Vehicle display control device

Abstract

To provide a vehicle display control device that allows an occupant seeing a display unit to easily recognize that drive assistance control has switched from a non-operational state to an operational state .SOLUTION: A vehicle display control device includes: a display unit 18 which is provided on a vehicle capable of executing drive assistance control and on which a vehicle image 30C indicating the vehicle can be displayed; an assistance control determination unit capable of determining whether switching conditions for switching the drive assistance control from a non-operational state to an operational state are satisfied or not; and a display control unit for controlling the display unit so as to display the vehicle image while changing a display mode of the vehicle image when the assistance control determination unit determines that the drive assistance control has switched to the operational state from the non-operational state.SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] The present invention relates to a display control device for a vehicle. [Background technology]

[0002] The following Patent Document 1 discloses a vehicle display control device that displays an image showing a vehicle (host vehicle) and an image showing the surroundings of the vehicle on a display unit while changing the display modes of these images. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] US Patent Application Publication No. 2017 / 0136878 Summary of the Invention [Problem to be solved by the invention]

[0004] The above-mentioned Patent Document 1 leaves room for improvement in terms of making vehicle occupants aware that driving assistance control has actually begun to operate.

[0005] In consideration of the above, an object of the present invention is to provide a display control device for a vehicle that allows an occupant looking at a display unit to easily recognize that driving assistance control has been switched from a non-operating state to an operating state. [Means for solving the problem]

[0006] A first embodiment of a vehicle display control device is provided in a vehicle capable of executing driving assistance control, and includes a display unit capable of displaying a vehicle image representing the vehicle, an assistance control determination unit capable of determining whether a switching condition for switching the driving assistance control from a non-operating state to an operating state is satisfied, and a display control unit that controls the display unit to display the vehicle image while changing the display mode of the vehicle image when the assistance control determination unit determines that the switching condition is satisfied. Effect of the Invention

[0007] As described above, the vehicle display control device according to the present invention has the excellent effect of making it easy for an occupant looking at the display unit to recognize that the driving assistance control has been switched from a non-operating state to an operating state. [Brief description of the drawings]

[0008] [Figure 1] 1 is a schematic plan view of a vehicle including a vehicle display control device according to an embodiment. [Diagram 2] FIG. 2 is a diagram showing the interior of the vehicle shown in FIG. [Diagram 3] FIG. 3 is a functional block diagram of the ECU shown in FIG. 2. [Figure 4] FIG. 2 is a schematic side view showing the positional relationship between a vehicle and a virtual viewpoint. [Diagram 5] 1 is a diagram showing a display unit that displays a vehicle image showing a vehicle traveling on a road and a road image showing the road when blind spot monitor control is switched to an active state; FIG. [Figure 6] FIG. 4 is a diagram showing the display unit when blind spot monitor control is in an active state. [Figure 7] 13 is a diagram showing the display unit when blind spot monitor control is in an active state and an approaching vehicle notification image is displayed. FIG. [Figure 8] 13 is a diagram showing a display unit that displays a vehicle image showing a vehicle stopped on a road and a road image when the safe disembarking assist control is switched to an active state. FIG. [Figure 9] FIG. 13 is a diagram showing the display unit when the safe disembarking assist control is in an active state. [Figure 10] 13 is a diagram showing the display unit when the safe disembarking assist control is in an active state and an approaching target warning image is displayed. FIG. [Figure 11] 13 is a diagram showing a display unit that displays a vehicle image representing a vehicle located in a parking lot when the parking notification control is switched to an active state. FIG. [Figure 12] FIG. 4 is a diagram showing the display unit when the parking notification control is in an active state. [Figure 13] 13 is a diagram showing the display unit when the parking notification control is in an active state and a surrounding object notification image is displayed. FIG. [Figure 14] 4 is a flowchart showing a process executed by a CPU of the ECU. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of a vehicle display control device according to the present invention will be described with reference to the accompanying drawings.

[0010] A vehicle 10 shown in FIG. 1 includes a vehicle body 11 and four doors 12A, 12B, 12C, and 12D for opening and closing four openings formed on a side surface of the vehicle body 11. Each of the doors 12A, 12B, 12C, and 12D can rotate relative to the vehicle body 11 between a closed position (position indicated by a solid line in FIG. 1) for closing the corresponding opening and an open position (position indicated by a virtual line in FIG. 1) for opening the corresponding opening. Furthermore, each of the doors 12A, 12B, 12C, and 12D is provided with a door lock device having an electric actuator. Each of the door lock devices can be switched by the driving force of the electric actuator between a latched state (locked state) for holding the doors 12A, 12B, 12C, and 12D in the closed position in the closed position and an unlatched state (unlocked state) for allowing the doors 12A, 12B, 12C, and 12D to rotate between the closed position and the open position.

