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

Abstract

The present application provides a kind of vehicle display control device, vehicle display control method and vehicle display control program product.The vehicle display control device of the present application displays the image representing the surrounding condition of the vehicle observed from virtual viewpoint on the display area arranged in the vicinity of driver's seat, wherein the vehicle display control device is provided with control unit, the control unit controls so that when the vehicle changes lane, the lane line, i.e. the first lane line, crossed by the vehicle is continuously displayed, the lane line, i.e. the second lane line, not crossed by the vehicle is displaced and the display position is updated according to the change condition of the lane of the vehicle, and the second lane line is displayed on the opposite side of the first lane line of the changed lane.

Description

Technical Field

[0001] This invention relates to a display control device for vehicles, a display control method for vehicles, and a display control program product for vehicles. Background Technology

[0002] Japanese Patent Application Publication No. 2021-117925 discloses a technology that can reduce the driver's annoyance and anxiety when notifications are activated simultaneously by deceleration assist control and risk avoidance control. Summary of the Invention

[0003] Here, when displaying lane lines that delineate the vehicle's lane on the vehicle's display, sometimes a limited number of lane lines are displayed for the sake of processing load. In this case, when the vehicle changes lanes, it is difficult to convey the vehicle's lane change status by switching between displaying and not displaying lane lines that correspond to the actual scene.

[0004] The present invention has been made in view of the above aspects, and its object is to provide a vehicle display control device, a vehicle display control method, and a vehicle display control program product that can convey the situation of the vehicle crossing the lane line in a realistic manner.

[0005] The vehicle display control device according to the first aspect of the present invention displays an image representing the surrounding conditions of the vehicle, assumed to be observed from a virtual viewpoint, on a display area provided around the driver's seat. The vehicle display control device includes a control unit that controls the vehicle to continuously display the lane line crossed by the vehicle, i.e., the first lane line, when the vehicle changes lanes. The control unit also causes the lane line not crossed by the vehicle to shift and update its display position in stages according to the lane change status of the vehicle. Furthermore, the control unit displays the second lane line on the opposite side of the first lane line of the changed lane.

[0006] The vehicle display control device according to the second aspect of the present invention is the same as the vehicle display control device according to the first aspect, wherein the control unit continuously displays the road surface area between the first lane line and the second lane line according to the movement of the second lane line.

[0007] The third aspect of the present invention relates to a vehicle display control method that displays an image representing the surrounding conditions of the vehicle, assumed to be observed from a virtual viewpoint, on a display area located around the driver's seat. The processor performs processing to control the vehicle as follows: when the vehicle changes lanes, the first lane line crossed by the vehicle is continuously displayed; the second lane line not crossed by the vehicle is shifted and its display position is updated in stages and continuously according to the lane change status of the vehicle; and the second lane line is displayed on the opposite side of the first lane line of the changed lane.

[0008] The vehicle display control program product according to the fourth aspect of the present invention includes a vehicle display control program that displays an image representing the surrounding conditions of the vehicle, assumed to be observed from a virtual viewpoint, on a display area located around the driver's seat. The vehicle display control program causes a computer to perform processing to control the following: when the vehicle changes lanes, continuously displaying the lane line crossed by the vehicle, i.e., the first lane line; according to the lane change status of the vehicle, causing the lane line not crossed by the vehicle, i.e., the second lane line, to shift and update its display position in stages and continuously; and displaying the second lane line on the opposite side of the first lane line of the changed lane.

[0009] According to the present invention, a vehicle display control device, a vehicle display control method, and a vehicle display control program product are provided that can convey the situation of a vehicle crossing a lane line in a realistic manner. Attached Figure Description

[0010] Hereinafter, with reference to the accompanying drawings, the features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described, in which the same reference numerals denote the same elements, and wherein:

[0011] Figure 1 It is a block diagram illustrating the hardware structure of the vehicle involved in the implementation of the invention's technology.

