Vehicle display device for a lane deviation determination section with stereoscopic object

Abstract

Vehicle display device (10) which displays a predetermined image in a display area (24, 25, 26) indicating a forward view of a vehicle (12), comprising: a memory (34); and a processor (30) connected to the memory (34), wherein the processor (30) is configured to: to identify a lane (70) on which the vehicle (12) is traveling; detect a position (O) of the vehicle (12) relative to the lane (70); based on the lane (70) and the position (O) of the vehicle (12) detected by the processor (30), determine whether there is a possibility that the vehicle (12) is deviating from the lane (70); and In a case where it has been determined that there is a possibility that the vehicle (12) may deviate from the lane (70), an image of a stereoscopic object (B) arranged along the lane (70) is to be displayed in the display area (24, 25, 26). characterized by the fact that the processor (30) is further configured to display the image of the stereoscopic object (B) in the display area (24, 25, 26) such that: the stereoscopic object (B) appears to move along the track (70) from a background side to a foreground side of the display area (24, 25, 26); and the stereoscopic object (B), whose movement has stopped at the foreground of the display area (24, 25, 26), appears to vibrate to simulate the movement of the vehicle (12) over a three-dimensional object such as a rumble strip, the image of the stereoscopic object (B) is caused to oscillate in a vertical, lateral or oblique direction, enabling the occupant to experience a realistic sensation as if the vehicle were vibrating as a result of driving over a rumble strip.

Description

Background of the invention: Technical field

[0001] The present disclosure relates to a vehicle display device for a lane deviation determination section with a stereoscopic object, an associated display method and an associated storage medium. State of the art

[0002] Japanese patent application JP 2018-140646A discloses a vehicle display device (head-up display device) that displays a warning image indicating the direction of a vehicle's deviation in cases where there is a possibility that the vehicle may leave its lane while driving. This vehicle display device shows a planar image of a pair of lane markings that define the boundaries of a lane on a road. The image of the pair of lane markings indicates the direction of the vehicle's deviation by highlighting an image of the lane marking on the side in the direction of deviation using differences in color, luminance, thickness, and the like.

[0003] Furthermore, a rumble strip is known as a means of warning the driver of lane departures, in which convex blocks are arranged in strips on the road. Rumble strips are an effective means of preventing accidents caused by lane departures, as they intuitively alert the driver to the risk of lane departure by generating vibrations and noise when the vehicle drives over them. Accordingly, it is desirable that a vehicle warning device should also intuitively alert the driver to the risk of lane departure.

[0004] However, it is difficult to intuitively alert a driver to the risk of lane departure by simply depicting a direction of deviation in a flat image showing a lane boundary, as in JP 2018 - 140 646 A.

[0005] Publication US 2018 / 0148072A1 discloses an image processing device for a driver assistance system comprising: a driver assistance device that detects the relative position of a lane marking with respect to a vehicle and assists the vehicle's driving based on acquired position information; a head-up display device that projects a display image onto a projection area mounted on the vehicle to visually detect a virtual image of the display image; a detection device that acquires the position information; and a generating device that generates the display image, including a predetermined display element. The generating device creates the display image to visually detect the display element at a position associated with the position information and to visually detect the display element as a shape inclined from the lane marking toward the vehicle.

[0006] In addition, the publications JP 2018-103 862 A, DE 11 2015 001 544 T5, US 2011 / 0 301 813 A1 and DE 10 2019 202 581 A1 concern further relevant prior art from the present field of vehicle display devices for a lane deviation determination section. Summary

[0007] The present disclosure was achieved taking into account the aforementioned points, and one of its objectives is to provide a vehicle display device, a display method and a storage medium capable of intuitively conveying to a vehicle occupant the risk of lane departure.

[0008] The present problem is solved by a vehicle display device according to claim 1. Furthermore, the present problem is solved by a method for displaying a predetermined image in a display area according to the claim directed to the method, and by an associated non-transient, computer-readable storage medium for storing and executing the aforementioned method according to the claim directed to the storage medium.

[0009] A vehicle display device according to a first aspect of the present disclosure is a vehicle display device that displays a predetermined image in a display area indicating a forward view of a vehicle, wherein the device has: a lane detection section configured to detect a lane in which the vehicle is traveling; a vehicle position detection section configured to detect a position of the vehicle relative to the lane; a lane deviation determination section configured to determine, based on the detected lane and the position of the vehicle, whether there is a possibility that the vehicle is deviating from the lane;and a display command section configured to display in the display area an image of a stereoscopic object positioned along the lane, in a case where it has been determined that there is a possibility that the vehicle may deviate from or leave the lane.

[0010] The display command section shows the image of the stereoscopic object in the display area, so that the stereoscopic object appears to move along the track from a background side to a foreground side of the display area.

[0011] The display command section shows the image of the stereoscopic object, whose movement has stopped at the foreground of the display area, in the display area, so that the stereoscopic object appears to vibrate to simulate the vehicle driving over a three-dimensional object such as a rumble strip, with the image of the stereoscopic object (B) being caused to oscillate in a vertical, lateral or oblique direction, allowing the occupant to experience a realistic sensation as if the vehicle were vibrating as a result of driving over a rumble strip.

[0012] According to the first aspect, the vehicle display device shows a predetermined image in a display area that indicates a forward view of the vehicle. The vehicle display device detects the lane in which the vehicle is traveling and the vehicle's position relative to the lane and, based on these factors, determines whether there is a possibility that the vehicle will deviate from the lane. If the vehicle display device has determined that there is a possibility that the vehicle will deviate from the lane, it displays an image of a stereoscopic object arranged along the lane in the display area. Because the vehicle display device is able to convey to the occupant a visual effect suggesting that the vehicle has driven over a three-dimensional object, it is possible to intuitively communicate the risk of lane departure.

