Display control device for vehicle, display control method for vehicle, and program product

Abstract

The invention provides a display control device for a vehicle, a display control method for a vehicle, and a program product. This vehicle display control device is provided with: an acquisition unit that acquires the surroundings of a host vehicle; and a display control unit that, when an image indicating the surrounding situation of the host vehicle is displayed in a display region provided in the periphery of a driver's seat of the host vehicle, displays an object located in the periphery of the host vehicle so as to indicate that the attribute is not determined if the attribute of the object is unknown, and displays the object in a display region provided in the periphery of the driver's seat of the host vehicle. Until the attribute is determined.

Description

Technical Field

[0001] The present disclosure relates to a vehicle display control device, a vehicle display control method, and a vehicle display control program product. Background Art

[0002] Japanese Patent Gazette No. 6825709 discloses that information about the surroundings of a vehicle is obtained, and that a hypothetical image showing the surroundings of the vehicle as if the vehicle were viewed from above is generated using the obtained information about the surroundings of the vehicle. Furthermore, if a study on whether to implement automatic lane changes is started before the implementation of automatic lane changes, the display area of ​​the surroundings of the vehicle on the hypothetical image is widened compared to before the start of the study. Summary of the Invention

[0003] Problems to be solved by the invention

[0004] The technology described in Japanese Patent No. 6825709 generates a virtual image representing the surroundings of a vehicle and displays it on a display area located near the driver's seat. However, in the display area displaying the virtual image, objects with unknown attributes surrounding the vehicle may all be displayed as "cars." This can cause passengers to misunderstand the attributes of the objects.

[0005] The present disclosure aims to provide a vehicle display control device, a vehicle display control method, and a vehicle display control program product that can display the attributes of an unknown object located around the vehicle in a manner that will not cause misunderstanding by passengers.

[0006] Methods for solving problems

[0007] The first embodiment involves a display control device for a vehicle, which comprises: an acquisition unit, which acquires the surrounding conditions of the vehicle; and a display control unit, which, when displaying an image representing the surrounding conditions of the vehicle in a display area arranged around the driver's seat of the vehicle, displays the object in a manner indicating that the attributes are undetermined until the attributes are determined if the attributes of the objects located around the vehicle are unknown.

[0008] The vehicle display control device according to the first aspect can display the attributes of an unknown object located around the vehicle in a manner that prevents passengers from misinterpreting the attributes of the object.

[0009] A second aspect of the vehicle display control device is the first aspect, wherein the display control unit changes the display mode of the specific image according to the accuracy of expressing the attribute of the object.

[0010] In the vehicle display control device according to the second aspect, changes in the accuracy of the attributes of the object can be grasped by simply looking at the specific image.

[0011] The vehicle display control device involved in the third embodiment is that, in the second embodiment, the attribute is a plurality of types of attributes, and when any one of the accuracies for each of the plurality of types of attributes becomes above a threshold value, the display control unit displays an image representing the attribute with the accuracy becoming above the threshold value instead of the specific image.

[0012] In the vehicle display control device according to the third aspect, an image expressing an attribute with high accuracy is displayed instead of a specific image, thereby suppressing misunderstanding of the attribute of an object.

[0013] The vehicle display control device involved in the fourth embodiment is that, in the second embodiment, the attribute is a plurality of types of attributes, and the display control unit displays the specific image superimposed on an image representing the attribute with the highest accuracy among the accuracy of each of the plurality of types of attributes, and removes the specific image when the attribute is determined.

[0014] In the vehicle display control device according to the fourth aspect, since the specific image is removed and an image expressing the attribute with high accuracy is displayed, misunderstanding of the attribute of the object is suppressed.

[0015] The vehicle display control device involved in the fifth embodiment is that, in the second embodiment, the attribute is a plurality of types of attributes, and the display control unit displays the specific image superimposed on an image representing the attribute with the highest accuracy among the accuracy of each of the plurality of types of attributes, and as the accuracy of the attribute increases, the transparency of the specific image is increased.

[0016] In the vehicle display control device according to the fifth aspect, the accuracy of the attribute of the object can be grasped based on the change in the transmittance of the specific image.

[0017] A vehicle display control device according to a sixth aspect is the first aspect, wherein the display control unit changes the size of the specific image according to the size of the object.

[0018] In the vehicle display control device according to the sixth aspect, the size of the object can be grasped by just glancing at the specific image.

[0019] The vehicle display control device involved in the seventh embodiment is that, in the first embodiment, the embodiment is a specific image representing a predetermined shape, and the vehicle display control device also has a storage unit, which pre-stores a plurality of specific images having at least one different size and transmittance, and the display control unit selectively displays any one of the plurality of specific images stored in the storage unit until the attributes of the object are determined.