[0011] Furthermore, an inside handle 14 is provided on the inner surface of each of the doors 12A, 12B, 12C, and 12D. When the inside handle 14 is rotated while the lock knobs (not shown) provided on the doors 12A, 12B, 12C, and 12D are in the unlocked position, the doors 12A, 12B, 12C, and 12D, which were in the latched state, become in the unlatched state.

[0012] Furthermore, four open / close determination switches 15 that determine whether each of the doors 12A, 12B, 12C, and 12D is in a latched state or an unlatched state are provided on the vehicle body 11. Each open / close determination switch 15 outputs an unlatch signal when the corresponding door 12A, 12B, 12C, or 12D changes from the latched state to the unlatched state.

[0013] As shown in Fig. 2, a turn signal lever 17 is rotatably supported on a steering column provided on an instrument panel 16 of a vehicle 10. When the turn signal lever 17 rotates from an initial position to an upper first lighting position, a turn signal 11L (see Fig. 1) provided on the left side of the front part of the vehicle body 11 is turned on, and when the turn signal lever 17 rotates from the initial position to a lower second lighting position, a turn signal 11R (see Fig. 1) provided on the right side of the front part of the vehicle body 11 is turned on.

[0014] 2, the instrument panel 16 is provided with a display unit 18. As will be described later, the display unit 18 is capable of displaying various images.

[0015] Furthermore, as shown in FIG. 1, a plurality of radar sensors 19 and a plurality of clearance sonars 20 are provided at the rear of the vehicle 10. The radar sensor 19 uses millimeter wave band radio waves (hereinafter, "millimeter waves") to determine the position of a target and the relative speed of the target with respect to the vehicle 10. Specifically, the radar sensor 19 emits millimeter waves diagonally rearward from the vehicle 10 and receives millimeter waves (reflected waves) reflected by a target, which is a three-dimensional object present within the emission range of the millimeter waves. The radar sensor 19 transmits transmission and reception data of the millimeter waves to an ECU (Electronic Control Unit) 21. The clearance sonar 20 is, for example, an ultrasonic sensor, and determines the distance from the clearance sonar 20 (vehicle 10) to the target based on the time it takes for the ultrasonic waves it transmits to be reflected by the target (three-dimensional object) and received. The determination distance of the clearance sonar 20 is, for example, about several centimeters to 100 cm.

[0016] 2, the ECU 21 includes a CPU (Central Processing Unit: processor) 22, a ROM (Read Only Memory) 23, a RAM (Random Access Memory) 24, a storage 25, a communication I / F (Interface) 26, and an input / output I / F 27. The CPU 22, the ROM 23, the RAM 24, the storage 25, the communication I / F 26, and the input / output I / F 27 are connected to each other so as to be able to communicate with each other via a bus 28. The ECU 21 can obtain information relating to date and time from a timer (not shown).

[0017] The CPU 22 is a central processing unit that executes various programs and controls each part. That is, the CPU 22 reads a program from the ROM 23 or the storage 25, and executes the program using the RAM 24 as a working area. The CPU 22 controls each component and performs various calculation processes (information processing) according to the program recorded in the ROM 23 or the storage 25.

[0018] The ROM 23 stores various programs and various data. The data includes, for example, 3D (three dimensions) modeling data that is the basis of image data representing vehicle images 30A, 30B, 30C, 30D, and 30E, road images 31A, 31B, 31C, 31D, and 31E, approaching vehicle images 32B and 32C, and parked vehicle images 33D and 33E shown in Figs. 5 to 13. The 3D modeling data includes, for example, 3D modeling data of the vehicle 10, 3D modeling data of an approaching vehicle (following vehicle) described later, 3D modeling data of a parked vehicle described later, and 3D modeling data of a road 100 described later. Each 3D modeling data is arranged in a 3D virtual space. When the position of a virtual viewpoint described later changes, the shape of a target represented by each 3D modeling data when viewed from the virtual viewpoint changes.

[0019] The vehicle images 30A, 30B, 30C, 30D, and 30E and the road images 31A, 31B, 31C, 31D, and 31E are displayed on the display unit 18, for example, when the vehicle 10 is traveling on a road 100 shown in FIG.

