Display control device

Abstract

The display control unit displays a lane divider image and a vehicle icon on a monitor. The display control unit includes: a driving control unit for controlling the vehicle's movement; a determination unit for determining whether the vehicle will return to its original lane after leaving it; and a display control unit for displaying the lane divider image and the vehicle icon on the monitor. If it is determined that the vehicle will return to its original lane after leaving it, the display control unit moves the vehicle icon relative to the lane divider image while keeping the position of the lane divider image fixed.

Description

Technical Field

[0001] This disclosure relates to a display control device for controlling the display on a monitor mounted on the vehicle. Background Technology

[0002] For example, Patent Document 1 describes an apparatus that includes a driving control unit that automatically controls the movement of a vehicle based on a target track. In this apparatus, an image representing the target track and an image representing the road on which the vehicle is traveling are displayed superimposed on a display screen.

[0003] Existing technical documents Patent documents Patent Document 1: Japanese Patent Application Publication No. 2019-182305 For example, the driving control unit that controls the vehicle's movement sometimes performs the following control: after moving the vehicle from its original lane to an adjacent lane to avoid an obstacle (such as a parked vehicle), it returns to its original lane. In this case, for example, consider moving the dividing line image relative to the vehicle icon while maintaining the vehicle icon displayed at a reference position on the screen. If the display position of the dividing line image on the screen is changed in this way, the range of movement displayed on the screen becomes larger, and the driver may sometimes be distracted by the display. Summary of the Invention

[0004] Therefore, this disclosure describes a display control device that can suppress the driver's distraction and display the movement of the vehicle when the vehicle leaves the original driving lane and then returns to the original driving lane.

[0005] One aspect of the display control device disclosed herein is: [1] "A display control device that displays a dividing line image corresponding to the dividing line around the vehicle and a vehicle icon corresponding to the vehicle on a display screen. The display control device includes: a driving control unit that controls the driving of the vehicle based on the external environment and a pre-set driving route; a determination unit that determines whether the vehicle will return to the original driving lane after leaving the original driving lane based on driving control predetermined information generated by the driving control unit; and a display control unit that displays the dividing line image and the vehicle icon on the display screen in a manner corresponding to the positional relationship between the dividing line and the vehicle. If the determination unit determines that the vehicle will return to the original driving lane after leaving the original driving lane, the display control unit moves the vehicle icon relative to the dividing line image while the position of the dividing line image is fixed in the display screen during the period from the start of control to leave the original driving lane until returning to the original driving lane."

[0006] For example, sometimes a vehicle may leave its original lane to avoid obstacles and then return to it. In this case, the display control device, while keeping the position of the lane divider image fixed on the display screen from the start of the lane departure to the return, moves the vehicle icon relative to the lane divider image. That is, in this situation, the vehicle icon moves relative to the lane divider image. Here, the lane divider image is displayed around the vehicle icon on the display screen and is larger than the vehicle icon. Therefore, by fixing the lane divider image, which occupies a larger area on the display screen, and moving the smaller vehicle icon, the display control device can suppress the driver's attention from being drawn to the display. In this way, the display control device can suppress the driver's attention and display the vehicle's movement when the vehicle leaves and returns to its original lane.

[0007] The aforementioned display control device can also be: [2] "According to the display control device described in [1] above, wherein when the display control unit moves the vehicle icon, it moves the position of the vehicle icon in the lane width direction while keeping its orientation fixed so that the vehicle icon faces forward." In this case, the display control device does not change the orientation of the vehicle icon, thus further suppressing the driver's attention from being drawn to the display.

