display control unit 14 displays the first road-end structure icon 91a or the second road-end structure icon 92a on the display 4.

[0069] The in-vehicle display system 1 may also not be provided with the dividing line recognition unit 11. The in-vehicle display system 1 may also perform independent processing on the right side and the left side of the vehicle 6 respectively. When the dividing line on the left side of the vehicle 6 is recognized, even if the road end structure 9 on the left side of the vehicle is recognized, the in-vehicle display system 1 does not display the road end structure icon on the left side on the display 4. In this case, when the dividing line on the right side of the vehicle is not recognized and the road end structure 9 on the right side of the vehicle is recognized, the in-vehicle display system 1 also displays the road end structure icon on the right side on the in-vehicle display 4. It can be set that the same applies to other processing.

Claims

1. A vehicle-mounted display system is mounted on the vehicle and displays the conditions around the vehicle on a display in the passenger compartment, wherein, The in-vehicle display system includes: A lane line recognition unit that recognizes the lane lines of the lane in which the vehicle is traveling based on the detection results of the cameras of the vehicle itself; A road end structure recognition unit that recognizes road end structures located outside the lane lines based on the detection results of the sensors of the vehicle itself; And A display control unit that controls the display on the display based on the recognition results of the lane line recognition unit and the road end structure recognition unit. The display control unit is configured to: when the lane lines are not recognized and the road end structures are recognized, display road end structure icons corresponding to the road end structures on the display; when the lane lines are recognized, even if the road end structures are recognized, display lane line icons corresponding to the lane lines on the display and do not display the road end structure icons.

2. The in-vehicle display system according to claim 1, further including: A pavement outer edge recognition unit that recognizes the pavement outer edge of the road on either the left or right side of the vehicle based on the detection results of the sensors of the vehicle itself. The display control unit is configured to: when the lane lines are not recognized and the pavement outer edge is recognized, display pavement outer edge icons corresponding to the pavement outer edge on the display; when the lane lines are recognized, even if the pavement outer edge is recognized, display the lane line icons on the display and do not display the pavement outer edge icons.

3. The in-vehicle display system according to claim 2, wherein The display control unit is configured to: when the lane lines are not recognized and both the road end structures and the pavement outer edge are recognized, display the pavement outer edge icons on the display and do not display the road end structure icons.

4. A display method for an in-vehicle display system, wherein the in-vehicle display system displays the conditions around the vehicle on a display in the vehicle compartment, where The display method includes: A lane line recognition step of recognizing the lane lines of the lane in which the vehicle is traveling based on the detection results of the cameras of the vehicle itself; A road end structure recognition step of recognizing road end structures located outside the lane lines based on the detection results of the sensors of the vehicle itself; and A display control step of controlling the display on the display based on the recognition results of the lane line recognition step and the road end structure recognition step. In the display control step, when the lane lines are not recognized and the road end structures are recognized, display road end structure icons corresponding to the road end structures on the display; when the lane lines are recognized, even if the road end structures are recognized, display lane line icons corresponding to the lane lines on the display and do not display the road end structure icons.

5. An in-vehicle display system is mounted on the vehicle and displays the conditions around the vehicle on a display in the passenger compartment, wherein, The in-vehicle display system includes: A road end structure recognition unit that recognizes road end structures on either the left or right side of the vehicle based on the detection results of the sensors of the vehicle itself; and A display control unit that controls the display on the display based on the recognition results of the road end structure recognition unit. The road end structures include at least two of guardrails, walls, and curbstones. The display control unit is configured to: when any one of the left and right sides of the host vehicle recognizes a plurality of the road end structures, display a road end structure icon corresponding to the road end structure closest to the host vehicle among the plurality of road end structures in the display, and not display road end structure icons corresponding to the remaining road end structures in the display.

6. The in-vehicle display system according to claim 5, wherein the display control unit is configured to: when any one of the left and right sides of the host vehicle recognizes a plurality of the road end structures, display a road end structure icon corresponding to the second closest road end structure to the host vehicle among the plurality of road end structures in the display when the road end structure closest to the host vehicle is lost.

7. The in-vehicle display system according to claim 5, further comprising: a pavement outer edge recognition unit that recognizes a pavement outer edge of a road located on any one of the left and right sides of the host vehicle based on a detection result of a sensor of the host vehicle, the display control unit is configured to: when the pavement outer edge is recognized, display a pavement outer edge icon corresponding to the pavement outer edge in the display and not display the road end structure icon.

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