Vehicle display device, display method, and storage medium

Abstract

The invention relates to a vehicle display device, a display method, and a storage medium. The present invention is a display device for a vehicle that displays a predetermined image on a display area showing a foreground of the vehicle, the display device comprising a memory and a processor connected to the memory, the processor being configured to recognize a lane in front of the vehicle, recognize a position of the vehicle with respect to the lane, and display the predetermined image on the display area. A predetermined position set in advance as a lane change target is set on the basis of the recognized position of the vehicle, and when the vehicle changes the lane, a direction image indicating the traveling direction of the vehicle is displayed on the display area. And changes the direction represented by the direction image on the basis of the relative positional relationship of the vehicle with respect to the predetermined position.

Description

[0001] This application is a divisional application of the parent application filed by Toyota Motor Corporation, entitled "Display Device, Display Method and Storage Medium for Vehicles", filed on June 6, 2022, with application number 2022106291607. Technical Field

[0002] This disclosure relates to display devices, display methods, and storage media for vehicles. Background Technology

[0003] Japanese Patent Application Publication No. 2017-91115 discloses a vehicle display device (head-up display device) that displays the vehicle's direction of travel when a vehicle is changing lanes while operating in automatic mode. In this vehicle display device, before making a lane change predetermined in the driving plan, an arrow-shaped direction of travel marker indicating the direction of travel is projected onto the windshield at a position corresponding to the driving lane and the lane to which the vehicle is changing lanes.

[0004] However, as disclosed in Japanese Patent Application Publication No. 2017-91115, the process of lane changing cannot be conveyed in stages simply by showing the direction of travel from the driving lane to the target lane before the lane change. Summary of the Invention

[0005] This disclosure is made in view of the above points, and its object is to provide a vehicle display device, display method, and storage medium capable of communicating lane change passages to occupants in stages.

[0006] The vehicle display device according to the first aspect of this disclosure is a vehicle display device that displays a predetermined image in a display area showing the foreground of a vehicle. The vehicle display device includes: a lane recognition unit that recognizes the lane in front of the vehicle; a vehicle position recognition unit that recognizes the position of the vehicle relative to the lane; a predetermined position setting unit that sets a predetermined position that is preset as a lane change target based on the recognized position of the vehicle; and a display indication unit that, when the vehicle changes lanes, displays a direction image showing the direction of travel of the vehicle in the display area, and changes the direction represented by the direction image based on the relative positional relationship of the vehicle with respect to the predetermined position.

[0007] According to the first embodiment, the vehicle display device displays a predetermined image in a display area showing the foreground of the vehicle. The vehicle display device identifies the lane in front of the vehicle and the vehicle's position relative to the lane, and sets a predetermined position as a lane-changing target based on the vehicle's position. Furthermore, when the vehicle changes lanes, a direction image showing the vehicle's direction of travel is displayed in the display area.

[0008] Here, the vehicle display device changes the direction represented by the directional image based on the vehicle's relative position to a predetermined location. Thus, the process of the vehicle moving towards the predetermined location can be identified by changing the direction represented by the directional image over time. As a result, the vehicle display device can communicate the lane change process to the occupants in stages.

[0009] The vehicle display device according to the second aspect of this disclosure is configured such that, based on the structure described in the first aspect, the display indicator displays the directional image in the display area when the vehicle changes lanes via autonomous driving.

[0010] According to the second embodiment, when lane changes are performed during autonomous driving, occupants can identify the vehicle's movement toward a predetermined position by observing the change in direction over time as represented by the directional image. This allows for confirmation of the vehicle's braking during lane changes performed by autonomous driving, thus alleviating occupant anxiety.

[0011] The vehicle display device according to the third aspect of this disclosure is configured such that, based on the structure described in the first or second aspect, the display indicator changes the direction represented by the direction image at the start of a lane change, during a lane change, and at the end of a lane change.

[0012] According to the third configuration, the occupant can identify the process from the start to the end of a lane change by using the direction represented by the direction image.

[0013] The vehicle display device according to the fourth aspect of this disclosure is configured such that, based on the structure described in any of the first to third aspects, the display indicator section continuously changes the direction represented by the direction image.

[0014] According to the fourth form, the occupant is able to see a visual effect that shows the direction of the direction image being linked to the movement of the vehicle toward the predetermined position, thus enabling intuitive recognition of lane changes.

[0015] The vehicle display device according to the fifth aspect of this disclosure is configured such that, based on the structure described in any of the first to fourth aspects, the display indicator changes the color of the directional image at at least one of the following times: at the start of a lane change, during a lane change, and at the end of a lane change.

