Vehicle-mounted display device

Abstract

The invention relates to an in-vehicle display device. A vehicle-mounted display device according to the present disclosure is provided with: a recognition unit that recognizes a dividing line of a travel lane on the basis of an image captured by a camera; a determination unit that determines whether or not an operation condition for lane maintenance control is satisfied; and a display control unit that causes a display to display the identified division line. When the recognition of the division line has started by the recognition unit and the determination unit determines that the operating condition is satisfied, the display control unit displays the division line after the display standby time has elapsed.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a vehicle-mounted display device that displays a division line of a travel lane on a display of a vehicle. BACKGROUND

[0002] For example, Patent Literature 1 describes a device that performs lane maintenance control of causing a vehicle to travel along a division line of a travel lane that is recognized. In the device, a division line recognized on the basis of a captured image of a camera is displayed on a display, and a state in which the vehicle travels along the displayed division line is notified to an occupant.

[0003] PRIOR ART DOCUMENTS

[0004] PATENT LITERATURE

[0005] Patent Literature 1: Japanese Patent Application Publication No. 2018-103863

[0006] In the above-described device, the execution of the lane maintenance control is started after the recognition of the division line required for starting the lane maintenance control. Therefore, although the recognized division line is displayed on the display, the lane maintenance control does not work until the preparation for executing the lane maintenance control is completed. Thus, the occupant sometimes feels an uncomfortable feeling about the situation in which the division line required for the lane maintenance control is displayed although the lane maintenance control is not working.

[0007] Therefore, the present disclosure describes a vehicle-mounted display device that can suppress the occupant from feeling an uncomfortable feeling and display a division line for lane maintenance control. SUMMARY

[0008] One aspect of the present disclosure is [1] “A vehicle-mounted display device that displays a division line of a travel lane on which a vehicle travels on a display mounted on the vehicle, the vehicle-mounted display device including: a recognition unit that recognizes the division line of the travel lane on the basis of a captured image of a camera; a determination unit that determines whether or not a working condition of lane maintenance control of causing the vehicle to travel along the recognized division line is satisfied, the working condition being set on the basis of at least any one of a state of the vehicle, a shape of the travel lane, and a state of a driver of the vehicle; and a display control unit that causes the display to display the recognized division line, the display control unit displaying the division line after a predetermined display standby time elapses in a case where the recognition of the division line has been started by the recognition unit and it is determined by the determination unit that the working condition is satisfied.”.

[0009] In a case where the recognition of the dividing line has been started and it is determined that the operating conditions of the lane maintenance control are satisfied, the in-vehicle display device displays the dividing line after a display standby time elapses. Thus, in the in-vehicle display device, the dividing line is not displayed before the operation of the lane maintenance control, or the time during which the dividing line is displayed before the operation of the lane maintenance control can be shortened. Thus, the occupant can be prevented from feeling a sense of discomfort in a case where the dividing line required for the lane maintenance control is displayed, but the lane maintenance control is not being operated. Thus, the in-vehicle display device can display the dividing line for the lane maintenance control while preventing the occupant from feeling a sense of discomfort.

[0010] One aspect of the present disclosure can also be [2] "The in-vehicle display device according to the above [1], wherein, in a case where the recognition of the dividing line has been started by the recognition section and it is determined by the determination section that the operating conditions are not satisfied, the display control section does not display the recognized dividing line, and in a case where it is determined that the operating conditions are satisfied thereafter, the display control section displays the dividing line after a display standby time elapses from when it is determined that the operating conditions are satisfied."

[0011] Thus, even in a case where the recognition of the dividing line has been started and the operating conditions of the lane maintenance control are not satisfied, the in-vehicle display device can display the dividing line at a more appropriate timing after the operating conditions are satisfied, while preventing the occupant from feeling a sense of discomfort.

[0012] One aspect of the present disclosure can also be [3] "The in-vehicle display device according to the above [1] or [2], wherein the display control section lengthens the display standby time in a case where the vehicle is traveling on an ordinary road, as compared with a case where the vehicle is traveling on an expressway."

[0013] Here, in a case where the vehicle is traveling on an ordinary road, there is a tendency that the stability of the recognition of the dividing line based on the captured image of the camera is low, as compared with a case where the vehicle is traveling on an expressway. Thus, by lengthening the display standby time in a case where the vehicle is traveling on an ordinary road, the time of the recognition process during which the period from when the recognition of the dividing line is started to when the dividing line is displayed is lengthened can be secured, and the stability of the recognition of the dividing line can be improved. Thus, the in-vehicle display device can display the dividing line in a state in which the stability of the recognition is high, when the dividing line is displayed.