[0013] Because the image of a stereoscopic object is displayed as if it is moving along the roadway from a background to a foreground of the display area, the occupant experiences a realistic sensation as if the stereoscopic object positioned on the roadway is approaching the vehicle. Consequently, the vehicle display device is able to more effectively convey to the occupant a visual effect suggesting that the vehicle is driving over the stereoscopic object.

[0014] Because an image of an oscillating stereoscopic object is displayed in the display area, the occupant experiences a realistic sensation as if the vehicle is vibrating as a result of driving over a three-dimensional object. Consequently, the vehicle display device is able to more effectively convey to the occupant a visual effect suggesting that the vehicle is driving over a three-dimensional object.

[0015] A vehicle indication device according to a further aspect of the present disclosure is a configuration in which the lane deviation determination section determines that there is a possibility that the vehicle may deviate from the lane in a case where a distance between the vehicle and a boundary line in a lane width direction is equal to or less than a predetermined threshold.

[0016] According to the vehicle display device, in a case where the vehicle has approached the lane marking in the direction of the lane width, it is determined that there is a possibility that the vehicle may deviate from the lane, and the image of the stereoscopic object is displayed in the display area. This allows an occupant to be alerted to the risk of lane departure when the vehicle is in a condition where the probability of deviating from the lane is high.

[0017] A vehicle indication device according to a further aspect of the present disclosure is a configuration which further comprises a direction-of-travel detection section which is configured to detect a direction of travel of the vehicle and in which the lane deviation determination section determines that there is a possibility that the vehicle may deviate from the lane in a case in which an angle formed by a boundary line in a lane width direction and the direction of travel of the vehicle is equal to or greater than a predetermined threshold.

[0018] According to the vehicle display device, if (or in a case where) the angle formed by the lane marking in the direction of travel width and the direction of travel of the vehicle is equal to or greater than a predetermined threshold, it is determined that there is a possibility that the vehicle may deviate from the lane, and the image of the stereoscopic object is displayed in the display area. This allows the occupant to be alerted to the risk of lane departure (or leaving the lane) while the vehicle is traveling on a stretch of road with a high probability of lane departure, such as when the vehicle is traveling on a lane with a sharp curve.

[0019] A vehicle display device according to another aspect of the present disclosure is a configuration in which the display command section displays the image of the stereoscopic object in the display area before the vehicle deviates from the lane.

[0020] According to the further aspect, it is possible to effectively prevent an accident caused by the vehicle when it deviates from the lane, since the image of the stereoscopic object is displayed in the display area before the vehicle deviates from the lane, thus allowing the risk of lane departure (or leaving the lane) to be detected.

[0021] A vehicle display device according to a further aspect of the present disclosure is a configuration in which, when the image of the stereoscopic object is displayed in the display area, the display command section changes at least one of an oscillation frequency or an oscillation amplitude of the image of the stereoscopic object, corresponding to a distance between the vehicle and a boundary line in a lane width direction.

[0022] According to a further aspect, since the oscillation frequency or oscillation amplitude of the stereoscopic object's image can be varied depending on the distance between the vehicle and the lane markings in the lane width direction, the intensity of the visual effect conveyed to the occupant can be adjusted according to the probability of lane departure. For example, by shortening the oscillation frequency or increasing the oscillation amplitude of the stereoscopic object's image as the distance between the lane markings and the vehicle decreases, the visual effect that gives an occupant the impression that the vehicle has driven over a three-dimensional object can be enhanced. Consequently, the vehicle display device is able to intuitively make an occupant aware of the degree of risk of lane departure.

[0023] A vehicle display device according to a further aspect of the present disclosure is a configuration in which the display area is configured as a projection plane projected by a head-up display device onto a front part of the vehicle relative to a driver's seat, and the display command section displays the image of the stereoscopic object in the display area along the lane in a view ahead of the vehicle, as seen through the display area.

[0024] According to the further aspect, the display area, which shows the view ahead from the vehicle, is set up as a projection plane projected by a head-up display device at the front of the vehicle relative to the driver's seat. Furthermore, the image of the stereoscopic object is displayed along a lane seen through the display area. Since the stereoscopic object is displayed in the vehicle's display device in such a way that it is integrated into the driver's view ahead, it is possible for the driver to recognize the risk of lane departure without significantly altering their line of sight.

[0025] A display method according to a further aspect of the present disclosure is a method for displaying a predetermined image in a display area showing a view ahead from a vehicle, the method comprising: detecting a lane in which the vehicle is (currently) traveling, detecting a position of the vehicle relative to the lane, determining whether there is a possibility that the vehicle will deviate from the lane based on the detected lane and the position of the vehicle, displaying an image of a stereoscopic object arranged along the lane in the display area in a case where it has been determined that there is a possibility that the vehicle will deviate from the lane, and displaying the image of the stereoscopic object in the display area.that the stereoscopic object appears to move along the track from a background side to a foreground side of the display area, and the stereoscopic object, whose movement has stopped at the foreground side of the display area, appears to vibrate to simulate the vehicle's journey over a three-dimensional object such as a rumble strip, causing the image of the stereoscopic object (B) to oscillate in a vertical, lateral, or oblique direction, allowing the occupant to experience a realistic sensation as if the vehicle were vibrating as a result of driving over a rumble strip.

[0026] As described above, the display procedure can intuitively convey the risk of lane departure to the occupant according to the further aspect.

