Display control device for vehicle, display control method for vehicle, and non-transitory recording medium

Abstract

The present disclosure relates to a vehicle display control device, a vehicle display control method, and a non-transitory recording medium. A vehicle display control device displays an image representing a surrounding situation of a host vehicle as viewed from a virtual viewpoint on a display region provided around a driver's seat, wherein the control section fixes a display position of a preceding preceding vehicle at a first threshold distance and fixes a display position of a preceding vehicle at a second threshold distance to display the preceding vehicle on the display region when the preceding preceding vehicle is located farther than the first threshold distance and when the preceding vehicle is located at or closer than the first threshold distance and farther than the second threshold distance.

Description

Technical Field

[0001] This disclosure relates to display control devices for vehicles, display control methods for vehicles, and non-transitory recording media. Background Technology

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

[0003] When an image representing the vehicle's surroundings as observed from a virtual viewpoint is displayed in a display area set around the driver's seat, it becomes difficult to distinguish the presence and display color of the preceding vehicles in each lane, depending on the scenario, when multiple preceding vehicles exist in the same lane.

[0004] This disclosure was 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 non-transitory recording medium storing a vehicle display control program, which makes it easy to identify the presence and display color of the preceding vehicle in each lane when there are multiple preceding vehicles in the same lane.

[0005] The vehicle display control device of the first aspect of this disclosure displays an image representing the surrounding conditions of the vehicle as observed from a virtual viewpoint in a display area provided around the driver's seat. The vehicle display control device includes: a memory; and a processor connected to the memory. The processor is configured to, when a preceding vehicle that is a control target of the vehicle is located at a distance greater than a first threshold distance, or a preceding vehicle that is not a control target is located at a distance less than the first threshold distance but greater than a second threshold distance, fix the display position of the preceding vehicle at the first threshold distance and fix the display position of the preceding vehicle at the second threshold distance in the display area.

[0006] The second embodiment of the vehicle display control device disclosed herein is based on the first embodiment of the vehicle display control device, wherein the processor is configured to display only the preceding vehicle in the display area when the preceding vehicle, which is not the target of control, is located at a distance greater than the first threshold distance, and the preceding vehicle, which is the target of control, is located at a distance less than the first threshold distance but greater than the second threshold distance.

[0007] The third embodiment of the vehicle display control device disclosed herein is based on the first embodiment of the vehicle display control device, wherein the processor is configured to display only the preceding vehicle in the display area when the preceding vehicle, which is not the target of control, is located at a distance below the first threshold distance and farther than the second threshold distance, and the preceding vehicle, which is the target of control, is located closer to the preceding vehicle than the second threshold distance.

[0008] The fourth embodiment of the vehicle display control device disclosed herein is based on the first embodiment of the vehicle display control device, wherein the processor is configured to standby at an intermediate position between the first threshold distance and the second threshold distance when the display resumes upon returning to the display area if the preceding vehicle is farther than the second threshold distance and changes from being non-displayed in the display area.

[0009] The fifth embodiment of the vehicle display control device disclosed herein is based on the first embodiment of the vehicle display control device. The processor is configured to selectively apply the most suitable real-world information for displaying the preceding vehicle to the display area after the preceding vehicle is farther away than the second threshold distance and changes from being non-displayed in the display area. This information is stored at the positions calculated based on the respective positions of the first threshold distance and the second threshold distance when the display is restored to the display area.

[0010] The sixth embodiment of the vehicle display control device disclosed herein is based on the first embodiment of the vehicle display control device, wherein the processor is configured to display information of up to two preceding vehicles in the display area for each driving lane.

[0011] The vehicle display control method of the seventh aspect of this disclosure displays an image representing the surrounding conditions of the vehicle as observed from a virtual viewpoint in a display area provided around the driver's seat, wherein the processor performs the following processing: when the preceding vehicle of the vehicle being controlled is located at a distance greater than a first threshold distance, or when a preceding vehicle that is not the vehicle being controlled is located at a distance less than the first threshold distance but greater than a second threshold distance, the display position of the preceding vehicle is fixed at the first threshold distance, and the display position of the preceding vehicle is fixed at the second threshold distance and displayed in the display area.

