Display device

Abstract

To provide a display device that facilitates communication smoothly with others.SOLUTION: A display device installed in a vehicle traveling by automatic driving is comprised of: a display unit that displays information toward an outside of the vehicle; a determination unit that determines whether a traveling state of the vehicle is a deceleration state, a stopped state, or a starting state based on a detection result of a vehicle's internal sensor; and a display control unit that displays information corresponding to each of the deceleration state, the stopped state, and the starting state on the display unit based on a determination result of the determination unit, wherein the display control unit causes the display unit to display information including a display from top to bottom along a vertical direction of the vehicle in response to the determination by the determination unit that the vehicle is in the deceleration state.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a display device. [Background technology]

[0002] Patent Document 1 discloses an autonomous vehicle. The vehicle is equipped with a display unit that displays information toward the outside of the vehicle. The display unit displays a stop road sign to inform pedestrians that they must not pass in front of the vehicle. The display unit displays letters and figures that read "safe crossing" to inform pedestrians that they may pass in front of the vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] U.S. Patent No. 9,196,164 Summary of the Invention [Problem to be solved by the invention]

[0004] In the device described in Patent Document 1, it may be difficult for pedestrians or drivers of other vehicles (hereinafter referred to as "others") to recognize the intention of the vehicle. For example, when a vehicle displays a stop road sign, other people may confuse whether they are being notified that they should stop or that the vehicle is stopping. Furthermore, because road signs and characters vary depending on the country or region, other people may not be able to recognize the intention of the road sign or characters they perceive.

[0005] The present disclosure provides a display device that enables smooth communication with others. [Means for solving the problem]

[0006] One aspect of the present disclosure is a display device provided in a vehicle traveling in an autonomous driving mode. The display device includes a display unit, a determination unit, and a display control unit. The display unit displays information toward the outside of the vehicle. The determination unit determines whether the traveling state of the vehicle is in a deceleration state, a stopped state, or a starting state based on a detection result of an internal sensor of the vehicle. The display control unit causes the display unit to display information corresponding to each of the deceleration state, the stopped state, and the starting state based on the determination result of the determination unit. In response to the determination by the determination unit that the vehicle is in a deceleration state, the display control unit causes the display unit to display information including a light effect that extends from top to bottom along the vertical direction of the vehicle.

[0007] In this display device, the determination unit determines whether the vehicle's running state is a deceleration state, a stop state, or a starting state. Based on the determination result of the determination unit, information corresponding to the deceleration state, the stop state, and the starting state is displayed on the display unit by the display control unit. In this way, the display device can display the state of the vehicle toward the outside of the vehicle. Then, in response to the determination by the determination unit that the vehicle is in a deceleration state, information including a light effect that goes from top to bottom along the vertical direction of the vehicle is displayed on the display unit by the display control unit. In this way, the deceleration state of the vehicle is expressed using a light effect that goes from top to bottom along the vertical direction of the vehicle. Such light effects give others an image of energy converging, so that the majority of others can understand the deceleration state of the vehicle compared to road signs and characters that depend on the country or region. Therefore, the display control unit can smoothly communicate with others.

[0008] In one embodiment, the display control unit may cause the display unit to display information including light effects when the speed of the vehicle is equal to or lower than a predetermined value. When considering communication between a vehicle and a pedestrian, the opportunities for communication increase as the speeds of the two vehicles become closer. This display device can start and end communication with pedestrians at appropriate timing by limiting the condition for displaying light effects to when the speed of the vehicle is equal to or lower than a predetermined value. Effect of the Invention

[0009] According to various aspects and embodiments of the present disclosure, communication with others can be smoothly carried out. [Brief description of the drawings]

[0010] [Figure 1] 1 is a functional block diagram of an example of a vehicle including a display device according to a first embodiment. [Diagram 2] FIG. 4 is a diagram showing an example of a position where a display unit is mounted on a vehicle. [Diagram 3] FIG. 11 is a diagram illustrating an example of display timing. [Figure 4] 10 is a flowchart showing an example of an operation of the display device. [Diagram 5] 11 is a table illustrating an example of details of a display mode. [Figure 6] FIG. 11 is a diagram illustrating an example of a deceleration display. [Figure 7] 11 is a table illustrating an example of details of a display mode. [Figure 8] FIG. 11 is a functional block diagram of an example of a vehicle including a display device according to a second embodiment. [Figure 9] 10 is a flowchart showing an example of an operation of the display device. [Figure 10] 13 is a flowchart illustrating an example of a notification process. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, exemplary embodiments will be described with reference to the drawings. In the following description, the same or corresponding elements are designated by the same reference numerals, and redundant description will not be repeated.