[0027] A program according to a tenth aspect of the present disclosure is a program that causes a predetermined image to be displayed in a display area showing a view ahead from a vehicle, wherein the program is executable by a computer to detect a lane in which the vehicle is traveling, to detect a position of the vehicle relative to the lane, to determine whether there is a possibility that the vehicle will deviate from (or leave) the lane, based on the detected lane and the position of the vehicle, in a case where it has been determined that there is a possibility that the vehicle will deviate from the lane, to display an image of a stereoscopic object arranged along the lane in the display area, and to display the image of the stereoscopic object in the display area.that the stereoscopic object appears to move along the track from a background side to a foreground side of the display area, and the stereoscopic object, whose movement has stopped at the foreground side of the display area, appears to vibrate to simulate the vehicle's journey over a three-dimensional object such as a rumble strip, causing the image of the stereoscopic object (B) to oscillate in a vertical, lateral, or oblique direction, allowing the occupant to experience a realistic sensation as if the vehicle were vibrating as a result of driving over a rumble strip.

[0028] As described above, according to the program, the risk of lane departure can be intuitively conveyed to the occupant based on this further aspect.

[0029] According to the present disclosure, the risk of lane deviation can be intuitively conveyed to the occupant. Brief description of the characters

[0030] Exemplary embodiments of the present invention are described in more detail with reference to the following figures, wherein: Fig. 1 a schematic diagram which, viewed from the rear of a vehicle, shows a front part inside a vehicle cabin of a vehicle to which a vehicle display device according to the present exemplary embodiment has been attached; Fig. 2 a block diagram showing a hardware configuration of a vehicle display device according to the present exemplary embodiment; Fig. 3 a block diagram showing a functional configuration of a vehicle display device according to the present exemplary embodiment; Fig. 4A is a top view schematically showing a vehicle in motion and illustrating the distance between a boundary line in a lane width direction and the vehicle; Fig. 4B is a top view schematically showing a vehicle in motion and illustrating an angle formed by a lane boundary line and the vehicle's direction of travel; Fig. 5 a diagram illustrating a display example of a display area according to the present exemplary embodiment; Fig. 6 is a flowchart showing an example of a display processing sequence in the present exemplary embodiment; Fig. 7 a diagram showing an example of a method for displaying an image of a single stereoscopic object in a display area; Fig. 8 a diagram showing an example of a method for displaying images of multiple stereoscopic objects shown in a display area; Fig. 9 an enlarged partial view, which is an example of a method for displaying an image of a device located in area P of Fig. The stereoscopic object shown in section 8 is; and Fig. 10 is a schematic representation of a vehicle display device according to a modified example of the present exemplary embodiment. Detailed description

[0031] The following section describes, with reference to the drawings, a vehicle 12 to which a vehicle display device 10 has been attached according to an exemplary embodiment. The vehicle 12 of the present exemplary embodiment is, for example, equipped to switch between autonomous driving and manual driving. Autonomous driving is a driving mode of a vehicle in which the operation of an accelerator pedal, brake, turn signal, steering, and the like is carried out partially or fully automatically. Manual driving is a driving mode of a vehicle in which the driver performs all driving operations (operation of the accelerator pedal, brake, turn signal, steering, and the like) himself. As shown in Fig. As shown in Figure 1, an instrument panel 14 is attached to a front part inside the vehicle cabin of the vehicle 12.

[0032] 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. In particular, in the present exemplary embodiment, for example, a right-hand drive vehicle is configured with a steering wheel 16 on the right side, and a driver's seat is installed on the right side of the vehicle.

[0033] A windshield (glass) 18 is provided at a front end of the instrument panel 14. The windshield 18 is located at the front of the vehicle, near the driver's seat, and extends in a vertical and a width direction to separate the interior of the vehicle cabin from the exterior of the vehicle cabin.

[0034] The right end of the windshield 18, on the vehicle side, is attached to a front pillar 20 on the right side of the vehicle. The front pillar 20 extends vertically in the direction of the vehicle, and the windshield 18 is attached to an inner end section of the front pillar 20 in the direction of the vehicle's width. A front end section of a front side glass 22 is attached to an outer end section of the front pillar 20 in the direction of the vehicle's width. A left end section of the windshield 18 is attached to a front pillar (not shown) on the left side of the vehicle.

[0035] Here, the instrument panel 14 is provided with a first display section 24, which has a display area for a predetermined image. The first display section 24 is provided by a counter display, which is provided on a right-hand side panel of the instrument panel 14, viewed in the direction of the vehicle's width, relative to the driver's seat and facing the front of the vehicle. The counter display is part of a counter display device (not shown) connected to various counter devices installed in the vehicle 12. The first display section 24 is located in a position that enters the driver's field of vision when the driver is looking towards the front of the vehicle.

[0036] The windshield 18 is provided with a second display section 25, which has a display area for a predetermined image. The second display section 25 is provided by a display located in a central part of the instrument panel 14 in the vehicle width direction, at the front of the driver's seat.

[0037] The windshield 18 is provided with a third display section 26, which has a display area for a predetermined image. The third display section 26 is installed on the upper surface of the vehicle above the first display section 24 and is set by a projection plane projected from a head-up display device 44 (see Fig. 2) In particular, the head-up display device 44 is provided and configured on the front of a vehicle relative to the instrument panel 14 to project an image from the head-up display device 44 onto the third display section 26 of the windscreen 18; i.e., the third display section 26 is provided by the windscreen 18 serving as the projection plane of the head-up display device 44. - Hardware configuration of the vehicle display device 10 -

[0038] The vehicle 12 is equipped with an electronic control unit (ECU) 28 as a control unit. Fig. Figure 2 is a block diagram showing a hardware configuration of the vehicle display device 10. As shown in Fig. As shown in Figure 2, the ECU 28 of the vehicle display device 10 has a central processing unit (CPU: processor) 30, a read-only memory (ROM) 32, a random access memory (RAM) 34, a memory 36, a communication interface 38, and an input / output interface 40. These respective configurations are interconnected via a bus 42. The CPU 30 is an example of a processor, and the RAM 34 is an example of a memory.

