Display control device, display control method, and non-transitory computer-readable medium having a display control program recorded thereon

Abstract

The present disclosure relates to a display control device, a display control method, and a non-transitory computer readable medium recording a display control program. The display control device includes an acquisition unit that acquires a surrounding situation of a host vehicle, and a control unit that displays an image representing a preceding vehicle located in the surrounding of the host vehicle based on a relative position of the preceding vehicle with respect to a dividing line that is located on both sides of the host vehicle and that defines a lane width, when displaying an image representing the surrounding situation of the host vehicle in a display unit provided in a vicinity of a driver seat of the host vehicle.

Description

Technical Field

[0001] This disclosure relates to a display control device, a display control method, and a non-transitory computer-readable medium recording a display control program. Background Technology

[0002] Japanese Patent Application Publication No. 2022-066952 discloses the following technology: when other vehicles are located in a distant area in front of the vehicle's direction of travel, outside the display range of the screen, a mark indicating that other vehicles are located in a distant area in front of the vehicle's direction of travel, outside the display range of the screen, is displayed at a fixed position on the driving lane displayed on the screen.

[0003] According to the technology described in Japanese Patent Application Publication No. 2022-066952, when displaying the relative position of a target located around the vehicle in a display unit located around the driver's seat of the vehicle, the actual width of the lane and curves are not taken into account, so sometimes the actual position of the target deviates from the displayed position. Furthermore, when starting to identify a target approaching from the outside of the adjacent lane, it is easier to identify the target because it is not in the center of the adjacent lane; therefore, sometimes the target is displayed as if it is actually traveling in the center of the adjacent lane but approaching from the outside. Summary of the Invention

[0004] This disclosure provides a display control device, a display control method, and a non-transitory computer-readable medium containing a display control program, which can suppress the deviation between the actual position and the displayed position of a target traveling around the vehicle and reduce the discomfort of the target display to passengers.

[0005] The first embodiment of the display control device includes an acquisition unit and a display control unit. The acquisition unit acquires the surrounding conditions of the vehicle. When the display control unit displays an image representing the surrounding conditions of the vehicle in a display unit provided around the driver's seat of the vehicle, it displays a target image representing the target based on the relative position of the target located around the vehicle, using a dividing line on both sides of the vehicle that defines the lane width as a reference.

[0006] According to the display control device of the first embodiment, it is possible to suppress the deviation between the actual position and the displayed position of the target traveling around the vehicle and reduce the discomfort of the passenger with the display of the target.

[0007] In the second embodiment of the display control device, the dividing line includes a first dividing line and a second dividing line different from the first dividing line. The target includes an endpoint close to the side of the vehicle, namely a first rear endpoint, and a second rear endpoint different from the first rear endpoint. The display control unit calculates the relative position of the target based on determining the positions of the first and second rear endpoints relative to the first dividing line and the positions of the first and second rear endpoints relative to the second dividing line.

[0008] According to the display control device of the second scheme, the target can be displayed in a suitable position without crossing the lane.

[0009] In the third scheme's display control device, the positions of the first and second rear endpoints relative to the first dividing line, and the positions of the first and second rear endpoints relative to the second dividing line, are normalized according to the lane width used as a reference.

[0010] According to the display control device of the third scheme, the positional relationship of targets within the lane can be displayed appropriately.

[0011] In the fourth embodiment of the display control device, in the second or third embodiment, the display control unit, upon identifying the type and yaw angle of the target, calculates the relative position of the target based on the length from the rear end to the center of the target corresponding to the type, the yaw angle, the position of the first rear end point, and the position of the second rear end point.

[0012] According to the display control device of the fourth scheme, the positional relationship of targets within the lane can be appropriately displayed based on the type of target and the yaw angle.

[0013] In the display control device of one of the first to fourth embodiments, when the display control unit identifies a target traveling in an adjacent lane adjacent to the lane in which the vehicle is traveling, it displays at least a portion of an image representing the target between the center of an adjacent lane image representing the adjacent lane and a separator line image representing the separator line located between the vehicle and the target.

[0014] According to the display control device of Option 5, the target is not displayed as if it is actually traveling in the center of the adjacent lane and is coming from the outside, thus reducing the discomfort of passengers.

[0015] In the sixth embodiment of the display control device, the display control unit displays the image by moving the center of the image representing the target to the center of the image representing the adjacent lane.

[0016] According to the display control device of the sixth scheme, by fixing the target image in the center of the adjacent lane image, the target is not displayed as if it is actually driving in the center of the adjacent lane and is coming from the outside, thereby reducing the discomfort of passengers.