[0012] The eighth aspect of this disclosure uses a non-transitory recording medium storing a vehicle display control program that displays an image representing the surrounding conditions of the vehicle as observed from a virtual viewpoint in a display area located around the driver's seat. The program causes a computer to perform the following processing: when a preceding vehicle, which is the object of control for the vehicle, is located at a distance greater than a first threshold distance, or when a preceding vehicle that is not the object of control is located at a distance less than the first threshold distance but greater than a second threshold distance, the program fixes the display position of the preceding vehicle at the first threshold distance and fixes the display position of the preceding vehicle at the second threshold distance, displaying it in the display area.

[0013] According to this disclosure, a vehicle display control device, a vehicle display control method, and a non-transitory recording medium storing a vehicle display control program can be provided, which can easily identify the presence and display color of the preceding vehicle in each lane when there are multiple preceding vehicles in the same lane. Attached Figure Description

[0014] Exemplary embodiments of this disclosure will be described in detail with reference to the following drawings, wherein:

[0015] Figure 1 This is a block diagram illustrating the schematic structure of a vehicle according to an implementation of the disclosed technology.

[0016] Figure 2 This is a rough sketch of the front of the passenger compartment inside the vehicle, viewed from the rear side.

[0017] Figure 3 This is an explanatory diagram illustrating the display area of ​​the first display unit.

[0018] Figure 4 It is a block diagram showing the general structure of the display control device.

[0019] Figure 5 This is a block diagram illustrating an example of the functional structure of a display control device.

[0020] Figure 6 It is a diagram that uses tables to represent the display control of the control unit corresponding to the positions of the lead car and the first lead car.

[0021] Figure 7 It is a flowchart representing the process of display control handling.

[0022] Figure 8A This is the first explanatory diagram showing an example of display control for the display area of ​​the first display unit in the first driving mode.

[0023] Figure 8B This is the first explanatory diagram showing an example of display control for the display area of ​​the first display unit in the first driving mode.

[0024] Figure 9A This is the second explanatory diagram showing an example of display control for the display area of ​​the first display unit in the second driving mode.

[0025] Figure 9B This is the second explanatory diagram showing an example of display control for the display area of ​​the first display unit in the second driving mode.

[0026] Figure 10A This is the third explanatory diagram showing an example of display control for the display area of ​​the first display unit in the second driving mode.

[0027] Figure 10B This is the third explanatory diagram showing an example of display control for the display area of ​​the first display unit in the second driving mode.

[0028] Figure 11A This is the fourth explanatory diagram showing an example of display control for the display area of ​​the first display unit in the second driving mode.

[0029] Figure 11B This is the fourth explanatory diagram showing an example of display control for the display area of ​​the first display unit in the second driving mode. Detailed Implementation

[0030] The vehicle 10 of this embodiment will now be described.

[0031] Figure 1 This is a block diagram representing the general structure of vehicle 10.

[0032] like 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 components are interconnected via an external bus (communication bus) 15.

[0033] The display device 21 displays suggestions for operations 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 area" in this disclosure. It should be noted that details regarding the first display unit 24 and the second display unit 25 will be described later.

[0034] Sensor group 30 includes various sensors for detecting the status of vehicle 10 and its surroundings. Specifically, sensor group 30 includes 3D-LiDAR, 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 and control device 50.

[0035] 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, lane markings, and traffic lights. The images captured by camera 40 are output to display control device 50. It should be noted that camera 40 can also be configured as an imaging device for other applications such as dashcams and ADAS (Advanced Driver Assistance Systems).

[0036] The display control device 50 is, for example, an ECU (Electrical Control Unit) that performs various controls.

[0037] The vehicle 10 in this embodiment has at least a first driving mode and a second driving mode as a plurality of preset driving modes. The first driving mode is a driving mode in which the driver performs all operations, and is also referred to as a manual driving mode. Since the driver performs almost all operations, this first driving mode does not correspond to the driving assistance functions of the vehicle 10.

[0038] The second driving mode is a driving mode that automatically performs at least some of the operations, including an automatic driving mode that corresponds to at least one driving assistance function. It should be noted that the automatic driving described here is not limited to so-called Level 3 or higher automatic driving, but also includes so-called Level 2 or lower driving assistance, and this will be the case in the following description. In the example of this embodiment, the second driving mode is an adaptive cruise control (ACC) mode. This ACC mode corresponds to a driving assistance function that automatically accelerates and decelerates while maintaining a distance from the preceding vehicle within a preset speed to perform following driving. Additionally, the second driving mode may also include a driving assistance function that assists steering only when the passenger is holding the steering wheel, i.e., a manual function. Furthermore, the second driving mode may also include a driving assistance function that assists acceleration, deceleration, and steering even when the passenger takes their hands off the steering wheel if the passenger is paying attention to the side ahead of the vehicle, i.e., a hands-free function. The second driving mode is not limited to the above-mentioned assistance functions; it is sufficient that the second driving mode corresponds to at least one driving assistance function among acceleration / deceleration and steering.