[0039] The CPU 30 is a central processing unit that executes various programs and controls different components. Specifically, the CPU 30 reads a program from ROM 32 or memory 36 and executes the program using RAM 34 as its working area. The CPU 30 controls the configurations described above and performs a variety of calculations according to the programs stored in ROM 32 or memory 36.

[0040] ROM 32 stores various programs and data. RAM 34 serves as a workspace that temporarily stores programs and data. Memory 36 is provided by a hard disk drive (HDD) or a solid-state drive (SSD) and stores various programs, including an operating system, as well as various data. In the present exemplary embodiment, a program for performing display processing, various data, and the like are stored in ROM 32 or in memory 36.

[0041] The communication interface 38 is an interface for the vehicle display device 10 to communicate with a server (not shown) and other devices (or an interface so that the vehicle display device 10 can communicate via them), and a protocol such as Ethernet (registered trademark), LTE, FDDI or Wi-Fi (registered trademark) is used, for example.

[0042] The input / output interface 40 is connected to the first display section 24, the second display section 25, the head-up display device 44, which projects a predetermined image onto the third display section 26, and an actuator 46. The actuator 46 has a steering actuator, an acceleration actuator, and a brake actuator, with the steering actuator controlling the steering of the vehicle 12. The acceleration actuator causes the vehicle 12 to accelerate. The brake actuator causes the vehicle 12 to decelerate by controlling the braking process. A camera (not shown) that captures an image of the periphery of the vehicle 12, sensors to enable autonomous driving of the vehicle 12, a GPS device, and the like are connected to the input / output interface 40. - Functional configuration of the vehicle display device 10 -

[0043] The vehicle display device 10 implements various functions using the hardware resources described above. The following describes the functional configurations implemented by the vehicle display device 10 with reference to Fig. 3 explained.

[0044] As in Fig. As shown in Figure 3, the functional configuration of the vehicle display device 10 has a communication section 50, a detection section 51, a timetable setting section 52, an autonomous driving control section 54, a lane detection section 56, a vehicle position detection section 58, a lane deviation determination section 60, an image generation section 62, and a display command section 64. The respective functional configurations are implemented by the CPU 30 by reading and executing programs stored in the ROM 32 or in the memory 36.

[0045] The communication section 50 transmits and receives data to and from an external server and other devices via the communication interface 38. For example, map data and traffic information stored on a server are transmitted and received. Furthermore, the communication section 50 can be configured to enable communication between vehicles in the periphery.

[0046] The detection section 51 captures the vehicle 12's driving environment as peripheral information from an external sensor (not shown) via the input / output interface 40. The external sensor has at least one camera that images a predetermined area around the vehicle 1.2, a millimeter-wave radar that transmits scanning waves over a predetermined area, or a LiDAR scanner (Light Detection and Ranging / Laser Imaging Detection and Ranging) that scans a predetermined area. The peripheral information includes, for example, the lane width 70 (see Fig. 4A, Fig. 4B and Fig. 5) of vehicle 12 as well as other vehicles traveling near vehicle 12, obstacles and the like.

[0047] Timetable setting section 52 sets a timetable for vehicle 12. Specifically, a journey plan from the current location to a destination is set by an occupant entering the destination.

[0048] The autonomous driving control section 54 controls the switching between manual and autonomous driving of the vehicle 12. Furthermore, when the driving mode of the vehicle 12 has been switched to autonomous driving, the autonomous driving control section 54 causes the vehicle 12 to drive autonomously according to a defined route, while taking into account position information and environmental information regarding the periphery of the vehicle 12. In particular, the autonomous driving of the vehicle 12 is effected by controlling the actuator 46.

[0049] The lane detection section 56 has the function of detecting a vehicle's lane. Specifically, based on images taken by the camera ahead of (or in front of) the vehicle 12, the white lines drawn on the road surface are analyzed, and the lane is detected. Lane detection includes recognizing the shape of the lane and its width. The lane detection section 56 can detect the vehicle's lane based on vehicle position information acquired by a GPS device and high-precision map information.

[0050] The vehicle position detection section 58 has a function to detect the vehicle's position relative to the lane. Specifically, the vehicle's position relative to the lane is estimated based on images captured by the camera facing the front of the vehicle. Estimating the vehicle's position involves estimating its position relative to a boundary line (e.g., a white line) in the lane's width direction and estimating the vehicle's direction of travel. The vehicle position detection section 58 can detect the vehicle's position and direction of travel relative to the lane based on vehicle position information acquired by a GPS device and high-precision map information.

[0051] The lane deviation determination section 60 determines whether there is a possibility that the vehicle will deviate from the lane or not, based on the lane and the vehicle's position detected by the lane detection section 56 and the vehicle position detection section 58. In particular, as described in Fig. Figure 4A shows a case where a distance D1 between the boundary line in the lane width direction of lane 70 and the vehicle 12 is equal to or less than a predetermined threshold value, determines that there is a possibility that the vehicle 12 will deviate from lane 70. Fig. Figure 4A shows a distance D1 between a white line L1, which indicates a boundary line on the left side of lane 70 in the direction of lane width, and vehicle 12. Although in Fig. 4A where only the distance D1 between vehicle 12 and the white line L1 on the left side of vehicle 12 is shown, the lane deviation determination section 60 can similarly perform a determination based on the distance between vehicle 12 and the white line L2 on the right side of vehicle 12.