[0017] In the display control method of the seventh embodiment, the computer performs the following processing: obtaining the surrounding conditions of the vehicle; when displaying an image representing the surrounding conditions of the vehicle in a display unit provided around the driver's seat of the vehicle, displaying an image representing the target based on the relative position of the target located around the vehicle, using a dividing line on both sides of the vehicle and defining the lane width as a reference.

[0018] The eighth embodiment records a non-transitory computer-readable medium containing a display control program that causes a computer to perform the following processing: acquiring the surrounding conditions of the vehicle; and when displaying an image representing the surrounding conditions of the vehicle in a display unit located around the driver's seat of the vehicle, displaying an image representing the target based on the relative position of the target located around the vehicle, using a dividing line on both sides of the vehicle that defines the lane width as a reference.

[0019] According to the above scheme, the display control device, display control method and non-transitory computer-readable medium recording the display control program of this disclosure can suppress the deviation between the actual position and the display position of the target traveling around the vehicle and reduce the discomfort of the passenger in the display of the target. Attached Figure Description

[0020] An exemplary embodiment will be described in detail with reference to the following figures, wherein:

[0021] Figure 1 This is a block diagram illustrating an example of the general structure of a vehicle.

[0022] Figure 2 This is a rough sketch of the front of the passenger compartment inside the vehicle, viewed from the rear side.

[0023] Figure 3 This is an explanatory diagram illustrating the display section of the instrument display, which serves as the first display section.

[0024] Figure 4 This is a block diagram showing the general structure of the display control device.

[0025] Figure 5 This is a block diagram illustrating an example of the functional structure of the display control device according to the first embodiment.

[0026] Figure 6A This is a diagram used to illustrate the relative positional relationship between a vehicle and a preceding vehicle, which is used as an example of a target.

[0027] Figure 6B It is shown that... Figure 6A The diagram shows the relative positional relationships.

[0028] Figure 7A It is a diagram used to illustrate the relative positions of a vehicle and a preceding vehicle when there is a curve.

[0029] Figure 7B It is shown that... Figure 7A The diagram shows the relative positional relationships.

[0030] Figure 8 This is a diagram illustrating the method for calculating the relative positions of the leading vehicles in the first embodiment.

[0031] Figure 9 It is shown and passed Figure 8 An example image of the preceding vehicle corresponding to the relative position of the preceding vehicle calculated by the method shown.

[0032] Figure 10 This is a flowchart illustrating an example of the display processing flow of the display control program based on the first embodiment.

[0033] Figure 11A It is a diagram used to illustrate the relative positional relationship between a vehicle and other vehicles, which are examples of a target.

[0034] Figure 11B It is shown that... Figure 11A The diagram shows the relative positional relationships.

[0035] Figure 12 It is a diagram used to illustrate the relative positions of a vehicle to other vehicles when there is a curve.

[0036] Figure 13 This is a diagram showing an example of an image of other vehicles corresponding to the relative positions of other vehicles in the second embodiment.

[0037] Figure 14 This is a flowchart illustrating an example of the display processing flow of the display control program based on the second embodiment. Detailed Implementation

[0038] The vehicle 10 of this embodiment will now be described.

[0039] [First Implementation]

[0040] Figure 1 This is a block diagram illustrating an example of the schematic structure of vehicle 10. (See diagram for example.) Figure 1 As shown, vehicle 10 includes a display device 21, a sensor group 30, a camera 40, and a display control device 50. These structural elements are interconnected via an external bus (communication bus) 15.

[0041] The display device 21 displays suggestions related to the functions of the vehicle 10, as well as images related to the explanation 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.

[0042] Sensor group 30 includes various sensors for detecting the status of vehicle 10 and its surroundings. Specifically, sensor group 30 includes 3D-LiDAR (Light Detection and Ranging), millimeter-wave sensors, infrared sensors, turn signal sensors, accelerometer position sensors, gear position sensors, illuminance sensors, vehicle speed sensors, steering angle sensors, angular velocity sensors, GPS (Global Positioning System) sensors, gyroscope sensors, and accelerometers. Sensor group 30 outputs the detection results from each sensor to display control device 50.

[0043] 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 of, behind, on the left side, and on the right side of 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 traveling in front of the vehicle, distances to other vehicles, lanes, and traffic lights. The images captured by camera 40 are output to display control device 50. Furthermore, camera 40 can also be configured as an imaging device for other purposes such as a dashcam and ADAS (Advanced Driver Assistance System).

[0044] The display control device 50 is, for example, an ECU (Electrical Control Unit) that performs various controls.

