Display control device, display control method, and recording medium recording display control program

Abstract

The present disclosure provides a display control device, a display control method, and a recording medium recording a display control program. The display control device has a control section that causes a vehicle image representing at least one vehicle and a road surface image representing at least one travel lane in which the vehicle travels to be displayed on a display section, and causes an entering vehicle image representing an entering vehicle that enters a first range set in the travel lane to move to a position set in advance in the road surface image representing the travel lane into which the entering vehicle enters.

Description

Technical Field

[0001] This disclosure relates to a display control device, a display control method, and a recording medium containing a display control program. Background Technology

[0002] Japanese Patent No. 7048398 discloses a vehicle control device capable of providing reassurance to occupants through automated driving. Summary of the Invention

[0003] However, in the technology related to Japanese Patent No. 7048398, an image showing the vehicle and its surroundings is displayed on the display unit (for example, referring to Japanese Patent No. 7048398). Figure 8 ).

[0004] Thus, while the structure for displaying information about the vehicle's surroundings on the display unit is known in the prior art, the displayed information may not be highly visually recognizable to the driver, and there is still room for improvement in terms of enhancing the visual recognizability of the displayed content.

[0005] Therefore, the purpose of this disclosure is to provide a display control device, a display control method, and a recording medium containing a display control program that can suppress instability in the display position of the image representing the vehicle caused by the influence of the detection status in the vehicle when using an image representing the vehicle and the driving lane to indicate the surrounding conditions.

[0006] The display control device according to the first method includes a control unit that displays a vehicle image representing at least one vehicle and a road surface image representing at least one driving lane in which the vehicle is traveling on the display unit, and moves an entry vehicle image representing an entry vehicle entering a first range set in the driving lane to a preset position of the road surface image representing the driving lane in which the entry vehicle has entered.

[0007] In the display control device according to the first embodiment, the control unit displays a vehicle image and a road surface image on the display unit. Furthermore, the control unit moves the entering vehicle image, representing a vehicle entering a first range within a driving lane set for the vehicle, to a predetermined position of the road surface image representing the driving lane the entering vehicle has entered. Therefore, according to this display control device, by moving the entering vehicle image to the predetermined position of the road surface image representing the driving lane the entering vehicle has entered, while using images representing the vehicle and the driving lane to indicate the surrounding conditions, instability in the display position of the entering vehicle image caused by the detection status within the vehicle can be suppressed.

[0008] In the first embodiment, the control unit of the display control device in the second embodiment fixes the image of the entering vehicle at a predetermined position representing the road surface image of the driving lane while the entering vehicle is traveling in the driving lane it has traveled before entering, until the entering vehicle exceeds a second range wider than the first range set in the driving lane.

[0009] In the display control device according to the second method, the control unit fixes the image of the entering vehicle at a predetermined position on the road surface image representing the driving lane while the entering vehicle is traveling in the driving lane it previously traveled in, until the entering vehicle exceeds a second range set in the driving lane. Therefore, according to this display control device, unwanted display swaying and instantaneous position changes of the entering vehicle image can be suppressed.

[0010] In the second embodiment, the display control device of the third embodiment causes the image of the entering vehicle to move continuously according to the movement of the entering vehicle after the entering vehicle has passed the second range, until it enters the first range set in the driving lane after entering.

[0011] In the display control device according to the third method, after the vehicle enters beyond the second range, the control unit continuously moves the image of the entering vehicle according to the movement of the entering vehicle until it enters the first range set in the driving lane after entry. Therefore, according to this display control device, the driver can visually and naturally recognize the movement of the entering vehicle.

[0012] The display control device involved in the fourth method, in the second or third method, includes a setting unit that dynamically changes the width of at least one of the first range and the second range according to the determined type of the entering vehicle.

[0013] In the display control device according to the fourth method, the setting unit dynamically changes the width of at least one of the first range and the second range based on the determined type of the entering vehicle. Therefore, according to this display control device, display control tailored to the characteristics of each entering vehicle can be performed, improving the visual recognizability of the image of the entering vehicle.

[0014] In the fifth method, the display control device in any one of the first to fourth methods has the preset position of the road surface image as the center position in the width direction of the road surface image.

[0015] In the display control device according to the fifth method, the preset position of the road image is the center position in the width direction of the road image. Therefore, according to this display control device, the position of the incoming vehicle image is displayed uniformly, improving visual recognition and suppressing display deviations.

[0016] In any one of the first to fifth methods, the vehicle in the sixth method includes the vehicle itself and other vehicles. When the other vehicle changes lanes in front of the vehicle's direction of travel and enters the first range set in the driving lane where the vehicle is traveling, the control unit moves the image of the other vehicle representing the other vehicle to a predetermined position representing the road surface image of the driving lane and in front of the vehicle's image representing the vehicle's direction of travel.

[0017] In the display control device according to the sixth method, when another vehicle changes lanes in front of the vehicle's direction of travel and enters the first range of the driving lane set for the vehicle, the control unit moves the image of the other vehicle to a preset position representing the road surface image of that driving lane and forward of the vehicle's direction of travel. Thus, according to this display control device, the driver can intuitively identify the presence and positional relationship of other vehicles that have entered the road.

[0018] In any one of the first to sixth methods, the vehicle involved in the seventh method is the vehicle itself, and when the control unit enters the first range set in the driving lane after the vehicle temporarily leaves the driving lane, it moves the image of the vehicle representing the vehicle to a preset position of the road surface image representing the driving lane.

[0019] In the display control device according to the seventh method, when the vehicle temporarily leaves the driving lane and then re-enters the first range set in the driving lane, the control unit moves the vehicle image to a preset position representing the road surface image of the driving lane. Therefore, according to this display control device, even when the vehicle temporarily leaves and then re-enters the driving lane, by moving the vehicle image to the preset position, the driver can intuitively discern the current position of the vehicle.

[0020] In the eighth embodiment, the display control device is, in any one of the first to seventh embodiments, an instrument display located in front of the driver's seat of the vehicle.