[0008] The aforementioned display control device may also be: [3] "According to the display control device described in [1] or [2] above, after moving the vehicle icon relative to the dividing line image while the position of the dividing line image is fixed in the display screen, if the vehicle does not return to its original driving lane even after a predetermined return time threshold has elapsed, the display control unit gradually moves the vehicle icon to a reference position in the display screen, and then displays the dividing line image relative to the vehicle icon while the position of the vehicle icon is fixed in the display screen." For example, the planned return time of the vehicle after leaving its original driving lane may sometimes change depending on changes in the situation of other vehicles around the vehicle. Therefore, if the vehicle does not return to its original driving lane even after a predetermined return time threshold has elapsed, the display control device gradually moves the vehicle icon to a reference position in the display screen. Then, the display control device displays the dividing line image relative to the vehicle icon while the position of the vehicle icon is fixed in the display screen. Therefore, even if the driving schedule of this vehicle changes, the display control device can switch the control of the display of the vehicle icon and dividing line image in response to the change in driving schedule.

[0009] The aforementioned display control device can also be: [4] "The display control device according to [3] above, wherein the return time threshold is set to be shorter when the vehicle's speed is high than when the vehicle's speed is low." In this case, the display control device can switch the control of displaying the vehicle icon and dividing line image more appropriately according to the vehicle's speed.

[0010] The aforementioned display control device may also be: [5] "The display control device according to any one of [1] to [4] above, wherein, when the control of the vehicle's movement implemented by the driving control unit is cancelled by the driver's overtaking operation, the display control unit stops the control of moving the vehicle icon relative to the dividing line image while the position of the dividing line image is fixed in the display screen, and instead displays the dividing line image and the vehicle icon in a manner corresponding to the positional relationship between the dividing line and the vehicle." For example, when the control of the vehicle's movement implemented by the driving control unit is cancelled by the driver's overtaking operation, the initial plan to return to the original driving lane after leaving the original driving lane may sometimes change. Therefore, when the control implemented by the driving control unit is cancelled, the display control device stops the control performed assuming the return to the original driving lane after leaving the original driving lane as follows: while the position of the dividing line image is fixed, the vehicle icon is moved relative to the dividing line image. Therefore, the display control device can switch the control of the display of the vehicle icon and dividing line image in response to changes in the driving plan.

[0011] The aforementioned display control device may also be: [6] "According to the display control device described in [5] above, the more significantly the steering angle of the overtaking operation performed by the driver of the vehicle deviates from the steering angle of the steering operation performed by the driving control unit, the faster the display control unit stops the control of moving the vehicle icon relative to the dividing line image while the position of the dividing line image is fixed in the display screen of the display, and the display control unit displays the dividing line image and the vehicle icon in a manner corresponding to the positional relationship between the dividing line and the vehicle on the display." For example, when the driving control unit is controlling the driving of the vehicle, the greater the steering amount (steering angle) of the overtaking operation performed by the driver, the higher the probability that the initial plan of returning to the original driving lane after leaving the original driving lane will be changed. Therefore, in driving control implemented by the driving control unit, the greater the steering input of the driver's overtaking maneuver, the faster the display control device will stop the following control operation, assuming the vehicle returns to its original lane after leaving it: while keeping the position of the lane divider image fixed, the vehicle icon is moved relative to the lane divider image. Thus, the display control device can reflect the driver's intention and switch between controlling the display of the vehicle icon and the lane divider image.

[0012] Invention Effects According to one aspect of this disclosure, when the vehicle leaves its original driving lane and then returns to its original driving lane, it can suppress the driver's attention and display the movement of the vehicle. Attached Figure Description

[0013] Figure 1 This is a block diagram illustrating an example of a display control device for an implementation method.

[0014] Figure 2 (a) ~ Figure 2 (c) is a diagram showing an example of the dividing line image and the display image of the vehicle icon shown on the monitor.

[0015] Figure 3 (a) and Figure 3 (b) is a diagram showing an example of the dividing line image and the display image of the vehicle icon shown on the display.

[0016] Figure 4 This is a flowchart illustrating the process of displaying the dividing line image and the vehicle icon in the display control device.