[0012] [First embodiment] (Vehicle and display device configuration) FIG. 1 is a functional block diagram of an example of a vehicle 2 including a display device 1 according to a first embodiment. As shown in FIG. 1, the display device 1 is mounted on the vehicle 2 such as a passenger car, and notifies information to surrounding vehicles existing around the vehicle. The vehicle 2 is, as an example, a vehicle that runs by autonomous driving. Autonomous driving is vehicle control that automatically drives the vehicle 2 toward a destination that is set in advance. The destination may be set by a passenger such as a driver, or may be automatically set by the vehicle 2. In autonomous driving, the vehicle 2 runs automatically without the driver having to perform driving operations.

[0013] The vehicle 2 includes an external sensor 3, a GPS receiver 4, an internal sensor 5, a map database 6, a navigation system 7, an autonomous driving ECU 8, and an actuator 9.

[0014] The external sensor 3 is a detection device that detects the situation around the vehicle 2. The external sensor 3 detects the position of an object ahead on the roadway on which the vehicle 2 travels. The external sensor 3 includes at least one of a camera and a radar sensor.

[0015] The camera is an imaging device that captures an image of the external situation of the vehicle 2. As an example, the camera is provided behind the windshield of the vehicle 2. The camera acquires imaging information related to the external situation of the vehicle 2. The camera may be a monocular camera or a stereo camera. The stereo camera has two imaging units arranged to reproduce binocular parallax. The imaging information of the stereo camera also includes information in the depth direction.

[0016] A radar sensor is a detection device that uses radio waves (e.g., millimeter waves) or light to detect objects around the vehicle 2. Radar sensors include, for example, millimeter wave radars or LIDARs (Laser Imaging Detection and Ranging). A radar sensor detects objects by transmitting radio waves or light to the vicinity of the vehicle 2 and receiving the radio waves or light reflected by the objects.

[0017] The GPS receiver 4 receives signals from three or more GPS satellites to obtain position information indicating the position of the vehicle 2. The position information includes, for example, latitude and longitude. Instead of the GPS receiver 4, other means capable of identifying the latitude and longitude at which the vehicle 2 is located may be used.

[0018] The internal sensor 5 is a detection device that detects the traveling state of the vehicle 2. The internal sensor 5 includes a vehicle speed sensor, an acceleration sensor, and a yaw rate sensor. The vehicle speed sensor is a detector that detects the speed of the vehicle 2. As the vehicle speed sensor, for example, a wheel speed sensor that is provided on the wheels of the vehicle 2 or a drive shaft that rotates integrally with the wheels and detects the rotation speed of the wheels is used.

[0019] The acceleration sensor is a detector that detects the acceleration of the vehicle 2. The acceleration sensor may include a longitudinal acceleration sensor that detects the acceleration in the longitudinal direction of the vehicle 2, and a lateral acceleration sensor that detects the acceleration of the vehicle 2. The yaw rate sensor is a detector that detects the yaw rate (rotational angular velocity) around the vertical axis of the center of gravity of the vehicle 2. As the yaw rate sensor, for example, a gyro sensor can be used.

[0020] The map database 6 is a storage device that stores map information. The map database 6 is stored, for example, in an HDD (Hard Disk Drive) mounted on the vehicle 2. The map database 6 includes, as map information, information on stationary objects, traffic rules, the positions of traffic lights, and the like. Stationary objects are, for example, road paint (including lane boundary lines such as white lines and yellow lines) and structures (curbs, poles, utility poles, buildings, signs, trees, and the like). A part of the map information included in the map database 6 may be stored in a storage device different from the HDD in which the map database 6 is stored. A part or all of the map information included in the map database 6 may be stored in a storage device other than the storage device provided in the vehicle 2.

[0021] The navigation system 7 is a system that guides the driver of the vehicle 2 to a preset destination. The navigation system 7 recognizes the road and lane on which the vehicle 2 is traveling, based on the position of the vehicle 2 measured by the GPS receiver 4 and the map information in the map database 6. The navigation system 7 calculates a target route from the position of the vehicle 2 to the destination, and provides guidance to the driver along the target route using an HMI (Human Machine Interface).

[0022] The actuator 9 is a device that executes driving control of the vehicle 2. The actuator 9 includes at least an engine actuator, a brake actuator, and a steering actuator. The engine actuator controls the driving force of the vehicle 2 by changing the amount of air supplied to the engine (for example, changing the throttle opening) in response to a control signal from the autonomous driving ECU 8. Note that, when the vehicle 2 is a hybrid vehicle or an electric vehicle, the engine actuator controls the driving force of a motor serving as a power source.

[0023] The autonomous driving ECU 8 controls the vehicle 2. The ECU is an electronic control unit having a central processing unit (CPU), a read only memory (ROM), a random access memory (RAM), a controller area network (CAN) communication circuit, and the like. The autonomous driving ECU 8 is connected to a network that communicates using, for example, a CAN communication circuit, and is communicatively connected to the components of the vehicle 2 described above. The autonomous driving ECU 8 realizes an autonomous driving function by, for example, operating the CAN communication circuit to input and output data based on a signal output by the CPU, storing the data in the RAM, loading a program stored in the ROM into the RAM, and executing the program loaded into the RAM. The autonomous driving ECU 8 may be composed of multiple electronic control units.