[0016] According to the fifth aspect, by changing the color of the directional image at a predetermined stage during a lane change, the predetermined stage of the lane change can be emphasized to the occupants. Thus, for example, by emphasizing the start of a lane change, occupants can be prepared for lateral movement of the vehicle. Furthermore, by emphasizing that a lane change is in progress, occupants are prompted to pay attention to their surroundings. Additionally, by emphasizing the end of a lane change, occupants can feel reassured.

[0017] The vehicle display device according to the sixth aspect of this disclosure is configured such that, based on the structure described in any of the first to fifth aspects, the display indicator section emphasizes the direction represented by the direction image based on the direction corresponding to the rotation angle of the steering wheel, which is larger than the actual steering angle of the vehicle.

[0018] According to the sixth configuration, the direction image shows the direction corresponding to a steering wheel rotation angle that is larger than the vehicle's actual steering angle (tire rotation angle), thus emphasizing the vehicle's direction of travel to the occupants. Furthermore, the direction represented by the direction image is displayed in conjunction with the steering wheel rotation. Therefore, the occupants can intuitively grasp the steering wheel operation during lane changes to identify the lane change process.

[0019] The vehicle display device according to the seventh aspect of this disclosure is configured such that, based on the structure described in any of the first to sixth aspects, the directional image includes a plurality of images arranged in a row from the near front side to the far side of the display area, and these plurality of images sequentially show the vehicle's direction of travel over time, starting from the image on the near front side of the display area.

[0020] According to the seventh embodiment, the directional image includes multiple images arranged in a row from the near front side of the display area to the far side. Furthermore, these multiple images sequentially show the vehicle's direction of travel over time, starting with the image from the near front side of the display area. Therefore, the directional image shows the vehicle's predetermined travel path, and the change in direction shown by the directional image indicates that the predetermined travel path also changes over time. Thus, the occupant can observe the change in the vehicle's predetermined travel path over time to identify lane changes.

[0021] The vehicle display device according to the eighth aspect of this disclosure is configured such that, based on the structure described in any of the first to seventh aspects, the display area is a projection surface projected by a head-up display device in front of the vehicle at the driver's seat, and the display indicator displays the image indicating the vehicle's direction of travel overlapping the lane in the foreground of the vehicle, which is visually recognized through the display area, in the display area.

[0022] According to the eighth embodiment, the display area showing the foreground of the vehicle is a projection surface projected by a head-up display device in front of the driver's seat. Furthermore, during lane changes, a directional image showing the vehicle's direction of travel is displayed overlapping the lane visually identified through the display area. Thus, by displaying the directional image in a way that blends with the foreground observed from the driver's seat using a vehicle display device, the driver can periodically recognize lane changes without significantly shifting their gaze.

[0023] The ninth aspect of this disclosure relates to a display method that displays a predetermined image in a display area showing the foreground of a vehicle. The display method is configured to: identify a lane in front of the vehicle, identify the position of the vehicle relative to the lane, set a predetermined position that is preset as a lane-changing target based on the identified position of the vehicle, display a direction image showing the direction of travel of the vehicle in the display area when the vehicle changes lanes, and change the direction represented by the direction image based on the relative positional relationship of the vehicle with respect to the predetermined position.

[0024] The display method involved in the 9th form, as described above, can convey the process of lane changing to the occupants in stages.

[0025] The tenth aspect of this disclosure relates to a non-transitory storage medium storing a program that displays a predetermined image in a display area showing the foreground of a vehicle. The program causes a computer to execute: identify a lane in front of the vehicle, identify the position of the vehicle relative to the lane, set a predetermined position as a lane-changing target based on the identified position of the vehicle, display a direction image showing the direction of travel of the vehicle in the display area when the vehicle changes lanes, and change the direction represented by the direction image based on the relative positional relationship of the vehicle with respect to the predetermined position.

[0026] The non-temporary storage medium involved in the 10th configuration, as described above, enables the occupants to receive phased information about lane changes.

[0027] According to this disclosure, it is possible to communicate the lane change process to the occupants in stages.

[0028] Exemplary embodiments of the present invention will be described in detail with reference to the following figures. Attached Figure Description

[0029] Figure 1 This is a simplified diagram of the front of the passenger compartment in a vehicle using the vehicle display device described in this embodiment, viewed from the rear side of the vehicle.

[0030] Figure 2This is a block diagram illustrating the hardware structure of the vehicle display device according to this embodiment.

[0031] Figure 3 This is a block diagram illustrating the functional structure of the vehicle display device according to this embodiment.

[0032] Figure 4 This is a flowchart illustrating an example of the display processing flow in this embodiment.

[0033] Figure 5A This is a simplified top view showing the process of a vehicle changing lanes, indicating the start of the lane change.

[0034] Figure 5B This is a simplified top view showing the process of a vehicle changing lanes, indicating the middle of the lane change.