[0021] In the display control device according to the eighth method, the display unit is an instrument display located in front of the driver's seat of the vehicle. Therefore, according to this display control device, by using the instrument display, the driver's eye movement can be minimized while visually recognizing an image of an approaching vehicle, allowing for rapid monitoring of vehicle entry.

[0022] The display control method involved in the ninth method is performed by a computer as follows: displaying a vehicle image representing at least one vehicle and a road surface image representing at least one driving lane in which the vehicle is traveling on a display unit, and moving an entry vehicle image representing an entry vehicle entering a first range set in the driving lane to a preset position of the road surface image representing the driving lane in which the entry vehicle has entered.

[0023] In the display control method according to the ninth method, the computer performs the process of displaying a vehicle image and a road surface image on the display unit. Furthermore, in this display control method, the computer performs the process of moving an image representing an approaching vehicle entering a first range of a driving lane set within the vehicle's driving lane to a predetermined position of the road surface image representing the driving lane the approaching vehicle has entered. Therefore, according to this display control method, by moving the approaching vehicle image to the predetermined position of the road surface image representing the driving lane the approaching vehicle has entered, when using images representing the vehicle and the driving lane to indicate the surrounding conditions, instability in the display position of the approaching vehicle image caused by the detection status within the vehicle can be suppressed.

[0024] The tenth method is a non-volatile recording medium containing a display control program. This display control program causes a computer to perform the following processing: displaying a vehicle image representing at least one vehicle and a road surface image representing at least one driving lane in which the vehicle is traveling on a display unit; and moving an entering vehicle image representing an entering vehicle entering a first range set within the driving lane to a predetermined position of the road surface image representing the driving lane in which the entering vehicle has entered.

[0025] In the display control program according to the tenth method, the computer executes a process of displaying vehicle images and road surface images on the display unit. Furthermore, in this display control program, the computer executes a process of moving the image of an approaching vehicle, representing a vehicle entering a first range of a driving lane set within the vehicle's driving lane, to a predetermined position of the road surface image representing the driving lane the approaching vehicle has entered. Therefore, according to this display control program, by moving the approaching vehicle image to the predetermined position of the road surface image representing the driving lane the approaching vehicle has entered, when using images representing the vehicle and the driving lane to indicate the surrounding conditions, instability in the display position of the approaching vehicle image caused by the detection status within the vehicle can be suppressed.

[0026] As explained above, by using the display control device, display control method, and recording medium containing the display control program disclosed herein, when using images representing vehicles and driving lanes to indicate the surrounding conditions, it is possible to suppress instability in the display position of the images representing vehicles caused by the influence of the detection conditions in the vehicle. Attached Figure Description

[0027] Exemplary embodiments of this disclosure will be described in detail based on the following figures, wherein:

[0028] Figure 1 This is a block diagram showing the general structure of this vehicle.

[0029] Figure 2 This is a rough view of the front of the vehicle's interior from the rear side.

[0030] Figure 3 This is an explanatory diagram illustrating the display area of ​​the first display unit.

[0031] Figure 4 This is a block diagram showing the general structure of the display control device.

[0032] Figure 5 This is a block diagram illustrating an example of the functional structure of a display control device.

[0033] Figure 6 It is a flowchart illustrating the process of a specific procedure.

[0034] Figure 7 This is a subroutine that shows the flow of the update process.

[0035] Figure 8 This is the first explanatory diagram illustrating the vehicle's driving conditions.

[0036] Figure 9 This is the first explanatory diagram showing a display example displayed in the display area of ​​the first display unit.

[0037] Figure 10 This is the second explanatory diagram illustrating the vehicle's driving conditions.

[0038] Figure 11 This is the second explanatory diagram showing a display example displayed in the display area of ​​the first display unit.

[0039] Figure 12 This is the third explanatory diagram illustrating the vehicle's driving conditions.

[0040] Figure 13 This is the third explanatory diagram showing a display example displayed in the display area of ​​the first display unit.

[0041] Figure 14 This is the fourth explanatory diagram illustrating the vehicle's driving conditions.

[0042] Figure 15 This is the fourth explanatory diagram showing a display example displayed in the display area of ​​the first display unit.

[0043] Figure 16 This is the fifth explanatory diagram illustrating the vehicle's driving conditions.

[0044] Figure 17 This is the sixth explanatory diagram illustrating the vehicle's driving conditions.

[0045] Figure 18 This is the 7th explanatory diagram illustrating the vehicle's driving conditions.

[0046] Figure 19 This is the 8th explanatory diagram illustrating the vehicle's driving conditions. Detailed Implementation

[0047] The vehicle involved in this embodiment will now be described. In this embodiment, the vehicle includes the vehicle 10 driven by a specific driver (see reference 10). Figure 8 (etc.), and other vehicles 100 driven by a driver different from that specific driver (see reference) Figure 10 (etc.). This vehicle 10 is an example of "this vehicle" in this disclosure, and other vehicles 100 are an example of "other vehicles" in this disclosure.

[0048] (First Embodiment)

[0049] First, the first embodiment of the vehicle involved in this embodiment will be described. Furthermore, this vehicle 10 and other vehicles 100 have substantially the same structure, so this vehicle 10 will be used as a representative example in the following description.

[0050] Figure 1 This is a block diagram showing the general structure of the vehicle 10.

[0051] like Figure 1As shown, the vehicle 10 includes a display device 21, a sensor group 30, a camera 40, and a display control device 50. These components are interconnected via an external bus (communication bus) 15.

[0052] The display device 21 is a device that displays suggestions for actions related to the functions of the vehicle 10, as well as images related to explanations of those functions. In this embodiment, the display device 21 includes a first display unit 24 and a second display unit 25. The first display unit 24 is an example of a "display unit" in this disclosure. Further details regarding the first display unit 24 and the second display unit 25 will be described later.