[0024] The autonomous driving ECU 8 recognizes objects (including the positions of objects) around the vehicle 2 based on at least one of the detection results of the external sensor 3 and the map database 6, for example. Objects include stationary objects that do not move, such as utility poles, guardrails, trees, and buildings, as well as dynamic objects, such as pedestrians, bicycles, and other vehicles. The autonomous driving ECU 8 recognizes objects, for example, every time it obtains a detection result from the external sensor 3. The autonomous driving ECU 8 may recognize objects by other well-known methods.

[0025] As an example, the autonomous driving ECU 8 detects a dynamic object from among the recognized objects by using information on stationary objects contained in the map database 6. The autonomous driving ECU 8 may detect a dynamic object by other well-known methods.

[0026] The autonomous driving ECU 8 detects the amount of movement of the dynamic object at that time by applying a Kalman filter, a particle filter, or the like to the detected dynamic object. The amount of movement includes the moving direction and moving speed of the dynamic object. The amount of movement may also include the rotation speed of the dynamic object. The autonomous driving ECU 8 may also perform error estimation of the amount of movement.

[0027] The autonomous driving ECU 8 recognizes the traveling state of the vehicle 2 based on the detection results of the internal sensors 5 (e.g., vehicle speed information from a vehicle speed sensor, acceleration information from an acceleration sensor, yaw rate information from a yaw rate sensor, etc.). The traveling state of the vehicle 2 includes, for example, the vehicle speed, acceleration, and yaw rate.

[0028] The autonomous driving ECU 8 recognizes the boundary lines of the lane in which the vehicle 2 is traveling, based on the detection results of the external sensor 3.

[0029] The autonomous driving ECU 8 generates a course for the vehicle 2 based on the detection results of the external sensors 3, the map database 6, the recognized position of the vehicle 2 on the map, information on the recognized objects (including lane boundaries), and the recognized driving state of the vehicle 2. At this time, the autonomous driving ECU 8 generates the course for the vehicle 2 by assuming the behavior of objects around the vehicle 2. Examples of assumptions about the behavior of objects include an assumption that all objects around the vehicle 2 are stationary objects, an assumption that dynamic objects move independently, an assumption that dynamic objects move while interacting with at least one of other objects and the vehicle 2, and the like.

[0030] The autonomous driving ECU 8 uses multiple assumptions to generate multiple candidate routes for the vehicle 2. The candidate routes include at least one route along which the vehicle 2 avoids objects. The autonomous driving ECU 8 selects one route based on the reliability of each candidate route, etc.

[0031] The autonomous driving ECU 8 generates a driving plan according to the selected route. The autonomous driving ECU 8 generates a driving plan according to the route of the vehicle 2 based on the detection results of the external sensors 3 and the map database 6. The autonomous driving ECU 8 generates a driving plan using the speed limit stored in the map database 6, within a range not exceeding the speed limit of the driving lane. In addition, the autonomous driving ECU 8 generates a driving plan in which the vehicle 2 drives within a range not exceeding a predetermined upper speed limit.

[0032] The autonomous driving ECU 8 outputs the generated driving plan as a set of two elements, a target position p in a coordinate system fixed to the vehicle 2 and a speed V at each target point, that is, a plurality of coordinate coordinates (p, V). Here, each target position p has at least an x-coordinate and a y-coordinate position in a coordinate system fixed to the vehicle 2, or information equivalent thereto. The driving plan is not particularly limited as long as it describes the behavior of the vehicle 2. For example, the driving plan may use a target time t instead of the speed V, or may include the target time t and the direction of the vehicle 2 at that time. The driving plan may be data indicating the transition of the vehicle speed, acceleration / deceleration, steering torque, and the like of the vehicle 2 when the vehicle 2 travels along the course. The driving plan may include the speed pattern, acceleration / deceleration pattern, and steering pattern of the vehicle 2.

[0033] The automatic driving ECU 8 automatically controls the driving of the vehicle 2 based on the generated driving plan. The automatic driving ECU 8 outputs a control signal according to the driving plan to the actuator 9. In this way, the automatic driving ECU 8 controls the driving of the vehicle 2 so that the vehicle 2 automatically drives according to the driving plan.

[0034] The display device 1 includes a display ECU 10 and a display unit 13. The display ECU 10 is an electronic control unit that controls the display of information. The display ECU 10 may be composed of multiple ECUs, or may be included in the autonomous driving ECU 8. The display unit 13 is provided in the vehicle 2 and is a device that notifies information to the outside of the vehicle. The display unit 13 is connected to the display ECU 10 and notifies information based on an output signal of the display ECU 10.