[0020] The vehicle image 30A shown in Fig. 5 is an image based on 3D modeling data of the vehicle 10 arranged in the 3D virtual space when viewed from the virtual viewpoint PA in Fig. 4, and is generated by the display control unit 222 described later. The road image 31A shown in Fig. 5 is an image based on 3D modeling data of the road 100 arranged in the 3D virtual space when viewed from the virtual viewpoint PA when the display control unit 222 recognizes the road 100 based on the detection results of the multiple radar sensors 19F and the multiple clearance sonars 20F provided in the front part of the vehicle 10, and is generated by the display control unit 222.

[0021] The vehicle image 30B and the road image 31B shown in Fig. 6 are images generated by the display control unit 222 in the same manner as the vehicle image 30A and the road image 31A, and are images based on the 3D modeling data when the 3D modeling data of the vehicle 10 and the 3D modeling data of the road 100 are viewed from the virtual viewpoint PB in Fig. 4. Note that if the road 100 has two lanes, the road image 31B includes a lane image 31B-1 and a lane image 31B-2 as shown in Fig. 6.

[0022] The vehicle image 30C and the road image 31C shown in FIG. 7 are images generated by the display control unit 222 in the same manner as the vehicle image 30A and the road image 31A, and are images based on the 3D modeling data when the 3D modeling data of the vehicle 10 and the 3D modeling data of the road 100 are viewed from the virtual viewpoint PC in FIG. 4. The road image 31C in FIG. 7 includes a lane image 31C-1 and a lane image 31C-2. The approaching vehicle image 32B in FIG. 6 is an image based on the 3D modeling data when the 3D modeling data of the approaching vehicle arranged in the 3D virtual space is viewed from the virtual viewpoint PB when the display control unit 222 recognizes an approaching vehicle (following vehicle) traveling in an adjacent lane adjacent to the lane in which the vehicle 10 is traveling and located behind the vehicle 10 based on the detection results of the radar sensor 19 and the clearance sonar 20, and is generated by the display control unit 222. The approaching vehicle image 32C in FIG. 7 is an image when the approaching vehicle is viewed from the virtual viewpoint PC.

[0023] As shown in FIG. 4, the virtual viewpoints PA, PB, and PC are located on one virtual straight line L1. Furthermore, the viewing angle θA shown in FIG. 4 is the viewing angle when the vehicle 10 is viewed from the virtual viewpoint PA. The viewing angle θB is the viewing angle when the vehicle 10 is viewed from the virtual viewpoint PB, and the viewing angle θC is the viewing angle when the vehicle 10 is viewed from the virtual viewpoint PC. The distance from the virtual viewpoint PB to the vehicle 10 is longer than the distance from the virtual viewpoint PA to the vehicle 10, and the distance from the virtual viewpoint PC to the vehicle 10 is longer than the distance from the virtual viewpoint PB to the vehicle 10. Furthermore, the viewing angles θA, θB, and θC are the same. Therefore, as is clear from FIG. 5 to FIG. 7, the vehicle image 30B in FIG. 6 is smaller than the vehicle image 30A in FIG. 5, and the vehicle image 30C in FIG. 7 is smaller than the vehicle image 30B. Similarly, the approaching vehicle image 32C in FIG. 7 is smaller than the approaching vehicle image 32B in FIG. 6.

[0024] The vehicle image 30A and the road image 31A shown in Fig. 8 are images generated in the same manner as the vehicle image 30A and the road image 31A shown in Fig. 5, and represent the vehicle 10 and the road 100 when the vehicle 10 stopped on the road 100 is viewed from the virtual viewpoint PA in Fig. 4. The vehicle image 30D and the road image 31D shown in Fig. 9 are images generated by the display control unit 222 in the same manner as the vehicle image 30A and the road image 31A, and are images based on the 3D modeling data when the 3D modeling data of the vehicle 10 and the 3D modeling data of the road 100 are viewed from the virtual viewpoint PD in Fig. 4. The vehicle image 30E and the road image 31E shown in Fig. 10 are images generated by the display control unit 222 in the same manner as the vehicle image 30A and the road image 31A, and are images based on the 3D modeling data when the 3D modeling data of the vehicle 10 and the 3D modeling data of the road 100 are viewed from the virtual viewpoint PE in Fig. 4. As shown in FIG. 4, the virtual viewpoints PA, PD, and PE are located on a curved line CL that is substantially arc-shaped. That is, the distance from the virtual viewpoint PA to the vehicle 10, the distance from the virtual viewpoint PD to the vehicle 10, and the distance from the virtual viewpoint PE to the vehicle 10 are substantially the same. As shown in FIG. 4, the virtual viewpoint PD is located forward and above the virtual viewpoint PA, and the virtual viewpoint PE is located forward of the virtual viewpoint PD. The virtual viewpoint PE is located directly above the center of the vehicle 10 in the front-rear direction. Furthermore, the viewing angle θD when the vehicle 10 is viewed from the virtual viewpoint PD and the viewing angle θE when the vehicle 10 is viewed from the virtual viewpoint PE are the same as the viewing angles θA, θB, and θC. Therefore, as is clear from FIG. 8 to FIG. 10, the shape of the vehicle image 30A in FIG. 8, the shape of the vehicle image 30D in FIG. 9, and the shape of the vehicle image 30E in FIG. 10 are different from each other. Similarly, the shape of the road image 31A in FIG. 8, the shape of the road image 31D in FIG. 9, and the shape of the road image 31E in FIG. 10 are different from each other.