[0035] Figure 5C This is a simplified top view showing the process of a vehicle changing lanes, indicating the end of the lane change.

[0036] Figure 6 This is an example diagram showing a method of displaying the direction image at the start of a lane change.

[0037] Figure 7 This is an example diagram showing a method of displaying a directional image midway through a lane change.

[0038] Figure 8 This is an example of a method for displaying the direction image at the end of a lane change.

[0039] Figure 9 This is a simplified diagram illustrating a vehicle display device according to a variation of this embodiment. Detailed Implementation

[0040] The vehicle 12, which utilizes the vehicle display device 10 according to the embodiment, will be described with reference to the accompanying drawings. Furthermore, as an example, the vehicle 12 of this embodiment is configured to switch between automatic and manual driving. Automatic driving is a vehicle mode in which some or all of the operations of the accelerator, brakes, direction indicator, steering device, etc., are performed automatically. Manual driving is a vehicle mode in which the driver performs all driving operations (operation of the accelerator, brakes, direction indicator, steering device, etc.). Figure 1 As shown, an instrument panel 14 is provided at the front of the passenger compartment in vehicle 12.

[0041] The instrument panel 14 extends in the width direction of the vehicle, and a steering wheel 16 is provided on the right side of the vehicle. That is, in this embodiment, as an example, a right-hand drive vehicle with the steering wheel 16 provided on the right side is provided, and the driver's seat is located on the right side of the vehicle.

[0042] A windshield 18 is provided at the front end of the dashboard 14. The windshield 18 is positioned on the front side of the vehicle in front of the driver's seat and extends in the vertical and width directions of the vehicle to divide the interior and exterior of the passenger compartment.

[0043] The windshield 18 is fixed to the right front pillar 20 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. Additionally, the front end of the front side window 22 is fixed to the outer end of the front pillar 20 in the vehicle width direction. Furthermore, the left side of the windshield 18 is fixed to the left front pillar (not shown).

[0044] Here, a first display unit 24 with a display area displaying a defined image is provided on the instrument panel 14. The right side of the first display unit 24, viewed in the vehicle width direction, is composed of an instrument display located in front of the driver's seat. The instrument display is part of an instrument display device (not shown) that is connected to various instrument devices mounted on the vehicle 12. The first display unit 24 is positioned to enter the driver's field of vision when the driver's gaze is directed forward.

[0045] A second display unit 25 is provided on the windshield 18, with a display area displaying a predetermined image. The second display unit 25 is composed of a display located in the center of the instrument panel 14 in the vehicle width direction, on the side in front of the driver's seat.

[0046] A third display unit 26 with a defined image is provided on the windshield 18. The third display unit 26 is located on the vehicle-top side of the first display unit 24 and is connected via a head-up display device 44 (see reference). Figure 2 The projection surface of the projection is configured. Specifically, a head-up display device 44 is provided at a position closer to the front of the vehicle than the instrument panel 14, and is configured to project images from the head-up display device 44 onto the third display unit 26 of the windshield 18. That is, the third display unit 26 is composed of the windshield 18, which serves as the projection surface of the head-up display device 44.

[0047] (Hardware structure of vehicle display device 10)

[0048] The vehicle 12 is equipped with an ECU (Electronic Control Unit) 28, which serves as a control unit. Figure 2 This is a block diagram showing the hardware structure of the vehicle display device 10. (As shown...) Figure 2 As shown, the ECU28 of the vehicle display device 10 is configured to include a CPU (Central Processing Unit) 30, a ROM (Read Only Memory) 32, a RAM (Random Access Memory) 34, a storage device 36, a communication interface 38, and an input / output interface 40. These components are communicatively connected to each other via a bus 42. The CPU 30 is an example of a processor, and the RAM 34 is an example of a memory.

[0049] CPU 30 is the central processing unit, which executes various programs and controls various components. Specifically, CPU 30 reads programs from ROM 32 or storage device 36 and uses RAM 34 as the working area to execute the programs. CPU 30 performs control and various arithmetic operations on the aforementioned structures based on the programs recorded in ROM 32 or storage device 36.

[0050] ROM 32 stores various programs and data. RAM 34 serves as a temporary storage area for programs or data. Storage device 36 is composed of HDD (Hard Disk Drive) or SSD (Solid State Drive) and stores various programs and data, including the operating system. In this embodiment, ROM 32 or storage device 36 stores programs and various data for display processing.

[0051] Communication interface 38 is an interface for the vehicle display device 10 to communicate with a server and other devices not shown, such as using standards such as Ethernet (registered trademark), LTE, FDDI, and Wi-Fi (registered trademark).