[0017] Explanation of reference numerals in the attached figures: 11: Driving control unit; 12: Judgment unit; 13: Display control unit; 40: Display; 100: Display control device; LA: Dividing line image; V: This vehicle; VA: This vehicle icon. Detailed Implementation

[0018] Hereinafter, exemplary embodiments will be described with reference to the accompanying drawings. It should be noted that in the various figures, the same or equivalent elements are labeled with the same reference numerals, and repeated descriptions are omitted.

[0019] like Figure 1 As shown, a display control device 100 is mounted on the vehicle V. The display control device 100 displays images of lane markings corresponding to the lane markings surrounding the vehicle V and a vehicle icon corresponding to the vehicle V on the display 40. In this embodiment, the display control device 100 displays images of lane markings corresponding to the lane markings in front of the vehicle V on the display 40 as the periphery of the vehicle V. However, the display control device 100 may also display images of lane markings corresponding to lane markings in directions other than in front of the vehicle V (e.g., rearwards) on the display 40 as the periphery of the vehicle V.

[0020] The display control device 100 includes an ECU (Electronic Control Unit) 10 that provides overall management. The ECU 10 is an electronic control unit with a CPU (Central Processing Unit) and a storage unit. The storage unit may be composed of, for example, ROM (Read Only Memory), RAM (Random Access Memory), or EEPROM (Electrically Erasable Programmable Read-Only Memory). In the ECU 10, various functions are implemented, for example, by the CPU executing programs stored in the storage unit. The ECU 10 may also be composed of multiple electronic control units.

[0021] External sensors 20, a steering angle sensor 30, and a display 40 are connected to the ECU 10. These devices connected to the ECU 10 are mounted on the vehicle V.

[0022] External sensor 20 is an onboard sensor that detects the external environment of vehicle V. External sensor 20 includes at least a camera or radar sensor. The camera is a camera that captures images of the external environment of vehicle V. For example, the camera is located on the back side of the windshield of vehicle V and captures images of the front of the vehicle. The camera sends the captured information related to the external environment of vehicle V to ECU 10. The camera can be a monocular camera or a stereo camera. Multiple cameras can be installed, and the cameras can capture images not only of the front of vehicle V but also of the left and right sides of vehicle V.

[0023] Radar sensors are detection devices that use radio waves (such as millimeter waves) or light to detect objects in the vicinity of the vehicle V. Radar sensors include lidar (Light Detection and Ranging). LiDAR detects objects by sending light around the vehicle V and receiving the light reflected from them. The radar sensor then sends information related to the detected external environment of the vehicle V to the ECU 10.

[0024] The steering angle sensor 30 detects the steering angle of the vehicle V as a result of steering input by the driver. The steering angle sensor 30 may also detect, for example, the rotation angle of the steering shaft connected to the steering wheel. The steering angle sensor 30 sends information related to the detected steering angle to the ECU 10.

[0025] Display 40 is a display device that presents information to the driver of vehicle V visually. Display 40 is located inside the passenger compartment of vehicle V. Display 40 can be a central display, a MID (Multi-Information Display), or a HUD (Head-Up Display). Display 40 is only required to present information visually; its type and location are not limited. Display 40 displays various information based on control signals from ECU 10.

[0026] The ECU10 is functionally equipped with a driving control unit 11, a judgment unit 12, and a display control unit 13.

[0027] The driving control unit 11 controls the driving of the vehicle V based on the external environment detected by the external sensor 20 and a preset driving route. The driving control unit 11 takes the external environment into account and performs control to automatically drive the vehicle V along the preset driving route. The driving control unit 11 can use various known methods to perform automatic driving control of the vehicle V. The driving control unit 11 includes the following control: when there is an obstacle in the driving lane of the vehicle V, the vehicle V is driven to avoid the obstacle by leaving the original driving lane and then returning to the original driving lane. Leaving the original driving lane includes the vehicle V completely leaving the original driving lane and the vehicle V partially leaving the original driving lane.