[0045] Figure 2 This is a schematic view of the front of the carriage 12 inside vehicle 10, viewed from the rear side. Figure 2 The arrow UP in the description 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 direction of the vehicle and the width direction of the vehicle, respectively.

[0046] like Figure 2 As shown, an instrument panel 14 is provided at the front of the passenger compartment 12 in 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, vehicle 10 is a right-hand drive vehicle with the steering wheel 16 on the right and the driver's seat on the right side of the vehicle. However, it is not limited to this, vehicle 10 can also be a left-hand drive vehicle with the driver's seat on the left.

[0047] 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, dividing the interior of the passenger compartment 12 from the exterior of the passenger compartment 12.

[0048] The windshield 18 is fixed to the right front pillar 20 of the vehicle. The front pillar 20 extends in the vertical direction of the vehicle, and the windshield 18 is fixed to the inner end of the front pillar 20 in the vehicle width direction. Additionally, the front end of the front side glass 22 is fixed to the outer end of the front pillar 20 in the vehicle width direction. Furthermore, the left side of the windshield 18 is fixed to the left front pillar (not shown).

[0049] Here, at the instrument panel 14, a first display unit 24 with an image display unit V is provided. 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 so that the driver, as a passenger, can see the vehicle with their eyes turned forward.

[0050] Additionally, a second display unit 25 is provided at the instrument panel 14. The second display unit 25 consists of a central display screen disposed in the center of the instrument panel 14 in the vehicle width direction.

[0051] Figure 3 This is an explanatory diagram illustrating the display section of the instrument display, which serves as the display section V of the first display section 24. Figure 3The image shows the display unit V of the first display unit 24. Furthermore, in this embodiment, a portion of the display unit V, namely the display unit X, displays an image representing the vehicle 10 (vehicle image) and an image representing the surrounding conditions of the vehicle 10 (surrounding conditions image). Specific examples of these images will be described later.

[0052] Display section X is an opening 17 through which the driver, seated in the driver's seat, passes the steering wheel 16 (see reference). Figure 2 The area that can be visually recognized. Specifically, such as... Figure 3 As shown, the display section X is located in the center of the area that can be viewed between the upper edge line L1 and the lower edge line L2 of the opening 17. To the left and right of the display section X in the display section V are instrument displays M1 and M2, which display the instruments of the measuring equipment of the vehicle 10.

[0053] Figure 4 This is a block diagram showing a schematic structure of the display control device 50. The display control device 50 is an example of a "computer" in this disclosure. Figure 4 As shown, the display control device 50 comprises a CPU (Central Processing Unit) 51, a ROM (Read Only Memory) 52, a RAM (Random Access Memory) 53, a storage device 54, an interface (I / F) 55, and an input / output (I / F) 56. These structural elements are connected to each other via an internal bus 57 in a manner that enables them to communicate with each other.

[0054] The CPU51 is the central processing unit, which executes various programs or controls other parts. That is, the CPU51 reads the program from the ROM52 and uses the RAM53 as its working area to execute the program.

[0055] ROM52 stores various programs and data. RAM53 serves as a working area for temporary storage of programs or data.

[0056] 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 is connected to CPU 51 via an eMMC or UFS interface.

[0057] In addition, the components of the display control device 50, such as ROM 52 and storage device 54, are expected to be tamper-proof media such as HSM (Hardware Security Module).

[0058] The Communication I / F55 is an interface used for connecting to other ECUs. This interface uses an Ethernet-based communication standard (registered trademark).

[0059] The input / output I / F56 is an interface used to communicate with onboard equipment such as the display device 21, sensor group 30, and camera 40 mounted on the vehicle 10.

[0060] Here, in ROM 52, there are stored display control program 52A, map data 52B, object detection model 52C, graphic data 52D and color data 52E.

[0061] 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.

[0062] Map data 52B is high-precision map data representing the national map of the country where vehicle 10 is located.

[0063] Object detection model 52C is a model that identifies the region of a target shown in a camera image obtained by camera 40 and determines the category (type) of the target. Object detection model 52C is constructed by appropriately using known models such as YOLO (YOU Only Look Once) and SSD (Single Shot Multibox Detector).

[0064] The aforementioned targets include, for example, people, animals, and vehicles. Furthermore, regarding the categories above, for people, there are children, adults, and the elderly, etc.; for animals, there are dogs, cats, and horses, etc.; and for vehicles, there are two-wheeled vehicles (bicycles), three-wheeled vehicles, and four-wheeled vehicles, etc. More specifically, for vehicles, there are ordinary cars, light vehicles, trucks, buses, and two-wheeled vehicles (bicycles), etc.