[0052] The input / output interface 40 is connected to a first display unit 24, a second display unit 25, a head-up display device 44 that projects a predetermined image onto a third display unit 26, and an actuator 46. The actuator 46 is configured to include a steering actuator, an accelerator actuator, and a brake actuator. The steering actuator controls the steering of the vehicle 12. The accelerator actuator accelerates the vehicle 12. The brake actuator decelerates the vehicle 12 by controlling the brakes. Furthermore, the input / output interface 40 is connected to a camera (not shown) that captures images of the surroundings of the vehicle 12, sensors for enabling the vehicle 12 to drive automatically, and a GPS device, among other things.

[0053] (Functional structure of vehicle display device 10)

[0054] The vehicle display device 10 uses the aforementioned hardware resources to implement various functions. (Refer to...) Figure 3The functional structure of the vehicle display device 10 is explained.

[0055] like Figure 3 As shown, the vehicle display device 10 is configured with a functional structure including a communication unit 50, an acquisition unit 51, an operation plan setting unit 52, an automatic driving control unit 54, a lane recognition unit 56, a vehicle position recognition unit 58, a predetermined position setting unit 60, an image generation unit 62, and a display indication unit 64. Furthermore, each functional structure is implemented by the CPU 30 reading and executing a program stored in the ROM 32 or the storage device 36.

[0056] The communication unit 50 transmits and receives data with external servers and other devices via the communication interface 38. For example, it transmits and receives map data and traffic information stored on the server. Additionally, the communication unit 50 can also be configured for vehicle-to-vehicle communication with surrounding vehicles.

[0057] The acquisition unit 51 acquires the driving environment of the vehicle 12 as surrounding information via the input / output interface 40 and an external sensor (not shown). The external sensor is configured to include at least one of a camera that captures a defined area around the vehicle 12, a millimeter-wave radar that transmits detection waves to the defined area, and a lidar (light detection and ranking / laser imaging detection and ranking) that scans the defined area. Additionally, as an example, the "surrounding information" includes the width of the vehicle 12's driving lane, other vehicles traveling near the vehicle 12, obstacles, etc.

[0058] The operation plan setting unit 52 sets the operation plan for the vehicle 12. Specifically, the operation plan from the current location to the destination is set by having the occupants input the destination.

[0059] The automatic driving control unit 54 controls the switching between manual and automatic driving of the vehicle 12. Furthermore, when the vehicle 12's operating mode is switched to automatic driving, the automatic driving control unit 54 considers location information and environmental information surrounding the vehicle 12 and drives the vehicle 12 automatically according to a pre-set operating plan. Specifically, the vehicle 12 drives automatically by controlling the actuator 46.

[0060] The lane recognition unit 56 has the function of recognizing the lane in front of the vehicle 12. Specifically, it recognizes the white line L drawn on the road surface (see reference) based on the image captured by the camera in front of the vehicle 12. Figure 5AThe lane recognition unit 56 identifies lanes extending towards the front of vehicle 12 based on the shape of the white line L. Furthermore, the lane recognition unit 56 can also identify lanes extending towards the front of vehicle 12 based on the vehicle 12's location information and high-precision map information obtained from a GPS device.

[0061] When vehicle 12 changes lanes according to the operation plan, vehicle position recognition unit 58 recognizes the relative positional relationship between vehicle 12 and the lane of the lane change target. Specifically, it infers the position of vehicle 12 based on at least one of the following: an image captured by a camera in front of vehicle 12; the lateral movement calculated based on the yaw angle of vehicle 12; and the time elapsed since the start of the lane change.

[0062] In addition, the vehicle position recognition unit 58 can also identify the position of the vehicle 12 relative to the driving lane and the lane of the lane change target based on the vehicle position information and high-precision map information obtained by the GPS device.

[0063] The predetermined position setting unit 60 has the function of setting a predetermined position of the vehicle 12, which is a lane change target, before the vehicle 12 changes lanes according to the operation plan. Specifically, when it is determined, based on the surrounding information of the vehicle 12 obtained by the acquisition unit 51, that there is driving space for the vehicle 12 in the lane of the lane change target and that there are no obstacles in front of and behind the vehicle 12, the predetermined position setting unit 60 sets the predetermined position P (refer to) of the lane change target. Figure 5A ).

[0064] The image generation unit 62 generates an image for display on the third display unit 26. The image generated by the image generation unit 62 includes, for example, a speedometer display M indicating the speed of the vehicle 12 (see reference). Figure 6 Images intended to assist manual and automatic driving.