[0053] The sensor group 30 includes various sensors used to detect the status of the vehicle 10 and its surroundings. Specifically, the sensor group 30 includes 3D-LiDAR, millimeter-wave sensors, infrared sensors, turn signal sensors, accelerator pedal position sensors, gear shift sensors, illuminance sensors, vehicle speed sensors, steering angle sensors, angular velocity sensors, GPS (Global Positioning System) sensors, gyroscope sensors, and accelerometers. The sensor group 30 outputs the detection results from each sensor to the display control device 50.

[0054] Camera 40 is an imaging device that uses imaging elements such as CCD (Charge Coupled Device) image sensors or CMOS (Complementary Metal Oxide Semiconductor) image sensors to capture images. Camera 40 is positioned in front, behind, on the left side, and on the right side of the vehicle 10 to capture images of the surrounding environment. For example, images captured by camera 40 positioned in front of the vehicle are used to identify other vehicles 100 traveling in front of the vehicle, the distance between vehicles 100, lanes, and traffic lights. Images captured by camera 40 are output to display control device 50. Furthermore, camera 40 can also be configured as a dashcam or an ADAS (Advanced Driver Assistance System) for other applications.

[0055] The display control device 50 is, for example, an ECU (Electrical Control Unit) that performs various controls. The display control device 50 is an example of "display control device" and "computer" in this disclosure.

[0056] Figure 2This is a schematic diagram of the front of the cabin 13 of the vehicle 10 as viewed from the rear side. Figure 2 The arrow UP indicates the upper side in the vertical direction of the vehicle, and the arrow RH indicates the right side in the width direction of the vehicle. In the following explanation, the vertical and horizontal directions refer to the vertical movement of the vehicle and the width movement of the vehicle, respectively.

[0057] like Figure 2 As shown, an instrument panel 14 is provided at the front of the passenger compartment 13 in this vehicle 10. 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 instrument panel 14. That is, as an example, this vehicle 10 is a right-hand drive vehicle with the steering wheel 16 on the right side and the driver's seat located on the right side of the vehicle. However, it is not limited to this, and this vehicle 10 may also be a left-hand drive vehicle with the driver's seat located on the left side of the vehicle.

[0058] A windshield 18 is provided at the front end of the dashboard 14. The windshield 18 extends in the vertical direction and the width direction of the vehicle, separating the interior of the vehicle compartment 13 from the exterior of the vehicle compartment 13.

[0059] The right-side end of the windshield 18 is fixed to the right-side 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 glass 22 is fixed to the outer end of the front pillar 20 in the vehicle width direction. Furthermore, the left-side end of the windshield 18 is fixed to the left-side front pillar (not shown).

[0060] Here, a first display unit 24 with an image display area V is provided on the instrument panel 14. The first display unit 24 is located on the right side of the instrument panel 14 and is composed of an instrument display provided in front of the driver's seat. The first display unit 24 is connected to various instrument devices mounted on the vehicle 10 and is positioned to enter the driver's field of vision when the driver's gaze is directed forward.

[0061] Additionally, a second display unit 25 is provided on the instrument panel 14. The second display unit 25 is composed of a central display screen disposed in the center of the instrument panel 14 in the vehicle width direction.

[0062] Figure 3 This is an explanatory diagram illustrating the display area of ​​the instrument display, which serves as the display area V of the first display unit 24.

[0063] exist Figure 3 The image shows the display area V of the first display unit 24. Furthermore, in this embodiment, in the display area X, which is part of the display area V, a vehicle image 10A representing the vehicle 10 is displayed (see reference 10A). Figure 9(etc.) and a surrounding environment image as an image representing the surrounding environment of the vehicle 10. Specific examples of these images will be described later.

[0064] Display area X becomes the driver's view through the opening 17 of steering wheel 16 (see reference). Figure 2 The visually identifiable area. Specifically, such as... Figure 3 As shown, the center of the area that can be viewed from between the upper edge line A1 and the lower edge line A2 of the opening 17 is designated as the display area X. To the left and right of the display area X in the display area V are instrument displays M1 and M2, which represent the measuring equipment of the vehicle 10.

[0065] Figure 4 This is a block diagram showing the general structure of the display control device 50.

[0066] like Figure 4 As shown, the display control device 50 is configured to include a CPU (Central Processing Unit) 51, a ROM (Read Only Memory) 52, a RAM (Random Access Memory) 53, a storage device 54, a communication I / F (Interface) 55, and an input / output I / F 56. These components are communicatively connected to each other via an internal bus 57.

[0067] CPU 51 is a central processing unit that executes various programs or controls other parts of the system. Specifically, CPU 51 reads programs from ROM 52 and uses RAM 53 as the operating area to execute the programs. CPU 51 is an example of the "processor" disclosed herein.

[0068] ROM52 stores various programs and data. RAM53 serves as a temporary storage area for programs or data.

[0069] Storage device 54 is composed of storage media such as eMMC (embedded Multi Media Card) or UFS (Universal Flash Storage) to store various programs and data. Storage device 54 and CPU 51 are connected via eMMC or UFS interface.

[0070] Furthermore, the components included in the display control device 50, such as the ROM 52 and the storage device 54, are preferably media with tamper-proof properties, such as HSM (Hardware Security Module).

[0071] The Communication I / F55 is an interface used for connecting to other ECUs. This interface uses an Ethernet-based communication standard (registered trademark).

[0072] The input / output I / F56 is an interface for communicating with onboard equipment such as the display device 21, sensor group 30, and camera 40 mounted on the vehicle 10.

[0073] Here, the ROM 52 stores the display control program 52A, map data 52B, object detection model 52C, and illustration data 52D.

[0074] Display control program 52A is a program used to cause CPU 51 to perform various processes. When executing display control program 52A, display control device 50 uses... Figure 4 The structure shown executes processing based on the display control program 52A. The display control program 52A is an example of a "display control program" in this disclosure.

[0075] Map data 52B is high-precision map data representing the entire country where vehicle 10 is located.