[0065] The illustration data 52D is data representing the illustration design of each target displayed in the first display unit 24.

[0066] Color data 52E represents color data that can be used to color an image representing a specific object. For example, color data 52E is RGB values ​​that correspond to multiple pre-prepared colors. Thus, color data 52E stores RGB values ​​corresponding to red, blue, white, and black, etc.

[0067] Next, refer to Figure 5 The functional structure of the display control device 50 in the first embodiment will be explained.

[0068] Figure 5 This is a block diagram illustrating an example of the functional structure of the display control device 50 according to the first embodiment. For example... Figure 5 As shown, as a functional structure, the CPU 51 of the display control device 50 includes an acquisition unit 51A and a control unit 51B. 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 the "display control unit" of this disclosure.

[0069] The acquisition unit 51A acquires various types of information that can be obtained in the vehicle 10. Specifically, as various types of information, the acquisition unit 51A acquires detection information such as detection results obtained by various sensors constituting the sensor group 30 and camera images obtained by the camera 40. The acquisition unit 51A acquires peripheral information indicating the surrounding conditions of the vehicle 10.

[0070] The control unit 51B performs display control related to the display of the display device 21. For example, as display control, the control unit 51B, based on the detection information acquired by the acquisition unit 51A, causes the first display unit 24 to display a vehicle image and a surrounding condition image viewed from a virtual viewpoint. Here, a "virtual viewpoint" refers to a viewpoint set in a three-dimensional virtual space with the position of the vehicle image as the origin. This virtual viewpoint is defined by predetermined viewpoint coordinates and viewpoint angle (orientation) within 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 in the virtual space and viewed from a specific viewpoint angle. In addition, the surrounding condition image includes a lane image representing the lane in which the vehicle 10 is traveling, a dividing line image representing the dividing lines on both sides of the vehicle 10 and defining the lane width, and a target image representing targets other than the vehicle 10, such as other vehicles and pedestrians.

[0071] Here, refer to Figure 6A , Figure 6B , Figure 7A and Figure 7B This section describes a comparative example of a display image that includes both a vehicle image and a surrounding environment image. Furthermore, for ease of explanation, the display image including both the vehicle image and the surrounding environment image is presented in two dimensions.

[0072] Figure 6A This is a diagram illustrating the relative positional relationship between vehicle 10 and a preceding vehicle 10A, which is an example of a target. Figure 6A In this configuration, vehicle 10 travels in lane 102 defined by a first dividing line 101L and a second dividing line 101R located on either side of vehicle 10. The first dividing line 101L is the dividing line on the left side of vehicle 10, and the second dividing line 101R is the dividing line on the right side of vehicle 10. Unless otherwise specified, the first dividing line 101L and the second dividing line 101R are simply referred to as dividing line 101. Furthermore, the preceding vehicle 10A is any other vehicle that travels in lane 102 before vehicle 10. Figure 6B It is shown that... Figure 6A The diagram 60 shows the relative positional relationships. (See image 60.) Figure 6B As shown, the control unit 51B displays an indication on the display unit X of the first display unit 24. Figure 6A The display image 60 shows the relative positional relationships. Display image 60 includes a vehicle image 61 representing vehicle 10, a preceding vehicle image 62 representing preceding vehicle 10A, a first dividing line image 63L representing the first dividing line 101L, a second dividing line image 63R representing the second dividing line 101R, and a lane image 64 representing lane 102. The preceding vehicle image 62 is an example of a target image. The first dividing line image 63L is the dividing line image to the left of vehicle image 61, and the second dividing line image 63R is the dividing line image to the right of vehicle image 61. Unless otherwise specified in the description, the first dividing line image 63L and the second dividing line image 63R are simply referred to as dividing line image 63. Furthermore, above lane image 64, an image 65 representing the travel speed of vehicle 10 and an image 66 representing the gear position of vehicle 10 are displayed.

[0073] Figure 7A This diagram illustrates the relative positional relationship between vehicle 10 and preceding vehicle 10A in the presence of a curve. Figure 7A In the middle, vehicle 10 turns from lane 102. In addition, the preceding vehicle 10A is another vehicle traveling in the adjacent lane 103 that is adjacent to the lane 102 where vehicle 10 is traveling. Figure 7B It is shown that... Figure 7A The diagram 60 shows the relative positional relationships. (See image 60.) Figure 7B As shown, the control unit 51B displays an indication on the display unit X of the first display unit 24. Figure 7AThe display image 60 shows the relative positional relationships. The display image 60 includes a vehicle image 61 representing vehicle 10, a preceding vehicle image 62 representing preceding vehicle 10A, a first dividing line image 63L representing the first dividing line 101L, a second dividing line image 63R representing the second dividing line 101R, a lane image 64 representing lane 102, and an adjacent lane image 67 representing adjacent lane 103.