[0025] The vehicle image 30A shown in FIG. 11 is an image generated in the same manner as the vehicle image 30A in FIG. 5, and represents the vehicle 10 when the vehicle 10 traveling at a low speed in the parking lot is viewed from the virtual viewpoint PA. The vehicle image 30D shown in FIG. 12 is an image generated in the same manner as the vehicle image 30A in FIG. 5, and represents the vehicle 10 when the vehicle 10 traveling at a low speed in the parking lot is viewed from the virtual viewpoint PD. The vehicle image 30E shown in FIG. 13 is an image generated in the same manner as the vehicle image 30A in FIG. 5, and represents the vehicle 10 when the vehicle 10 traveling at a low speed in the parking lot is viewed from the virtual viewpoint PE. The parked vehicle image 33D shown in FIG. 12 is an image based on 3D modeling data of the parked vehicle arranged in the 3D virtual space when the display control unit 222 recognizes a parked vehicle located diagonally behind the vehicle 10 and parked in the parking lot based on the detection results of the radar sensor 19 and the clearance sonar 20, and is generated by the display control unit 222. A parked vehicle image 33E shown in FIG. 13 is an image of this parked vehicle as viewed from a virtual viewpoint PE.

[0026] Further, the ROM 23 stores an approaching vehicle notification image (notification image) 35 shown in Fig. 7, an approaching target notification image (notification image) 36 shown in Fig. 10, and a surrounding target notification image (notification image) 37 shown in Fig. 13. The approaching vehicle notification image 35, the approaching target notification image 36, and the surrounding target notification image 37 will be described later. In the following description, the vehicle images 30A, 30B, 30C, 30D, 30E, the road images 31A, 31B, 31C, 31D, 31E, the approaching vehicle images 32B, 32C, the parked vehicle images 33D, 33E, the approaching vehicle notification image 35, the approaching target notification image 36, and the surrounding target notification image 37 may be referred to as "driving support related images".

[0027] The RAM 24 temporarily stores programs or data as a working area. The storage 25 is configured with a storage device such as a hard disk drive (HDD) or a solid state drive (SSD), and stores various programs and various data. The communication I / F 26 is an interface capable of communicating with devices located outside the vehicle 10. For example, the communication I / F 26 is capable of wireless communication with an external server (not shown). The communication I / F 26 uses communication standards such as CAN (Controller Area Network), Bluetooth (registered trademark), and Wi-Fi (registered trademark). Furthermore, the communication I / F 26 is capable of communicating with an ECU other than the ECU 21 provided in the vehicle 10 via an external bus.

[0028] 3, the ECU 21 has, as its functional components, a driving assistance control unit (assistance control determination unit) 221 and a display control unit 222. The driving assistance control unit 221 and the display control unit 222 are realized by the CPU 22 of the ECU 21 reading and executing a program stored in the ROM 23.

[0029] When the driving assistance operation device 16a (see FIG. 2) provided on the instrument panel 16 is in the ON state, the driving assistance control unit 221 uses a group of sensors and a group of actuators (not shown) provided on the vehicle 10 to execute driving assistance control of an arbitrary driving level defined by the Society of Automotive Engineers (SAE). Furthermore, when the driving assistance operation device 16a is in the ON state, the occupant of the vehicle 10 can select the driving level and the driving assistance control to be executed by operating the driving assistance operation device 16a. The driving assistance control of this embodiment includes, for example, blind spot monitor control (hereinafter, BSM control), safe exit assist control (hereinafter, SEA control), and parking notification control. The group of sensors provided on the vehicle 10 includes radar sensors 19, 19F and clearance sonars 20, 20F. The group of actuators provided on the vehicle 10 includes, for example, an electric motor that is a driving source.