[0039] Figure 2 This is a schematic diagram of the front of the carriage 12 inside vehicle 10, viewed from the rear side of the vehicle. 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 description, the vertical and horizontal directions refer to the vertical direction of the vehicle and the width direction of the vehicle, respectively.

[0040] 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 side, and the driver's seat is located on the right side of the vehicle. It should be noted that this is not a limitation, and vehicle 10 can also be a left-hand drive vehicle with the driver's seat located on the left side of the vehicle.

[0041] A windshield 18 is provided at the front end of the dashboard 14. The windshield 18 extends in the vertical and width directions of the vehicle and divides the interior and exterior of the passenger compartment 12.

[0042] 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. It should be noted that the left side of the windshield 18 is fixed to the left front pillar of the vehicle (not shown).

[0043] Here, a first display unit 24 with an image display area V is provided in the instrument panel 14. The first display unit 24 is composed of an instrument display located on the right side of the instrument panel 14 in front of the driver's seat. The first display unit 24 is connected to various instrument devices mounted in the vehicle 10 and is positioned in the driver's field of vision when the driver's gaze is directed forward.

[0044] In addition, a second display unit 25 is provided in 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.

[0045] 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.

[0046] exist Figure 3 The text indicates the display area V of the first display unit 24. Furthermore, in this embodiment, a display area X, which is part of the display area V, displays an image representing the vehicle 10 (i.e., a vehicle image) and an image representing the surrounding conditions of the vehicle 10 (i.e., a surrounding condition image). Specific examples of these images will be described later.

[0047] Display area X is the opening 17 of the steering wheel 16 through which the driver, seated in the driver's seat, can pass (see reference). Figure 2 The area to be visually confirmed. More specifically, such as... Figure 3 As shown, the center of the area that can be viewed from between the upper edge line L1 and the lower edge line L2 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, representing the measuring equipment of the vehicle 10.

[0048] Figure 4 This is a block diagram showing the schematic structure of the display control device 50. The display control device 50 is an example of a "computer" in this disclosure.

[0049] 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 memory 54, an interface (I / F) 55, and an input / output interface (I / F) 56. These components are connected to each other via an internal bus 57 in a manner that enables them to communicate with each other.

[0050] The CPU 51 is the central processing unit, which executes various programs or controls other parts. That is, the CPU 51 reads the program from the ROM 52 and uses the RAM 53 as the working area to execute the program.

[0051] ROM52 stores various programs and data. RAM53 serves as a temporary storage area for programs or data.

[0052] The storage unit 54 is composed of storage media such as eMMC (embedded Multi Media Card) or UFS (Universal Flash Storage) to store various programs and data. The storage unit 54 and the CPU 51 are connected via an eMMC or UFS interface.

[0053] In addition, it is desirable that the components of the display control device 50, such as ROM 52 and storage 54, are tamper-proof media such as HSM (Hardware Security Module).

[0054] The Communication I / F55 is an interface used for connecting to other ECUs. This interface uses an Ethernet-based communication standard (registered trademark).

[0055] 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.

[0056] Here, the ROM 52 stores the display control program 52A, map data 52B, object detection model 52C, graphic data 52D, and color data 52E.

[0057] 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 the "display control program for vehicles" in this disclosure.

[0058] Map data 52B is high-precision map data representing the national map of the country where vehicle 10 is located.

[0059] The object detection model 52C is a model that, given an input image from the camera 40, identifies the region of the target object shown in the image and determines the class of the target object. The object detection model 52C is constructed by appropriately using known models such as YOLO (YOU Only Look Once) and SSD (Single Shot Multibox Detector).

[0060] The aforementioned targets include, for example, people, animals, and vehicles. Furthermore, for the above categories, "people" includes children, adults, and the elderly; "animals" includes dogs, cats, and horses; and "vehicles" includes two-wheeled vehicles, three-wheeled vehicles, and four-wheeled vehicles.

[0061] The illustrated data 52D is data representing the illustrated design of each target object displayed on the first display unit 24.