[0074] like Figure 6B and Figure 7B As shown, when the relative position of the preceding vehicle 10A located around the driver's seat of the first display unit 24, which is provided around the driver's seat of the vehicle 10, is displayed on the display unit X, the actual lane width and curves are not taken into account. Therefore, sometimes the actual position of the preceding vehicle 10A deviates from the displayed position. That is, sometimes in Figure 6B In the middle, the position of the preceding vehicle 10A relative to lane 102 deviated, and Figure 7B In the middle, the yaw angle of the leading vehicle 10A deviates relative to the adjacent lane 103.

[0075] Therefore, when the control unit 51B displays an image of the surrounding conditions of the vehicle 10 in the display unit X of the first display unit 24, it displays an image 62 of the preceding vehicle based on the relative position of the preceding vehicle 10A located around the vehicle 10, with the dividing line 101 on both sides of the vehicle 10 as a reference.

[0076] Figure 8 This is a diagram illustrating the method for calculating the relative position of the lead vehicle 10A in the first embodiment. (See diagram for example.) Figure 8As shown, the dividing line 101 includes a first dividing line 101L and a second dividing line 101R, which is different from the first dividing line 101L. The leading vehicle 10A includes an endpoint near the side of vehicle 10, namely a first rear endpoint P1, and a second rear endpoint P2, which is different from the first rear endpoint P1. The first rear endpoint P1 represents the left rear end of the leading vehicle 10A, and the second rear endpoint P2 represents the right rear end of the leading vehicle 10A. The control unit 51B determines the positions of the first rear endpoint P1 and the second rear endpoint P2 based on the first dividing line 101L, and the positions of the first rear endpoint P1 and the second rear endpoint P2 based on the second dividing line 101R. Specifically, the positions of the first rear endpoint P1 and the second rear endpoint P2 based on the first dividing line 101L are determined as y4 and y2, respectively, and the positions of the first rear endpoint P1 and the second rear endpoint P2 based on the second dividing line 101R are determined as y3 and y1, respectively. These positions y1 to y4 are determined based on detection results obtained from various sensors constituting sensor group 30 and detection information such as video images obtained from camera 40. These positions y1 to y4 are set as positions in the left-right direction (lane width direction) from the perspective of vehicle 10, intersecting (e.g., orthogonal) with the driving direction of vehicle 10 (indicated by the arrow). In other words, position y1 is the distance between the second dividing line 101R and the second rear endpoint P2, and position y2 is the distance between the first dividing line 101L and the second rear endpoint P2. Position y3 is the distance between the second dividing line 101R and the first rear endpoint P1, and position y4 is the distance between the first dividing line 101L and the first rear endpoint P1. Thus, the preceding vehicle 10A can be displayed in an appropriate position without crossing the lane. Furthermore, the positions y4, y2 of the first rear endpoint P1 and the second rear endpoint P2 when referenced to the first dividing line 101L, and the positions y3, y1 of the first rear endpoint P1 and the second rear endpoint P2 when referenced to the second dividing line 101R, are expected to be normalized according to the lane width used as a reference (e.g., 3.6m). For example, when the actual lane width is set to Hm, H / 3.6 is multiplied by the positions y4, y2, y3, and y1 as a coefficient. This allows for a proper display of the positional relationships of the preceding vehicles 10A within the lane.

[0077] Upon identifying the type and yaw angle θ of the leading vehicle 10A, the control unit 51B calculates the relative position of the leading vehicle 10A based on its length d1 from rear end to center C1, yaw angle θ, position of first rear end point P1, and position of second rear end point P2, corresponding to the type of the leading vehicle 10A. The type of the leading vehicle 10A is identified, for example, by the object detection model 52C. The type of the leading vehicle 10A is identified, for example, as a regular car, light vehicle, bus, truck, two-wheeled vehicle (bicycle), etc. Furthermore, the yaw angle θ is identified based on the detection results obtained from the various sensors constituting the sensor group 30. The total length and total width of the leading vehicle 10A are pre-correlated with the type of the leading vehicle 10A, and the length d1 of the leading vehicle 10A from rear end to center C1 is calculated based on the total length and total width of the leading vehicle 10A. Then, the relative position y5 of the preceding vehicle 10A is calculated based on the length d1 to the center C1 of the preceding vehicle 10A, the yaw angle θ, the position of the first rear endpoint P1, and the position of the second rear endpoint P2. Furthermore, regarding the relative position y5, it is defined as the position in the left-right direction (lane width direction) as seen from the left and right, with the centerline along the driving direction of the vehicle 10 as a reference. Thus, the positional relationships of the preceding vehicles 10A within the lane can be appropriately displayed according to the type and yaw angle of the preceding vehicle 10A.