[0065] In this embodiment, in particular, the image generation unit 62 generates a direction image D (refer to) representing the direction of travel of the vehicle 12 from the start to the end of the lane change when the vehicle 12 changes lanes. Figure 6 ).like Figure 6 As shown, as an example, the direction image D includes three arrow-shaped images D1 to D3. Images D1 to D3 are arranged in a row from the front to the rear (from the lower side to the upper side of the windshield 18) of the display area of ​​the third display unit 26, and are configured to sequentially represent the vehicle's direction of travel over time, starting with image D1 on the front side of the display area. Therefore, the predetermined travel path of the vehicle 12 within a specified time is shown by the images D1 to D3 arranged in a row.

[0066] For example, if the three arrow-shaped images D1 to D3 represent the predetermined travel path of vehicle 12 within a specified time period starting from the current moment, the image D1 displayed at the frontmost edge of the display area represents the current direction of travel of vehicle 12. Furthermore, the direction of travel of vehicle 12 mentioned here can be the actual direction of travel of vehicle 12, or it can be the direction recommended based on a pre-set operating plan.

[0067] Here, the direction image D (D1~D3) represents the direction of rotation of the steering wheel 16 at the angle θ (refer to the steering wheel 16) assuming that the vehicle 12 is traveling along a predetermined path. Figure 6 The direction corresponding to the steering angle (tire rotation angle) is displayed. Therefore, compared to the direction corresponding to the actual steering angle when the vehicle 12 is traveling along a predetermined path, the vehicle's direction of travel can be emphasized. Furthermore, when the direction image D is displayed according to the driver's line of sight, the direction represented by the direction image D is displayed in conjunction with the rotation of the steering wheel 16. Therefore, the occupant can intuitively grasp the steering wheel operation when changing lanes.

[0068] The display instruction unit 64 has the function of displaying the image generated by the image generation unit 62 on the display area of ​​the third display unit 26, and the function of deleting the image displayed on the third display unit 26.

[0069] The display indicator 64 displays various images, including the directional image D, on the display area of ​​the third display unit 26 in a manner that blends with the foreground of the vehicle 12 as seen by the occupant in the driver's seat through the third display unit 26 (windshield 18). For example, such as... Figure 6 As shown, the speedometer display M is displayed in the display area of ​​the third display unit 26 at a position below the field of vision of the occupant in the driver's seat, in order to ensure visibility to the front of the vehicle.

[0070] Furthermore, in this embodiment, the display indicator 64 displays the direction image D at a position overlapping with the lane extending forward of the vehicle 12, which is visually recognized through the third display unit 26 (windshield 18). Therefore, the occupant in the driver's seat can identify the direction of travel of the vehicle 12 without significantly shifting their gaze away from the foreground.

[0071] (effect)

[0072] Next, the function of this embodiment will be explained.

[0073] (Display processing)

[0074] use Figure 4The flowchart shown illustrates an example of the display processing for displaying the direction image B on the third display unit 26 when vehicle 12 changes lanes. This display processing is performed by CPU 30 reading the display program from ROM 32 or storage device 36 and executing it in RAM 34.

[0075] In this embodiment, display processing is performed when a lane change is predetermined during the autonomous driving of vehicle 12. For example... Figure 4 As shown, in step S100, the CPU30 determines whether a destination has been set. The destination can be directly input by the passenger into the vehicle 12, or indirectly input via a mobile terminal, etc.

[0076] If it is determined in step S100 that a destination has been set, CPU 30 proceeds to step S101. Conversely, if it is determined in step S100 that no destination has been set, CPU 30 terminates the display process.

[0077] In step S101, CPU 30 sets the operation plan for vehicle 12. Specifically, CPU 30 sets the operation plan from the current location to the destination using the functions of the operation plan setting unit 52. During operation plan setting, information related to traffic conditions and accidents can also be acquired and reflected. Furthermore, the operation plan can be set in a more automated driving mode based on pre-input passenger needs.

[0078] In step S102, CPU30 determines whether to perform a lane change based on the pre-set operating plan. A lane change may occur when, for example, it is determined that vehicle 12 has passed the target location for initiating the lane change. Alternatively, it may be determined that vehicle 12 has reached the target location for initiating the lane change within a specified time, based on its speed. Or, it may be determined that a lane change is performed when, while driving in an area where lane changes are permitted according to the operating plan, the turn signal is activated by the occupant.

[0079] If it is determined in step S102 that a lane change is to be performed, CPU 30 proceeds to step S103. Conversely, if it is determined in step S102 that a lane change is not to be performed, CPU 30 terminates the display process.

[0080] In step S103, CPU 30 identifies the lane in front of vehicle 12 based on the function of lane recognition unit 56. For example, as Figures 5A-5C As shown, when vehicle 12 is traveling on a two-lane road, the left lane 70 and the adjacent right lane 80 of vehicle 12 are identified.

[0081] In step S104, CPU30 identifies the position of vehicle 12 relative to the identified lane based on the function of vehicle position recognition unit 58.