[0030] When the driving assistance operation device 16a is in the ON state, the radar sensor 19 detects that the distance between the vehicle 10 and a vehicle (hereinafter, an approaching vehicle) traveling in an adjacent lane adjacent to the lane in which the vehicle 10 is traveling and located behind the vehicle 10 is equal to or less than a first predetermined distance, and the turn signal lever 17 is operated in a direction indicating the position of the adjacent lane, the driving assistance control unit 221 determines that a first switching condition (switching condition) for switching the BSM control from a non-operating state to an operating state is satisfied. In other words, when the distance between the vehicle 10 and the approaching vehicle is greater than the first predetermined distance, or when the turn signal lever 17 is not operated in a direction indicating the position of the adjacent lane, the driving assistance control unit 221 determines that the first switching condition is not satisfied, and the BSM control is in an inoperative state. When the BSM control is in an operating state, a lamp (not shown) provided on the door mirror of the vehicle 10 is turned on. There is a time difference between the first time when the driving assistance control unit 221 determines that the first switching condition is satisfied and the second time when the BSM control actually switches from the inactive state to the active state.

[0031] When the driving assistance operation device 16a is in the ON state, the vehicle speed of the vehicle 10 is equal to or lower than a first predetermined speed, the radar sensor 19 detects that an object (hereinafter, an approaching object) located behind the vehicle 10 is approaching the vehicle 10, and any of the open / close determination switches 15 outputs an unlatch signal, the driving assistance control unit 221 determines that a second switching condition (switching condition) for switching the SEA control from a non-operating state to an operating state is satisfied. In other words, when the vehicle speed of the vehicle 10 is higher than the first predetermined speed, when the radar sensor 19 does not detect that an approaching object is approaching the vehicle 10, or when none of the open / close determination switches 15 outputs an unlatch signal, the driving assistance control unit 221 determines that the second switching condition is not satisfied, and the SEA control is in the non-operating state. When the SEA control is in the operating state, a speaker (not shown) of the vehicle 10 generates a first notification sound. There is a time difference between the first time when the driving assistance control unit 221 determines that the second switching condition is satisfied and the second time when the SEA control actually switches from the non-operating state to the operating state.

[0032] When the driving assistance operation device 16a is in the ON state, the vehicle 10 travels at a speed faster than 0 km / h and slower than a second predetermined speed, and the clearance sonar 20 detects that the distance between the vehicle 10 and a target located around the vehicle 10 (hereinafter, a peripheral target) becomes equal to or shorter than the second predetermined distance, the driving assistance control unit 221 determines that a third switching condition (switching condition) for switching the parking notification control from a non-operating state to an operating state is satisfied. In other words, when the vehicle 10 is stopped, when the vehicle speed of the vehicle 10 is equal to or faster than the second predetermined speed, and when the clearance sonar 20 does not detect that the distance between the vehicle 10 and a peripheral target is equal to or shorter than the second predetermined distance, the driving assistance control unit 221 determines that the third switching condition is not satisfied, and the parking notification control becomes in an inactive state. When the parking notification control becomes active, the speaker generates the second notification sound. There is a time difference between the first time when the driving assistance control unit 221 determines that the third switching condition is satisfied and the second time when the parking notification control actually switches from the inactive state to the active state.

[0033] The display control unit 222 generates an image based on the 3D modeling data as described above. Furthermore, the display control unit 222 causes various images to be displayed on the display unit 18. For example, when a navigation system installed in the vehicle 10 is operating, the display control unit 222 causes a map image (not shown) to be displayed on the display unit 18. Furthermore, the display control unit 222 can cause an image showing the vehicle speed of the vehicle 10 to be displayed on the display unit 18.

[0034] Furthermore, the display control unit 222 switches the type of image to be displayed on the display unit 18 depending on whether or not the switching conditions (the first switching condition, the second switching condition, and the third switching condition) are satisfied.

[0035] When the driving assistance control unit 221 determines that the driving assistance control is in an inoperative state, the display control unit 222 sets the display unit 18 to the normal mode. In other words, when the driving assistance control unit 221 determines that the switching condition is not satisfied, the display control unit 222 sets the display unit 18 to the normal mode. When set to the normal mode, the display control unit 222 can, for example, cause the display unit 18 to display a map image or cause the display unit 18 to display an image showing the vehicle speed of the vehicle 10.