[0078] Figure 9 It is shown and passed Figure 8 An example of an image 62 showing the relative position of the preceding vehicle 10A calculated by the method shown. Figure 9 As can be seen from the example, the actual driving position of the preceding vehicle 10A is reflected in the display image 60 as the preceding vehicle image 62. Furthermore, when lane 102 is straight, the yaw angle θ may not necessarily be reflected; the preceding vehicle image 62 may be configured such that its direction of travel is parallel to the second dividing line image 63R. Additionally, in Figure 9 In the example shown, the configuration of the leading vehicle image 62 is illustrated when lane 102 is straight. However, when lane 102 is turning, the leading vehicle image 62 can also be configured to reflect the actual driving position. That is, when lane 102 is turning, the actual yaw angle can be reflected.

[0079] Figure 10 This is a flowchart illustrating an example of the display processing flow based on the display control program 52A of the first embodiment. Furthermore, the display processing is performed by the CPU 51 reading the display control program 52A from the ROM 52 and expanding it into the RAM 53. As an example, the display processing is repeated and executed automatically at predetermined time intervals.

[0080] exist Figure 10 In step S101, CPU 51 acquires peripheral information representing the surrounding conditions of vehicle 10. Specifically, as described above, vehicle 10 is equipped with multiple sensor groups 30 capable of detecting the surrounding conditions, and the information detected by these sensor groups 30 is acquired as peripheral information.

[0081] In step S102, as an example, as described above. Figure 8 As shown, CPU51 determines whether the preceding vehicle 10A is detected based on the surrounding information obtained in step S101. If the preceding vehicle 10A is detected (in the case of a positive determination), the process proceeds to step S103; if the preceding vehicle 10A is not detected (in the case of a negative determination), the process proceeds to step S105.

[0082] In step S103, as an example, as described above. Figure 8 As shown, CPU51 uses the dividing line 101 on both sides of vehicle 10 as a reference to calculate the relative position of the preceding vehicle 10A.

[0083] In step S104, CPU51 displays a display image 60 that includes a vehicle image 61 representing vehicle 10 and a leading vehicle image 62 representing leading vehicle 10A, and returns to step S101 to repeat the process.

[0084] On the other hand, in step S105, CPU51 displays a display image 60 that includes only a vehicle image 61 representing vehicle 10, but does not include the preceding vehicle image 62 representing the preceding vehicle 10A, and returns to step S101 to repeat the process.

[0085] Thus, according to this embodiment, it is possible to suppress the deviation between the actual position and the displayed position of a target traveling around the vehicle, and to reduce the discomfort of the passenger with the display of the target.

[0086] [Second Implementation]

[0087] In the second embodiment, the following method is described: when the identification of a target overtaking from an adjacent lane begins, the display is improved in which the target, although actually traveling in the center of the adjacent lane, is displayed as if it has entered from the outside of the adjacent lane.

[0088] First, refer to Figure 11A , Figure 11B and Figure 12 This section describes a comparative example of a display image that includes both a vehicle image and a surrounding environment image. Furthermore, for ease of explanation, the display image including both the vehicle image and the surrounding environment image is presented in two dimensions.

[0089] Figure 11A This is a diagram used to illustrate the relative positional relationship between vehicle 10 and other vehicles 10B, which serve as an example of a target. Figure 11A Lane 102 is defined by the first dividing line 101L1 and the second dividing line 101R1. Adjacent lane 103A is adjacent to lane 102 and defined by the third dividing line 101L2 and the first dividing line 101L1. Adjacent lane 103B is adjacent to lane 102 and defined by the second dividing line 101R1 and the fourth dividing line 101R2. Vehicle 10 travels in lane 102, while other vehicles 10B travel directly in the center of adjacent lane 103B. Figure 11B It is shown that... Figure 11A The diagram 60 shows the relative positional relationships. (See image 60.) Figure 11B As shown, the control unit 51B displays an indication on the display unit X of the first display unit 24. Figure 11A The display image 60 shows the relative positional relationships. Display image 60 includes a vehicle image 61 representing vehicle 10, an image 62A representing other vehicles 10B, an image 63L1 representing the first dividing line 101L1, an image 63R1 representing the second dividing line 101R1, an image 63L2 representing the third dividing line 101L2, an image 63R2 representing the fourth dividing line 101R2, a lane image 64 representing lane 102, an adjacent lane image 67A representing adjacent lane 103A, and an adjacent lane image 67B representing adjacent lane 103B. The image 62A is an example of a target image. Additionally, above the lane image 64, an image 65 representing the vehicle 10's speed and an image 66 representing the vehicle 10's gear position are displayed.