[0062] Color data 52E represents color data that can be used to color an image representing a specific target object, as described later. For example, color data 52E is equivalent to the RGB values ​​of multiple pre-prepared colors. Thus, color data 52E stores RGB values ​​corresponding to red, blue, white, and black, etc.

[0063] Next, the functional structure of the display control device 50 will be explained.

[0064] Figure 5 This is a block diagram illustrating an example of the functional structure of the display control device 50.

[0065] like Figure 5 As shown, the CPU 51 of the display control device 50 has an acquisition unit 51A and a control unit 51B as its functional structure. 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 "control unit" in this disclosure.

[0066] The acquisition unit 51A acquires various information that can be obtained in the vehicle 10. Specifically, the acquisition unit 51A acquires detection information such as the detection results of various sensors constituting the sensor group 30 and the video images captured by the camera 40 as various information.

[0067] The control unit 51B performs display control related to the display on the display device 21. For example, as part of this display control, the control unit 51B displays the vehicle image and surrounding condition image viewed from a virtual viewpoint on the first display unit 24 based on the detection information acquired by the acquisition unit 51A. Here, "virtual viewpoint" refers to a viewpoint set in a three-dimensional virtual space with the position of the vehicle image as the origin, 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 a specific viewpoint coordinate located above the vehicle image in the virtual space and from a specific viewpoint angle. In addition, the surrounding condition image includes a road image representing the road containing the sidewalk and the lane in which the vehicle 10 travels, and an object image representing other objects besides the vehicle 10, such as other vehicles and pedestrians.

[0068] When the control unit 51B displays the vehicle image and surrounding condition image viewed from the virtual viewpoint on the first display unit 24, it displays a maximum of two preceding vehicles per lane. Furthermore, when the driving mode of vehicle 10 is the second driving mode, the control unit 51B instructs the first display unit 24 to display information to the driver via color, such as the vehicle's movement, distance to preceding vehicles, and acceleration / deceleration relative to the speed used to maintain that distance. Additionally, when the driving mode of vehicle 10 is the second driving mode, the control unit 51B, in principle, always displays the preceding vehicles in the lane in which vehicle 10 is currently traveling on the first display unit 24.

[0069] Furthermore, when the control unit 51B displays the preceding vehicle on the first display unit 24, if the distance from the preceding vehicle 10 in the longitudinal direction exceeds the first display limit (e.g., 100 meters), and if the preceding vehicle is a control target, the position of the preceding vehicle in the longitudinal direction is fixed at the first display limit for display; if the preceding vehicle is not a control target, the preceding vehicle is not displayed (masking is performed). The first display limit is an example of the "first threshold distance" of this disclosure.

[0070] In such a situation, where the preceding vehicle of vehicle 10 is the controlled object, and both the preceding vehicle and the vehicle preceding the preceding vehicle exist at a distance greater than a predetermined distance (the second display limit, for example, 80 meters), and the distance between the preceding vehicle and the vehicle preceding the preceding vehicle in the forward and backward directions is less than the predetermined distance, it becomes difficult to distinguish the presence of the preceding vehicle in each lane and the display color. The second display limit is an example of the "second threshold distance" of this disclosure.

[0071] Therefore, in the aforementioned situation, the control unit 51B controls the vehicle that is not the target of control to not be displayed on the first display unit 24 at a distance farther than the second display limit. Thus, when the distance between the preceding vehicle and the vehicle ahead is close, and the preceding vehicle is the target of control, the control unit 51B can display only the vehicle ahead of control that is the target of control on the first display unit 24.

[0072] Figure 6 This is a diagram showing the display control of the control unit 51B corresponding to the positions of the lead vehicle and the first-leader vehicle. As described above, if the controlled object is the lead vehicle or the first-leader vehicle, and both the lead vehicle and the first-leader vehicle are located further than the first display limit, then the control unit 51B displays the controlled object on the first display unit 24 in a fixed manner at the first display limit, and does not display the non-controlled object on the first display unit 24 (see (7)). If the controlled object is the lead vehicle, then as Figure 6 As shown, the control unit 51B performs display control on the first display unit 24 corresponding to the positions of the leading vehicle and the first-to-first-car (refer to (1) to (3)). Similarly, if the controlled object is the first-to-first-car, then as follows Figure 6 As shown, the control unit 51B performs display control to the first display unit 24 corresponding to the positions of the lead car and the first lead car (see (4) to (6)).