[0076] Object detection model 52C is a model that identifies the region of a target shown in a camera image captured by camera 40 and determines the level (category) of the target when the input is a camera image captured by camera 40. Object detection model 52C is constructed, for example, by using known models such as YOLO (You Only Look Once) and SSD (Single Shot MultiBox Detector).

[0077] The targets mentioned above include, for example, humans, animals, and vehicles. Furthermore, the categories are divided into children, adults, and the elderly for humans; dogs, cats, and horses for animals; and two-wheeled vehicles, three-wheeled vehicles, passenger cars, and trucks for vehicles.

[0078] Illustration data 52D is data representing the illustration design of each target displayed on the first display unit 24.

[0079] Next, the functional structure of the display control device 50 will be explained.

[0080] Figure 5 This is a block diagram illustrating an example of the functional structure of the display control device 50.

[0081] like Figure 5As shown, the CPU 51 of the display control device 50 includes, as a functional structure, an acquisition unit 51A, a control unit 51B, a setting unit 51C, and an application unit 51D. Each functional structure is implemented by the CPU 51 reading and executing the display control program 52A stored in the ROM 52. The control unit 51B is an example of a "control unit" in this disclosure, and the setting unit 51C is an example of a "setting unit" in this disclosure.

[0082] The acquisition unit 51A acquires various types of information available in the vehicle 10. Specifically, the acquisition unit 51A acquires detection results from various sensors constituting the sensor group 30, as well as detection information such as video images captured by the camera 40, as various types of information.

[0083] The control unit 51B performs display control related to the display of the display device 21. For example, in the control unit 51B, as part of this display control, based on the detection information obtained by the acquisition unit 51A, the vehicle image 10A viewed from the virtual viewpoint and the surrounding situation image are displayed on the first display unit 24.

[0084] Here, "virtual viewpoint" refers to a viewpoint set in a three-dimensional virtual space with the location of the vehicle image 10A as the origin. This virtual viewpoint is defined by predetermined viewpoint coordinates and viewpoint angle (orientation) in the virtual space. As an example, this virtual viewpoint is a viewpoint overlooking the vehicle 10 and its surroundings from specific viewpoint coordinates located above the vehicle image 10A in the virtual space and from a specific viewpoint angle. Additionally, the surrounding environment image includes a road surface image 65 (see reference 65) showing the road surface including sidewalks and lanes. Figure 9 Image 10A represents other vehicles 100 and pedestrians, and image 65 represents targets other than the vehicle 10. Image 10A is an example of "image of the vehicle" in this disclosure, and image 65 is an example of "image of the road surface" in this disclosure.

[0085] The setting unit 51C sets a control range for controlling the display position of the vehicle image representing each vehicle in each driving lane in which the vehicle 10 and other vehicles 100 travel. Here, the control range refers to a specific area with the center position in the width direction of each driving lane as a reference.

[0086] Based on the detection information acquired by the acquisition unit 51A, the setting unit 51C estimates the center position of each driving lane in the width direction. Then, using this center position as a reference, the setting unit 51C sets a starting range with a width of Xm to the left and a final range with a width of Ym to the left and right as control ranges in each driving lane. Here, Xm and Ym are set to be narrower than the lane width Zm, and the width of the starting range Xm is set to be wider than the width of the final range Ym.

[0087] For example, in a road with three lanes on one side, the setting unit 51C independently sets the starting range and the ending range for each lane. Furthermore, the ending range is an example of the "first range" in this disclosure, and the starting range is an example of the "second range" in this disclosure.

[0088] Application unit 51D applies the control range set by setting unit 51C to each vehicle, including vehicle 10 and other vehicles 100. Based on the detection information obtained by acquisition unit 51A, application unit 51D determines each vehicle existing around vehicle 10 (for example, only vehicle 10, vehicle 10 and other vehicles 100), and infers the current driving lane of each vehicle (hereinafter referred to as "current lane").

[0089] As an example, Application Division 51D estimates the lane with the largest occupancy as the current lane for each vehicle based on the vehicle's occupancy ratio for each lane.

[0090] Furthermore, the application unit 51D applies a starting range to the current lane and a ending range to lanes outside the current lane for each vehicle. This allows for appropriate display control corresponding to the start and end of activities for each vehicle.

[0091] For example, when vehicle 10 and other vehicles 100 are on a road with three lanes on one side, the application unit 51D sets three lane quantities for each vehicle's independent control range and applies a vehicle-specific control range. Further examples regarding the control range will be described later.

[0092] Figure 6 This is a flowchart illustrating the process of a specific process performed by the display control device 50. The display control program 52A is read from the ROM 52 by the CPU 51, expanded into the RAM 53, and executed to perform the specific process. As an example, during the display of the vehicle image 10A and the surrounding situation image on the first display unit 24, the specific process is automatically and repeatedly executed at predetermined time intervals.

[0093] exist Figure 6 In step S10, CPU 51 acquires detectable information from the vehicle 10. This detectable information includes, for example, target information detected by 3D-LiDAR and video images captured by camera 40. Then, CPU 51 proceeds to step S11.

[0094] In step S11, CPU 51 determines the positional relationship of each vehicle relative to each lane based on the detection information obtained in step S10, and applies a control range corresponding to the positional relationship to each vehicle. Then, CPU 51 proceeds to step S12.

[0095] In step S12, CPU 51 determines whether there is a vehicle exceeding the starting range applied in step S11. If CPU 51 determines that a vehicle exceeds the starting range (step S12: "Yes"), it proceeds to step S13. Conversely, if CPU 51 determines that no vehicle exceeds the starting range (step S12: "No"), it proceeds to step S14. As an example, if CPU 51 determines, based on detection information, that more than half of the vehicle body is outside the starting range, it determines that a vehicle exceeds the starting range.

[0096] In step S13, CPU 51 performs a display update process to update the display content of the image representing an approaching vehicle that has exceeded the starting range. Details regarding the display update process will be described later. Then, CPU 51 proceeds to step S15.