[0020] In the vehicle display control device according to the seventh aspect, various types of specific images can be displayed.

[0021] The eighth embodiment involves a display control method for a vehicle, in which a computer performs the following processing, namely: obtaining the surrounding conditions of the vehicle, and when displaying an image representing the surrounding conditions of the vehicle in a display area arranged around the driver's seat of the vehicle, if the attributes of an object located around the vehicle are unclear, displaying the object in a manner indicating that the attributes are undetermined until the attributes are determined.

[0022] The vehicle display control program product involved in the ninth embodiment is used to cause a computer to perform the following processing, namely: obtaining the surrounding conditions of the vehicle, and when displaying an image representing the surrounding conditions of the vehicle in a display area set around the driver's seat of the vehicle, if the attributes of an object located around the vehicle are unclear, displaying the object in a manner indicating that the attributes are undetermined until the attributes are determined.

[0023] Effects of the Invention

[0024] As described above, according to the present disclosure, the attributes of an unknown object located around the vehicle can be displayed in a manner that will not cause misunderstanding by the occupants. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram showing a portion of the interior of a vehicle including the vehicle display control device according to the embodiment.

[0026] Figure 2 A diagram showing an example of a display area of ​​the first display unit according to the embodiment.

[0027] Figure 3 This is a block diagram showing an example of the hardware configuration of the vehicle display control device according to the embodiment.

[0028] Figure 4 This is a block diagram showing an example of the functional configuration of a vehicle display control device according to an embodiment.

[0029] Figure 5 A diagram showing an example of first to third virtual viewpoints according to the embodiment.

[0030] Figure 6 A diagram showing an example of an image of the surrounding conditions of a vehicle displayed in an area.

[0031] Figure 7A A diagram showing an example of an image expressing attributes of an object.

[0032] Figure 7B A diagram showing an example of an image expressing attributes of an object.

[0033] Figure 7C A diagram showing an example of an image expressing attributes of an object.

[0034] Figure 7D A diagram showing an example of an image expressing attributes of an object.

[0035] Figure 8 A diagram showing an example of an image including a specific image.

[0036] Figure 9 A diagram showing how a specific image displayed in a region transitions to an image of a car.

[0037] Figure 10 This figure shows a state where a specific image displayed in an area is removed.

[0038] Figure 11 This is a diagram showing how the transmittance of a specific image displayed in a region changes.

[0039] Figure 12 This is a diagram showing a state where the size of a specific image displayed in the area is changed.

[0040] Figure 13 A diagram showing an example of a specific image database.

[0041] Figure 14 This is a flowchart showing an example of the flow of processing performed by the vehicle display control program according to the embodiment. DETAILED DESCRIPTION

[0042] Hereinafter, a vehicle display control system 10 including a vehicle display control device 28 according to an embodiment will be described with reference to the accompanying drawings. Figure 1The arrow UP in FIG. 1 indicates the upper side in the vehicle vertical direction, and the arrow RH indicates the right side in the vehicle width direction. In the following description, the up-down direction and the left-right direction refer to the up-down direction and the left-right direction, respectively.

[0043] Figure 1 1 is a schematic diagram showing a portion of the interior of the vehicle 12 including the vehicle display control device 28 according to the present embodiment. Figure 1 In the example of FIG, a state in which the front portion of the cabin of the vehicle 12 is viewed from the rear side of the vehicle is shown.

[0044] like Figure 1 As shown, a dashboard 14 is provided at the front of the interior of a vehicle 12. The dashboard 14 extends in the vehicle width direction, and a steering wheel 16 is provided on the vehicle right side of the dashboard 14. Specifically, in this embodiment, as an example, a right-hand drive vehicle is assumed, with the steering wheel 16 provided on the right side and the driver's seat located on the right side of the vehicle. However, the present invention is not limited to this embodiment and is also applicable to vehicles in which the driver's seat is located on the left side of the vehicle.

[0045] A windshield 18 is provided at the front end portion of the instrument panel 14. The windshield 18 extends in the vehicle vertical direction and the vehicle width direction and divides the vehicle cabin interior from the vehicle cabin exterior.

[0046] The right-side end of the windshield 18 is fixed to a front pillar 20 on the right side of the vehicle. The front pillar 20 extends in the vertical direction of the vehicle, and the windshield 18 is fixed to the inner end of the front pillar 20 in the vehicle width direction. Furthermore, the front end of the front side glass 22 is fixed to the outer end of the front pillar 20 in the vehicle width direction. Furthermore, the left-side end of the windshield 18 is fixed to the front pillar on the left side of the vehicle.