[0082] In step S105, CPU 30 sets the predetermined position of the lane change target based on the function of the predetermined position setting unit 60. For example, as... Figures 5A-5C As shown, if vehicle 12 changes lanes from left lane 70 to the adjacent right lane 80, a predetermined space in right lane 80 is set as a predetermined position P. If the CPU 30 sets the predetermined position P, it starts automatic lane changing for vehicle 12 based on the function of the automatic driving control unit 54.

[0083] In step S106, CPU 30 displays the direction image D on the display area of ​​the third display unit 26. Specifically, when the occupant in the driver's seat recognizes the front of the vehicle, CPU 30 displays a direction image that overlaps with the lanes 70 and 80 on the front side of the vehicle 12 as visually recognized via the third display unit 26 (windshield 18). At this time, CPU 30 obtains the rotation angle θ of the steering wheel 16 based on the control signal of the steering actuator, and generates and displays the direction image D representing the direction corresponding to the rotation angle θ.

[0084] The CPU 30 continuously changes the direction represented by the direction image D based on the change in the relative position of the vehicle 12 with respect to the predetermined position P. Thus, if the vehicle 12 is moving towards the predetermined position P, the direction represented by the direction image D changes over time in conjunction with the rotation of the steering wheel 16.

[0085] Here, as Figures 5A-5C As shown, refer to Figures 6-8 An example of the direction image D displayed during the lane change of vehicle 12 from left lane 70 to right lane 80 will be explained. Furthermore, as an example, Figures 6-8 The display configuration of the third display unit 26 as viewed from the driver's seat is shown.

[0086] exist Figure 6 The diagram shows the display configuration of the direction image D at the start of a lane change. As shown, along the direction S corresponding to the rotation angle θ of the steering wheel 16, three arrow-shaped images D1-D3 representing the right lane 80, the target lane change, are displayed in white. Furthermore, images D1-D3 are arranged in a straight line facing diagonally forward to the right of the vehicle 12. Therefore, if the direction image D is visually recognized, it can be known that the vehicle 12 is moving diagonally forward to the right, thus indicating that a lane change has begun.

[0087] exist Figure 7The diagram shows the display configuration of the directional image D during a lane change. Images D1 to D3 are arranged in a curved shape from the left lane 70 side toward the right lane 80 side and are displayed in white. Therefore, if the directional image D is visually recognized, it can be known that the vehicle 12 is moving diagonally forward to the right to move into the right lane 80 and then proceeding in the right lane 80, thus identifying it as a lane change in progress.

[0088] exist Figure 8 The diagram shows the display configuration of the directional image D at the end of a lane change. Images D1 to D3 are arranged in a straight line forward on the right lane 80. Therefore, if directional image D is visually recognized, it can be known that vehicle 12 is moving in the right lane 80 of the lane change target, thus indicating that the lane change has ended. At this time, the images D1 to D3 are highlighted by changing their display color from white to blue. Thus, the end of the lane change can also be recognized by the color of directional image D.

[0089] In step S107, CPU30 determines whether lane changing by vehicle 12 has been completed. The determination of whether lane changing has been completed is based, for example, on the function of vehicle position recognition unit 58, by checking whether vehicle 12 is currently changing into the target lane (in...). Figure 8 The lane change can be determined by whether the passenger is driving in the right lane (80 km / h). Alternatively, it can be determined that the lane change has been completed when the passenger turns off the turn signal.

[0090] If the lane change is determined to be complete in step S107, the CPU 30 ends the display process. On the other hand, if the lane change is determined to be incomplete, the process returns to step S103 and repeats the process.

[0091] As explained above, in the vehicle display device 10 according to this embodiment, a predetermined image is displayed in the display area of ​​the third display unit 26, which shows the foreground of the vehicle 12. The vehicle display device 10 identifies the lanes 70 and 80 in front of the vehicle 12 and the position of the vehicle 12 relative to the lanes, and sets a predetermined position P as the target for lane changing based on the position of the vehicle 12. Furthermore, when the vehicle 12 changes lanes, a direction image D showing the direction of travel of the vehicle 12 is displayed in the display area. Here, the vehicle display device 10 changes the direction represented by the direction image D based on the relative positional relationship of the vehicle 12 with respect to the predetermined position P. As a result, the process of the vehicle 12 moving towards the predetermined position P can be identified by changing the direction represented by the direction image D over time, and thus the process of lane changing can be communicated to the occupants in stages.

[0092] Furthermore, according to the display processing of this embodiment, when lane changes are performed in autonomous driving, occupants can identify the process of vehicle 12 moving towards a predetermined position P based on the change in direction over time represented by the direction image D. This allows confirmation of vehicle 12 braking during lane changes based on autonomous driving, thus alleviating occupant anxiety.