[0052] As in Fig. As shown in Figure 4B, the lane deviation determination section 60 can determine, in a case where an angle θ1 formed by the boundary line in the lane width direction of lane 70 and the direction of travel of the vehicle is equal to or greater than a predetermined threshold, that there is a possibility that the vehicle 12 deviates from lane 70. Fig. Figure 4B illustrates a direction of travel (vehicle centerline direction) of vehicle 12 as a straight line C and illustrates a tangential direction of a white line L1, which is arranged on the left in the lane width direction, relative to a reference position O of vehicle 12 as a straight line T. The reference position O of vehicle 12 is, for example, a center position of vehicle 12. In the present exemplary embodiment, the angle θ1 formed by line C and line T is defined as the angle θ1 formed by the boundary line in the lane width direction of lane 70 and the direction of travel of the vehicle.

[0053] The angle θ1, formed by the boundary line in the lane width direction and the direction of travel of the vehicle on lane 70, increases when (or as) the tangential direction of the white line L1 and the direction of travel of vehicle 12 diverge. Accordingly, for example, in a case where vehicle 12 has traveled to a point on a sharp curve of a lane and the formed angle θ1 becomes equal to or greater than a predetermined threshold, it can be determined that there is a possibility that vehicle 12 will deviate from (or leave) lane 70.

[0054] Although Fig. 4B only shows the angle θ1 formed by the tangential direction of the white line L1 on the left side of the vehicle 12 and the direction of travel of the vehicle 12, the lane deviation determination section 60 can similarly make a determination based on the angle formed by the tangential direction of the white line L2 on the right side of the vehicle 12 and the direction of travel of the vehicle 12.

[0055] The image generation section 62 generates an image to be displayed on the third display section 26, which is a projection plane of the head-up display device 44. Images generated by the image generation section 62 include, for example, a counter display M (see Fig. 5), which indicates the vehicle's speed 12, as well as various images intended to support manual and autonomous driving.

[0056] In particular, in the present exemplary embodiment, the image generation section 62 shows, in a case where the lane deviation determination section 60 has determined that there is a possibility that the vehicle 12 may deviate from a lane, a stereoscopic image B (see Fig. 7) in the display area of ​​the third display section 26. The stereoscopic image B is, for example, an image of a block-shaped stereoscopic object. As in Fig. As shown in Figure 8, in the present exemplary embodiment several stereoscopic images B are displayed in the third display section 26 along the lane 70. The details of the method for displaying the stereoscopic image B are described below.

[0057] The display command section 64 has a function to display the images generated by the image generation section 62 in / on the display area of ​​the third display section 26, and a function to delete the images displayed in / on the third display section 26.

[0058] For example, the display command section 64 displays various images in the display area of ​​the third display section 26 in order to cause the various images to be integrated into the forward view of the vehicle 12, which is seen by an occupant of the driver's seat through the third display section 26 (windscreen 18). Fig. Figure 5 shows an example of the third display section 26 as seen by a driver's seat occupant. In this drawing, the counter display M is positioned within the display area of ​​the third display section 26 to avoid overlapping positions with the white lines L1 and L2 on the road, taking into account the visibility for the driver's seat occupant.

[0059] In particular, in the present exemplary embodiment, the display command section 64, in a case where the lane deviation determination section 60 has determined that there is a possibility that the vehicle 12 may deviate from the lane, causes the stereoscopic image B to be displayed in the display area along the lane 70 in the view ahead of the vehicle 12, as seen through the third display section 26 (windshield 18). Accordingly, when the stereoscopic image B is displayed in the third display section 26, a visual effect can be created for an occupant of the driver's seat who has seen the third display section 26, as if a block-shaped three-dimensional object were located near the lane 70.

[0060] Furthermore, in a case where, after it has been determined in / at the lane deviation determination section 60 that there is a possibility that the vehicle 12 will deviate from the lane, and then it is determined that there is no possibility of deviating from the lane (or leaving the lane), the display command section 64 deletes the stereoscopic image B from the third display section 26. - Mechanism

[0061] Next, the mechanism of the present exemplary embodiment will be explained. - Display processing -

[0062] The following is an explanation concerning an example of display processing for displaying a stereoscopic image B in the third display section 26, which is a projection plane of the head-up display device 44, with reference to the in Fig. Flowchart 6 is shown. This display processing is performed by the CPU 30, which reads a display program from ROM 32 or memory 36 and expands and executes the display program in RAM 34.

[0063] As in Fig. As shown in Figure 6, CPU 30 determines in step S100 whether vehicle 12 is moving or not. If CPU 30 determines that vehicle 12 is moving, processing proceeds to step S101. Furthermore, if CPU 30 determines in step S100 that vehicle 12 is not moving, display processing is terminated.

[0064] In step S101, based on the functionality of the lane detection section 56, the CPU 30 recognizes the lane 70 on which the vehicle 12 is driving (straight ahead).

[0065] In step S102, the CPU 30, based on the functionality of the vehicle position detection section 58, detects the position of the vehicle 12 relative to the lane 70.

[0066] In step S103, the CPU 30 determines, based on the functionality of the lane deviation determination section 60, whether there is a possibility that the vehicle 12 deviates from the lane 70, or not. In particular, as in Fig. Figure 4A illustrates a situation where the distance D1 between the boundary line (white lines L1, L2) in the direction of lane 70 and vehicle 12 is equal to or less than a predetermined threshold, indicating that there is a possibility that vehicle 12 will deviate from lane 70. As an example, the threshold for distance D1 is set to a distance at which vehicle 12 does not enter the white lines L1, L2 of lane 70. This allows the occupant to be warned of the risk of lane departure before vehicle 12 actually leaves lane 70, as described in a step below.