[0014] One aspect of the present disclosure can also be [4] "The in-vehicle display device according to any one of the above [1] to [3], wherein the display control section lengthens the display standby time in a case where the recognized length of the dividing line recognized by the recognition section is short, as compared with a case where the recognized length of the dividing line is long."

[0015] By extending the display standby time in a case where the recognized length of the division line is short, the time for the recognition processing of the division line during the period from the start of the recognition of the division line to the display of the division line can be ensured to be long. Also, by being able to ensure the time for the recognition processing to be long, the recognized length of the division line (the length of the recognized division line) can be extended. That is, for example, a division line at a position far from the vehicle can be recognized. Thus, the in-vehicle display device can display a division line that is long in length when displaying the division line.

[0016] One aspect of the present disclosure can also be [5] "The in-vehicle display device according to any one of the above [1] to [4], wherein the display control section extends the display standby time in a case where the speed of the vehicle is slow, as compared to a case where the speed is fast."

[0017] By extending the display standby time in a case where the speed of the vehicle is slow, the time for the recognition processing of the division line during the period from the start of the recognition of the division line to the display of the division line can be ensured to be long. Also, by being able to ensure the time for the recognition processing to be long, the recognized length of the division line (the length of the recognized division line) can be extended. That is, for example, a division line at a position far from the vehicle can be recognized. Thus, the in-vehicle display device can display a division line that is long in length when displaying the division line.

[0018] Another aspect of the present disclosure is [6] "An in-vehicle display device that displays a division line of a travel lane in which a vehicle travels on a display mounted in the vehicle, the in-vehicle display device including: a recognition section that recognizes the division line of the travel lane based on an image captured by a camera; a determination section that determines whether a working condition for a lane maintenance control that causes the vehicle to travel along the recognized division line is satisfied, the working condition being set based on at least any one of a state of the vehicle, a shape of the travel lane, and a state of a driver of the vehicle; and a display control section that causes the display to display the recognized division line, the display control section displaying the division line at the start of execution of the lane maintenance control when the recognition of the division line has been started by the recognition section and it is determined by the determination section that the working condition is satisfied."

[0019] The in-vehicle display device displays the division line at the start of execution of the lane maintenance control. Thus, in the in-vehicle display device, a passenger can be prevented from feeling a sense of discomfort in a case where the division line required for the lane maintenance control is displayed, but the lane maintenance control is not working. In this way, the in-vehicle display device can prevent a passenger from feeling a sense of discomfort and display the division line for the lane maintenance control.

[0020] Another aspect of the present disclosure can also be [7] "The in-vehicle display device according to the above-mentioned [6], wherein, in a case where the recognition of the division line has been started by the recognition section and the working condition is determined not to be satisfied by the determination section, the display control section does not display the recognized division line, and in a case where the working condition is determined to be satisfied after that, the display control section displays the division line at the start of the execution of the lane maintenance control."

[0021] Thus, even in a case where the recognition of the division line has been started and the working condition of the lane maintenance control is not satisfied, the in-vehicle display device can display the division line at a more appropriate timing after the working condition is satisfied, suppressing the feeling of strangeness of the occupant.

[0022] Effects of Invention

[0023] According to the various aspects of the present disclosure, the feeling of strangeness of the occupant can be suppressed and the division line for the lane maintenance control can be displayed. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 is a block diagram showing one example of a lane maintenance control system of a first embodiment.

[0025] Figure 2 is a plan view showing one example of a road on which a host vehicle travels.

[0026] Figure 3 is a diagram showing one example of a display image of a division line in a display.

[0027] Figure 4 is a flowchart showing a flow of a display process of a division line performed in an in-vehicle display device of a lane maintenance control system.

[0028] Figure 5 is a block diagram showing one example of a lane maintenance control system of a second embodiment.

[0029] Figure 6 is a flowchart showing a flow of a display process of a division line performed in an in-vehicle display device of a lane maintenance control system. DETAILED DESCRIPTION

[0030] Hereinafter, exemplary embodiments will be described with reference to the accompanying drawings. Note that, in each drawing, the same or equivalent elements are denoted by the same reference numerals, and repetitive explanation is omitted. Hereinafter, a case where an in-vehicle display device of the present disclosure is applied to a lane maintenance control system will be described as an example.