[0073] The viewpoint angle of the virtual viewpoint can also vary depending on the driving assistance level of the driving mode and the speed range of the vehicle 10. Furthermore, when the control unit 51B displays the preceding vehicle on the first display unit 24, it can also change the position of the display limit according to the viewpoint angle of the virtual viewpoint. For example, the control unit 51B can make the second display limit move further away as the virtual viewpoint angle is higher, and make the second display limit move closer to the front as the virtual viewpoint angle is lower.

[0074] When the control unit 51B displays the preceding vehicle on the first display unit 24, in a scenario where the distance from the preceding vehicle 10 in the longitudinal direction exceeds the second display limit and only one vehicle is displayed, if the preceding vehicle is the control target, its longitudinal position is fixed at the second display limit; if the preceding vehicle is not the control target, it is not displayed (it is masked). Furthermore, when the control unit 51B displays the preceding vehicle on the first display unit 24, in a scenario where the distance from the preceding vehicle 10 in the longitudinal direction exceeds the second display limit and only two vehicles are displayed, if the preceding vehicle is not the control target, its longitudinal position is fixed at the second display limit; if the preceding vehicle is the control target, its longitudinal position is fixed at the first display limit.

[0075] In this situation, after the preceding vehicle is shielded at a distance farther than the second display limit, the control unit 51B uses a moving average filter to smooth the image when it becomes the display object again due to being controlled. However, due to the effect of the moving average filter, the positional relationship displayed on the first display unit 24 deviates from the actual view of the vehicle, which may cause discomfort to the driver.

[0076] Therefore, in the aforementioned situation, when the displayed object is shielded at a location farther than the second display limit, the control unit 51B holds the display at a position between the first and second display limits, for example, at the midpoint between the first and second display limits. Furthermore, in the aforementioned situation, when the displayed object is shielded at a location farther than the second display limit, the control unit 51B assumes the positional relationship of the vehicle when the display resumes and stores the result of moving average filtering for cases where the first and second display limits are fixed respectively. Then, when the displayed object resumes display, the control unit 51B displays the action that causes less discomfort relative to the real-world scene on the first display unit 24. Thus, when the preceding vehicle of the object is shielded at a location farther than the second display limit and then resumes display, the discomfort regarding the behavior of the preceding vehicle relative to the real-world scene before and after resumption is reduced.

[0077] Figure 7 This is a flowchart illustrating the display control process executed by the display control device 50. The CPU 51 reads the display control program 52A from the ROM 52, expands it in the RAM 53, and executes it, thereby performing the display control process. As an example, the display control process is executed automatically and repeatedly at predetermined time intervals.

[0078] In step S101, CPU 51 acquires the surrounding conditions of vehicle 10. Specifically, CPU 51 acquires data related to the surrounding conditions of vehicle 10 based on signals from sensors mounted on vehicle 10. Additionally, CPU 51 acquires map information about the surrounding area of ​​vehicle 10.

[0079] Next, in step S101, CPU51 obtains the driving mode of vehicle 10 in step S102.

[0080] Next, in step S102, CPU51 determines the positions of the preceding vehicle and the vehicle preceding the preceding vehicle in step S103 based on the surrounding conditions of vehicle 10.

[0081] Following step S103, in step S104, CPU 51 performs display control on the first display unit 24 of information corresponding to the positions of the leading vehicle and the preceding leading vehicle. Specifically, CPU 51 is based on... Figure 6The system displays and controls the information related to the leading vehicle and the preceding vehicle, as well as the positions of the controlled objects shown.

[0082] Next, an example of display control to the first display unit 24 based on the above-described display control processing will be explained. In the figures used in the following explanation, "100m" signifies the first display limit, and "80m" signifies the second display limit. Furthermore, in the figures used in the following explanation, for ease of explanation, a view of the vehicle from above is shown; however, in reality, the first display unit 24 displays an image representing the vehicle and its surroundings from a virtual viewpoint obliquely rearward from the vehicle.

[0083] Figure 8A and Figure 8B This is the first explanatory diagram showing a display control example for the display area X of the first display unit 24 in the first driving mode. Figure 8A This diagram shows the position of vehicle 10 and surrounding vehicles 11A to 11D as viewed from above. Figure 8B This diagram shows the display status when the surrounding vehicles 11A to 11D are displayed on the first display unit 24, viewed from above. Figure 8B In the display unit 24, vehicles 11A to 11D, represented by solid lines, are shown as vehicles 11D, while vehicles 11A to 11C, represented by dashed lines, are not shown. Thus, in the first driving mode, regardless of the vehicle 10's lane, only the nearest surrounding vehicle 10 (vehicle 10) is displayed on the first display unit 24. By controlling the display on the first display unit 24 in this way in the first driving mode, the control unit 51B can show the presence of preceding vehicles in a manner easily understood by the driver.