[0097] In step S14, CPU 51 fixes the vehicle images representing each vehicle at a predetermined position on the road surface image 65 representing the driving lane of each vehicle. In this embodiment, the predetermined position is the center position in the width direction of the road surface image 65. Then, CPU 51 proceeds to step S15.

[0098] In step S15, CPU 51 determines whether the predetermined termination condition is met. If the termination condition is met (step S15: "Yes"), CPU 51 terminates the specific process. Conversely, if the termination condition is not met (step S15: "No"), CPU 51 returns to step S10. As an example, CPU 51 determines that the termination condition is met when the ignition switch of the vehicle 10 is turned off.

[0099] Figure 7 This is a flowchart illustrating the display update process executed by the display control device 50. The display control program 52A is read from the ROM 52 by the CPU 51, expanded into the RAM 53, and executed to perform the display update process.

[0100] exist Figure 7 In step S20, CPU 51 obtains the detection information that can be detected by the vehicle 10. Then, CPU 51 proceeds to step S21.

[0101] In step S21, CPU 51 continuously moves the image of the incoming vehicle according to the movement of the incoming vehicle. Then, CPU 51 proceeds to step S22.

[0102] In step S22, CPU 51 determines whether the entering vehicle has entered the final motion range. If CPU 51 determines that the entering vehicle has entered the final motion range (step S22: "Yes"), it proceeds to step S23. Conversely, if CPU 51 determines that the entering vehicle has not entered the final motion range (step S22: "No"), it returns to step S20. As an example, if CPU 51 determines, based on detection information, that more than half of the entering vehicle's body is within the final motion range, it determines that the entering vehicle has entered the final motion range.

[0103] In step S23, CPU 51 moves the image of the incoming vehicle to the center position in the width direction of the road surface image 65 representing the driving lane the vehicle has entered, and fixes it at that center position. Then, CPU 51 returns to the main routine and enters... Figure 6 Step S15 is shown.

[0104] Next, use Figures 8-15 This explains the changes in the display content of the first display unit 24 based on the aforementioned specific processing and display update processing.

[0105] Figure 8 This is the first explanatory diagram illustrating the vehicle's driving conditions. In Figure 8 The road shown has three lanes: a central lane (L1), a left lane (L2), and a right lane (L3).

[0106] exist Figure 8 In this scenario, vehicle 10 is traveling in the center of the width direction of the central lane L1, with no other vehicles around it. In this case, CPU 51 applies a starting range 11 to the central lane L1, which is the current lane, and applies a final range 12 to the left lane L2 and the right lane L3 for vehicle 10.

[0107] Figure 9 This is a first explanatory diagram showing a display example displayed in display area X of the first display unit 24. Specifically, Figure 9 Is with Figure 8 The example shown corresponds to the driving status of the vehicle.

[0108] like Figure 9 As shown, in the upper part of the display area X, shift information 70 and vehicle speed information 72 are displayed.

[0109] Shift information 70 indicates the gear position (10) of this vehicle. Figure 9 If it is displayed as "D", it means that the gear is in D mode.

[0110] Speed ​​information 72 indicates the speed of this vehicle 10. Figure 9 The display shows "54km / h", indicating that the vehicle speed is 54km / h.

[0111] Additionally, below the gear shift information 70 and vehicle speed information 72, the vehicle image 10A and the surrounding conditions image are displayed. This surrounding conditions image includes a road surface image 65.

[0112] On the road surface image 65, a lane dividing line image 67 is displayed to separate the lanes within the lanes. Thus, the lanes are divided into three lanes: lane 65A corresponding to the center lane L1, lane 65B corresponding to the left lane L2, and lane 65C corresponding to the right lane L3. Figure 9 In the middle, in lane 65A, the image of this vehicle 10A is displayed.

[0113] This vehicle image 10A is an illustration image representing this vehicle 10 generated based on a predetermined illustration design shown in illustration data 52D. As described above, this vehicle 10 travels in the center of the width direction of the central lane L1 and exists within the starting range 11 set in the central lane L1. Therefore, this vehicle image 10A is fixedly displayed from a virtual viewpoint, positioned in the center of the width direction of lane 65A.

[0114] Figure 10 This is the second explanatory diagram illustrating the vehicle's driving conditions. In Figure 10 The image shows a situation where another vehicle (100) is present in the right lane (L3). Figure 10 For ease of explanation, the diagram showing the control range applied to this vehicle 10 is omitted; only the control range applied to other vehicles 100 is shown. Furthermore, regarding... Figure 12 as well as Figure 14 Similarly, only the control range for other vehicles 100 is illustrated. Furthermore, as will be explained in detail later, Figure 10 , Figure 12 as well as Figure 14 The sequence indicates the status of other vehicles changing lanes.

[0115] like Figure 10 As shown, other vehicles 100 are traveling further to the left than the center of the right lane L3 in the width direction. At this time, the CPU 51 determines the current lane of the other vehicle 100 as the right lane L3, applies the starting range 11 to the right lane L3, and applies the ending range 12 to the center lane L1 and the left lane L2. Furthermore, not limited to this, the CPU 51 can also be configured to apply the starting range 11 to the current lane of vehicles traveling in end lanes (e.g., right or left lanes), apply the ending range 12 only to one adjacent lane, and not apply a control range to other lanes. For example, it can also be configured to... Figure 10In the situation shown, CPU51 applies starting range 11 to the right lane L3, applies ending range 12 to the center lane L1, and does not apply control range to the left lane L2 for other vehicles 100.

[0116] Figure 11 This is a second explanatory diagram showing a display example displayed in display area X of the first display unit 24. Specifically, Figure 11 Is with Figure 10 The example shown corresponds to the driving status of the vehicle.

[0117] like Figure 11 As shown, in the display area X, as a surrounding condition image, an image of other vehicles 100, representing other vehicles 100, is additionally displayed on the right lane 65C. The image of other vehicles 10B is an illustration image representing other vehicles 100 generated based on a predetermined illustration design shown in the illustration data 52D.