[0047] The instrument panel 14 is provided with a first display unit 24 having a display area V1 for images. The first display unit 24 is located on the right side of the instrument panel 14 and comprises an instrument display positioned in front of the driver's seat. The first display unit 24 is connected to various instrumentation devices mounted on the vehicle 12 and is positioned so that it is within the field of view of the occupant (hereinafter referred to as the "driver") when they are looking forward. The display area V1 is visible to the driver in the driver's seat through the opening 17 of the steering wheel 16.

[0048] A second display unit 25 having an image display area V2 is provided on the instrument panel 14. The second display unit 25 is composed of a central display arranged at the center of the instrument panel 14 in the vehicle width direction.

[0049] A third display unit 26 having an image display area V3 is provided on the windshield 18. The third display unit 26 is located above the first display unit 24 in the vehicle and comprises a projection surface projected by a head-up display device. Specifically, a head-up display device capable of projecting images is provided on the vehicle front side of the instrument panel 14, and the image is projected from the head-up display device onto the third display unit 26 on the windshield 18. In other words, the third display unit 26 is provided as a portion of the windshield 18, serving as the projection surface of the head-up display device.

[0050] A sight line detection sensor 44 is provided on the steering wheel 16. The sight line detection sensor 44 is arranged so as to face the face of the driver sitting on the driver's seat.

[0051] The vehicle 12 is provided with a vehicle display control device 28 that constitutes the vehicle display control system 10. The vehicle display control device 28 of this embodiment is, for example, an ECU (Electronic Control Unit) that performs various controls. Furthermore, the vehicle display control device 28 of this embodiment is configured to display a first image representing the surrounding conditions of the vehicle, as viewed from a virtual viewpoint, in at least one of the display areas V1, V2, and V3 located around the driver's seat.

[0052] Hereinafter, as an example, a case will be described in which an image (described later) representing the surrounding conditions according to the present embodiment is displayed on the first display unit 24 of the vehicle 12. Furthermore, the image representing the surrounding conditions according to the present embodiment is not limited to being displayed on the first display unit 24, but may also be displayed on the second display unit 25 or the third display unit 26.

[0053] Figure 2 2 is a diagram showing an example of the display area V1 of the first display unit 24 according to the present embodiment.

[0054] like Figure 2 As shown, the vehicle display control device 28 displays an image showing the surrounding conditions of the vehicle 12 in the area X that is a part of the display area V1. As described above, the area X is an area that the driver in the driver's seat can visually check through the opening 17 of the steering wheel 16. Specifically, Figure 2 As shown, the center of the area visible between the upper edge ridgeline L1 and the lower edge ridgeline L2 of the opening 17 of the steering wheel 16 is area X. On the left and right of area X, meter displays M1 and M2 representing meters of the vehicle 12 are displayed.

[0055] Figure 3 2 is a block diagram showing an example of the hardware configuration of the vehicle display control device 28 according to the present embodiment.

[0056] like Figure 3 As shown, the vehicle display control device 28 is configured to include a CPU (Central Processing Unit) 30, a ROM (Read Only Memory) 32, a RAM (Random Access Memory) 34, a storage 36, a communication interface (communication I / F) 38, and an input / output interface (input / output I / F) 40. These components are connected to each other via an internal bus 42 so as to be able to communicate with each other.

[0057] The CPU 30, an example of a hardware processor, executes various programs, controls various components, and functions as the peripheral information acquisition unit, attribute recognition unit, and display control unit described below. Specifically, the CPU 30 loads programs from the ROM 32 or storage 36 and executes them using the RAM 34 as a workspace. Furthermore, the CPU 30 controls the various components described above and performs various computations according to the programs stored in the ROM 32 or storage 36.

[0058] ROM 32, an example of a memory, stores various programs and data. RAM 34, an example of a memory, temporarily stores programs and data as a work area. Storage 36, an example of a memory, is a non-transitory storage medium composed of an HDD (Hard Disk Drive) or an SSD (Solid State Drive) that stores various programs and data, including an operating system. ROM 32 or storage 36 stores a vehicle display control program for implementing the vehicle display control process according to this embodiment.

[0059] The communication interface 38 is an interface for communicating between the vehicle display control device 28 and servers and other devices. For example, standards such as CAN (Controller Area Network), Ethernet (registered trademark), LTE (Long Term Evolution), FDDI (Fiber Distributed Data Interface), and Wi-Fi (registered trademark) can be used.

[0060] The input / output interface 40 is connected to a sight line detection sensor 44, a first display unit 24, a second display unit 25, and a head-up display device 46. An image is projected onto the third display unit 26 via the head-up display device 46.