[0035] The information notified by the display unit 13 is information to be notified to pedestrians present around the vehicle 2 or drivers of surrounding vehicles. The surrounding vehicles are, for example, vehicles present within a range that can be recognized by the external sensor 3 of the vehicle 2. The surrounding vehicles may be other than automobiles, and may include, for example, moving objects such as motorcycles and bicycles. The information to be notified is a result obtained using the internal sensor 5, such as speed information or acceleration information of the vehicle 2. The information to be notified may be a result obtained using the external sensor 3, such as detection information or recognition information of the vehicle 2. Alternatively, the information may be information obtained from the automatic driving ECU 8, such as the current or future behavior of the vehicle 2. In the following description, the information to be notified is the state of the vehicle obtained using the internal sensor 5, but is not limited thereto.

[0036] The display unit 13 is a display device as an example. The display unit 13 is disposed at a position visible from the front, rear, or side of the vehicle 2. (A) to (C) of FIG. 2 are diagrams showing an example of a vehicle mounting position of the display unit 13. As shown in (A) of FIG. 2, a front display device 15a is provided in a grill portion on the front side of the vehicle 2 as the display unit 13. As shown in (B) of FIG. 2, a rear display device 15b is provided on the rear side of the vehicle 2 as the display unit 13. As shown in (C) of FIG. 2, a side display device 15c is provided on a side of the vehicle 2 as the display unit 13. The display unit 13 is not limited to the examples shown in (A) to (C) of FIG. 2, and a plurality of display devices may be provided in a grill portion on the front side of the vehicle 2, or a plurality of display devices may be provided on the rear or side of the vehicle 2.

[0037] The display ECU 10 includes a determination unit 11 and a display control unit 12 .

[0038] The determination unit 11 determines whether the running state of the vehicle 2 is a deceleration state, a stopped state, or a starting state, based on the detection result of the internal sensor 5 of the vehicle 2. The determination unit 11 determines the running state of the vehicle 2 using a speed change or an absolute value of the speed that is predetermined for each running state. For example, if the speed change is on a decreasing trend, the determination unit 11 determines that the running state of the vehicle 2 is a deceleration state. For example, if the absolute value of the speed is close to 0 and there is no speed change, the determination unit 11 determines that the running state of the vehicle 2 is a stopped state. For example, if the absolute value of the speed is close to 0 but the speed change is on an increasing trend, the determination unit 11 determines that the running state of the vehicle 2 is a starting state.

[0039] The display control unit 12 causes the display unit 13 to display information corresponding to each of the deceleration state, the stop state, and the starting state based on the determination result of the determination unit 11. The information corresponding to the deceleration state, the stop state, and the starting state are each different and are set in advance. The display will be described in detail later.

[0040] (Example of display timing) FIG. 3 is a diagram for explaining an example of display timing. An example in which the vehicle 2 gives way to a pedestrian H1 will be explained with reference to FIG. 3. During driving, the display unit 13 of the vehicle 2 is turned off (OFF) by the display control unit 12. As shown in FIG. 3, it is assumed that the automatic driving ECU 8 recognizes a pedestrian H1 in front of the vehicle 2 at time t1. The automatic driving ECU 8 decelerates the vehicle 2 from time t2 to give way to the pedestrian H1. At this time, the display control unit 12 changes the deceleration display from OFF to ON. As a result, the display unit 13 starts the deceleration display from time t2. The deceleration display is a display indicating that the vehicle 2 is decelerating. Subsequently, at time t3, the automatic driving ECU 8 stops the vehicle 2 in front of the pedestrian H1. At this time, the display control unit 12 changes the deceleration display from ON to OFF and changes the stop display from OFF to ON. As a result, at time t3, the display unit 13 ends the deceleration display and starts the stop display. The stop display is a display that indicates that the vehicle 2 is stopped. Subsequently, at time t4, the autonomous driving ECU 8 confirms that the pedestrian H1 has completed crossing, and starts the vehicle 2. At this time, the display control unit 12 changes the stop display from ON to OFF, and changes the start display from OFF to ON. As a result, at time t4, the display unit 13 ends the stop display and starts the start display. After the vehicle 2 starts, the display control unit 12 changes the start display from ON to OFF at a timing when the vehicle speed reaches or exceeds a predetermined speed.

[0041] (Display device operation) Fig. 4 is a flowchart showing an example of the operation of the display device. The flowchart shown in Fig. 4 is executed by the display ECU 10 of the display device 1. The display ECU 10 starts processing when a display start button is turned on by, for example, an operation by the driver.

[0042] 4, the determination unit 11 of the display ECU 10, as a vehicle speed acquisition process (S10), acquires the speed of the vehicle 2 detected by the internal sensor 5. Next, as a state determination process (S12), the determination unit 11 determines whether the traveling state of the vehicle 2 is a deceleration state, a stopped state, or a starting state, based on the speed acquired in the vehicle speed acquisition process (S10).

[0043] Next, the display control unit 12 of the display ECU 10 causes the display unit to display information corresponding to each of the deceleration state, the stop state, and the starting state based on the determination result of the state determination process (S12) as a display process (S14). When the display process (S14) ends, the flowchart shown in FIG. 4 ends. After the flowchart ends, the flowchart shown in FIG. 4 is executed from the beginning until a display end condition is satisfied. The display end condition is satisfied, for example, when the display end button is turned on by the driver's operation.