[0118] As mentioned above Figure 10 As shown, when other vehicles 100 change lanes, they are traveling further to the left than the center of the right lane L3 in the width direction. However, since other vehicles 100 are within the starting range 11 set in the right lane L3, the image 10B of other vehicles is fixedly displayed from the viewpoint of the virtual viewpoint, with the image located at the center of the width direction of lane 65C.

[0119] Figure 12 This is the third explanatory diagram illustrating the vehicle's driving conditions. (For example...) Figure 12 As shown, other vehicles 100 are in the stage before they exceed the starting range 11 set in the right lane L3 and enter the ending range 12 set in the center lane L1. That is, other vehicles 100 are in the process of moving beyond the starting range 11 and towards the center of the width direction of the center lane L1.

[0120] Figure 13 This is the third explanatory diagram showing a display example displayed in display area X of the first display unit 24. Specifically, Figure 13 Is with Figure 12 The example shown corresponds to the driving status of the vehicle.

[0121] exist Figure 13 If another vehicle 100 exceeds the starting range 11 set in the right lane L3, the fixed control of the other vehicle image 10B, which is fixedly displayed in the center of the width direction of lane 65C, is released. As a result, the other vehicle image 10B is switched to a display style that continuously moves according to the actual movement of the other vehicle 100 based on the detection information, and is displayed at a position crossing lane 65A in the illustrated state.

[0122] Figure 14This is the fourth explanatory diagram illustrating the vehicle's driving conditions. (For example...) Figure 14 As shown, other vehicles 100 are entering the final movement range 12 set in the central lane L1. At this time, more than half of the vehicle body of other vehicles 100 is within the final movement range 12. Based on this condition, CPU 51 determines that other vehicles 100 have entered the final movement range 12.

[0123] Figure 15 This is the fourth explanatory diagram showing a display example displayed in display area X of the first display unit 24. Specifically, Figure 15 Is with Figure 14 The example shown corresponds to the driving status of the vehicle.

[0124] exist Figure 15 In the middle, other vehicles 100 enter the final movement range 12 set in the central lane L1, so the other vehicle image 10B is positioned in the center of the width direction of lane 65A and is displayed in a moving manner in front of the travel direction of the vehicle image 10A.

[0125] As explained above, in the display control device 50, the CPU 51 displays a vehicle image representing at least one vehicle and a road surface image 65 on the first display unit 24. Furthermore, the CPU 51 moves the other vehicle image 10B, representing another vehicle 100 entering the final travel range 12 of the central lane L1, which is the driving lane of this vehicle 10, to a predetermined position in lane 65A of the central lane L1, representing the other vehicle 100 entering. Therefore, according to this display control device 50, by moving the other vehicle image 10B to the predetermined position in lane 65A, while using images representing vehicles and driving lanes to indicate the surrounding conditions, it is possible to suppress instability in the display position of the other vehicle image 10B caused by the detection status of this vehicle 10.

[0126] Furthermore, in the display control device 50, while other vehicles 100 are traveling in the right lane L3 before entering the center lane L1, the CPU 51 applies a starting range 11 set in the right lane L3 for the other vehicles 100. The CPU 51 then fixes the image 10B of the other vehicles at a predetermined position in lane 65C of the right lane L3, representing the other vehicle 100, until the other vehicle 100 exceeds the starting range 11. Thus, according to this display control device 50, unwanted display shake and momentary position changes of the image 10B of the other vehicles can be suppressed.

[0127] Furthermore, in the display control device 50, the CPU 51 continuously moves the image 10B of other vehicles 100 according to their movements until they enter the final movement range 12 set in the central lane L1 after the other vehicles 100 have passed the starting range 11. Thus, according to this display control device 50, the driver can visually and naturally identify the movements of other vehicles 100.

[0128] Furthermore, in the display control device 50, when another vehicle 100 changes lanes in front of the vehicle 10's direction of travel and enters the final movement range 12 of the central lane L1 where the vehicle 10 is traveling, the CPU 51 moves the image of the other vehicle 10B to a preset position representing lane 65A of the central lane L1 and in front of the direction of travel of the vehicle image 10A. Thus, according to this display control device 50, the driver can intuitively identify the presence and positional relationship of other vehicles 100 that have cut into the road ahead.

[0129] Furthermore, in the display control device 50, the preset position of the road surface image 65 is the center position in the width direction of the road surface image 65. Therefore, by uniformly displaying the positions of other vehicle images 10B according to this display control device 50, visual recognition can be improved and display deviations can be suppressed.

[0130] Furthermore, in the display control device 50, the first display unit 24 is an instrument display located in front of the driver's seat of the vehicle 10. Thus, according to this display control device 50, by using the instrument display, the driver's eye movement can be minimized while visually recognizing the images of other vehicles 10B, and the activities of other vehicles 100 can be quickly grasped.

[0131] (Second Implementation)

[0132] Next, while omitting or simplifying the parts that are repeated with the above embodiments, a second embodiment of the vehicle involved in this embodiment will be described.

[0133] In the above embodiments, other vehicles 100 were exemplified as the entering vehicle, but the entering vehicle is not limited to other vehicles 100. In the second embodiment, the control of the entering vehicle being the vehicle itself 10 is described.

[0134] Figure 16 This is the fifth explanatory diagram illustrating the vehicle's driving conditions. (For example...) Figure 16 As shown, there are vehicles 10 and other vehicles 100 on the road. However, for ease of explanation, only the control range applied to vehicle 10 is shown in the figure; the control range applied to other vehicles 100 is omitted. Furthermore, as will be described in detail later, Figures 16-19The sequence shows the state in which the vehicle 10 avoids other vehicles 100.

[0135] In this scenario, vehicle 10 is traveling in the center of the width direction of the central lane L1, while other vehicles 100 are parked in front of the central lane L1 in the direction of travel. CPU 51 determines the current lane of vehicle 10 as the central lane L1, applies starting range 11 to the central lane L1, and applies ending range 12 to the left lane L2 and the right lane L3.