[0061] The gaze detection sensor 44 is mounted on the steering wheel 16 and is positioned so as to face the driver's face while seated. Furthermore, the gaze detection sensor 44 detects the occupant's gaze direction by identifying the occupant's eyes using principles such as corneal reflection and scleral reflection. Alternatively, the gaze detection sensor 44 may be mounted on the instrument panel 14.

[0062] The vehicle display control device 28 uses the above hardware resources to realize various functions. Figure 4 To explain.

[0063] Figure 4 2 is a block diagram showing an example of the functional configuration of the vehicle display control device 28 according to the present embodiment.

[0064] like Figure 4 As shown, the vehicle display control device 28 is configured to include, as functional components, a peripheral information acquisition unit 52, an attribute recognition unit 54, and a display control unit 56. Each functional component is implemented by the CPU 30 loading and executing a vehicle display control program stored in the ROM 32 or the memory 36.

[0065] The surrounding information acquisition unit 52 is an example of an acquisition unit that acquires surrounding information indicating the surrounding conditions of the vehicle 12 (host vehicle). Specifically, the vehicle 12 is provided with a plurality of sensors capable of detecting the surrounding conditions, and the information detected by these plurality of sensors is acquired as the surrounding information.

[0066] The surrounding information also includes map information of the surroundings of the vehicle 12. The vehicle 12 is equipped with a GPS receiver for detecting the current location, and the surrounding information acquisition unit 52 obtains map information of the surroundings of the vehicle 12 by referring to the vehicle's location information and map data stored in an external server or storage 36.

[0067] The attribute recognition unit 54 detects objects located around the vehicle based on the surrounding information obtained by the surrounding information acquisition unit 52, and identifies the attributes of the detected objects. The "attributes" mentioned here include multiple types, for example, "car" to indicate that the object is a passenger car (including taxis), "bus" to indicate that the object is a bus, "truck" to indicate that the object is a truck, "motorcycle" to indicate that the object is a motorcycle, "bicycle" to indicate that the object is a bicycle, and "person" to indicate that the object is a person. Attributes are not limited to these examples and can also be classified in more detail. In addition, as a method for identifying attributes, well-known methods such as pattern matching methods and machine learning methods can be used.

[0068] The attribute recognition unit 54 can detect the accuracy of the attribute for the detected object at predetermined intervals. The "accuracy" mentioned here is an index value that indicates the accuracy of the attribute. The higher the accuracy of the attribute, the higher the possibility of the attribute. That is, the attribute recognition unit 54 calculates the accuracy of each attribute for the detected object at predetermined intervals, and determines the attribute whose accuracy is above the threshold as the attribute of the object. When the attribute is determined, an identification number (ID) corresponding to the attribute will be assigned. Even if the object with the determined attribute is out of the shooting range of the camera, the range detected by the sensor remains unchanged. In addition, for the "predetermined time" and the "threshold", appropriate values ​​are set, for example, based on past insights or experimental results. For the "threshold", it is set to a value of 90% or more, for example.

[0069] The display control unit 56 displays an image representing the surrounding conditions of the vehicle in a display area located around the driver's seat of the vehicle. Here, the "image representing the surrounding conditions of the vehicle" is an image assumed to be viewed from a hypothetical viewpoint. The "image representing the surrounding conditions of the vehicle" includes an image representing the attributes determined by the attribute recognition unit 54. As described above, the "display area located around the driver's seat of the vehicle" is at least one of the display areas V1, V2, and V3.

[0070] A virtual viewpoint is a viewpoint set in a virtual space. In one example of this embodiment, the virtual viewpoint is set in a three-dimensional virtual space with the position of vehicle 12 (host vehicle) as the origin O. The virtual viewpoint can be defined by viewpoint coordinates and viewpoint angle (direction) in the virtual space.

[0071] Figure 5 3 is a diagram showing an example of the first virtual viewpoint C1 to the third virtual viewpoint C3 according to the present embodiment.

[0072] like Figure 5 As shown, the virtual coordinates of virtual viewpoints C1 to C3 are three-dimensional coordinates, with the vehicle 12's front-to-rear direction (travel direction) as the X-axis, the vehicle's width as the Y-axis, and the vehicle's vertical direction as the Z-axis. The viewpoint angle can be represented by a set of rotation angles (roll, pitch, and yaw) centered around each axis. Therefore, the display control unit 56 assumes that the surroundings of the vehicle 12 are viewed at a specific viewpoint angle based on specific viewpoint coordinates in virtual space, generates an image representing the surrounding conditions of the vehicle 12, and displays it in the display area.