[0031] (First Embodiment)

[0032] A first embodiment of a lane maintenance control system using the in-vehicle display device of the present disclosure will be described. Figure 1 The lane maintenance control system 100 shown is mounted on a vehicle (hereinafter referred to as the host vehicle) such as a passenger car or a truck. The lane maintenance control system 100 performs lane maintenance control for the host vehicle to travel along a host lane that is a travel lane in which the host vehicle travels, as a driving assist for the host vehicle. For example, the lane maintenance control is control that automatically performs steering of the host vehicle so that the host vehicle travels between a dividing line on the left side of the host lane and a dividing line on the right side of the host lane. Further, the lane maintenance control system 100 displays the dividing lines of the travel lane in which the host vehicle travels on a display 3.

[0033] The lane maintenance control system 100 has an ECU (Electronic Control Unit) 10 that centrally manages devices. The ECU 10 is an electronic control unit having a CPU (Central Processing Unit) and a storage unit. The storage unit is constituted by, for example, a ROM (Read Only Memory), a RAM (Random Access Memory), an EEPROM (Electrically Erasable Programmable Read-Only Memory), or the like. In the ECU 10, various functions are realized, for example, by the CPU executing a program stored in the storage unit. The ECU 10 can also be constituted by a plurality of electronic units.

[0034] The ECU 10 is connected to a camera 1, a steering actuator 2, and the display 3. The camera 1 is an imaging device that images an external situation of the host vehicle. The camera 1 is provided, for example, on the inner side of a front window glass of the host vehicle, and images the front of the host vehicle. The camera 1 transmits an image captured in association with the external situation of the host vehicle to the ECU 10. In the present embodiment, the camera 1 is capable of imaging a road in front of the host vehicle.

[0035] The steering actuator 2 controls steering of the host vehicle. For example, the steering actuator 2 controls driving of an assist motor that controls steering torque in an electric power steering system in response to a control signal from the ECU 10. Thus, the steering actuator 2 controls the steering torque of the host vehicle.

[0036] The display 3 is a display device installed in the vehicle cabin. The display 3 may be a center display, an MID (Multi Information Display), or a HUD (Head Up Display). The display 3 displays various information in response to control signals from the ECU 10.

[0037] Next, the functional configuration of the ECU 10 will be described. The ECU 10 functionally includes a recognition unit 11, a determination unit 12, a lane keeping control unit 13, and a display control unit 14. It should be noted that the vehicle-mounted display device 200, which displays the lane dividing lines of the vehicle on the display 3, is composed of the recognition unit 11, the determination unit 12, and the display control unit 14.

[0038] The recognition unit 11 recognizes the dividing line of the lane in which the vehicle is traveling based on the image captured by the camera 1. Here, the recognition unit 11 recognizes the position of the dividing line in front of the vehicle. For example, the recognition unit 11 uses well-known image processing techniques to extract the dividing line based on the captured image and recognizes the position of the dividing line relative to the vehicle. The recognition unit 11 may also recognize each position on the dividing line. It should be noted that the recognition unit 11 may also recognize the absolute position of the dividing line represented by latitude and longitude, etc., as the position of the dividing line.

[0039] like Figure 2 As shown, for example, assume that the vehicle V is traveling in a lane L. The lane L is formed by a pair of dividing lines K1 and K2. Dividing line K1 is the right dividing line of the lane L. Dividing line K2 is the left dividing line of the lane L. In this case, the recognition unit 11 recognizes the positions of the dividing lines K1 and K2 based on the image captured by the camera 1.

[0040] The determination unit 12 determines whether an activation condition for lane keeping control is satisfied, which causes the host vehicle to travel along the dividing line identified by the recognition unit 11. The activation condition is predetermined. In the present embodiment, the activation condition is predetermined based on at least one of the state of the host vehicle, the shape of the host lane (the lane in which the host vehicle is traveling), and the state of the driver of the host vehicle.

[0041] The working condition determined based on the state of the host vehicle can be determined based on, for example, the speed of the host vehicle or the steering angle of the host vehicle. For example, if the lane maintenance control is switched to when the speed of the host vehicle is high, it is sometimes difficult to appropriately perform the lane maintenance control. Therefore, for example, as the working condition determined based on the state of the host vehicle, it is possible to determine that the speed of the host vehicle is equal to or less than a predetermined speed as a condition. As such a speed of the host vehicle, it is possible to use the detection result of a vehicle speed sensor provided to the host vehicle. Further, for example, if the lane maintenance control is switched to when the steering angle of the host vehicle is large, it is sometimes difficult to appropriately perform the lane maintenance control. Therefore, for example, as the working condition determined based on the state of the host vehicle, it is possible to determine that the steering angle of the host vehicle is equal to or less than a predetermined steering angle as a condition. As such a steering angle of the host vehicle, it is possible to use the detection result of a steering angle sensor provided to the host vehicle.