[0084] Figure 9A and Figure 9B This is a second explanatory diagram showing a display control example for the display area X of the first display unit 24 in the second driving mode. Figure 9A This diagram shows the position of vehicle 10 and surrounding vehicles 11A to 11D as viewed from above. Figure 9B This diagram shows the display state when surrounding vehicles 11A to 11D are displayed on the first display unit 24, viewed from above. In this example, surrounding vehicles 11A and 11B are both located closer to the first display limit and farther from the second display limit. Figure 9A In this context, it means that surrounding vehicles 11B traveling in the same lane as vehicle 10 are the controlled objects. Figure 9BIn the display unit 24, vehicles 11B and 11D, indicated by solid lines among the surrounding vehicles 11A to 11D, are shown on the first display unit 24, while vehicles 11A and 11C, indicated by dashed lines, are not shown on the first display unit 24. Furthermore, in this case, surrounding vehicles 11B and 11D are displayed on the first display unit 24 in a manner corresponding to their actual positions. By controlling the display on the first display unit 24 in this way in the second driving mode, the control unit 51B can show the presence of the preceding vehicle and the vehicle preceding it in a manner easily understood by the driver.

[0085] Figure 10A and Figure 10B This is the third explanatory diagram showing an example of display control for the display area X of the first display unit 24 in the second driving mode. Figure 10A This diagram shows the position of vehicle 10 and surrounding vehicles 11A to 11D as viewed from above. Figure 10B This diagram shows the display state when surrounding vehicles 11A to 11D are displayed on the first display unit 24, viewed from above. In this example, surrounding vehicle 11A is located further away from the first display limit, and surrounding vehicle 11B is located closer to the first display limit and further away from the second display limit. Furthermore, in Figure 10A In this context, it means that surrounding vehicles 11A traveling in the same lane as vehicle 10 are the controlled objects. Figure 10B In the diagram, surrounding vehicles 11A to 11D, indicated by solid lines, are shown on the first display unit 24, while surrounding vehicle 11C, indicated by dashed lines, is not shown on the first display unit 24. Furthermore, in this case, surrounding vehicle 11A is shown on the first display unit 24 at the first display limit, and surrounding vehicle 11B is shown on the first display unit 24 at the second display limit. By controlling the display on the first display unit 24 in this way in the second driving mode, the control unit 51B can display the presence of the preceding vehicle and the vehicle preceding it in a manner easily understood by the driver.

[0086] Figure 11A and Figure 11B This is the fourth explanatory diagram showing an example of display control for the display area X of the first display unit 24 in the second driving mode. Figure 11A This diagram shows the position of vehicle 10 and surrounding vehicles 11A to 11D as viewed from above. Figure 11B This diagram shows the display state when surrounding vehicles 11A to 11D are displayed on the first display unit 24, viewed from above. In this example, surrounding vehicles 11A and 11B are both located closer to the first display limit and farther from the second display limit. Furthermore, in... Figure 11A In this context, it means that surrounding vehicles 11A traveling in the same lane as vehicle 10 are the controlled objects. Figure 11BIn the diagram, surrounding vehicles 11A to 11D, indicated by solid lines, are shown on the first display unit 24, while surrounding vehicle 11C, indicated by dashed lines, is not shown on the first display unit 24. Furthermore, in this case, surrounding vehicle 11A is shown on the first display unit 24 at the first display limit, and surrounding vehicle 11B is shown on the first display unit 24 at the second display limit. By controlling the display on the first display unit 24 in this way in the second driving mode, the control unit 51B can display the presence of the preceding vehicle and the vehicle preceding it in a manner easily understood by the driver.

[0087] By performing display control based on the positions of the preceding vehicle and the vehicle preceding the preceding vehicle, the display control device 50 can easily distinguish the presence and display color of the preceding vehicle in each lane when there are multiple preceding vehicles in the same lane.

[0088] The processing described in the above embodiments can also be implemented by dedicated hardware circuitry. In this case, it can be executed by one piece of hardware or by multiple pieces of hardware.