[0073] The first virtual viewpoint C1 is the viewpoint from which the vehicle 12 is viewed from a higher position obliquely behind. For example, the viewpoint angle of the first virtual viewpoint C1 coincides with the direction of a line segment S1 passing through the viewpoint coordinates of the first virtual viewpoint C1 and the origin O, and the rotation angle (pitch angle) θ1 about the Y-axis is maximized. The display control unit 56 generates an image of a range R1 visible from the first virtual viewpoint C1 at a predetermined viewing angle φ, and displays the image in the display area as an image representing the surrounding conditions of the vehicle 12.

[0074] The second virtual viewpoint C2 is viewed from a position farther rearward than the first virtual viewpoint C1 and from a lower position than the first virtual viewpoint C1. For example, the viewpoint angle of the second virtual viewpoint C2 coincides with the direction of a line segment S2 passing through the viewpoint coordinates of the second virtual viewpoint C2 and the origin O, and the rotation angle (pitch angle) θ2 about the Y-axis is smaller than the rotation angle θ1 of the first virtual viewpoint C1. Therefore, the second virtual viewpoint C2 is positioned further upward than the first virtual viewpoint C1. The display control unit 56 generates an image of a range R2 visible from the second virtual viewpoint C2 at a predetermined viewing angle φ and displays it in the display area as an image representing the surrounding conditions of the vehicle 12.

[0075] The third virtual viewpoint C3 is viewed from a position further rearward than the first and second virtual viewpoints C1 and C2, and is located lower than the first and second virtual viewpoints C1 and higher than the second virtual viewpoint C2. For example, the viewpoint angle of the third virtual viewpoint C3 matches that of the second virtual viewpoint C2. The display control unit 56 generates an image of a range R3 visible from the third virtual viewpoint C3 at a predetermined viewing angle φ, and displays the image in the display area as an image representing the surrounding conditions of the vehicle 12.

[0076] The display control unit 56 according to this embodiment sets any one of the first virtual viewpoint C1 to the third virtual viewpoint C3. For example, Figure 6As shown, an image 60 showing the surrounding conditions of the vehicle 12 is displayed in an area X which is a part of the display area V1 .

[0077] Figure 6 1 is a diagram showing an example of an image 60 displayed in the area X and showing the surrounding conditions of the vehicle 12 .

[0078] like Figure 6 As shown, the display control unit 56 displays a lane image 62 indicating the lane in which the vehicle 12 is traveling and a white line image 63 indicating the white lines dividing the lane as an image 60, surrounding a vehicle image 61 indicating the vehicle 12. Furthermore, an image 64 indicating the speed of the vehicle 12 and an image 65 indicating the gear position of the vehicle 12 are displayed above the lane image 62. Furthermore, an image 66S indicating the attributes of a "sedan" (hereinafter referred to as a "sedan image") is displayed above the vehicle image 61.

[0079] As mentioned above, among the objects displayed in area X surrounding the host vehicle, objects with unknown attributes may all be displayed as "cars." "Objects with unknown attributes" refers to situations where the presence of an object can be detected, but its attribute is unclear. For example, there are situations where the attribute cannot be determined due to inclement weather such as rain or snow, or when the vehicle is far away from the host vehicle. In such cases, the attribute is set to unknown, and the car image 66S is displayed. This can cause the driver to misunderstand the object's attribute.

[0080] In contrast, when the display control unit 56 of this embodiment displays an image representing the surrounding conditions of the vehicle in the area X, if the attributes of an object located in the surroundings of the vehicle are unknown, the display control unit 56 displays the unknown object in a manner indicating that the attributes are undetermined until the attributes are determined. In other words, the display control unit 56 displays the object located in the surroundings of the vehicle in the area X, whose attributes are unknown, in a manner indicating that the attributes of the object are undetermined until the attributes of the object are determined. As an example of the "manner indicating that the attributes of the object are undetermined", Figure 7D As shown, the specific image represents a predetermined shape. This prevents the driver from misinterpreting the attributes of the object.

[0081] Figures 7A to 7D is a diagram showing an example of an image expressing attributes of an object. Figure 7A The car image 66S displayed when the attribute of the object is "car" is shown. Figure 7B An image (hereinafter referred to as a “bus image”) displayed when the attribute of the object is “bus” is shown as 66B. Figure 7C An image (hereinafter referred to as a “truck image”) 66T is shown that is displayed when the attribute of the object is “truck”. Figure 7D This shows a specific image 66K that is displayed when the attributes of the object are unknown.