[0036] When the driving assistance control unit 221 determines that the switching condition is satisfied, the display control unit 222 sets the display unit 18 to the driving assistance mode. When the display unit 18 is set to the driving assistance mode, the display control unit 222 causes the display unit 18 to display vehicle images 30A, 30B, 30C, 30D, and 30E as shown in Figs. 5 to 13. As described above, there is a time difference between the first time and the second time. Therefore, the display control unit 222 can switch the display unit 18 from the normal mode to the driving assistance mode after the second time, switch the display unit 18 from the normal mode to the driving assistance mode before the second time, and switch the display unit 18 from the normal mode to the driving assistance mode at the same time as the second time.

[0037] For example, when it is determined that the first switching condition related to the BSM control is satisfied in a state where a map image is displayed on the display unit 18 in the normal mode, the display control unit 222 switches the display unit 18 to the driving assistance mode. That is, the display control unit 222 erases the map image from the display unit 18, and switches the display unit 18 to the state shown in FIG. 5 instead. Furthermore, the display control unit 222 switches the display unit 18 to the state shown in FIG. 6, and further switches the display unit 18 to the state shown in FIG. 7. Note that the display unit 18 actually switches continuously from the state shown in FIG. 5 to the state shown in FIG. 6 while passing through a state in which a large number of vehicle images representing the vehicle 10 as viewed from a large number of virtual viewpoints located on the virtual straight line L1, a large number of road images representing the road 100, and an approaching vehicle image representing an approaching vehicle are displayed. Furthermore, the display unit 18 switches continuously from the state shown in FIG. 6 to the state shown in FIG. 7 while passing through a state in which various vehicle images, road images, and approaching vehicle images are displayed. Therefore, the vehicle images 30A, 30B, and 30C displayed on the display unit 18 gradually become smaller and smaller continuously with the passage of time. Furthermore, the display positions of the vehicle images 30A, 30B, and 30C on the display unit 18 gradually move forward.

[0038] Furthermore, when the display unit 18 enters the state shown in FIG. 7, the display control unit 222 causes the display unit 18 to display an approaching vehicle notification image 35. The approaching vehicle notification image 35 is a sector-shaped image located between the vehicle image 30C and the approaching vehicle image 32C. Furthermore, the approaching vehicle notification image 35 gradually expands continuously from the vehicle image 30C toward the approaching vehicle image 32C. That is, the approaching vehicle notification image 35 starts to expand from point A and expands to area B indicated by the two-dot chain line. The approaching vehicle notification image 35 further expands to area C indicated by the one-dot chain line, and then becomes a sector shape indicated by the solid line.

[0039] When the radar sensor 19 no longer detects that the distance between the vehicle 10 and the approaching vehicle is equal to or shorter than the first predetermined distance, it is determined that the first switching condition is not satisfied, and the BSM control is switched to a non-operating state, so that the display control unit 222 switches the display unit 18 to the normal mode.

[0040] Also, when it is determined that the second switching condition related to the SEA control is satisfied in a state where a map image is displayed on the display unit 18 in the normal mode, the display control unit 222 switches the display unit 18 to the driving assistance mode. That is, the display control unit 222 erases the map image from the display unit 18, and switches the display unit 18 to the state shown in FIG. 8 instead. Furthermore, the display control unit 222 switches the display unit 18 to the state shown in FIG. 9, and further switches the display unit 18 to the state shown in FIG. 10. Even when the SEA control is in an operating state, the display unit 18 is continuously switched from the state shown in FIG. 8 to the state shown in FIG. 10 while passing through states in which various vehicle images and road images are displayed. Therefore, the shapes of the vehicle images 30A, 30D, and 30E displayed on the display unit 18 are continuously changed as time passes. Furthermore, the display positions of the vehicle images 30A, 30D, and 30E on the display unit 18 gradually move forward.

[0041] Furthermore, when the display unit 18 is in the state shown in Fig. 10, the display control unit 222 causes the display unit 18 to display an approaching target notification image 36. For example, when the radar sensor 19 detects that an approaching target located in an area to the left and rear of the vehicle 10 is approaching the vehicle 10, the approaching target notification image 36 is displayed on the left side of the road image 31E and in an area to the rear of the vehicle image 30E. On the other hand, when the radar sensor 19 detects that an approaching target located in an area to the right and rear of the vehicle 10 is approaching the vehicle 10, the approaching target notification image 36 is displayed on the right side of the road image 31E and in an area to the rear of the vehicle image 30E. The approaching target notification image 36 has a first image 36-1, a second image 36-2, and a third image 36-3. Furthermore, the display control unit 222 first displays only the first image 36-1 on the display unit 18, then displays the first image 36-1 and the second image 36-2 on the display unit 18, and finally displays the first image 36-1, the second image 36-2, and the third image 36-3 on the display unit 18. Therefore, the approaching target notification image 36 continuously expands from the rear to the front.