[0042] The working condition determined based on the state of the host vehicle can be determined based on the presence or absence of a failure of a mechanism related to the steering of the host vehicle. For example, if the lane maintenance control is switched to when a mechanism related to the steering of the host vehicle, such as the steering actuator 2, has failed, it is sometimes difficult to appropriately perform the lane maintenance control. Therefore, for example, as the working condition determined based on the state of the host vehicle, it is possible to determine that the mechanism related to the steering of the host vehicle has not failed as a condition. The presence or absence of a failure of the mechanism related to the steering of the host vehicle can be determined based on, for example, the operating state of the steering actuator 2, the diagnosis result of the steering actuator 2 in a well-known failure diagnosis system, or the like. Further, for example, when the tire of the host vehicle is deflated, appropriate steering cannot be performed. Therefore, for example, as the working condition determined based on the state of the host vehicle, it is possible to determine that the tire of the host vehicle has not been deflated as a condition. The presence or absence of deflation of the tire can be determined based on, for example, the detection result of a tire air pressure sensor attached to the tire or the wheel, or the like.

[0043] The working condition determined based on the shape of the own lane can be determined, for example, based on the curvature of a curve of the road, or the like. For example, if the lane maintenance control is switched to when the curvature of the curve of the road is large (the curve is sharply bent), it is sometimes difficult to appropriately perform the lane maintenance control. Therefore, for example, as the working condition determined based on the shape of the own lane, it can be determined as a condition that the shape of the curve of the own lane (the shape of the curve in front of the own vehicle) is equal to or smaller than a predetermined curvature. As such a curvature of the curve, the bending state of the division line recognized by the recognition unit 11 can be used. Further, such a curvature of the curve can be acquired based on the map information including the shape of the road. In this case, for example, the curvature of the curve of the own lane can be acquired based on the position of the own vehicle and the map information including the shape of the road, where the position of the own vehicle is recognized based on the positioning result obtained by the GPS (Global Positioning System) reception unit.

[0044] The working condition determined based on the state of the driver of the own vehicle can be determined, for example, based on the orientation of the line of sight of the driver, the posture of the driver, or the state of alertness of the driver, or the like. The state of the driver can be determined, for example, based on the captured image of the driver monitoring camera that captures the driver. The estimation of the state of the driver based on the captured image of the driver monitoring camera can be performed using various known image processing techniques.

[0045] For example, the lane maintenance control is sometimes switched to when the driver is looking at a place other than the front of the own vehicle (for example, a smartphone held in the hand, the side of the own vehicle, or the like). In such a state of the driver, in a case where the need to end the lane maintenance control arises due to the occurrence of unexpected sudden approach of another vehicle, or the like, the driver is sometimes unable to immediately take over the driving operation of the own vehicle. Therefore, for example, as the working condition determined based on the state of the driver, it can be determined as a condition that the line of sight of the driver is oriented within a predetermined range toward the front of the own vehicle.

[0046] For example, the lane maintenance control is sometimes switched to when the driver is in a state where the posture of the driver is not suitable for the driving operation, such as when the driver is lying down with the seat reclined. In such a posture of the driver, in a case where the need to end the lane maintenance control arises due to the occurrence of unexpected sudden approach of another vehicle, or the like, the driver is sometimes unable to immediately take over the driving operation of the own vehicle. Therefore, for example, as the working condition determined based on the state of the driver, it can be determined as a condition that the posture of the driver is a posture suitable for a predetermined driving operation. Such a posture suitable for the driving operation can be exemplified by a posture in which the driver is not lying down, a posture in which the driver is seated on the driver's seat, or the like.

[0047] For example, the lane maintenance control is switched to in a state where the driver is asleep or the like, that is, in a state where the driver's state of wakefulness is not suitable for a driving operation. In such a state of the driver's wakefulness, in a case where a need to end the lane maintenance control arises due to unexpected sudden approach of another vehicle or the like, the driver sometimes has difficulty in immediately taking over the driving operation of the host vehicle. Therefore, for example, as the working condition determined based on the driver's state of wakefulness, it is also possible to determine that the driver's state of wakefulness is a predetermined degree of wakefulness or more as a condition. The degree of wakefulness here is set to a state where the higher the degree of wakefulness, the more clearly the driver's consciousness is, and the lower the degree of wakefulness, the closer the driver is to a state of being asleep. The degree of wakefulness of the driver can be determined based on, for example, the degree of opening of the driver's eyes, the degree of shaking of the driver's head, or the like obtained from a captured image of a driver monitoring camera. For example, the higher the degree of closing of the driver's eyes, the lower the degree of wakefulness of the driver can be determined to be. For example, the more the driver's head shakes, the lower the degree of wakefulness of the driver can be determined to be.