[0012] Figure 2 It is a flowchart representing the display control process executed by the instrument ECU.

[0013] Figure 3 This is an explanatory diagram showing an example of a display on a designated display area of ​​a monitor.

[0014] Figure 4 This is a schematic diagram illustrating the lane line display control performed by the control unit. Detailed Implementation

[0015] The vehicle 10 described below is an example of this embodiment.

[0016] Figure 1 This is a block diagram representing the hardware structure of vehicle 10. For example... Figure 1 As shown, vehicle 10 includes an Electronic Control Unit (ECU) 20. Vehicle 10 is an example of "this vehicle" in this invention, and the ECU 20 is an example of "vehicle display control device" in this invention.

[0017] The instrument cluster ECU 20 comprises a central processing unit (CPU) 21, a read-only memory (ROM) 22, a random access memory (RAM) 23, a storage device 24, an in-vehicle communication interface (I / F) 25, an input / output interface (I / F) 26, and a wireless communication interface (I / F) 27. These components are communicatively connected to each other via an internal bus 28.

[0018] CPU 21 is the central processing unit, which executes various programs or controls various components. That is, CPU 21 reads programs from ROM 22 or storage device 24 and uses RAM 23 as its working area to execute the programs. CPU 21 performs control and various arithmetic operations on the aforementioned components according to the programs recorded in ROM 22 or storage device 24.

[0019] ROM22 stores various programs and data. RAM23 serves as a temporary storage area for programs or data.

[0020] Storage device 24 is composed of a storage medium such as an embedded Multi Media Card (eMMC) or Universal Flash Storage (UFS), and stores various programs and data. Storage device 24 stores information processing program 24A. Information processing program 24A is an example of the "vehicle display control program" of the present invention, and is used to cause CPU 21 to execute the display control processing described later (see reference). Figure 2 (The program).

[0021] The in-vehicle communication I / F25 is an interface for connecting with other ECUs 30, using a communication standard based on the Controller Area Network (CAN) protocol. The in-vehicle communication I / F25 connects to the external bus 29. Furthermore, although not illustrated, the ECU is not limited to ECU 30; multiple ECUs may be present depending on the various functions within the vehicle 10.

[0022] The input / output I / F26 is an interface used to communicate with the on-board equipment 40 mounted on the vehicle 10.

[0023] The vehicle-mounted equipment 40 refers to various devices mounted on the vehicle 10. As an example of the vehicle-mounted equipment 40, the vehicle 10 includes a sensor group 42 and a display 44.

[0024] The sensor group 42 is configured to include various sensors and camera devices for detecting the state of the vehicle 10 and the surrounding conditions of the vehicle 10. Specifically, the sensor group 42 includes, for example, various sensors such as 3D-LiDAR sensors, millimeter-wave sensors, infrared sensors, turn signal sensors, throttle position sensors, vehicle speed sensors, wheel angle sensors, angular velocity sensors, Global Positioning System (GPS) sensors, illuminance sensors, gyroscope sensors, steering wheel angle sensors, and acceleration sensors, as well as multiple cameras for capturing images of the surroundings of the vehicle 10. The sensor group 42 outputs the detection results of each sensor and the video images captured by each camera to the designated electronic control units such as the instrument cluster ECU 20 and ECU 30.

[0025] The display 44 is an instrument display screen located on the dashboard in front of the driver's seat of the vehicle 10 and used to display proposals for actions related to the functions of the vehicle 10 and images related to the explanation of the functions.

[0026] The I / F27 wireless communication module is used for communicating with external devices. This wireless communication module uses communication standards such as 5G, LTE, Wi-Fi (registered trademark), and Bluetooth (registered trademark).

[0027] Furthermore, the CPU 21 of the instrument ECU 20 has an acquisition unit 21A and a control unit 21B as its functional structure. Each functional structure is implemented by the CPU 21 reading and executing the information processing program 24A stored in the storage device 24.