[0044] (Display details) Details of the display performed by the display unit 13 in the display process (S14) will be described with reference to Figs. 5 to 7. Fig. 5 is a table for explaining an example of the detailed display mode. Fig. 6 is a diagram for explaining an example of the deceleration display. Fig. 7 is a table for explaining an example of the detailed display mode.

[0045] As shown in Fig. 5, the traveling state of the vehicle 2 and the display expression are associated in advance. The display control unit 12 controls the display of the display unit 13 based on the correspondence shown in Fig. 5. The display control unit 12 performs light effects using light figures (hereinafter also referred to as objects), for example. The light effects are to give movement to the displayed light figures by changing the light emission in a time series.

[0046] The display control unit 12 changes the up and down movement of the light figure to represent the up and down movement according to the traveling state of the vehicle 2. For example, when the traveling state of the vehicle 2 is decelerating, the display control unit 12 performs a light production in which the object flows from top to bottom. For example, when the traveling state of the vehicle 2 is stopped, the display control unit 12 performs a light production in which the light figure moves slowly up and down while stagnating (stagnant representation). For example, when the traveling state of the vehicle 2 is starting, the display control unit 12 performs a light production in which the object flows from bottom to top.

[0047] An example of deceleration display in the up-down representation will be described in detail. (A) to (D) of FIG. 6 are arranged in chronological order. As shown in (A) of FIG. 6, first, the display control unit 12 displays an object OB1, which is a line of light, at the upper part of the display area of ​​the display unit 13. Then, as shown in (B) to (D) of FIG. 6, the object OB1 moves downward with the passage of time. When the object OB1 passes the lower end of the display area of ​​the display unit 13, the display control unit 12 displays the next object OB1 at the upper part of the display area of ​​the display unit 13. This creates a light effect in which the object OB1 moves continuously from top to bottom. The display control unit 12 may display the next object OB1 at the upper part of the display area of ​​the display unit 13 before the first object OB1 reaches the lower end of the display area of ​​the display unit 13. In this case, a light effect is created in which a plurality of objects OB1 flow from top to bottom. The manner in which the object OB1 flows from top to bottom can create an image of energy converging, that is, deceleration.

[0048] 7A to 7C show examples of deceleration display, stop display, and start display in the up-down representation, respectively. FIG. 7A shows an example of deceleration display in the up-down representation, and as described above, the object OB1 flows from top to bottom as shown by the arrow in the figure. FIG. 7B shows an example of stop display in the up-down representation. The object OB2 shown in FIG. 7B moves slowly and periodically up and down near the center of the display area of ​​the display unit 13 as shown by the arrow in the figure. Such a stoppage representation can express the stop of the vehicle 2. FIG. 7C shows an example of start display in the up-down representation. The object OB3 shown in FIG. 7C moves in the opposite direction to the object OB1, that is, flows from bottom to top as shown by the arrow in the figure. The representation in which the object OB3 flows from bottom to top can express the image of energy dissipation, that is, starting.

[0049] The above light effects are just an example, and various figures can be displayed on the display unit 13. For example, a pedestrian and a crosswalk as shown in (D) of FIG. 7 can be displayed as a stop display.

[0050] The display control unit 12 can express left and right in the same way as the above-mentioned up and down expression. As the left and right expression, the display control unit 12 changes the left and right movement of the light figure according to the running state of the vehicle 2. For example, when the running state of the vehicle 2 is decelerating, the display control unit 12 performs a light production in which the object flows from outside to inside. This expresses the image of energy converging, that is, deceleration. For example, when the running state of the vehicle 2 is stopped, the display control unit 12 performs a light production in which the light figure moves slowly left and right while stagnating (stagnation expression). This expresses stopping. For example, when the running state of the vehicle 2 is starting, the display control unit 12 performs a light production in which the object flows from inside to outside. This expresses the image of energy dissipating, that is, starting.

[0051] The display control unit 12 can express front and rear in the same way as the above-mentioned up and down expression. As the expression of front and rear, the display control unit 12 changes the forward and backward movement of the light figure according to the traveling state of the vehicle 2. For example, when the traveling state of the vehicle 2 is decelerating, the display control unit 12 performs a light production in which the object flows from the front to the rear. In this way, deceleration can be expressed by synchronizing the movement of the vehicle and the movement of the light. For example, when the traveling state of the vehicle 2 is stopped, the display control unit 12 performs a light production in which the light figure moves slowly forward and backward while stagnating (stagnation expression). In this way, stopping is expressed. For example, when the traveling state of the vehicle 2 is starting, the display control unit 12 performs a light production in which the object flows from the rear to the front. In this way, starting can be expressed by synchronizing the movement of the vehicle and the movement of the light.