[0048] The lane maintenance control section 13 performs the lane maintenance control based on the division line of the own lane recognized by the recognition section 11 so as to cause the host vehicle to travel along the own lane. The lane maintenance control section 13 controls the steering of the host vehicle by instructing the steering actuator 2. The lane maintenance control section 13 performs the lane maintenance control when the working condition of the lane maintenance control determined by the determination section 12 is satisfied and the division line of the own lane is recognized by the recognition section 11. As the lane maintenance control based on the division line of the own lane, a known lane maintenance control can be used. Here, detailed description of the lane maintenance control is omitted.

[0049] The display control section 14 controls the display of the division line in the display 3. The display control section 14 causes the display 3 to display the division line recognized by the recognition section 11. In the present embodiment, for example, as shown in FIG. 6, the display control section 14 causes the display 3 to display the division line KA and display the host vehicle icon VA indicating the host vehicle. The display control section 14 displays the host vehicle icon VA and the division line KA in a manner to become a figure when the host vehicle and the division line are viewed from the rear and obliquely above the host vehicle. Figure 3

[0050] Causing the display 3 to display the division line KA means causing the display 3 to display an image (for example, a line) corresponding to the division line. The division line KA includes the division line K1A corresponding to the division line K1 of the own lane L (refer to FIG. 1) and the division line K2A corresponding to the division line K2 of the own lane L (refer to FIG. 1). Figure 2 Figure 2

[0051] ​​​When the recognition of the dividing line has started by the recognition section 11 and it is determined by the determination section 12 that the operating conditions of the lane maintenance control are satisfied, the display control section 14 causes the display 3 to display the dividing line after a predetermined display standby time has elapsed from when the recognition of the dividing line started. Note that the time when the recognition of the dividing line has started means when the dividing line can be recognized.

[0052] When the recognition of the dividing line has started by the recognition section 11 and it is determined by the determination section 12 that the operating conditions of the lane maintenance control are not satisfied, the display control section 14 does not cause the display 3 to display the dividing line. Then, when it is determined that the operating conditions are satisfied thereafter, the display control section 14 causes the display 3 to display the recognized dividing line after a display standby time has elapsed from when it was determined that the operating conditions are satisfied.

[0053] This display standby time is predetermined. Note that the display control section 14 can adjust the display standby time based on the following conditions. The adjustment of the display standby time can also be performed using any two or more of the conditions to be described next. For example, the display control section 14 can lengthen the display standby time when the host vehicle is traveling on an ordinary road compared to when the host vehicle is traveling on an expressway. The expressway refers to a road on which the speed limit is faster than on an ordinary road, and is a road set for the purpose of traveling at high speed. For example, the display control section 14 can determine which of an ordinary road and an expressway the host vehicle is traveling on based on the position of the host vehicle and map information including the types of roads including ordinary roads and expressways. For example, the display control section 14 can also determine which of an ordinary road and an expressway the host vehicle is traveling on based on road signs and the like provided on the host lane.

[0054] For example, the display control section 14 can lengthen the display standby time when the recognized length of the dividing line recognized by the recognition section 11 is short compared to when the recognized length of the dividing line is long. The recognized length of the dividing line refers to the length of the dividing line recognized by the recognition section 11, and is the length in the direction of extension of the host lane. The display control section 14 can lengthen the display standby time when the speed of the host vehicle is slow compared to when the speed of the host vehicle is fast. As such speed of the host vehicle, the detection result of a vehicle speed sensor provided on the host vehicle can also be used.

[0055] Thus, when the dividing line is recognized by the recognition section 11 and it is determined by the determination section 12 that the operating conditions of the lane maintenance control are satisfied, the display control section 14 causes the display 3 to display the recognized dividing line after the display standby time has elapsed. Then, the display control section 14 continues to update the display of the dividing line as the host vehicle travels.