[0090] like Figure 11A As shown, when starting to identify other vehicles 10B overtaking from adjacent lane 103B, such as Figure 11B As shown, sometimes other vehicle images 62A appear to enter from outside the adjacent lane image 67B. This is believed to be due to factors such as the recognition range and performance of sensor group 30 and camera 40.

[0091] Figure 12 This is a diagram used to illustrate the relative positional relationship between vehicle 10 and other vehicles 10B in the presence of a curve.

[0092] exist Figure 12 In (S1), the lane 102 in which vehicle 10 is traveling turns. In addition, other vehicles 10B are other vehicles traveling in the adjacent lane 103B that is adjacent to the lane 102 in which vehicle 10 is traveling.

[0093] In (S2), for example, when identifying other vehicles 10B, curves are sometimes identified as smaller than they actually are.

[0094] In (S3), if the goal is to restore the display image 60 to its original state only when the curve identified as a small curve in (S2) is restored, the identification of other vehicles 10B sometimes becomes unstable, and the other vehicle image 62A representing other vehicles 10B is displayed as jumping to the outer edge of the adjacent lane image 67B.

[0095] Therefore, when the control unit 51B of this embodiment detects another vehicle 10B traveling in an adjacent lane 103B (or adjacent lane 103A) adjacent to the lane 102 where the vehicle 10 is traveling, it displays at least a portion of an image 62A representing the other vehicle 10B between the center of the adjacent lane image 67B (or adjacent lane image 67A) representing the adjacent lane 103B (or adjacent lane image 67A) and the dividing line image 63 representing the dividing line 101 located between the vehicle 10 and the other vehicle 10B. This prevents other vehicles 10B, which are not actually traveling in the center of the adjacent lane 103B (or adjacent lane 103A), from entering from the outside, reducing discomfort for passengers. Specifically, the control unit 51B aims to display the image in such a way that the center of the image 62A representing the other vehicle 10B is moved to the center of the adjacent lane image 67B (or adjacent lane image 67A) representing the adjacent lane 103B (or adjacent lane image 67A). Therefore, by fixing the image 62A of other vehicles in the adjacent lane image 67B (or adjacent lane image 67A), the discomfort of other vehicles 10B that are actually driving in the center of the adjacent lane 103B (or adjacent lane 103A) is not displayed as entering from the outside, thus reducing the discomfort of passengers.

[0096] Figure 13 This is a diagram showing an example of an image 62A of other vehicles corresponding to the relative positions of the second embodiment and other vehicles 10B. According to... Figure 13 For example, when another vehicle 10B is detected traveling in an adjacent lane 103B adjacent to the lane 102 where vehicle 10 is traveling, the image 62A representing the other vehicle 10B is displayed in such a way that the center of the image 62A representing the other vehicle 10B is moved to the center K2 of the image 67B representing the adjacent lane 103B. This prevents the image 62A from appearing to come from outside the adjacent lane image 67B, suppressing any deviation between the actual position and the displayed position of the other vehicle 10B. Furthermore, in Figure 13In the example shown, the configuration of the other vehicle image 62A is illustrated when lane 102 is straight. However, when lane 102 is turning, it can also be configured such that the center of the other vehicle image 62A is moved to the center M2 of the adjacent lane image 67B representing the adjacent lane 103B. Furthermore, when another vehicle 10B is detected traveling in the adjacent lane 103A adjacent to the lane 102 where vehicle 10 is traveling, it can also be displayed such that the center of the other vehicle image 62A representing the other vehicle 10B is moved to the center K1 of the adjacent lane image 67A representing the adjacent lane 103A.

[0097] Figure 14 This is a flowchart illustrating an example of the display processing flow based on the display control program 52A of the second embodiment. Furthermore, the display processing is performed by the CPU 51 reading the display control program 52A from the ROM 52 and expanding it into the RAM 53. As an example, the display processing is repeated and executed automatically at predetermined time intervals.