[0028] It should be noted that driving lanes are not limited to those marked with lines. For example, in the case of an intersection, a driving lane can be designated even where the lane markings are partially interrupted at the intersection. In cases where the lane markings are partially interrupted, such as at an intersection, the original driving lane can be determined based on the driving trajectory that should be followed if there are no obstacles to avoid.

[0029] The driving control unit 11 considers the external environment and generates control planning information for causing the vehicle V to travel along a pre-set driving route. The control planning information is generated, for example, based on the external environment at the current time. The control planning information may also be generated only from the current time within a specified time or within a specified driving distance. The control planning information can change according to changes in the external environment. This control planning information includes at least information related to the driving route (driving lane) for causing the vehicle V to return to its original driving lane after leaving the original driving lane in order to avoid obstacles, etc.

[0030] Furthermore, if the driver of vehicle V performs an over-control operation (manual intervention operation) during the control of the vehicle's movement, the driving control unit 11 suspends the control of the vehicle's movement. That is, if the driver performs an over-control operation during the control of the vehicle's movement implemented by the driving control unit 11, the driving control implemented by the driving control unit 11 is switched to the driving operation implemented by the driver.

[0031] The determination unit 12 determines whether the vehicle V will return to its original driving lane after leaving the original driving lane, based on the driving control unit 11's driving control predetermined information (the driving control predetermined information generated by the driving control unit 11).

[0032] The display control unit 13 displays the dividing line image and the vehicle icon on the display 40 in a manner corresponding to the dividing lines surrounding the vehicle V and the positional relationship of the vehicle V. The vehicle icon is an image corresponding to the vehicle V and is predetermined. The dividing line image refers to the image of the dividing lines surrounding the vehicle V. When displaying the dividing line image corresponding to the dividing lines surrounding the vehicle V, the display control unit 13 can display the dividing line image surrounding the vehicle V based on the dividing line-related information (the position, shape, etc. of the dividing lines) contained in the map information and the position of the vehicle V. Alternatively, the display control unit 13 can generate a dividing line image based on the dividing lines detected by the external sensor 20 and display the generated dividing line image. The display control unit 13 can also display the dividing line image by combining a method using the dividing line-related information contained in the map information with a method using the detection results of the dividing lines by the external sensor 20.

[0033] Here, as Figure 2 As shown in (a), the display control unit 13 displays the vehicle icon VA corresponding to the vehicle V and the dividing line image LA corresponding to the dividing lines surrounding the vehicle V on the display 40. It should be noted that in Figure 2 In the example shown in (a), the state of the front side of the vehicle V as viewed from the rear and above of the vehicle V is shown.

[0034] Furthermore, under normal circumstances, the display control unit 13 displays the vehicle icon VA at a predetermined reference position X on the display screen of the monitor 40. Additionally, the display control unit 13 fixes the vehicle icon VA at the reference position X on the display screen of the monitor 40, and displays the dividing line image LA relative to the vehicle icon VA in a manner that corresponds to the positional relationship (position and orientation) of the vehicle V and the surrounding dividing lines. It should be noted that the reference position X can, for example, be set at the horizontal center and below the display screen of the monitor 40.

[0035] Normally, the display control unit 13 is configured to display the vehicle icon VA at a reference position X on the display screen of the monitor 40, and to fix the orientation of the vehicle icon VA. For example, the display control unit 13 displays the vehicle icon VA facing upwards on the display screen of the monitor 40. That is, the display control unit 13 normally displays the dividing line image LA around the vehicle icon VA based on its orientation. Therefore, when the orientation of the actually driving vehicle V changes, while the orientation of the vehicle icon VA is fixed, the position and orientation of the dividing line image LA relative to the vehicle icon VA change accordingly.

[0036] Furthermore, when an obstacle is detected around the vehicle V by the external sensor 20, the display control unit 13 displays an obstacle icon YA corresponding to the detected obstacle on the display 40. These obstacles include other vehicles traveling around the vehicle V, other vehicles in a parking lot, traffic cones (road sign cones) placed on the road, and movable structures such as construction guidance signs. The obstacle icon YA can be a pre-determined image corresponding to the detected obstacle, or it can be an image of the obstacle generated based on the detection results of the external sensor 20.