[0067] Furthermore, it determines how in Fig. Figure 4B shows that in a case where the angle θ1 formed by the boundary line (white lines L1, L2) in the direction of travel of lane 70 and the direction of travel of vehicle 12 is equal to or greater than a predetermined threshold, CPU 30 determines that there is a possibility that vehicle 12 will deviate from lane 70. Accordingly, for example, in a case where vehicle 12 continues straight ahead on lane 70 after a sharp turn, and the angle θ1 is equal to or greater than a predetermined threshold, it is determined that there is a possibility of deviating from lane 70.

[0068] In a case where CPU 30 determines in step S103 that there is a possibility that vehicle 12 will deviate from lane 70, processing proceeds to step S104. Furthermore, in a case where it is determined that there is no possibility that vehicle 12 will deviate from lane 70, processing proceeds to step S105.

[0069] In step S104, based on the functionality of the image generation section 62 and the display command section 64, before the vehicle 12 deviates from lane 70, a block-shaped stereoscopic image B is displayed in the display area of ​​the third display section 26. Since this stereoscopic image B is displayed along lane 70 in front of the vehicle, as seen by the third display section 26, it is possible to convey a visual effect to an occupant of the driver's seat as if a block-shaped stereoscopic object were located near lane 70.

[0070] In particular, in the present exemplary embodiment, the stereoscopic image B is displayed along the boundary line on the side of the lane deviation direction of the vehicle 12 (or on the side of the direction in which the vehicle 12 leaves the lane) in lane 70. This allows an occupant of the driver's seat to recognize the direction of the lane deviation without having to move their gaze from the view in front of the vehicle.

[0071] The following is an explanation of an example of the display on the third display section 26 in a case where it has been determined that there is a possibility that vehicle 12 will deviate from the left side of lane 70, with reference to Fig. 7 to Fig. 9.

[0072] As in Fig. As shown in Figure 7, a block-shaped stereoscopic image B is displayed in the display area of ​​the third display section 26 such that it is integrated into the lane 70 in the view ahead of the vehicle 12. The stereoscopic image B moves along the white line L1 on the left in the direction of the lane width, thus flowing from a background side to a foreground side of the display area. Furthermore, the stereoscopic image B is displayed in an enlarged manner as it moves from a background side to a foreground side in the display area. In this way, a visual effect can be conveyed to an occupant of the driver's seat, suggesting that the moving vehicle 12 is approaching a stereoscopic object.

[0073] In the present exemplary embodiment, as in Fig. As shown in Figure 8, the multiple stereoscopic images B, which move in accordance with the operation described above, are displayed in / on the display area of ​​the third display section 26. Each of the multiple stereoscopic images B moves to flow from a background side to a foreground side of the display area, and after this movement has ended at the foreground side of the display area, the multiple stereoscopic images B are displayed aligned in a row along the lane 70. This can give a visual effect to an occupant of the driver's seat as if a rumble strip were forming along the white line L1 on the (left) side in the direction of travel of the vehicle 12.

[0074] As seen in an enlarged view in Fig. As shown in Figure 9, the stereoscopic images B, whose movement has stopped at a front edge of the display area, are shown as if they were vibrating in a vertical direction. In this way, a passenger in the driver's seat who has seen the third display section 26 can be given a realistic sensation as if the vehicle 12 is vibrating as a result of driving over a three-dimensional object. The vibration frequency and / or the vibration amplitude can be adjusted depending on the distance D1 between the white lines L1, L2 and the vehicle 12 or on the angle θ1 formed by the white lines L1, L2 and the direction of travel of the vehicle 12 (see Figure 9). Fig. 4B) can be changed. For example, if the distance D1 between the white lines L1, L2 and the vehicle 12 decreases, the oscillation frequency can be decreased or the oscillation amplitude increased, thereby enhancing the visual effect for the occupant.

[0075] Although an example has been explained in which the stereoscopic image B is caused to appear in Fig. 9 to oscillate in a vertical direction, there is no restriction on this and the stereoscopic image B can also be oscillated in a lateral or oblique direction.

[0076] As described above, in the vehicle display device 10, according to the present exemplary embodiment, the lane in which the vehicle 12 is traveling and the position of the vehicle 12 relative to the lane are detected. Based on these factors, it is determined whether or not there is a possibility that the vehicle 12 will deviate from the lane. Furthermore, if the vehicle display device 10 has determined that there is a possibility of lane departure, the stereoscopic image B arranged along the lane is displayed in the display area. This allows the vehicle display device 10 to convey to an occupant a visual effect as if the vehicle 12 were driving over a three-dimensional object, and consequently, the risk of lane departure can be intuitively communicated.

[0077] Furthermore, in the vehicle display device 10 according to the present exemplary embodiment, as in Fig. Figure 4A shows that in a case where vehicle 12 has approached the white lines L1, L2 indicating the boundary line in the direction of lane 70, it is determined that there is a possibility that vehicle 12 will deviate from lane 70. Consequently, in a case where vehicle 12 is driving / en route in a state where there is a high probability of deviating from the lane, the occupant can be made aware of the risk of lane departure.

[0078] Furthermore, in the vehicle display device 10 according to the present exemplary embodiment, as in Fig. As shown in Figure 4B, in a case where the angle θ1, formed by the white lines L1, L2 indicating the boundary line in the direction of lane 70 and the direction of travel of vehicle 12, is equal to or greater than a predetermined threshold, it determines that there is a possibility that vehicle 12 will deviate from lane 70. Consequently, in a case where vehicle 12 has been traveling along a lane with a sharp curve, e.g., while traveling along a route that is highly likely to deviate from the lane, the occupant can be alerted to the risk of lane departure.

[0079] Furthermore, in the present exemplary embodiment, before the vehicle 12 deviates from lane 70, the stereoscopic image B is displayed in / on the display area of ​​the third display section 26, thus alerting the occupant to the risk. In this way, accidents caused by the vehicle 12 when deviating from the lane can be effectively prevented.