[0082] That is, in area X, for objects with determined attributes, a car image 66S, a bus image 66B, or a truck image 66T indicating the attributes will be displayed, and for objects with undetermined attributes, a specific image 66K indicating undetermined attributes will be displayed. Figure 7D In the example shown, a cloud-shaped image is shown as an example of specific image 66K. However, the image is not limited to a cloud shape and may also be a circle, ellipse, triangle, rectangle, or other shape. Furthermore, a "?" mark, for example, may be added to specific image 66K to clearly indicate that its attributes are undetermined.

[0083] Figure 8 , which is a diagram showing an example of an image 60 including a specific image 66K. Figure 6 If the attribute of the object corresponding to the shown car image 66S is unknown, the specific image 66K is displayed instead of the car image 66S.

[0084] Furthermore, the display control unit 56 may also be configured to change the display method of the specific image 66K based on the accuracy of the object's attributes. For example, various methods are conceivable, such as increasing the transparency of the specific image 66K, changing the color of the specific image 66K, changing the shape of the specific image 66K, or changing the size of the specific image 66K as the accuracy of the attributes increases. "Transparency" here is an indicator indicating the degree of transparency of an image and encompasses the concept of transmittance. Transparency can also be defined as transparency. This allows the driver to understand changes in the accuracy of the object's attributes simply by glancing at the specific image 66K.

[0085] Furthermore, the display control unit 56 may be configured to, for example, display the image when any one of the accuracy levels for each of the plurality of types of attributes is equal to or greater than a threshold. Figure 9 As shown, an image expressing an attribute having an accuracy level equal to or greater than a threshold value is displayed instead of the specific image 66K.

[0086] Figure 9 , which is a diagram showing how the specific image 66K displayed in the area X is transformed into the car image 66S. Figure 9 In the example of , since the attribute whose accuracy is greater than or equal to the threshold is "sedan", the sedan image 66S is displayed.

[0087] exist Figure 9In (S1), the attribute recognition unit 54 detects an object in front of the vehicle 12 and calculates the accuracy of each attribute for the detected object. If the calculated accuracy is less than a threshold, the attribute of the object is determined to be unknown. Since the attribute of the object is unknown, the display control unit 56 displays the specific image 66K.

[0088] In (S2), the attribute recognition unit 54 calculates the accuracy of each attribute for the detected object at predetermined intervals. The display control unit 56 displays an image representing an attribute whose calculated accuracy exceeds a threshold (e.g., the sedan image 66S) instead of the specific image 66K. This prevents misinterpretation of the object's attributes by displaying an image representing an attribute with a high accuracy.

[0089] In addition, the display control unit 56 may also be configured as follows, for example, Figure 10 As shown, a specific image 66K is superimposed on an image representing the attribute with the highest accuracy among the accuracy levels for each of the multiple types of attributes, and when the attribute is determined, the specific image 66K is removed. Furthermore, when the accuracy level of an attribute exceeds a threshold, the attribute is determined to be determined.

[0090] Figure 10 , which is a diagram showing a state where the specific image 66K displayed in the area X is removed. Figure 10 In the example of , since the attribute with the highest accuracy is “car”, the car image 66S is displayed.

[0091] exist Figure 10 In (S11), the attribute recognition unit 54 detects the object in front of the vehicle 12, and calculates the accuracy of each attribute for the detected object, and when the calculated accuracy is less than a threshold value, the attribute of the object is determined to be unknown. In addition, the attribute recognition unit 54 specifically specifies the attribute with the highest calculated accuracy. The display control unit 56 displays a specific image 66K superimposed on the image (e.g., the car image 66S) representing the attribute with the highest accuracy. In addition, Figure 10 In the example of FIG, since the transmittance of the specific image 66K is 0%, at least a portion of the sedan image 66S is set to be hidden by the specific image 66K.

[0092] In (S12), the attribute recognition unit 54 calculates the accuracy of each attribute of the detected object at predetermined intervals. When the attribute of the object is determined, the display control unit 56 removes the specific image 66K. Figure 10In the example shown in FIG, since the attribute of the object is determined to be a "sedan," the specific image 66K is removed and the sedan image 66S is displayed. Thus, since an image that accurately represents the attribute is displayed, misunderstanding of the attribute of the object is suppressed.

[0093] In addition, the display control unit 56 may also be set as an example, as shown in FIG. Figure 11 As shown, a specific image 66K is displayed superimposed on an image representing the attribute with the highest accuracy among the accuracy levels for each of a plurality of attribute types. The transparency of the specific image 66K increases as the accuracy level of the attribute increases. The change in transparency can be either step-wise or continuous.

[0094] Figure 11 , which is a diagram showing how the transmittance of the specific image 66K displayed in the area X changes. Figure 11 In the example of , since the attribute with the highest accuracy is “car”, the car image 66S is displayed.