[0042] When the radar sensor 19 no longer detects that the approaching target is approaching the vehicle 10, it is determined that the second switching condition is not satisfied, and the SEA control is switched to a non-operating state. Therefore, the display control unit 222 switches the display unit 18 to the normal mode.

[0043] In addition, when it is determined that the third switching condition related to the parking notification control is satisfied in a state where a map image is displayed on the display unit 18 in the normal mode, the display control unit 222 switches the display unit 18 to the driving assistance mode. That is, the display control unit 222 erases the map image from the display unit 18, and instead switches the display unit 18 to the state shown in FIG. 11. Furthermore, the display control unit 222 switches the display unit 18 to the state shown in FIG. 12, and further switches the display unit 18 to the state shown in FIG. 13. Even when the parking notification control is in an operating state, the display unit 18 is continuously switched from the state shown in FIG. 11 to the state shown in FIG. 12 while passing through a state in which various vehicle images are displayed. Furthermore, the display unit 18 is continuously switched from the state shown in FIG. 12 to the state shown in FIG. 13 while passing through a state in which various vehicle images and parked vehicle images are displayed. Furthermore, the display positions of the vehicle images 30A, 30D, and 30E on the display unit 18 gradually move forward.

[0044] Furthermore, when the display unit 18 is in the state of FIG. 13, the display control unit 222 causes the display unit 18 to display a surrounding object notification image 37. For example, when the clearance sonar 20 detects that a parked vehicle (surrounding object) is located in an area to the right and rear of the vehicle 10, the surrounding object notification image 37 is displayed in an area between the vehicle image 30E and the parked vehicle image 33E. The surrounding object notification image 37 has a first image 37-1, a second image 37-2, and a third image 37-3. Furthermore, the display control unit 222 causes the display unit 18 to display only the first image 37-1 first, then the display unit 18 to display the first image 37-1 and the second image 37-2, and finally the display unit 18 to display the first image 37-1, the second image 37-2, and the third image 37-3. Therefore, the surrounding object notification image 37 is continuously enlarged from the vehicle image 30E side toward the parked vehicle image 33E side.

[0045] When the speed of the vehicle 10 becomes 0 km / h, or when the clearance sonar 20 no longer detects that the distance between the vehicle 10 and the surrounding objects is equal to or shorter than the second predetermined distance, it is determined that the third switching condition is not satisfied, and the parking notification control is switched to a non-operating state. Therefore, the display control unit 222 switches the display unit 18 to the normal mode.

[0046] Among the above-described configuration, the display unit 18 and the ECU 21 are components of the vehicle display control device 40.

[0047] Next, a description will be given of the processing executed by the CPU 22 of the ECU 21. The CPU 22 repeatedly executes the processing of the flowchart shown in FIG.

[0048] In step S10 (hereinafter, the word "step" will be omitted), the CPU 22 determines whether or not a switching condition is satisfied.

[0049] When the determination in S10 is Yes, the CPU 22 proceeds to S11 and sets the display unit 18 to a driving assistance mode.

[0050] When the process of S11 is completed, the CPU 22 proceeds to S12, where it continuously changes the image displayed on the display unit 18. For example, when the BSM control is in operation, it continuously changes the display unit 18 from the state shown in Fig. 5 to the state shown in Fig. 7.

[0051] When the process of S12 is completed, the CPU 22 proceeds to S13, where it causes the display unit 18 to display a notification image. For example, when the BSM control is in operation, it causes the display unit 18 to display an approaching vehicle notification image 35 shown in FIG.

[0052] When the process of S13 is completed, the CPU 22 proceeds to S14 and determines whether or not the switching condition is satisfied.

[0053] If the determination in S10 is No or if the determination in S14 is Yes, the CPU 22 proceeds to S15 and sets the display unit 18 to the normal mode.

[0054] When the result of the determination in S14 is No, or when the process of S15 is completed, the CPU 22 temporarily ends the process of the flowchart in FIG.