[0052] The display control unit 12 can change the area of ​​the object in the same manner as the above-mentioned up-down representation. As the area change, the display control unit 12 changes the area of ​​the light figure according to the running state of the vehicle 2. For example, when the running state of the vehicle 2 is decelerating, the display control unit 12 performs light production so that the area of ​​the object becomes narrower (converging representation). This represents the image of energy converging, that is, deceleration. For example, when the running state of the vehicle 2 is stopped, the display control unit 12 performs light production so that the area of ​​the object becomes wider or narrower (stagnating representation). This represents stopping. For example, when the running state of the vehicle 2 is starting, the display control unit 12 performs light production so that the area of ​​the object becomes wider (diverging change). This represents the image of energy diverging, that is, starting.

[0053] As another dramatic effect, the display control unit 12 may change the color of the light figure according to the traveling state of the vehicle 2. For example, when the traveling state of the vehicle 2 is decelerating, the display control unit 12 changes the color of the object to orange. This makes it possible to express a state in which the vehicle 2 is approaching and to alert others. For example, when the traveling state of the vehicle 2 is stopped, the display control unit 12 changes the color of the object to green. This makes it possible to express a state in which the vehicle 2 is stopped and stable and to give others an impression of safety. For example, when the traveling state of the vehicle 2 is starting, the display control unit 12 changes the color of the object to white. This makes it possible to express that the vehicle 2 is about to start moving and to alert others.

[0054] As another dramatic effect, the display control unit 12 may change the speed of the movement of the light figure depending on the traveling state of the vehicle 2. For example, when the traveling state of the vehicle 2 is decelerating, the display control unit 12 blinks the object in a first cycle (long cycle). In this way, deceleration can be expressed by gentle blinking. For example, when the traveling state of the vehicle 2 is stopped, the display control unit 12 lights up the object. This expresses that the vehicle is stopped. For example, when the traveling state of the vehicle 2 is starting, the display control unit 12 blinks the object in a second cycle (short cycle) shorter than the first cycle. This expresses the state in which the vehicle is starting with a sense of tension.

[0055] As another dramatic effect, the display control unit 12 may change the brightness of the light according to the traveling state of the vehicle 2. The display control unit 12 sets the brightness to three levels: high, medium, and low. For example, when the traveling state of the vehicle 2 is in a decelerating state, the display control unit 12 sets the brightness of the object to medium. In this way, a gentle deceleration can be expressed by the medium brightness. For example, when the traveling state of the vehicle 2 is in a stopped state, the display control unit 12 sets the brightness of the object to small. This expresses that the vehicle is stopped. For example, when the traveling state of the vehicle 2 is in a starting state, the display control unit 12 sets the brightness of the object to large. This expresses the state in which the vehicle is starting with a sense of tension.

[0056] (Summary of the first embodiment) In the display device 1 according to the first embodiment, the determination unit 11 determines whether the traveling state of the vehicle 2 is a deceleration state, a stop state, or a starting state. Based on the determination result of the determination unit 11, information corresponding to the deceleration state, the stop state, and the starting state is displayed on the display unit 13 by the display control unit 12. In this way, the display device 1 can display the state of the vehicle 2 toward the outside of the vehicle. Then, in response to the determination by the determination unit 11 that the vehicle 2 is in a deceleration state, information including a light effect that goes from top to bottom along the vertical direction of the vehicle 2 is displayed on the display unit 13 by the display control unit 12. In this way, the deceleration state of the vehicle 2 is expressed using a light effect that goes from top to bottom along the vertical direction of the vehicle 2. Such light effects give others an image of energy converging, so that the majority of others can understand the deceleration state of the vehicle compared to road signs and characters that depend on the country or region. Therefore, the display control unit can smoothly communicate with others. In addition, the light effects are not limited to the shape and size of the display area of ​​the display unit 13. Therefore, the display device 1 can provide notification without being limited by the shape or size of the display area of ​​the display unit 13.

[0057] [Second embodiment] The display device 1A according to the second embodiment is different from the display device 1 according to the first embodiment in that the display ECU includes a notification determination unit 111 and some functions of the display control unit 12 are different, but otherwise the display device 1A is the same. The following description will focus on the differences from the first embodiment, and the description of the same parts will not be repeated.