[0093] Furthermore, in this embodiment, the directional changes represented by the direction image D at the beginning, middle, and end of the lane change allow the occupant to identify the passage from the beginning to the end of the lane change based on the direction represented by the direction image D.

[0094] Furthermore, in this embodiment, the direction represented by the direction image changes continuously, thus providing the occupant with a visual effect that the direction represented by the direction image D changes in conjunction with the movement of the vehicle 12 toward the predetermined position. This allows for intuitive identification of lane changes.

[0095] Furthermore, in this embodiment, the color of the direction image D changes at the time the lane change ends. Specifically, the color of the direction image D changes from white to blue at the end of the lane change. This effectively conveys that the lane change has been successfully completed through the displayed color of the direction image, thus providing occupants with a sense of reassurance.

[0096] Furthermore, in this embodiment, the color of the direction image D is changed at the end of the lane change, but the color of the direction image D can also be changed at the beginning of the lane change or in the middle of the lane change.

[0097] Furthermore, in this embodiment, the direction represented by the direction image D is emphasized and displayed based on the direction corresponding to the rotation angle θ of the steering wheel 16, which is larger than the actual steering angle of the vehicle 12. This allows the direction of travel of the vehicle 12 to be emphasized for the occupants. Additionally, the direction represented by the direction image D is displayed in conjunction with the rotation of the steering wheel 16. Thus, the occupants can intuitively grasp the operation of the steering wheel 16 during lane changes to identify the lane change process.

[0098] Furthermore, according to this embodiment, the directional image D includes a plurality of images D1 to D3 arranged in a column from the near front side of the display area to the far side. These plurality of images D1 to D3 sequentially show the travel direction of the vehicle 12 over time, starting with image D1 on the near front side of the display area. Therefore, the directional image D shows the predetermined travel path of the vehicle 12, and the change in direction shown by the directional image D indicates that the predetermined travel path also changes over time. Thus, the occupant can observe the change in the predetermined travel path of the vehicle 12 over time to identify lane changes.

[0099] Furthermore, in this embodiment, the display area of ​​the third display unit 26, which shows the foreground of the vehicle, is the projection surface of the head-up display device 44 located in front of the driver's seat. Moreover, the directional image D is displayed overlapping with the lanes 70 and 80 visually identified through the display area. Thus, in the vehicle display device 10, the directional image D is displayed in a manner that blends with the foreground observed from the driver's seat, allowing the driver and other occupants to periodically recognize lane changes without taking their eyes off the foreground.

[0100] [Supplementary Explanation]

[0101] In the above embodiment, the case where the display area showing the foreground of the vehicle is formed by the projection surface of the head-up display device 44 has been described, but the present invention is not limited thereto. It may also be as follows: Figure 9 The modified example shown involves a vehicle display device 100 that displays a directional image D in the display area of ​​a second display section 25, which is a display provided on the instrument panel 14. Figure 9 The second display unit 25, as shown, displays a map image N indicating the current position of vehicle 12 at the lower part of the display area, and a foreground image F showing the foreground of the vehicle at the upper part of the display area. The foreground image F is, for example, an image obtained from a camera (not shown) positioned in front of vehicle 12, or a foreground image generated from animation. A directional image D is displayed overlapping the lanes 70 and 80 in front of vehicle 12 included in the foreground image F. Thus, the occupant of the second display unit 25 can visually recognize, in stages, the lane changes performed by vehicle 12, regardless of their seating position.

[0102] Similarly, the directional image D can also be displayed in the display area of ​​the first display unit 24 of the instrument panel 14, which is located in front of the driver's seat. Since the first display unit 24 is located in front of the driver's seat, the occupant of the driver's seat can periodically recognize the lane change of the vehicle 12 without taking their eyes off the road.

[0103] Furthermore, in the above embodiment, the shape of the direction image D consisting of three arrow-shaped images D1 to D3 was described, but it is not limited to this. The direction image can be displayed in various shapes. For example, the direction image can be composed of a single arrow-shaped image, or it can be composed of four or more arrow-shaped images.

[0104] In the display processing of the above embodiment, the structure for displaying the direction image D is for lane changes performed by the vehicle's automatic driving, but it is not limited to this. The structure for displaying the direction image D can also be used for lane changes performed by manual driving.

[0105] In the above embodiment, the direction represented by the direction image D is set to the direction corresponding to the rotation angle θ of the steering wheel 16, but it is not limited to this. If the direction represented by the direction image D is set to the direction corresponding to a steering angle that is larger than the actual steering angle of the vehicle (the rotation angle of the tires), the direction of travel of the vehicle can be emphasized.