[0056] Next, using Figure 4The flowchart shown explains the flow of the display processing of the dividing line performed in the in-vehicle display device 200 of the lane maintenance control system 100. Note that, Figure 4 The processing shown is performed again from the start after a prescribed time elapses after the processing ends. As Figure 4 As shown, the recognition unit 11 performs the recognition processing of the dividing line of the own lane based on the captured image of the camera 1 (S101). In a case where the dividing line cannot be recognized (S101: No), the processing ends. In a case where the dividing line can be recognized (S101: Yes), the determination unit 12 determines whether the operating conditions of the lane maintenance control that makes the host vehicle travel along the recognized dividing line are satisfied (S102). In a case where the operating conditions are not satisfied (S102: No), the processing ends.

[0057] In a case where the operating conditions are satisfied (S102: Yes), the display control unit 14 performs the adjustment of the display standby time (S103). Here, as described above, the display control unit 14 performs the adjustment of the display standby time using which of the ordinary road and the expressway the host vehicle is traveling on, the length of the recognized dividing line, and the speed of the host vehicle. However, the display control unit 14 can not perform the processing of performing the adjustment of the display standby time, but use a display standby time determined in advance. Note that, in a case where the operating conditions are satisfied, the lane maintenance control unit 13 performs the lane maintenance control of the host vehicle.

[0058] The display control unit 14 determines whether the display standby time has elapsed from the start of the recognition of the dividing line in a case where the recognition of the dividing line has started and it is determined that the operating conditions of the lane maintenance control are satisfied (S104). Alternatively, the display control unit 14 determines whether the display standby time has elapsed from the determination that the operating conditions of the lane maintenance control are satisfied in a case where the recognition of the dividing line has started and it is determined that the operating conditions are not satisfied, and then it is determined that the operating conditions are satisfied (S104). In a case where the display standby time has not elapsed (S104: No), the display control unit 14 repeatedly performs the determination processing of S104 until the display standby time elapses. In a case where the display standby time has elapsed (S104: Yes), the display control unit 14 displays the dividing line recognized by the recognition unit 11 on the display 3 (S105).

[0059] Here, even when the working conditions of the lane maintenance control are satisfied at the start of the recognition of the lane dividing line of the own lane, a time lag (e.g., a slight time lag) can occur during the period until the lane maintenance control actually works. Therefore, if the lane dividing line is displayed at the same time as the start of the recognition of the lane dividing line, the lane dividing line for the lane maintenance control can be displayed although the lane maintenance control has not yet worked, and the occupant can sometimes feel a sense of strangeness. Therefore, when the recognition of the lane dividing line has started by the recognition section 11 and it is determined by the determination section 12 that the working conditions of the lane maintenance control are satisfied, the in-vehicle display device 200 of the lane maintenance control system 100 displays the lane dividing line on the display 3 after the display standby time has elapsed. Thus, in the in-vehicle display device 200, even when there is a time lag during the period from the start of the recognition of the lane dividing line of the own lane until the lane maintenance control actually works, the lane dividing line is not displayed before the working of the lane maintenance control, or the time during which the lane dividing line is displayed before the working of the lane maintenance control can be shortened. Therefore, it is possible to suppress the occupant from feeling a sense of strangeness in the case where the lane dividing line required for the lane maintenance control is displayed although the lane maintenance control is not actually working. In this way, the in-vehicle display device 200 can suppress the occupant from feeling a sense of strangeness and display the lane dividing line for the lane maintenance control.

[0060] When the recognition of the lane dividing line has started by the recognition section 11 and it is determined by the determination section 12 that the working conditions of the lane maintenance control are not satisfied, the display control section 14 does not display the recognized lane dividing line on the display 3. Then, when it is determined that the working conditions are satisfied thereafter, the display control section 14 causes the display 3 to display the recognized lane dividing line after the display standby time has elapsed from the determination that the working conditions are satisfied. Thus, even when the working conditions of the lane maintenance control are not satisfied at the start of the recognition of the lane dividing line, the in-vehicle display device 200 can display the lane dividing line at a more appropriate timing while suppressing the occupant from feeling a sense of strangeness after the working conditions are satisfied.

[0061] The display control section 14 lengthens the display standby time in the case where the host vehicle is traveling on an ordinary road, compared to the case where the host vehicle is traveling on an expressway. For example, in the case where the host vehicle is traveling on an ordinary road, there is a tendency that the stability of the recognition of the lane dividing line based on the captured image of the camera 1 is low compared to the case where the host vehicle is traveling on an expressway. This is because, for example, there are many sharp turns or complex road shapes including intersections and the like on ordinary roads compared to expressways. Therefore, by lengthening the display standby time in the case where the vehicle is traveling on an ordinary road, it is possible to secure time for the recognition process to lengthen the period from the start of the recognition of the lane dividing line until the lane dividing line is displayed, and it is possible to improve the stability of the recognition of the lane dividing line. Thus, the in-vehicle display device 200 can display the lane dividing line in a state where the stability of the recognition is high when the lane dividing line is displayed.