[0058] (Vehicle and display device configuration) FIG. 8 is a functional block diagram of an example of a vehicle including a display device according to the second embodiment. The vehicle 2A is different from the vehicle 2 in that the vehicle 2A includes a display device 1A, and is otherwise the same. The display device 1A includes a display ECU 10A and a display unit 13. The display ECU 10A includes a notification determination unit 111, a determination unit 11, and a display control unit 12. The notification determination unit 111 determines whether or not a candidate for a notification target exists around the vehicle 2A. The notification determination unit 111 acquires recognition information of an object (pedestrian, bicycle, other vehicle, etc.) around the vehicle 2A from the autonomous driving ECU 8. The recognition information includes the type, position, speed, moving direction, face orientation, etc. of the object. When the notification determination unit 111 acquires the recognition information of the object, it determines that a candidate for a notification target exists. When the notification determination unit 111 does not acquire the recognition information of the object, it determines that a candidate for a notification target does not exist. When a candidate for the notification target exists, the notification determination unit 111 determines whether or not there is an opportunity for communication with the candidate for the notification target based on the recognition information of the object. As an example of an opportunity for communication, road crossing assistance for pedestrians will be described. When the planned path of the candidate for the notification target intersects with the planned path of the vehicle 2A, the notification determination unit 111 determines that there is an opportunity for communication. The planned path of the candidate for the notification target is determined based on the current moving direction, the face direction, the presence or absence of a pedestrian crossing, and the like. When the path of the candidate for the notification target does not intersect with the path of the vehicle 2A, the notification determination unit 111 determines that there is no opportunity for communication. The notification determination unit 111 sets the candidate for the notification target that is determined to have an opportunity for communication as the notification target. The notification determination unit 111 may perform the above process using the result of the external sensor 3 without using the recognition result of the automatic driving ECU 8.

[0059] The display control unit 12 determines whether the speed of the vehicle 2A is equal to or lower than a predetermined value based on the detection result of the internal sensor 5. The predetermined value is a preset speed and is a threshold value for determining whether or not an alert is required. One example of the predetermined value is 40 km / h. When the speed of the vehicle 2A is equal to or lower than the predetermined value, the display control unit 12 controls the display unit 13. The display unit 13 displays information toward the outside of the vehicle. When the speed of the vehicle 2A exceeds the predetermined value, the display control unit 12 does not control the display unit 13. The display unit 13 does not display information toward the outside of the vehicle.

[0060] When the notification determination unit 111 determines that there is a candidate target, the display control unit 12 controls the display unit 13. The display unit 13 displays toward the outside of the vehicle. When the notification determination unit 111 determines that there is no candidate target, the display control unit 12 does not control the display unit 13. The display unit 13 does not display toward the outside of the vehicle. The other configurations of the display device 1A are the same as those of the display device 1.

[0061] (Display device operation) Fig. 9 is a flowchart showing an example of the operation of the display device. The flowchart shown in Fig. 9 is executed by the display ECU 10A of the display device 1A. The display ECU 10A starts processing when a display start button is turned on by, for example, an operation by the driver.

[0062] 9, the determination unit 11 of the display ECU 10A performs a vehicle speed acquisition process (S20) to acquire the speed of the vehicle 2 detected by the internal sensor 5. Then, the display control unit 12 of the display ECU 10A performs a vehicle speed determination process (S22) to determine whether or not the speed of the vehicle 2A acquired in the vehicle speed acquisition process (S20) is equal to or lower than a predetermined value.

[0063] When it is determined that the speed of the vehicle 2A is equal to or lower than a predetermined value (S22: YES), the notification determination unit 111 of the display ECU 10A determines whether or not a candidate for a notification target has been detected as a candidate determination process (S24). When the notification determination unit 111 acquires a result of object recognition by the autonomous driving ECU 8, it determines that there is a candidate for a notification target. When the notification determination unit 111 does not acquire a result of object recognition by the autonomous driving ECU 8, it determines that there is no candidate for a notification target.

[0064] When it is determined that a candidate for notification is detected (S24: YES), the notification determination unit 111 determines whether or not there is a communication opportunity with the candidate for notification, based on the recognition information of the candidate for notification, as a target determination process (S26). The notification determination unit 111 determines a candidate for notification with a communication opportunity as a notification target. The notification determination unit 111 determines a candidate for notification with no communication opportunity as a non-notification target.

[0065] When it is determined that a notification target exists (S26: YES), the display control unit 12 of the display ECU 10A performs notification processing (S28) to cause the display unit 13 to display information. The notification processing (S28) will be described in detail later.

[0066] When the notification process (S28) is completed, the flowchart shown in Fig. 9 is terminated. Also, when it is determined that the speed of the vehicle 2A is not equal to or lower than a predetermined value (S22: NO), when it is determined that a candidate for the notification target is not detected (S24: NO), or when it is determined that a notification target does not exist (S26: NO), the flowchart shown in Fig. 9 is terminated without issuing a notification. After the flowchart is terminated, the flowchart shown in Fig. 9 is executed from the beginning until the notification termination condition is satisfied. The notification termination condition is satisfied, for example, when the display end button is turned on by the driver's operation.

[0067] (Details of notification process) Fig. 10 is a flowchart showing an example of the notification process. The flowchart shown in Fig. 10 shows details of the notification process (S28) in Fig. 9.

[0068] First, the determination unit 11 of the display ECU 10A determines whether or not the vehicle 2A is starting as a driving state determination process (S30). The determination unit 11 determines whether or not the vehicle 2A is starting based on the speed obtained in the vehicle speed acquisition process (S20). If it is determined that the vehicle 2A is starting (S30: YES), the display control unit 12 causes the display unit 13 to display a starting display as a starting display process (S32).