[0089] In the above embodiment, the ROM 52 stores a display control program 52A, map data 52B, object detection model 52C, graphic data 52D, and color data 52E. However, it is not limited to this; the data can be stored in the memory 54, or the data can be stored separately in the ROM 52 and the memory 54.

[0090] The embodiments of this disclosure have been described in detail above with reference to the accompanying drawings, but the scope of protection of this disclosure is not limited to this example. The embodiments described above are illustrative and do not limit the scope of protection of this disclosure. It is obvious to anyone skilled in the art that various modifications or alterations can be conceived within the scope of the technical concept set forth in the claims, and such modifications or alterations are naturally understood to fall within the scope of protection of this disclosure.

[0091] 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, the technology involved in this disclosure may have other obvious effects than those described in the above embodiments, or may replace the effects described in the above embodiments, according to the descriptions in the above embodiments, which can have obvious effects on those skilled in the art of this disclosure.

[0092] It should be noted that various processors other than the CPU can also execute the various processes that the CPU51 reads into the software (program) and executes in the above embodiments. 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 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). More specifically, the hardware structure of these various processors is a circuit that combines circuit elements such as semiconductor elements.

[0093] Furthermore, while the above embodiment describes the display control program 52A being pre-stored (installed) in the ROM 52, this is not a limitation. 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 downloaded from an external device via a network. It should be noted that the technology disclosed herein can also be applied to programs and program products.

Claims

1. A display control device for a vehicle, which displays an image representing the surrounding conditions of the vehicle as assumed to be observed from a virtual viewpoint in a display area disposed around the driver's seat, wherein, The vehicle display control device includes: Memory; and The processor is connected to the memory. The processor is configured to, when the preceding vehicle of the vehicle being controlled is located at a distance greater than a first threshold distance, and the preceding vehicle that is not the vehicle being controlled is located at a distance less than the first threshold distance but greater than a second threshold distance, fix the display position of the preceding vehicle at the first threshold distance and fix the display position of the preceding vehicle at the second threshold distance and display it in the display area.

2. The vehicle display control device according to claim 1, wherein, The processor is configured to display only the preceding vehicle in the display area when the preceding vehicle, which is not the target of control, is located at a distance greater than the first threshold, and the preceding vehicle of the target of control is located at a distance less than the first threshold and greater than the second threshold.

3. The vehicle display control device according to claim 1, wherein, The processor is configured to display only the preceding vehicle in the display area when the preceding vehicle, which is not the target of control, is located below the first threshold distance but farther than the second threshold distance, and the preceding vehicle of the target of control is located closer to the target than the second threshold distance.

4. The vehicle display control device according to claim 1, wherein, The processor is configured to standby at an intermediate position between the first threshold distance and the second threshold distance when the display resumes upon returning to the display area if the preceding vehicle is farther away than the second threshold distance and becomes non-displaying from the display area.

5. The vehicle display control device according to claim 1, wherein, The processor is configured to selectively apply the most suitable real-world information for displaying the preceding vehicle to the display area after the preceding vehicle is farther away than the second threshold distance and becomes non-displayable from the display area. This information is stored in position information calculated at the respective positions of the first threshold distance and the second threshold distance when the display is restored to the display area.

6. The vehicle display control device according to claim 1, wherein, The processor is configured to display information on up to two leading vehicles per driving lane in the display area.

7. A display control method for a vehicle, wherein an image representing the surrounding conditions of the vehicle as assumed to be observed from a virtual viewpoint is displayed in a display area disposed around the driver's seat, wherein, The processor performs the following processing: when the preceding vehicle of the vehicle being controlled is located at a distance greater than a first threshold distance, or when the preceding vehicle that is not the vehicle being controlled is located at a distance less than the first threshold distance but greater than a second threshold distance, the display position of the preceding vehicle is fixed at the first threshold distance, and the display position of the preceding vehicle is fixed at the second threshold distance and displayed in the display area.

8. A non-transitory recording medium storing a vehicle display control program that displays an image representing the vehicle's surroundings as viewed from a virtual viewpoint in a display area located around the driver's seat, wherein... Perform the following processing: If the preceding vehicle of the vehicle being controlled is located at a distance greater than a first threshold distance, or if the preceding vehicle that is not the vehicle being controlled is located at a distance less than the first threshold distance but greater than a second threshold distance, the display position of the preceding vehicle is fixed at the first threshold distance, and the display position of the preceding vehicle is fixed at the second threshold distance, and then displayed in the display area.

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