[0095] exist Figure 11 In (S21), the attribute recognition unit 54 detects the object in front of the vehicle 12, and calculates the accuracy of each attribute for the detected object, and when the calculated accuracy is less than a threshold value, the attribute of the object is determined to be unknown. In addition, the attribute recognition unit 54 specifically specifies the attribute with the highest calculated accuracy. The display control unit 56 displays the specific image 66K superimposed on the image (e.g., the car image 66S) that represents the attribute with the highest accuracy. In addition, Figure 11 In the example of FIG, since the transmittance of the specific image 66K is 0%, at least a portion of the sedan image 66S is set to be hidden by the specific image 66K.

[0096] In (S22), the attribute recognition unit 54 calculates the accuracy of each attribute for the detected object at predetermined intervals. The display control unit 56 increases the transparency of the specific image 66K as the accuracy of the attribute increases. Figure 11 In the example, as the accuracy of the object's attribute (here, "car") increases, the transparency of specific image 66K increases, allowing car image 66S to be visually recognized through specific image 66K. As the transparency of specific image 66K gradually increases, car image 66S is gradually displayed more clearly, appearing as if the so-called "fog" has dissipated. Furthermore, when the accuracy exceeds a threshold, the attribute is determined, and the transparency of specific image 66K reaches 100%, that is, the specific image 66K is removed. Thus, the accuracy of the object's attribute can be understood based on changes in the transparency of specific image 66K.

[0097] In addition, the display control unit 56 may also be configured as follows, for example, Figure 12 As shown, the size of the specific image 66K changes according to the size of the object. The size of the object is acquired by the attribute recognition unit 54.

[0098] Figure 12 2 is a diagram showing a state where the size of the specific image 66K displayed in the area X is changed.

[0099] For example, when the attributes of the objects in front of and obliquely in front of the right of the vehicle 12 are unknown, and the size of the object in front is relatively small while the size of the object in obliquely in front of the right is relatively large, as shown in FIG. Figure 12 As shown, the size of the specific image 66K corresponding to the object in front is reduced, and the size of the specific image 66K corresponding to the object diagonally in front and right is increased. This allows the user to grasp the sense of size of the object by simply looking at the specific image 66K.

[0100] Furthermore, memory 36 pre-stores a plurality of specific images 66K that differ in at least one of size and transparency. Memory 36 is an example of a storage unit. Display control unit 56 selectively displays any one of the plurality of specific images 66K stored in memory 36 until the attributes of the object are determined.

[0101] Figure 13 is a diagram showing an example of the specific image database 70. The specific image database (Data Base: DB) 70 is stored in the storage 36, for example.

[0102] exist Figure 13 A plurality of specific images 66K having different sizes and at least different transparency are registered in the specific image DB 70 shown in FIG.

[0103] Next, refer to Figure 14 , the function of the vehicle display control device 28 involved in this embodiment is described.

[0104] Figure 14 1 is a flowchart showing an example of the flow of processing performed by the vehicle display control program according to the present embodiment.

[0105] First, when the vehicle display control device 28 is instructed to execute the vehicle display control process, the CPU 30 activates the vehicle display control program and executes the following steps.

[0106] exist Figure 14In step S101, the CPU 30 obtains surrounding information indicating the surrounding conditions of the vehicle 12. Specifically, as described above, the vehicle 12 is provided with a plurality of sensors capable of detecting the surrounding conditions, and information detected by these plurality of sensors is obtained as the surrounding information.

[0107] In step S102, the CPU 30 determines whether an object has been detected around the vehicle 12 based on the surrounding information acquired in step S101. If it is determined that an object has been detected (affirmative determination), the process proceeds to step S103. If it is determined that no object has been detected (negative determination), the process returns to step S101 and repeats the process.

[0108] In step S103 , the CPU 30 calculates the accuracy for each attribute of the detected object, such as “car”, “bus”, “truck”, etc.

[0109] In step S104, CPU 30 determines whether any of the accuracy levels for each attribute calculated in step S103 is above a threshold, that is, whether the attribute has been determined. If the attribute is determined to be undetermined (negative determination), the process proceeds to step S105. If the attribute is determined to be determined (positive determination), the process proceeds to step S106.

[0110] In step S105, as an example, as described above Figure 9 As shown in ( S1 ), the CPU 30 displays the image 60 including the vehicle image 61 and the specific image 66K in the area X, and returns to step S103 to repeat the process.

[0111] On the other hand, in step S106, as an example, as described above Figure 9 As shown in ( S2 ), the CPU 30 displays the image 60 including the vehicle image 61 and the image expressing the attribute (eg, the sedan image 66S) in the region X, and returns to step S101 to repeat the process.