[0062] When the identification length of the dividing line identified by the identification unit 11 is short, the display control unit 14 extends the display standby time compared to when the identification length is long. In this way, by extending the display standby time when the identification length of the dividing line is short, the time for the identification processing of the dividing line from the start of the identification of the dividing line to the display of the dividing line can be ensured to be long. Moreover, by ensuring that the time for the identification processing is long, the identification length of the dividing line (the length of the identified dividing line) can be extended. That is, for example, even a dividing line at a position far away from the vehicle can be identified. As a result, the vehicle-mounted display device 200 can display a long dividing line when displaying the dividing line.

[0063] When the vehicle is moving slowly, the display control unit 14 extends the display standby time compared to when the vehicle is moving quickly. By extending the display standby time when the vehicle is moving slowly, the time required to identify the dividing line from the start of identification to the display of the dividing line can be ensured to be long. Furthermore, by ensuring a long identification time, the identification length of the dividing line (the length of the identified dividing line) can be extended. That is, for example, even a dividing line far from the vehicle can be identified. Thus, the onboard display device 200 can display a long dividing line when displaying the dividing line.

[0064] (Second embodiment)

[0065] A second embodiment of a lane keeping control system to which the in-vehicle display device of the present disclosure is applied will be described. Figure 5 As shown, the lane keeping control system 100A of this embodiment includes a display control unit 14A in place of the display control unit 14 of the lane keeping control system 100 of the first embodiment. The configuration of this embodiment other than the display control unit 14A is identical to that of the first embodiment, and detailed description thereof will be omitted. It should be noted that in this embodiment, the onboard display device 200A, which displays the lane demarcation lines of the vehicle on the display 3, comprises a recognition unit 11, a determination unit 12, and a display control unit 14A.

[0066] The display control unit 14A controls the display of the dividing line on the display 3. The display control unit 14A causes the display 3 to display the dividing line recognized by the recognition unit 11. For example, Figure 3 As shown, the display control unit 14A causes the display 3 to display the dividing line KA and also displays a host vehicle icon VA representing the host vehicle.

[0067] When the recognition unit 11 has started recognizing a dividing line, the determination unit 12 has determined that the lane keeping control operating conditions are met, and the lane keeping control unit 13 has started executing the lane keeping control, the display control unit 14A causes the display 3 to display the recognized dividing line. The display control unit 14A can obtain information regarding the start of lane keeping control from the lane keeping control unit 13. The start of lane keeping control refers to the actual start of lane keeping control after the lane keeping control operating conditions are met and preparations for executing the lane keeping control are complete.

[0068] When the recognition unit 11 starts recognizing a dividing line and the determination unit 12 determines that the activation conditions for lane keeping control are not satisfied, the display control unit 14A does not display the dividing line on the display 3. Then, when the lane keeping control activation conditions are subsequently determined to be satisfied and the lane keeping control unit 13 starts executing lane keeping control, the display control unit 14A displays the recognized dividing line on the display 3.

[0069] Next, use Figure 6 The flowchart shown in FIG. 1 illustrates the flow of display processing of the dividing lines performed by the vehicle-mounted display device 200A of the lane keeping control system 100A. Figure 6 The processing shown is performed after the processing reaches the end (END), and then the processing starts again from the beginning (START) after a specified time has passed. Figure 6 The processing and use of S201 and S202 shown Figure 4 The processes of S101 and S102 described above are the same, and their description is omitted.

[0070] If it is determined that the lane keeping control activation conditions are met (S202: YES), the display control unit 14A determines whether the lane keeping control is being executed by the lane keeping control unit 13 (S203). If the lane keeping control is not being executed (not being activated) (S203: NO), the display control unit 14A repeats the determination process of S203 until the lane keeping control is executed. If the lane keeping control is being executed (being activated) (S203: YES), the display control unit 14A displays the dividing line identified by the recognition unit 11 on the display 3 (S204).