[0028] The acquisition unit 21A acquires various types of information available in the vehicle 10. Specifically, the acquisition unit 21A acquires detection results from various sensors constituting the sensor group 42 and detection information such as video images captured by each camera as various types of information.

[0029] The control unit 21B performs display control related to the display on the display 44. For example, as this display control, the control unit 21B, based on the detection information acquired by the acquisition unit 21A, displays the surrounding environment display 100 showing the surrounding environment of the vehicle 10 when viewed from a virtual viewpoint and the vehicle image 10A showing the vehicle 10 (see reference). Figure 3(etc.) are displayed on the display 44. Here, "virtual viewpoint" refers to a viewpoint set in a three-dimensional virtual space with the position of the vehicle image 10A as the origin. This virtual viewpoint is defined according to the specified 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 a specific viewpoint coordinate located above the vehicle image 10A in the virtual space and from a specific viewpoint angle. The control unit 21B is an example of a "control unit" in this invention.

[0030] When a lane change is detected based on the detection information acquired by the acquisition unit 21A, the control unit 21B controls the depiction of lane lines on the display 44 according to the lane change status of the vehicle 10. Specifically, when the vehicle 10 changes lanes, the control unit 21B keeps displaying the lane line crossed by the vehicle 10, i.e., the first lane line. Furthermore, the control unit 21B controls the display so that the lane line not crossed by the vehicle 10, i.e., the second lane line, is shifted and its display position updated in stages according to the lane change status of the vehicle 10, and the second lane line is displayed on the opposite side of the first lane line of the changed lane.

[0031] Thus, the control unit 21B controls the depiction of lane lines on the display 44 according to the lane change status of the vehicle 10, thereby conveying the situation of the vehicle crossing the lane lines in a realistic manner.

[0032] Figure 2 This is a flowchart illustrating the display control processing performed by the instrument ECU 20. The CPU 21 reads the information processing program 24A from the storage device 24 and expands it into the RAM 23 for execution, thereby performing display control processing. As an example, the display control processing is executed automatically and repeatedly at predetermined time intervals.

[0033] In step S101, CPU21 obtains the status of vehicle 10 and the status of the surrounding area of ​​vehicle 10.

[0034] After step S101, in step S102, CPU21 determines whether vehicle 10 is changing lanes based on the condition of vehicle 10 and the condition of its surroundings.

[0035] In step S102, if it is determined that vehicle 10 is changing lanes (step S102; Yes), after step S102, CPU 21 draws the lane line corresponding to the lane change of vehicle 10 in step S103. If it is determined in step S102 that vehicle 10 has not changed lanes (step S102; No), the process returns to step S101.

[0036] Next, use Figure 3An example of the display on monitor 44 will be described.

[0037] Figure 3 This is an explanatory diagram showing an example of a display on a designated display area of ​​the display 44. This designated display area X is a portion of the display 44 and is configured such that a driver sitting in the driver's seat can view it through an opening in the steering wheel. Display area X is an example of a "display area" in this invention. As an example, Figure 3 This indicates the content displayed in display area X when vehicle 10 is traveling on a normal road.

[0038] exist Figure 3 The upper part of the display area X shows gear shift information 70 and vehicle speed information 72. Figure 3 In the display, 70 is shown as "D" for gear shift information, indicating that the gear position is D. Furthermore, in... Figure 3 In the text, the speed information 72 is displayed as "54km / h", indicating that the vehicle speed is 54km / h.

[0039] Furthermore, in Figure 3 In the display area X shown, below the gear shift information 70 and vehicle speed information 72, there is a surrounding conditions display 100 that shows the surrounding conditions of the vehicle 10 when viewed from a virtual viewpoint. The surrounding conditions display 100 displays a general road image 65 as a road image. The general road image 65 is an illustration image showing the general roads surrounding the vehicle 10 as shown by the map data stored in the ROM 22.