[0136] Figure 17 This is the sixth explanatory diagram illustrating the vehicle's driving conditions. (For example...) Figure 17 As shown, in order to avoid other vehicles 100 parked ahead in the direction of travel, the vehicle 10 travels beyond the starting range 11 set in the center lane L1. Thus, the vehicle 10 is positioned across the center lane L1 and the right lane L3.

[0137] Figure 18 This is the 7th explanatory diagram illustrating the vehicle's driving conditions. (For example...) Figure 17 As shown, vehicle 10 has exceeded the starting range 11 set in the central lane L1, and the entire vehicle body is outside the starting range 11. Therefore, CPU 51 determines that vehicle 10 has exceeded the starting range 11. Based on this determination, CPU 51 updates the control range for vehicle 10 in the central lane L1, applying the final range 12 instead of the starting range 11. Therefore, in Figure 18 In the state shown, for this vehicle 10, the final motion range 12 is applied to each lane of the central lane L1, the left lane L2, and the right lane L3.

[0138] Figure 19 This is the 8th explanatory diagram illustrating the vehicle's driving conditions. (For example...) Figure 19 As shown, the vehicle 10 is entering the final travel range 12 set in the central lane L1, with more than half of the vehicle body of the vehicle 10 within the final travel range 12. Based on this condition, the CPU 51 determines that the vehicle 10 has entered the final travel range 12. Therefore, although not shown in the figure, in the first display unit 24, the image 10A of the vehicle 10, which is the vehicle entering the final travel range 12, is moved to the center in the width direction of the lane 65A representing the central lane L1 and displayed.

[0139] As explained above, in the display control device 50, when the vehicle 10 temporarily leaves the central lane L1 and then enters the final movement range 12 set in the central lane L1, the CPU 51 moves the vehicle image 10A to a preset position, specifically the center in the width direction, representing the lane 65A of the central lane L1. Therefore, according to this display control device 50, even when the vehicle 10 temporarily leaves and then re-enters the driving lane, by moving the vehicle image 10A to the preset position, the driver can intuitively identify the current position of the vehicle 10.

[0140] (Third implementation)

[0141] Next, while omitting or simplifying the parts that are repeated with the above embodiments, a third embodiment of the vehicle involved in this embodiment will be described.

[0142] In the third embodiment, the setting unit 51C is configured to dynamically change the width of the starting range 11 and the ending range 12 according to the type of vehicle entering.

[0143] The setting unit 51C uses the detection information obtained by the acquisition unit 51A and the object detection model 52C stored in the ROM 52 to determine the type of the entering vehicle. For example, the entering vehicle can be classified as any type such as a passenger car, a truck, or a two-wheeled vehicle.

[0144] Furthermore, the setting unit 51C dynamically changes the width of the starting range 11 and the ending range 12 applied to the determined type of the entering vehicle. Specifically, when the entering vehicle is a truck, the vehicle body size is larger than that of a passenger car, so the setting unit 51C sets the width of the starting range 11 and the ending range 12 to be relatively wide. On the other hand, when the entering vehicle is a two-wheeled vehicle, the vehicle body size is small, so the setting unit 51C sets the width of the starting range 11 and the ending range 12 to be relatively narrow.

[0145] With the above structure, the display control device 50 can perform display control that conforms to the characteristics of each entering vehicle, thereby improving the visual recognizability of the images of the entering vehicles.

[0146] (other)

[0147] The embodiments of this disclosure have been described in detail above with reference to the accompanying drawings, but the scope of the technology disclosed herein is not limited to the examples described above. Those skilled in the art will be able to conceive of various modifications or alterations within the scope of the technical concept described in the claims, and these modifications or alterations should naturally be understood to fall within the technical scope of this disclosure.

[0148] Furthermore, the effects described in the above embodiments are illustrative or exemplary examples and are not limited to the examples described in the above embodiments. That is, the technology involved in this disclosure, together with or in place of the effects described in the above embodiments, may also achieve other effects that are clear to those skilled in the art based on the descriptions in the above embodiments.

[0149] The processing described in the above embodiments can also be implemented using dedicated hardware circuitry. In this case, it can be executed by one piece of hardware or by multiple pieces of hardware.

[0150] In the above embodiment, a display control program 52A is stored in the ROM 52. However, it is not limited to this; the display control program 52A may also be stored in the storage device 54.

[0151] In the above embodiment, lanes 65A, 65B, and 65C are exemplified as lanes represented by the road surface image 65, but this is not a limitation. It is sufficient for the road surface image 65 to display at least one lane; for example, it could be one lane, two lanes, or four or more lanes. Furthermore, even if a vehicle is outside the display range of the road surface image 65, if the vehicle is in a position detectable by the sensor group 30 and the camera 40, a control range (starting range 11 and ending range 12) can be pre-applied for that vehicle. Therefore, even if the vehicle later enters the display range of the first display unit 24, the display control of the vehicle image can be smoothly and reliably executed based on the already applied control range.

[0152] In the above embodiment, an example is shown where the CPU 51 dynamically changes the width of both the starting range 11 and the ending range 12 applied to the entering vehicle according to the determined type of the entering vehicle, but it is not limited to this. For example, the CPU 51 may also be configured to dynamically change the width of only either the starting range 11 or the ending range 12.

[0153] In the above embodiment, an example is shown where the center position in the width direction of each driving lane is set as a reference, a region with a width of Xm on the left and right is set as the starting range 11, and a region with a width of Ym on the left and right is set as the ending range 12, but this is not limited to this. For example, the CPU 51 may also dynamically change the width of at least one of the starting range 11 and the ending range 12 set for each driving lane according to the determined lane width. Specifically, it may also be configured to expand the width of at least one of the starting range 11 and the ending range 12 set for a lane that is wider than usual when the lane width is greater than a predetermined value.