[0098] exist Figure 14 In step S111, CPU 51 acquires peripheral information representing the surrounding conditions of vehicle 10. Specifically, as described above, vehicle 10 is provided with multiple sensor groups 30 capable of detecting the surrounding conditions, and the information detected by these sensor groups 30 is acquired as peripheral information.

[0099] In step S112, CPU51 determines whether other vehicle 10B is detected in adjacent lane 103B (or adjacent lane 103A) based on the surrounding information obtained in step S111. If it is determined that other vehicle 10B is detected (positive determination), the process proceeds to step S113; if it is determined that other vehicle 10B is not detected (negative determination), the process proceeds to step S115.

[0100] In step S113, CPU51 places the other vehicle image 62A representing other vehicle 10B at the center K2 (or the center K1 of adjacent lane image 67A) representing adjacent lane 103B (or adjacent lane 103A).

[0101] In step S114, as an example, as described above. Figure 13 As shown, CPU 51 displays a display image 60 that includes a vehicle image 61 representing vehicle 10 and an image 62A representing other vehicles 10B, and returns to step S111 to repeat the process.

[0102] On the other hand, in step S115, CPU51 displays a display image 60 that includes only the vehicle image 61 representing vehicle 10, but does not include the other vehicle image 62A representing other vehicle 10B, and returns to step S111 to repeat the process.

[0103] Thus, according to this embodiment, the target image is not displayed as if it enters from the outside of the adjacent lane image, suppressing the deviation between the actual position and the display position of the target and reducing the discomfort of the passenger with the display of the target.

[0104] Furthermore, various processors other than the CPU can execute the various processes performed by the CPU 51 reading the software (program) in the above embodiment. Examples of processors in this case include FPGAs (Field-Programmable Gate Arrays) and PLDs (Programmable Logic Devices) whose circuit structure can be changed after manufacturing, as well as ASICs (Application Specific Integrated Circuits) and other processors with circuit structures specifically designed for performing 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). More specifically, the hardware structure of these various processors is a circuit composed of circuit elements such as semiconductor elements.

[0105] Furthermore, while the above embodiment describes a scheme where the display control program 52A is pre-stored (installed) in the ROM 52, it is not limited to this. The display control program 52A may also be provided as 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 be configured to 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: The acquisition department obtains information about the surrounding conditions of the vehicle; and The display control unit, when displaying an image representing the surrounding conditions of the vehicle in a display unit located around the driver's seat of the vehicle, displays a target image representing the target based on the relative position of the target located around the vehicle, using a dividing line on both sides of the vehicle that defines the lane width as a reference.

2. The display control device according to claim 1, wherein, The dividing line includes a first dividing line and a second dividing line that is different from the first dividing line. The target includes the endpoint closest to the vehicle, namely the first rear endpoint, and a second rear endpoint different from the first rear endpoint. The display control unit calculates the relative position of the target based on the positions of the first rear endpoint and the second rear endpoint when the first dividing line is used as a reference, and the positions of the first rear endpoint and the second rear endpoint when the second dividing line is used as a reference.

3. The display control device according to claim 2, wherein, The positions of the first and second rear endpoints relative to the first dividing line, and the positions of the first and second rear endpoints relative to the second dividing line, are normalized according to the lane width used as a reference.

4. The display control device according to claim 2, wherein, When the display control unit identifies the type and yaw angle of the target, it calculates the relative position of the target based on the length from the rear end to the center of the target corresponding to the type, the yaw angle, the position of the first rear end point, and the position of the second rear end point.

5. The display control device according to claim 1, wherein, When the display control unit identifies a target traveling in an adjacent lane adjacent to the lane in which the vehicle is traveling, it displays at least a portion of the target image between the center of the adjacent lane image representing the adjacent lane and the separator line image representing the separator line located between the vehicle and the target.

6. The display control device according to claim 5, wherein, The display control unit displays the target image by moving the center of the target image to the center of the adjacent lane image.

7. A display control method, wherein, The computer performs the following processing: Obtain information about the surrounding environment of the vehicle. When an image showing the surrounding conditions of the vehicle is displayed on a display unit located around the driver's seat of the vehicle, an image showing the target is displayed based on the relative position of the target located around the vehicle, using a dividing line on both sides of the vehicle that defines the lane width as a reference.

8. A display control program for causing a computer to perform the following processes: Obtain information about the surrounding environment of the vehicle. When an image showing the surrounding conditions of the vehicle is displayed on a display unit located around the driver's seat of the vehicle, an image showing the target is displayed based on the relative position of the target located around the vehicle, using a dividing line on both sides of the vehicle that defines the lane width as a reference.

Images