[0040] Then, in Figure 3 In the general road image 65, vehicle image 10A, other vehicle images 10B, and other vehicle images 10C are displayed. As an example, vehicle 10 is traveling in the center lane of a three-lane road on one side. Therefore, in... Figure 3 In the image 10A, the vehicle is shown in the center lane of the road shown in the general road image 65. Two lane lines, 66A and 66B, are shown in the general road image 65.

[0041] Other vehicle image 10B is an illustration image generated based on illustration data stored in ROM 22 showing illustration designs of other vehicles. As an example, the other vehicles shown in other vehicle image 10B are vehicles traveling in the same lane as vehicle 10. Therefore, in Figure 3 In the image above vehicle image 10A, other vehicle images 10B are displayed in the central lane of the road shown in general road image 65.

[0042] The other vehicle image 10C is an illustration image generated based on the illustration data stored in ROM 22 showing the illustration design of other vehicles. As an example, the other vehicle shown in the other vehicle image 10C is a vehicle traveling in the adjacent lane to the right of vehicle 10. Therefore, in Figure 3 In the image above vehicle image 10A, other vehicle images 10C are displayed in the right lane of the road shown in general road image 65.

[0043] Next, use Figure 4 Here, an example of lane line display control performed by the control unit 21B will be described. In this embodiment, after the vehicle begins to change lanes, the control unit 21B does not clear the displayed lane lines, but continuously slides and moves them according to the vehicle's lane change.

[0044] At the moment the vehicle begins a lane change, the coordinates of the lane line that the vehicle has not yet crossed (the second lane line) are set to the initial display position corresponding to the lane before the change. Then, as the vehicle moves, the coordinates of the second lane line continuously and gradually slide towards the new lane. At this time, the speed or amount of movement of the second lane line is determined based on the actual lane change situation of the vehicle, i.e., vehicle speed, steering wheel angle, and position information obtained from the vehicle position sensor.

[0045] Figure 4 This diagram schematically illustrates an example of lane line display control performed by control unit 21B. Figure 4 In the middle, from left to right, the lane lines are shown when vehicle image 10A changes lanes to the right.

[0046] When the control unit 21B draws lane lines on the display 44, it assigns an ID to each lane line and switches between displaying and not displaying lane lines by managing the IDs. In this embodiment, lane lines with IDs of 0 to 2 are displayed, and lane lines with ID 3 are not displayed.

[0047] The control unit 21B depicts the lane line 66A on the side of the lane that the vehicle image 10A did not cross before the change shifts to the right as the vehicle image 10A moves to the right. The control unit 21B also depicts the width of the lane defined by lane lines 66A and 66B decreasing as the vehicle image 10A moves to the right.

[0048] Then, if vehicle image 10A reaches the changed lane, control unit 21B draws a line such that the lane line 66A on the side not crossed by vehicle image 10A is shifted to the right. Then, control unit 21B draws a line such that the width of the lane defined by lane lines 66A and 66B is expanded as vehicle image 10A moves to the right.

[0049] During this drawing process, the control unit 21B assigns an ID of 0 to lane line 66A and an ID of 1 to lane line 66B. By assigning IDs to lane lines 66A and 66B in this way, the control unit 21B can draw the lane changes of the vehicle image 10A on the display 44 while continuously drawing lane lines 66A and 66B.

[0050] In this display mode, after the vehicle begins to change lanes, the displayed lane lines are not removed but are continuously slid and moved, thereby visually conveying the gradual transition of the lane lines to the new lane position in accordance with the actual scene.

[0051] The control unit 21B can update the coordinate information of each lane line in real time as it slides, and continuously display it on the display 44. This continuous display update eliminates the sense of incongruity caused by the sudden disappearance or abrupt appearance of lane lines when the driver is viewing the screen, and improves the matching between the real scene and the display.