[0154] In the above embodiment, the CPU 51 may also be configured to change the display size of the image of the entering vehicle based on the entering speed of the entering vehicle determined based on the detection information. For example, if the entering speed of the entering vehicle is above a predetermined value, the CPU 51 increases the display size of the image of the entering vehicle; if the entering speed is below the predetermined value, the CPU 51 decreases the display size of the image of the entering vehicle.

[0155] In the above embodiments, the display distribution of the vehicle image 10A and the surrounding environment image can be dynamically controlled among multiple display devices 21 based on the driver's visual perception of the environment. Specifically, the CPU 51 can be configured to determine at least one of the driver's gaze direction or head posture based on the detection information, and select the display device 21 (first display unit 24 or second display unit 25) with high visual recognition for the driver based on the determination result, and output the vehicle image 10A and the surrounding environment image to the display device 21.

[0156] In the above embodiment, the CPU 51 may also be configured to display auxiliary information on the first display unit 24 based on the state of the entering vehicle determined by the detection information. Specifically, the CPU 51 may be configured to determine states such as following, cutting in, or running alongside as the state of the entering vehicle, and based on this state, generate and display arrow lines or curves indicating the relationship between the vehicle image 10A and other vehicle images 10B as auxiliary information. Furthermore, these arrow lines or curves may be controlled to have different hues, thicknesses, or flashing patterns for each determined state, and may be configured so that the driver can intuitively identify the relationship between the vehicles through this auxiliary information.

[0157] In the above embodiment, the CPU 51 can also be configured to highlight other vehicle images 10B that may enter the vehicle image if there is a specific merging point around the vehicle 10, based on the detection information and the map shown in the map data 52B. Specifically, the CPU 51 can be configured to refer to the map data 52B to determine whether there is a specific merging point, determine whether there are other vehicles 100 that may enter the lane from that specific merging point, and highlight the corresponding other vehicle images 10B in advance.

[0158] In the above embodiments, the first display unit 24, which serves as an instrument display, is taken as an example of the "display unit" of this disclosure, but the example of the "display unit" is not limited to an instrument display. For example, an example of the "display unit" may also be a central display and other displays such as a head-up display (HUD). In addition, an example of the "display unit" may also be a combination of multiple displays such as an instrument display and a central display.

[0159] In the above embodiment, the display control device 50 is configured to perform the operation. Figure 6 The specific processing shown and Figure 7 The display update process is shown. However, it is not limited to this; the specific process and the display update process can also be processes that are performed collaboratively by the display control device 50 and other ECUs.

[0160] Furthermore, in the above embodiments, various processors other than the CPU can execute the various processes that the CPU51 reads into the software (program) and executes. Examples of processors in this case include FPGAs (Field-Programmable Gate Arrays) and PLDs (Programmable Logic Devices) whose circuit structures can be changed after manufacturing, as well as ASICs (Application Specific Integrated Circuits) and other processors with circuit structures specifically designed for executing specific processes, i.e., dedicated circuits. In addition, various processes can be executed 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). Furthermore, the hardware construction of these various processors is more specifically a circuit that combines circuit elements such as semiconductor elements.

[0161] Furthermore, while the above embodiment describes pre-storing (installing) the display control program 52A into the ROM 52, it is not a limitation. The display control program 52A may also be provided by recording on a recording medium such as a CD-ROM (Compact Disk Read Only Memory), DVD-ROM (Digital Versatile Disk Read Only Memory), or USB (Universal Serial Bus) memory. Additionally, the display control program 52A may also be downloaded from an external device via a network. Furthermore, the technology disclosed herein can also be applied to programs and program products.

Claims

1. A display control device, comprising a control unit, The control unit displays a vehicle image representing at least one vehicle and a road surface image representing at least one driving lane in which the vehicle is traveling on a display unit, and moves an entry vehicle image representing an entry vehicle entering a first range set in the driving lane to a preset position of the road surface image representing the driving lane in which the entry vehicle has entered.

2. The display control device according to claim 1, wherein, The control unit fixes the image of the entering vehicle at a predetermined position on the road surface image representing the driving lane while the entering vehicle is traveling in the driving lane it has previously traveled in, until the entering vehicle exceeds a second range wider than the first range set in the driving lane.

3. The display control device according to claim 2, wherein, After the entering vehicle exceeds the second range, the control unit continuously moves the image of the entering vehicle according to the movement of the entering vehicle until it enters the first range set in the driving lane after entering.

4. The display control device according to claim 2, wherein, It includes a setting unit that dynamically changes the width of at least one of the first range and the second range based on the determined type of the entering vehicle.

5. The display control device according to claim 1, wherein, The preset position of the road surface image is the center position in the width direction of the road surface image.

6. The display control device according to claim 1, wherein, The vehicles mentioned include this vehicle and other vehicles. When another vehicle changes lanes in front of the vehicle's direction of travel and enters the first range of the driving lane in which the vehicle is traveling, the control unit moves the image of the other vehicle representing the other vehicle to a preset position of the road surface image representing the driving lane and in front of the vehicle image representing the vehicle's direction of travel.

7. The display control device according to claim 1, wherein, The vehicle mentioned is this vehicle. When the vehicle temporarily leaves the driving lane and enters the first range set in the driving lane, the control unit moves the vehicle image representing the vehicle to a preset position of the road surface image representing the driving lane.

8. The display control device according to claim 1, wherein, The display unit is an instrument display located in front of the driver's seat of the vehicle.

9. A display control method, wherein a computer performs the following processing: The display unit displays a vehicle image representing at least one vehicle and a road surface image representing at least one driving lane in which the vehicle is traveling, and moves an entry vehicle image representing an entry vehicle entering a first range set in the driving lane to a predetermined position of the road surface image representing the driving lane in which the entry vehicle has entered.

10. A recording medium containing a display control program for causing a computer to perform the following processes: The display unit displays a vehicle image representing at least one vehicle and a road surface image representing at least one driving lane in which the vehicle is traveling, and moves an entry vehicle image representing an entry vehicle entering a first range set in the driving lane to a predetermined position of the road surface image representing the driving lane in which the entry vehicle has entered.

Images