[0037] Normally, similar to the case of displaying the dividing line image LA, the display control unit 13 displays the obstacle icon YA around the vehicle icon VA based on the orientation of the vehicle icon VA. That is, when the orientation of the actually driving vehicle V changes, while the orientation of the vehicle icon VA remains fixed, the position and orientation of the obstacle icon YA relative to the vehicle icon VA change accordingly.

[0038] Here, as described above, the determination unit 12 determines whether the vehicle V will return to its original driving lane after leaving it, based on the driving control unit 11's predetermined driving control information. Sometimes, the determination unit 12 determines that the vehicle V will return to its original driving lane after leaving it. In this case, the display control unit 13 performs control of a display different from the normal display described above. It should be noted that, hereinafter, the display different from the normal display described above will be referred to as the "exception display." Here, as an exception display, the display control unit 13 moves the vehicle icon VA relative to the dividing line image LA while the position of the dividing line image LA on the display screen 40 is fixed from the time the vehicle V begins to leave its original driving lane until it returns to its original driving lane.

[0039] Specifically, for example, sometimes there is a traffic cone acting as an obstacle in the driving lane of vehicle V. Then, sometimes vehicle V temporarily leaves its original driving lane to the right (a portion of vehicle V moves beyond the original driving lane) to avoid the traffic cone, and after passing the traffic cone, moves to the left to return to its original driving lane. As described above, the control of vehicle V's movement to avoid the traffic cone is performed by the driving control unit 11. In such cases, the determination unit 12 determines, based on the driving control predetermined information of vehicle V generated by the driving control unit 11, that vehicle V will return to its original driving lane after leaving it.

[0040] In this case, the display control unit 13 from such Figure 2 As shown in (a), the vehicle icon VA is displayed at the reference position X, and the dividing line image LA is displayed with the vehicle icon VA as the reference. This process begins from the normal display of the image. Figure 2 of (b) Figure 2 (c) and Figure 3 The exception shown in (a) is displayed. It should be noted that in... Figure 2 In (a), obstacle icon YA1 is displayed as the obstacle icon YA corresponding to the traffic cone in front of the vehicle V, and obstacle icon YA2 is displayed as the obstacle icon YA corresponding to other vehicles in the vicinity in front of the vehicle V. Furthermore, as the vehicle V moves to avoid the traffic cone, the display method is as follows: Figure 2 of (a) Figure 2 of (b) Figure 2 (c) Figure 3 of (a) Figure 3 The order of (b) changes.

[0041] Here, from Figure 2 The display shown in (a) is in the normal case, but in the case of an exception, such as Figure 2 (b) and Figure 2 As shown in (c), the display control unit 13 moves the vehicle icon VA to the right relative to the dividing line image LA while the position of the dividing line image LA is fixed. Then, as... Figure 3 (a) and Figure 3 As shown in (b), with the position of the dividing line image LA fixed, the display control unit 13 moves the vehicle icon VA to the left relative to the dividing line image LA, displaying the vehicle icon VA in the original driving lane. That is, after the vehicle icon VA leaves the reference position X, it returns to the reference position X.

[0042] It should be noted that when the display control unit 13 moves the vehicle icon VA for display purposes in exceptional circumstances, it moves the position of the vehicle icon VA in the lane width direction while keeping its orientation fixed so that it faces forward. Here, as an example, with the orientation of the vehicle icon VA fixed upward in the display screen of the monitor 40, the position of the vehicle icon VA is moved in the left-right direction (lane width direction).

[0043] In this way, the display control unit 13 switches between the normal display of the dividing line image LA, which is based on the determination result of the determination unit 12, and the exception display of the vehicle icon VA, which is based on the dividing line image LA.