[0080] Furthermore, in the present exemplary embodiment, since the stereoscopic image B is displayed in such a way as to move along the lane 70 (white lines L1, L2) from a background side to a foreground side of the display area, the occupant can experience a realistic sensation as if the stereoscopic object arranged on the lane were approaching the vehicle. This enables the vehicle display device 10 to more effectively convey a visual effect to the occupant as if the vehicle 12 were driving over a three-dimensional object.

[0081] Furthermore, in the present exemplary embodiment, an oscillating stereoscopic image B is displayed in the display area, enabling the occupant to experience a realistic sensation as if the vehicle were vibrating as a result of driving over a three-dimensional object. This allows the vehicle display device 10 to more effectively convey to the occupant a visual effect suggesting that the vehicle 12 is driving over a three-dimensional object.

[0082] Furthermore, in the present exemplary embodiment, the oscillation frequency or amplitude of the stereoscopic image B can be changed depending on the distance D1 between the white lines L1, L2 of lane 70 and the vehicle 12, or on the angle θ1 formed by the white lines L1, L2 and the direction of travel of the vehicle 12. This allows the intensity of the visual effect conveyed to the occupant to be adjusted depending on the probability of deviating from the lane. For example, by shortening the oscillation frequency or increasing the amplitude of the stereoscopic image B when the distance D1 between the white lines L1, L2 of lane 70 and the vehicle 12 decreases, the visual effect can be enhanced for the occupant, who might otherwise feel as if the vehicle 12 has driven over a three-dimensional object.This enables the vehicle display device 10 to intuitively make the occupant aware of the degree of risk of lane departure.

[0083] In the present exemplary embodiment, the display area of ​​the third display section 26, which shows the view ahead from the vehicle, is configured as the projection plane of the head-up display device 44 provided at the front of the vehicle relative to the driver's seat. Furthermore, the stereoscopic image B is displayed along the lane 70 seen through the display area. In this way, since the vehicle display device 10 displays stereoscopic objects in such a way that they are integrated into the view ahead from the driver's seat of the vehicle, the occupant of the driver's seat can recognize the risk of lane departure without significantly shifting their line of sight from the view ahead. - Supplementary explanation -

[0084] Although a case in which the display area showing the view ahead from the vehicle is set up by the projection plane of the head-up display device 44 in the exemplary embodiment described above has been explained, the present disclosure is not limited to this. As with the vehicle display device 100 according to the Fig. In the modified example shown in Figure 10, the stereoscopic image B can be displayed in a display area of ​​the second display section 25, which is a display provided on the instrument panel 14. The Fig. The second display section 25, shown in Figure 10, displays a map image N indicating the current position of the vehicle 12 in a lower part of the display area and a forward view image F indicating the view ahead of the vehicle in an upper part of the display area. The forward view image F is provided, for example, by an image taken by a camera (not shown) that captures images ahead of the vehicle 12, or by a forward view image consisting of an animation. The stereoscopic image B is displayed along the vehicle 12's lane 70 contained in the forward view image F. This allows a vehicle occupant who has seen the second display section 25 to experience a visual effect with the impression that the vehicle 12 has driven over a three-dimensional object, regardless of their seating position.

[0085] Similarly, on the instrument panel 14, the stereoscopic image B can be displayed in / on a display area of ​​the first display section 24, which is a display provided at the front of the vehicle in relation to the driver's seat. Since the first display section 24 is provided at the front of the vehicle in relation to the driver's seat, an occupant of the driver's seat can view the first display section 24 almost without moving their line of sight from the view in front of the vehicle, and the visual effect of the impression that the vehicle 12 has driven over a three-dimensional object can be enhanced.

[0086] Although the exemplary embodiment described above describes a configuration in which several stereoscopic images B are displayed in the display area, the present disclosure is not limited to this. Alternatively, (only) one stereoscopic image B can be displayed in the display area. Furthermore, the stereoscopic image B is not limited to a block shape but can be modified into a variety of shapes. For example, the stereoscopic image can be a wall shape standing upright from a boundary line in the direction of the lane width of the traffic lane 70.

[0087] Although in the exemplary embodiment described above the stereoscopic image B, whose movement has stopped at the foreground of the display area, is displayed in such a way as to oscillate, the stereoscopic image displayed in the background of the display area can be displayed in such a way as to be moved to the foreground while it oscillates.

[0088] Although the stereoscopic image B in the exemplary embodiment described above extends along the boundary line (in Fig. 7. The present disclosure is not limited to the fact that the white line L1) is displayed on the side of the direction of deviation of the vehicle on lane 70. In a case where it is determined that there is a possibility that the vehicle will deviate from lane 70, the stereoscopic image B can be displayed along the boundary lines on both sides of lane 70 in the direction of the lane width.

[0089] It should be noted that the display processing and track-changing display processing, which are performed by the CPU that reads and executes the software (a program) in the exemplary embodiment described above, can be performed by different processor types than a CPU.

[0090] Such processors include programmable logic devices (PLDs), which allow the circuit configuration to be changed after manufacturing, such as a field-programmable gate array (FPGA), and dedicated electrical circuits, i.e., processors with a circuit configuration specifically designed to perform a particular processing task, such as an application-specific integrated circuit (ASIC). Furthermore, display processing and track-switching display processing can be performed by any of these different processor types or by a combination of two or more processor types of the same or different types (such as multiple FPGAs or a combination of a CPU and an FPGA). The hardware structure of these different processor types is, in particular, an electrical circuit that combines circuit elements such as semiconductor devices.