[0106] Furthermore, the display processing of the software (program) read and executed by the CPU in the above-described embodiment can also be performed by various processors other than the CPU. Examples of processors in this case include FPGAs (Field-Programmable Gate Arrays) and PLDs (Programmable Logic Devices) whose circuit structure can be changed after manufacturing, and ASICs (Application Specific Integrated Circuits), which are dedicated electronic circuits with circuit structures specifically designed for performing specific processing. Additionally, display processing can be performed by one of these various processors, or by a combination of two or more processors of the same or different types (e.g., multiple FPGAs, and a combination of a CPU and an FPGA). More specifically, the hardware structure of these various processors is an electronic circuit composed of circuit elements such as semiconductor components.

[0107] Furthermore, while the above embodiments describe a form in which the display processing program is pre-stored (installed) in a ROM or storage device, this is not a limitation. The program may also be provided on a recording medium such as a CD-ROM (Compact Disc Read-Only Memory), DVD-ROM (Digital Versatile Disk Read Only Memory), or USB (Universal Serial Bus) storage device. Alternatively, the program may be downloaded from an external device via a network.

Claims

1. A display device for a vehicle, wherein a predetermined image is displayed in a display area showing the foreground of a vehicle, wherein, The vehicle display device includes: Memory; and The processor connected to the memory, The processor is configured as follows: Identify the lane in front of the vehicle. Identify the vehicle's position relative to the lane. Based on the identified vehicle's position, a predetermined position is set as the target for lane changing. When a vehicle changes lanes, a direction image indicating the vehicle's direction of travel is displayed in the display area. The direction represented by the direction image changes based on the vehicle's relative position to the predetermined location. The angle of the direction image corresponds to the steering wheel rotation angle. The directional image consists of multiple images arranged in a column from the near-front side to the far side of the display area, showing the directions corresponding to the various rotation angles of the steering wheel along a predetermined driving path. The processor also causes the plurality of images to be displayed in a straight line configuration toward the lane change target when the lane change begins, and then to be displayed in a curved configuration that continuously changes over time in conjunction with the rotation of the steering wheel.

2. The vehicle display device according to claim 1, wherein, The processor displays the direction image in the display area when the vehicle changes lanes via autonomous driving.

3. The vehicle display device according to claim 1 or 2, wherein, The processor changes the color of the directional image at at least one of the following times: at the start of a lane change, during a lane change, and at the end of a lane change.

4. The vehicle display device according to claim 1 or 2, wherein, The processor emphasizes the direction represented by the direction image based on the direction corresponding to the steering wheel rotation angle, which is larger than the actual steering angle of the vehicle.

5. The vehicle display device according to claim 1 or 2, wherein, The display area is a projection surface projected by a head-up display device in front of the driver's seat of the vehicle. The processor causes the direction image, which shows the direction of travel of the vehicle, to be displayed in the display area in an overlapping manner with the lane of the foreground of the vehicle, which is visually recognized through the display area.

6. A display method for displaying a predetermined image in a display area showing the foreground of a vehicle, wherein, The display method enables the computer to perform the following processing: Identify the lane in front of the vehicle. Identify the vehicle's position relative to the lane. Based on the identified vehicle's position, a predetermined position is set as the target for lane changing. When a vehicle changes lanes, a direction image indicating the vehicle's direction of travel is displayed in the display area. The direction represented by the direction image changes based on the vehicle's relative position to the predetermined location. The angle of the direction image corresponds to the steering wheel rotation angle. The directional image consists of multiple images arranged in a column from the near-front side to the far side of the display area, showing the directions corresponding to the various rotation angles of the steering wheel along a predetermined driving path. The multiple images are also configured to be arranged in a straight line toward the lane change target when the lane change begins, and then to be arranged in a curved shape that changes continuously over time in conjunction with the rotation of the steering wheel.

7. A non-transitory storage medium, wherein, The non-temporary storage medium is a computer-readable non-temporary storage medium that stores a program. The program displays a specified image in a display area showing the foreground of the vehicle and performs the following processing: Identify the lane in front of the vehicle. Identify the vehicle's position relative to the lane. Based on the identified vehicle's position, a predetermined position is set as the target for lane changing. When a vehicle changes lanes, a direction image indicating the vehicle's direction of travel is displayed in the display area. The direction represented by the direction image changes based on the vehicle's relative position to the predetermined location. The angle of the direction image corresponds to the steering wheel rotation angle. The directional image consists of multiple images arranged in a column from the near-front side to the far side of the display area, showing the directions corresponding to the various rotation angles of the steering wheel along a predetermined driving path. The multiple images are also configured to be arranged in a straight line toward the lane change target when the lane change begins, and then to be arranged in a curved shape that changes continuously over time in conjunction with the rotation of the steering wheel.

Images