[0044] Here, for example, if the position of the dividing line image LA is fixed in the display screen of the display 40, and the vehicle icon VA is moved relative to the dividing line image LA, sometimes even after a predetermined return time threshold has elapsed, the actual vehicle V does not return to its original driving lane. That is, the following situation occurs: after the display control unit 13 displays an exception situation from the normal display, the actual vehicle V does not return to its original driving lane. This is, for example, the driving control unit 11 initially plans to control the vehicle V to return to its original driving lane after leaving it, but based on changes in the positions of other vehicles in the vicinity, it controls the vehicle V not to return to its original driving lane. In this way, the driving plan information generated by the driving control unit 11 may change. Therefore, the determination unit 12 sequentially checks the driving plan information generated by the driving control unit 11 and determines whether the vehicle will return to its original driving lane.

[0045] If, after the exception display begins, the vehicle V fails to return to its original lane even after the return time threshold has elapsed, the display control unit 13 switches from the exception display to the normal display. Here, after gradually moving the vehicle icon VA to the reference position X on the display screen of the monitor 40, the display control unit 13 performs the following normal display: with the position of the vehicle icon VA fixed on the display screen, a dividing line image LA is displayed relative to the vehicle icon VA.

[0046] It should be noted that the display control unit 13 may also set the "return time threshold" used for determination to be shorter when the speed of the vehicle V is high than when the speed of the vehicle V is low. For example, the display control unit 13 may obtain information related to the rotational speed of the tires of the vehicle V detected by the speed sensor or the target control speed of the vehicle V when the driving control unit 11 controls the driving of the vehicle V as the speed of the vehicle V.

[0047] Furthermore, the driving control of the vehicle V implemented by the driving control unit 11 can sometimes be cancelled due to overtaking operations by the driver of the vehicle V. That is, in the following situation: after the display control unit 13 switches from the normal display to the exception display, the driving control of the vehicle V implemented by the driving control unit 11 is suspended and the driver's driving operation takes over. In this case, the display control unit 13 suspends the control of the exception display as follows: while the position of the lane divider image LA is fixed on the display screen of the monitor 40, the vehicle icon VA is moved relative to the lane divider image LA. Then, the display control unit 13 displays the lane divider image LA and the vehicle icon VA on the monitor 40 in a manner corresponding to the positional relationship between the lane dividers surrounding the vehicle V and the vehicle V. In other words, when the driver overtakes the vehicle during the exception display, the display control unit 13 switches back to the normal display control.

[0048] It should be noted that, for example, when the amount of overtaking operation performed by the driver is large, the driver may consider switching to driving operation performed by the driver more quickly compared to when the amount of overtaking operation is small. Therefore, the greater the deviation of the steering angle of the steering operation performed by the driver as an overtaking operation from the steering angle of the steering operation performed by the driving control unit 11, the faster the display control unit 13 will stop the control of moving the vehicle icon VA relative to the dividing line image LA in the state of fixing the position of the dividing line image LA on the display screen 40. In other words, the greater the deviation of the amount of overtaking operation (steering angle) performed by the driver from the steering angle of the steering operation performed by the driving control unit 11, the faster the display control unit 13 will switch from the exception display to the normal display.

[0049] Next, the process of displaying the dividing line image LA and the vehicle icon VA in the display control device 100 will be explained. Figure 4 The processing shown begins, for example, simultaneously with the initiation of driving control of the vehicle V implemented by the driving control unit 11. Furthermore, for Figure 4 The process shown will begin again from the start after a specified time following the completion of the previous process.

[0050] like Figure 4As shown, the determination unit 12 determines whether the vehicle V will return to its original driving lane after leaving the original driving lane based on the control predetermined information generated by the driving control unit 11 (S101). For example, if the vehicle V changes lanes due to the driving control of the driving control unit 11 or if the vehicle V does not leave the original driving lane (if it does not change lanes within a specified time period), and it is not determined that it will return to its original driving lane after leaving the original driving lane (S101: No), the display control unit 13 performs the normal display control (S105).