[0069] The determination unit 11 may determine whether the vehicle 2A is scheduled to start as the driving state determination process (S30). The determination unit 11 may determine that the vehicle 2A is scheduled to start when receiving a signal from the automatic driving ECU 8 indicating that the vehicle 2A is scheduled to start after a predetermined time. When it is determined that the vehicle 2A is scheduled to start, the display control unit 12 may execute a start display process (S32).

[0070] If it is determined that the vehicle 2A is not starting (S30: NO), the display control unit 12 determines whether or not the vehicle 2A is decelerating as a driving state determination process (S34). The determination unit 11 determines whether or not the vehicle 2A is decelerating based on the speed obtained in the vehicle speed acquisition process (S20). If it is determined that the vehicle 2A is decelerating (S34: YES), the display control unit 12 causes the display unit 13 to display a deceleration display as a deceleration display process (S36).

[0071] If it is determined that the vehicle 2A is not decelerating (S34: NO), the display control unit 12 determines whether or not the vehicle 2A is stopped as a driving state determination process (S38). The determination unit 11 determines whether or not the vehicle 2A is stopped based on the speed obtained in the vehicle speed acquisition process (S20). If it is determined that the vehicle 2A is stopped (S38: YES), the display control unit 12 causes the display unit 13 to display a stopped vehicle display as a stopped vehicle display process (S40).

[0072] The start display process (S32), the deceleration display process (S34), the stop display process (S40), and when it is determined that the vehicle 2A is not stopped (S34: NO), the flowchart shown in Fig. 10 ends. After the flowchart ends, the process returns to the notification process (S28) in Fig. 9.

[0073] (Summary of the second embodiment) The display device 1A according to the second embodiment has the same effects as the display device 1 according to the first embodiment. Furthermore, the display device 1A issues a notification when the speed of the vehicle 2A is equal to or lower than a predetermined value, and therefore can start and end communication with pedestrians at appropriate timing.

[0074] Although various exemplary embodiments have been described above, various omissions, substitutions, and modifications may be made without being limited to the above-described exemplary embodiments.

[0075] For example, the display unit 13 does not need to be provided outside the vehicle 2, and may be provided inside the vehicle, such as on the inside of the windshield, as long as it can notify information to the outside of the vehicle. Furthermore, the display unit 13 is not limited to a display device, and may be a lamp or the like, or in short, any device that emits light. When a display device is used as the display unit 13, the display device 1 may further display deceleration, stopping, and starting in text. The display unit 13 may be a projector that projects light effects onto the road surface.

[0076] Since some of the functions of the display devices 1, 1A overlap with the functions of the automatic driving ECU 8, the display ECU 10 may acquire the results calculated by the automatic driving ECU 8.

[0077] The vehicle speed determination process (S22) in FIG. 9 may be executed at any time after the start of the process in FIG. 9 and before the notification process (S28). This disclosure includes the following provisions: [Clause 1] A display device provided in a vehicle that travels autonomously, A display unit that displays information toward the outside of the vehicle; a determination unit that determines whether the vehicle is in a decelerating state, a stopped state, or a starting state based on a detection result of an internal sensor of the vehicle; a display control unit that causes the display unit to display the information corresponding to each of the deceleration state, the stop state, and the starting state based on a determination result of the determination unit; Equipped with The display control unit, in response to the determination by the determination unit that the vehicle is in the decelerating state, causes the display unit to display the information including an indication that is oriented from top to bottom along a vertical direction of the vehicle. Display device. [Clause 2] The display device according to clause 1, wherein the display control unit causes the display unit to display the information including the display when the speed of the vehicle is equal to or lower than a predetermined value. [Explanation of symbols]

[0078] 1, 1A... display device, 10, 10A... display ECU, 11... determination unit, 12... display control unit, 13... display unit.

Claims

1. A display device provided in a vehicle that travels autonomously, a display unit that displays information toward the outside of the vehicle; a determination unit that determines whether the vehicle is in a decelerating state, a stopped state, or a starting state based on a detection result from an internal sensor of the vehicle; a display control unit that causes the display unit to display the information corresponding to each of the deceleration state, the stop state, and the start state based on the determination result of the determination unit; Equipped with the display control unit, in response to the determination by the determination unit that the vehicle is in the decelerating state, causes an object moving from an outside to an inside of the display unit to be displayed on the display unit as the information; the display control unit changes an object moving from the outside to the inside of the display unit so that the area of ​​the object becomes smaller over time; Display device.

2. 2. The display device according to claim 1, wherein the display control unit causes the display unit to display, as the information, an object moving from inside to outside the display unit in response to the determination unit determining that the vehicle is in the starting state.

3. 3. The display device according to claim 1, wherein the display control unit causes an object that periodically moves in the left-right direction of the vehicle to be displayed on the display unit as the information in response to the determination unit determining that the vehicle is in the stopped state.

4. The display device according to any one of claims 1 to 3, wherein the display control unit causes the display unit to display an object moving from the outside to the inside of the display unit when the speed of the vehicle is equal to or less than a predetermined value.

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