[0052] Furthermore, when the control unit 21B slides to display each lane line, it can perform smoothing processing to maintain the smoothness of the lane line display. For example, the control unit 21B can achieve smooth animation by performing non-linear interpolation between the current position and the target position during the sliding display of the lane lines. Moreover, the control unit 21B can slide to display each lane line using numerical processing methods such as moving averages. Therefore, the control unit 21B can improve the display stability of the lane lines during sliding movement.

[0053] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the technical scope of the present invention is not limited to these examples. The embodiments described above are illustrative and do not limit the technical scope of the present invention. For those skilled in the art, it will be apparent that various modifications or alterations can be conceived within the scope of the technical concept described in the claims, and such modifications or alterations should also be understood to fall within the technical scope of the present invention.

[0054] Furthermore, the effects described in the above embodiments are illustrative or exemplary and are not limited to the effects described in the above embodiments. That is, in addition to the effects described in the above embodiments, or in lieu of the effects described in the above embodiments, the technology involved in this invention can exert other effects that are obvious to those skilled in the art based on the description in the above embodiments.

[0055] In addition, various processors other than the CPU can also perform display control processing by reading and executing software (programs) by the CPU 21 in the above embodiment. Examples of processors in this case include field-programmable gate arrays (FPGAs) and programmable logic devices (PLDs) whose circuit structure can be changed after manufacturing, as well as application-specific integrated circuits (ASICs) and other processors with circuit structures specifically designed for performing specific processes, i.e., dedicated electrical circuits. Furthermore, display control processing can be performed by one of these various processors, or by a combination of two or more processors of the same or different types (e.g., multiple FPGAs, and a combination of a CPU and an FPGA). More specifically, the hardware structure of these various processors is an electrical circuit composed of circuit elements such as semiconductor elements.

[0056] Furthermore, while the above embodiment describes the information processing program 24A being pre-stored (installed) in the storage device 24, it is not a limitation. The information processing program 24A can be provided on recording media such as a compact disk read-only memory (CD-ROM), a digital versatile disk read-only memory (DVD-ROM), or a universal serial bus (USB) memory. Additionally, the information processing program 24A can also be downloaded from an external device via a network. Moreover, the technology of this invention can also be applied to programs and program products.

Claims

1. A vehicle display control device that displays an image representing the surrounding conditions of the vehicle, assumed to be observed from a virtual viewpoint, on a display area disposed around the driver's seat, characterized in that, The system includes a control unit that controls the vehicle to continuously display the lane line crossed by the vehicle (i.e., the first lane line) when the vehicle changes lanes, and to continuously and periodically shift and update the display position of the lane line not crossed by the vehicle (i.e., the second lane line) according to the lane change status of the vehicle, and to display the second lane line on the opposite side of the first lane line in the changed lane.

2. The vehicle display control device according to claim 1, characterized in that, The control unit continuously displays the road surface area between the first lane line and the second lane line based on the movement of the second lane line.

3. A vehicle display control method, which displays an image representing the surrounding conditions of the vehicle, assumed to be observed from a virtual viewpoint, on a display area disposed around the driver's seat, characterized in that... The processor performs processing to perform the following control: When the vehicle changes lanes, the lane line crossed by the vehicle, i.e., the first lane line, is continuously displayed. Based on the lane change status of the vehicle, the lane line not crossed by the vehicle, i.e., the second lane line, is shifted and updated in stages and continuously. The second lane line is displayed on the opposite side of the first lane line in the changed lane.

4. A vehicle display control program product, comprising a vehicle display control program that displays an image representing the surrounding conditions of the vehicle, assumed to be observed from a virtual viewpoint, on a display area disposed around the driver's seat, characterized in that... The vehicle uses a display control program to cause the computer to perform processing for the following control: When the vehicle changes lanes, the lane line crossed by the vehicle, i.e., the first lane line, is continuously displayed. Based on the lane change status of the vehicle, the lane line not crossed by the vehicle, i.e., the second lane line, is shifted and updated in stages and continuously. The second lane line is displayed on the opposite side of the first lane line in the changed lane.

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