[0051] If it is determined that the vehicle will return to its original lane after leaving the lane (S101: Yes), the display control unit 13 controls the display of the vehicle icon VA as an exception, based on the dividing line image LA (S102). Next, the display control unit 13 determines whether the vehicle V will return to its original lane based on the control predetermined information of the vehicle V generated by the driving control unit 11 (S103). If the vehicle returns to its original lane (S103: Yes), the display control unit 13 performs the processing in S105. If the vehicle does not return to its original lane (S103: No), the display control unit 13 determines whether a predetermined return time threshold has been exceeded (S104).

[0052] If the predetermined return time threshold has not been reached (S104: No), the display control unit 13 performs the process in S102. If the predetermined return time threshold has been reached (S104: Yes), the display control unit 13 restores the display mode to the normal display mode (S105). It should be noted that in... Figure 4 When controlling the display in an exceptional situation during the process shown, if an overdrive operation is performed by the driver, the display control unit 13 will restore the display control to the normal state as described above.

[0053] As described above, for example, vehicle V sometimes leaves its original lane to avoid obstacles and then returns to it. In this case, during the period from the start of the control to leave the original lane until the vehicle returns to its original lane, the display control device 100, while keeping the position of the dividing line image LA fixed on the display screen of the monitor 40, moves the vehicle icon VA relative to the dividing line image LA. That is, in this case, the vehicle icon VA moves relative to the dividing line image LA. Here, on the display screen of the monitor 40, the dividing line image LA is displayed around the vehicle icon VA and is larger than the vehicle icon VA. Therefore, by fixing the dividing line image LA, which occupies a larger area on the display screen of the monitor 40, and moving the vehicle icon VA, which is smaller than the dividing line image LA, the display control device 100 can suppress the driver's attention from being drawn to the monitor 40. In this way, the display control device 100 can suppress the driver's attention and display the movement of vehicle V when it leaves its original lane and then returns to its original lane.

[0054] When the display control unit 13 moves the vehicle icon VA during an exception display, it moves the position of the vehicle icon VA in the lane width direction while keeping its orientation fixed so that it faces forward. In this case, the display control unit 100 does not change the orientation of the vehicle icon VA, thus further reducing the driver's attention from being drawn to the display 40.

[0055] After an exception is displayed, if the vehicle V fails to return to its original lane even after a predetermined return time threshold has elapsed, the display control unit 13 gradually moves the vehicle icon VA to a reference position X on the display screen of the monitor 40, and then returns to the normal display. Here, for example, the planned return of the vehicle V to its original lane after leaving it may change depending on changes in the situation of other vehicles around the vehicle V. Therefore, if the vehicle V fails to return to its original lane even after the predetermined return time threshold has elapsed, the display control unit 100 gradually moves the vehicle icon VA to the reference position X on the display screen. Then, the display control unit 100 performs the normal display as follows: with the position of the vehicle icon VA fixed on the display screen, a dividing line image LA is displayed relative to the vehicle icon VA. Thus, even if the driving plan of the vehicle V changes, the display control unit 100 can switch the control of the display of the vehicle icon VA and the dividing line image LA in response to the change in the driving plan.

[0056] It should be noted that the aforementioned "return time threshold" is set to be shorter when the vehicle V is traveling at a higher speed than when the vehicle V is traveling at a lower speed. In this case, the display control device 100 can more appropriately switch the display control of the vehicle icon VA and the dividing line image LA according to the speed of the vehicle V.