[0091] Although one aspect, in which the programs for display processing and track-changing display processing are pre-stored (installed) in ROM or memory, has been explained in the exemplary embodiment described above, there is no limitation in this respect. The programs may be provided in a format recorded on a recording medium, such as a compact disc (CD-ROM), a digital versatile disc (DVD-ROM), or a USB (Universal Serial Bus) storage device. Alternatively, the programs may be provided in a format downloadable from an external device over a network.

Claims

[1] Vehicle display device (10) which displays a predetermined image in a display area (24, 25, 26) indicating a forward view of a vehicle (12), comprising: a memory (34); and a processor (30) connected to the memory (34), wherein the processor (30) is configured to: to identify a lane (70) on which the vehicle (12) is traveling; detect a position (O) of the vehicle (12) relative to the lane (70); based on the lane (70) and the position (O) of the vehicle (12) detected by the processor (30), determine whether there is a possibility that the vehicle (12) is deviating from the lane (70); and In a case where it has been determined that there is a possibility that the vehicle (12) may deviate from the lane (70), an image of a stereoscopic object (B) arranged along the lane (70) is to be displayed in the display area (24, 25, 26). characterized by , that the processor (30) is further configured to display the image of the stereoscopic object (B) in the display area (24, 25, 26) such that: the stereoscopic object (B) appears to move along the track (70) from a background side to a foreground side of the display area (24, 25, 26); and the stereoscopic object (B), whose movement has stopped at the foreground of the display area (24, 25, 26), appears to vibrate to simulate the movement of the vehicle (12) over a three-dimensional object such as a rumble strip, the image of the stereoscopic object (B) is caused to oscillate in a vertical, lateral or oblique direction, enabling the occupant to experience a realistic sensation as if the vehicle were vibrating as a result of driving over a rumble strip. [2] Vehicle deviation device (10) according to claim 1, wherein the processor (30) is configured to determine that there is a possibility that the vehicle (12) will deviate from the lane (70) if a distance (D1) between the vehicle (12) and a boundary line (L1) in a lane width direction of the lane (70) is equal to or less than a predetermined threshold value. [3] Vehicle display device (10) according to claim 1, wherein the processor (30) is configured to determine that there is a possibility that the vehicle (12) will deviate from the lane (70) if an angle (θ1) formed by a boundary line (L1) in a lane width direction of the lane (70) and a direction of travel of the vehicle (12) is equal to or greater than a predetermined threshold. [4] Vehicle display device (10) according to any one of claims 1 to 3, wherein the processor (30) is configured to display the image of the stereoscopic object (B) in the display area (24, 25, 26) before the vehicle (12) deviates from the lane (70). [5] Vehicle display device according to claim 1, wherein the processor (30) is configured to change, when displaying the image of the stereoscopic object (B) in the display area, an oscillation frequency and / or an oscillation amplitude of the image of the stereoscopic object (B) according to a distance (D1) between the vehicle and a boundary line (L1) in a lane width direction. [6] Vehicle display device (10) according to any one of claims 1 to 5, wherein: the display area (24, 25, 26) is set up as a projection plane which is projected by a head-up display device (44) onto a front part of the vehicle (12) relative to a driver's seat, and the processor (30) is configured to display the image of the stereoscopic object (B) in the display area (24, 25, 26) along the lane (70) in a view ahead of the vehicle (12), as seen through the display area (24, 25, 26). [7] Method for displaying a predetermined image in a display area (24, 25, 26) showing a view ahead from a vehicle (12), the method comprising the steps: Identifying a lane (70) in which a vehicle (12) is traveling; Detecting a position (O) of the vehicle (12) relative to the lane (70); Determine, based on the lane (70) and the position (O) of the vehicle (12), whether there is a possibility that the vehicle (12) will deviate from the lane; in a case where it has been determined that there is a possibility that the vehicle (12) may deviate from the lane (70), displaying an image of a stereoscopic object (B) arranged along the lane (70) in the display area (24, 25, 26); and Displaying the image of the stereoscopic object (B) in the display area (24, 25, 26) such that: the stereoscopic object (B) appears to move along the track (70) from a background side to a foreground side of the display area (24, 25, 26); and the stereoscopic object (B), whose movement has stopped at the foreground of the display area (24, 25, 26), appears to vibrate to simulate the movement of the vehicle (12) over a three-dimensional object such as a rumble strip, the image of the stereoscopic object (B) is caused to oscillate in a vertical, lateral or oblique direction, enabling the occupant to experience a realistic sensation as if the vehicle were vibrating as a result of driving over a rumble strip. [8] Non-transitory computer-readable storage medium storing a program executable by a processor (30) to perform processing which causes a predetermined image to be displayed in a display area (24, 25, 26) showing a view ahead from a vehicle (12), wherein the processing comprises: Identifying a lane (70) in which a vehicle (12) is traveling; Detecting a position (O) of the vehicle (12) relative to the lane (70); Determine, based on the lane (70) and the position (O) of the vehicle (12), whether there is a possibility that the vehicle (12) deviates from the lane (70); In a case where it has been determined that there is a possibility that the vehicle (12) may deviate from the lane (70), display an image of a stereoscopic object (B) arranged along the lane (70) in the display area (24, 25, 26); and Displaying the image of the stereoscopic object (B) in the display area (24, 25, 26) such that: the stereoscopic object (B) appears to move along the track (70) from a background side to a foreground side of the display area (24, 25, 26); and the stereoscopic object (B), whose movement has stopped at the foreground of the display area (24, 25, 26), appears to vibrate to simulate the movement of the vehicle (12) over a three-dimensional object such as a rumble strip, the image of the stereoscopic object (B) is caused to oscillate in a vertical, lateral or oblique direction, enabling the occupant to experience a realistic sensation as if the vehicle were vibrating as a result of driving over a rumble strip.

Images