[0071] Here, even when the working conditions of the lane maintenance control are satisfied at the time when the recognition of the lane dividing line of the own lane has started, a time lag (for example, a slight time lag) is sometimes generated during the period until the lane maintenance control actually works. Therefore, if the lane dividing line is displayed at the same time when the recognition of the lane dividing line is started, the lane dividing line for the lane maintenance control is displayed although the lane maintenance control has not worked, and the occupant sometimes feels an uncomfortable feeling. Therefore, in a case where the working conditions of the lane maintenance control are satisfied at the time when the recognition of the lane dividing line of the own lane has started, the in-vehicle display device 200A of the lane maintenance control system 100A displays the lane dividing line at the time when the execution of the lane maintenance control by the lane maintenance control section 13 is started. Thus, in the in-vehicle display device 200A, the occupant can be inhibited from feeling an uncomfortable feeling in a case where the lane dividing line required for the lane maintenance control is displayed although the lane maintenance control is not working. In this way, the in-vehicle display device 200A can inhibit the occupant from feeling an uncomfortable feeling and display the lane dividing line for the lane maintenance control.

[0072] In a case where the working conditions of the lane maintenance control are not satisfied at the time when the recognition of the lane dividing line by the recognition section 11 has started and the determination by the determination section 12 is not satisfied, the display control section 14A does not display the recognized lane dividing line on the display 3. Then, in a case where the working conditions are satisfied thereafter, the display control section 14A causes the display 3 to display the lane dividing line at the time when the execution of the lane maintenance control has started. Thus, even in a case where the working conditions of the lane maintenance control are not satisfied at the time when the recognition of the lane dividing line has started, the in-vehicle display device 200A can inhibit the occupant from feeling an uncomfortable feeling and display the lane dividing line at a more appropriate timing after the working conditions are satisfied.

[0073] The above describes various embodiments of the present disclosure, but the present disclosure is not limited to the above-described embodiments. For example, Figure 3 The display of the lane dividing line in the display 3 illustrated above is one example, and for example, is not limited to a view of the own vehicle and the lane dividing line viewed from the rear and obliquely above the own vehicle. For example, a view (a plan view) of the own vehicle and the lane dividing line viewed from above can be displayed on the display 3.

Claims

1. A vehicle-mounted display device that displays a division line of a travel lane in which a vehicle travels on a display mounted on the vehicle, the vehicle-mounted display device comprising: a recognition unit that recognizes the division line of the travel lane based on an image captured by a camera; a determination unit that determines whether or not a working condition for a lane maintenance control that causes the vehicle to travel along the recognized division line is satisfied, the working condition being set based on at least any one of a state of the vehicle, a shape of the travel lane, and a state of a driver of the vehicle; and a display control unit that causes the display to display the recognized division line, the display control unit displaying the division line after a predetermined display standby time has elapsed in a case where the recognition of the division line has been started by the recognition unit and it is determined by the determination unit that the working condition is satisfied.

2. The vehicle-mounted display device according to claim 1, wherein the display control unit does not display the recognized division line in a case where the recognition of the division line has been started by the recognition unit and it is determined by the determination unit that the working condition is not satisfied, the display control unit displaying the division line after the display standby time has elapsed from when it is determined that the working condition is satisfied in a case where it is determined later that the working condition is satisfied.

3. The vehicle-mounted display device according to claim 1 or 2, wherein the display control unit lengthens the display standby time in a case where the vehicle is traveling on an ordinary road compared to a case where the vehicle is traveling on an expressway.

4. The vehicle-mounted display device according to claim 1 or 2, wherein the display control unit lengthens the display standby time in a case where a recognition length of the division line recognized by the recognition unit is short compared to a case where the recognition length of the division line is long.

5. The vehicle-mounted display device according to claim 1 or 2, wherein the display control unit lengthens the display standby time in a case where a speed of the vehicle is slow compared to a case where the speed is fast.

6. A vehicle-mounted display device that displays a division line of a travel lane in which a vehicle travels on a display mounted on the vehicle, the vehicle-mounted display device comprising: a recognition unit that recognizes the division line of the travel lane based on an image captured by a camera; a determination unit that determines whether or not a working condition for a lane maintenance control that causes the vehicle to travel along the recognized division line is satisfied, the working condition being set based on at least any one of a state of the vehicle, a shape of the travel lane, and a state of a driver of the vehicle; and a display control unit that causes the display to display the recognized division line, the display control unit displaying the division line at a start of execution of the lane maintenance control in a case where the recognition of the division line has been started by the recognition unit and it is determined by the determination unit that the working condition is satisfied.

7. The vehicle-mounted display device according to claim 6, wherein ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ The display control section does not display the recognized division line when recognition of the division line has started by the recognition section and it is determined by the determination section that the operating condition is not satisfied, The display control section displays the division line when it is determined that the operating condition is satisfied thereafter and execution of the lane maintenance control is started.

Images