[0057] If the driving control of the vehicle V implemented by the driving control unit 11 is cancelled due to overtaking operation by the driver of the vehicle V, the display control unit 13 suspends the control of the exception display and instead performs the control of the normal display. For example, if the driving control of the vehicle V implemented by the driving control unit 11 is cancelled due to overtaking operation by the driver, the initial plan to return to the original driving lane after leaving the original driving lane may sometimes change. Therefore, if the control implemented by the driving control unit 11 is cancelled, the display control device 100 suspends the following control (exception display) assumed to be performed in the case of returning to the original driving lane after leaving the original driving lane: while the position of the dividing line image LA is fixed, the vehicle icon VA is moved relative to the dividing line image LA. As a result, the display control device 100 can switch the control of the display of the vehicle icon VA and the dividing line image LA in response to the change in the driving plan.

[0058] The greater the deviation of the steering angle of the driver's overtaking steering operation from the steering angle of the steering operation implemented by the driving control unit 11, the faster the display control unit 13 will suspend the control of the display in the exception situation. For example, when the driving control unit 11 is controlling the driving of the vehicle V, the greater the steering amount (steering angle) of the overtaking operation performed by the driver, the higher the probability that the initial plan of returning to the original driving lane after leaving the original driving lane will be changed. Therefore, in the driving control implemented by the driving control unit 11, the greater the steering amount of the overtaking operation performed by the driver, the faster the display control device 100 will suspend the following control (display in the exception situation) assumed in the case of returning to the original driving lane after leaving the original driving lane: while the position of the dividing line image LA is fixed, the vehicle icon VA is moved relative to the dividing line image LA. As a result, the display control device 100 can reflect the driver's intention and switch the control of the display of the vehicle icon VA and the dividing line image LA.

Claims

1. A display control device that displays an image of a dividing line corresponding to the perimeter of a vehicle and a vehicle icon corresponding to the vehicle on a display screen, the display control device comprising: The driving control unit controls the driving of the vehicle based on the external environment and a pre-set driving route; The determination unit, based on the vehicle's driving control predetermined information generated by the driving control unit, determines whether the vehicle will return to its original driving lane after leaving it; and The display control unit displays the dividing line image and the vehicle icon on the monitor in a manner corresponding to the positional relationship between the dividing line and the vehicle. If the determination unit determines that the vehicle will return to the original driving lane after leaving the original driving lane, the display control unit moves the vehicle icon relative to the dividing line image while keeping the position of the dividing line image fixed in the display screen from the time the vehicle begins to leave the original driving lane until it returns to the original driving lane.

2. The display control device according to claim 1, wherein, When the display control unit moves the vehicle icon, it moves the position of the vehicle icon in the lane width direction while keeping its orientation fixed so that the vehicle icon faces forward.

3. The display control device according to claim 1, wherein, When the position of the dividing line image is fixed in the display screen, and the vehicle icon is moved relative to the dividing line image, if the vehicle does not return to its original driving lane even after a predetermined return time threshold has elapsed, the display control unit gradually moves the vehicle icon to a reference position in the display screen, and then displays the dividing line image relative to the vehicle icon while the position of the vehicle icon is fixed in the display screen.

4. The display control device according to claim 3, wherein, The return time threshold is set to be shorter when the vehicle is traveling at a high speed than when the vehicle is traveling at a low speed.

5. The display control device according to any one of claims 1 to 4, wherein, If the driving control of the vehicle implemented by the driving control unit is cancelled by the overdrive operation of the driver of the vehicle, the display control unit stops controlling the movement of the vehicle icon relative to the dividing line image in the display screen while the position of the dividing line image is fixed, and instead displays the dividing line image and the vehicle icon on the display screen in a manner corresponding to the positional relationship between the dividing line and the vehicle.

6. The display control device according to claim 5, wherein, The more significantly the steering angle of the overdrive operation performed by the driver of the vehicle deviates from the steering angle of the steering operation implemented by the driving control unit, the faster the display control unit will stop controlling the movement of the vehicle icon relative to the dividing line image while the position of the dividing line image is fixed on the display screen. The display control unit displays the dividing line image and the vehicle icon on the monitor in a manner corresponding to the positional relationship between the dividing line and the vehicle.

Images