[0112] In this manner, according to this embodiment, the attributes of unidentified objects located around the vehicle can be displayed in a manner that prevents occupants from misinterpreting the attributes of the objects. This prevents occupants from misinterpreting the attributes of the objects. This reduces the likelihood of occupants making driving errors and improves the occupant's driving experience.

[0113] In addition, the vehicle display control processing that the CPU 30 reads in the software (program) and executes in the above-mentioned embodiment can also be executed by various processors other than the CPU. As the processor in this case, FPGA (Field-Programmable Gate Array) and other PLD (Programmable Logic Device) whose circuit structure can be changed after manufacturing, and ASIC (Application Specific Integrated Circuit) and other processors with a circuit structure specially designed for executing specific processing, i.e., dedicated circuits, can be exemplified. In addition, the vehicle display control processing can be executed by one of these various processors, or by a combination of two or more processors of the same or different types (for example, multiple FPGAs, and a combination of a CPU and an FPGA, etc.). In addition, more specifically, the hardware structure of these various processors is a circuit that combines circuit elements such as semiconductor elements.

[0114] Furthermore, while the above embodiment describes a method in which the vehicle display control program is pre-stored (installed) in ROM 32 or storage 36 , the present invention is not limited thereto. The vehicle display control program may also be provided by being stored on a recording medium such as a CD-ROM (Compact Disk Read Only Memory), a DVD-ROM (Digital Versatile Disk Read Only Memory), or a USB (Universal Serial Bus) memory device. Furthermore, the vehicle display control program may be downloaded from an external device via a network. The vehicle display control program may be a program product.

[0115] Furthermore, the configuration of the vehicle display control device described in the above embodiment is merely an example and may be modified according to circumstances without departing from the spirit of the present invention.

[0116] Furthermore, the process flow of the program described in the above embodiment is merely an example, and unnecessary steps may be deleted, new steps may be added, or the process order may be changed without departing from the spirit of the invention.

Claims

1. A vehicle display control device comprising: an acquisition unit for acquiring a surrounding condition of the vehicle; A display control unit, which, when displaying an image representing the surrounding conditions of the vehicle in a display area arranged around the driver's seat of the vehicle, displays the object in a manner indicating that the attribute is undetermined until the attribute is determined if the attribute of the object located around the vehicle is unknown.

2. The vehicle display control device according to claim 1, wherein: The method is to express a specific image of a predetermined shape, The display control unit changes a display mode of the specific image according to an accuracy of expressing an attribute of the object.

3. The vehicle display control device according to claim 2, wherein: The attributes are multiple types of attributes. When any one of the accuracy levels for each of the plurality of types of attributes is equal to or greater than a threshold value, the display control unit displays an image representing the attribute having the accuracy level equal to or greater than the threshold value, instead of the specific image.

4. The vehicle display control device according to claim 2, wherein: The attributes are multiple types of attributes. The display control unit displays the specific image superimposed on an image expressing the attribute having the highest accuracy among the accuracy levels for each of the plurality of types of attributes, and removes the specific image when the attribute is determined.

5. The vehicle display control device according to claim 2, wherein: The attributes are multiple types of attributes. The display control unit displays the specific image superimposed on an image representing the attribute with the highest accuracy among the accuracy levels for each of the plurality of attributes, and increases transparency of the specific image as the accuracy level of the attribute increases.

6. The vehicle display control device according to claim 1, wherein: The method is to express a specific image of a predetermined shape, The display control unit changes the size of the specific image according to the size of the object.

7. The vehicle display control device according to claim 1, wherein: The method is to express a specific image of a predetermined shape, The vehicle display control device further includes a storage unit that stores in advance a plurality of the specific images having different sizes and transmittances. The display control unit selectively displays any one of the plurality of specific images stored in the storage unit until the attribute of the object is determined.

8. A vehicle display control method, wherein a computer performs the following processing, namely: Obtain the surrounding conditions of the vehicle. When an image representing the surrounding conditions of the vehicle is displayed in a display area provided around the driver's seat of the vehicle, if the attributes of an object located around the vehicle are unknown, the object is displayed in a manner indicating that the attributes are undetermined until the attributes are determined.

9. A vehicle display control program product, the program product being configured to cause a computer to execute the following processing, namely: Obtain the surrounding conditions of the vehicle. When an image representing the surrounding conditions of the vehicle is displayed in a display area provided around the driver's seat of the vehicle, if the attributes of an object located around the vehicle are unknown, the object is displayed in a manner indicating that the attributes are undetermined until the attributes are determined.

Images