[0055] As described above, when the driving assistance control unit 221 determines that the switching condition related to the driving assistance control executable by the vehicle 10 is satisfied, the vehicle display control device 40 of this embodiment displays the vehicle images 30A, 30B, 30C, 30D, 30E, the road images 31A, 31B, 31C, 31D, 31E, the approaching vehicle images 32B, 32C, and the parked vehicle images 33D, 33E on the display unit 18 while continuously changing the display modes of these images. Therefore, the vehicle display control device 40 makes it easier for the occupant looking at the display unit 18 to recognize that the driving assistance control has been switched from a non-operating state to an operating state, compared to a case in which the display modes of these images do not change.

[0056] Furthermore, when it is determined that the first switching condition for the BSM control is satisfied, the vehicle images 30A, 30B, 30C displayed on the display unit 18 gradually become smaller in size over time, making it easy for an occupant looking at the display unit 18 to recognize that the BSM control has been switched from a non-operating state to an operating state.

[0057] Furthermore, the sizes of the vehicle images 30A, 30B, and 30C on the display unit 18 gradually become smaller, and the display positions of the vehicle images 30A, 30B, and 30C on the display unit 18 gradually move forward. Therefore, the lower display area between the rear ends of the vehicle images 30A, 30B, and 30C and the lower edge portion 18BL (see Figs. 5 to 7) of the display unit 18 gradually expands. Therefore, when the vehicle images 30B and 30C are displayed on the display unit 18, images (approaching vehicle images 32B and 32C, approaching vehicle notification image 35) positioned behind the vehicle images 30B and 30C can be displayed in the lower display area. Therefore, the vehicle images 30A and 30B can be displayed larger on the display unit 18 compared to a case where a part of the display unit 18 (lower display area) is always reserved as an area for displaying the approaching vehicle images 32B and 32C and the approaching vehicle notification image 35.

[0058] Furthermore, when it is determined that the switching condition for the SEA control or the parking notification control is satisfied, the vehicle images 30A, 30D, and 30E displayed on the display unit 18 are changed over time from an image when the virtual viewpoint is located at PA (first viewpoint) behind the vehicle 10 to an image when the virtual viewpoint is located at PE (second viewpoint) in front of and above PA. Therefore, the shape of the vehicle images 30A, 30D, and 30E displayed on the display unit 18 changes over time. That is, the vehicle image 30A showing the shape of the vehicle 10 when the vehicle 10 is viewed from behind and above changes to the vehicle image 30E showing the vehicle 10 when the vehicle 10 is viewed from directly above. Therefore, the occupant who looks at the display unit 18 can easily recognize that the SEA control or the parking notification control has been switched from a non-operating state to an operating state.

[0059] Furthermore, when it is determined that the switching condition for the SEA control or the parking notification control is satisfied, the display positions of the vehicle images 30A, 30D, and 30E on the display unit 18 gradually move forward. Therefore, the lower display area between the rear ends of the vehicle images 30A, 30D, and 30E and the lower edge 18BL (see Figs. 8 to 13) of the display unit 18 gradually expands. Therefore, when the vehicle images 30D and 30E are displayed on the display unit 18, the images (parked vehicle images 33D and 33E, approaching target notification image 36, and surrounding target notification image 37) located behind the vehicle images 30D and 30E can be displayed in the lower display area. Therefore, the vehicle images 30A and 30D can be displayed larger on the display unit 18 than when a part of the display unit 18 (the lower display area) is always reserved as an area for displaying the parked vehicle images 33D and 33E, the approaching target notification image 36, and the surrounding target notification image 37.

[0060] Furthermore, when it is determined that the switching condition is satisfied, the vehicle display control device 40 displays notification images (approaching vehicle notification image 35, approaching target notification image 36, surrounding target notification image 37) for indicating that the driving assist control is in operation on the display unit 18. Therefore, the vehicle display control device 40 makes it easy for an occupant who looks at the display unit 18 to recognize that the driving assist control is in operation.

[0061] Furthermore, when it is determined that the switching condition is satisfied, the vehicle display control device 40 displays the vehicle images 30A, 30B, 30C, 30D, and 30E, the road images 31A, 31B, 31C, 31D, and 31E, the approaching vehicle images 32B and 32C, and the parked vehicle images 33D and 33E in the center (predetermined position) of the display unit 18. In other words, when the driving assist control is in an inoperative state, these images are not displayed on the display unit 18. Therefore, compared to the case where these images are displayed in the center of the display unit 18 when the driving assist control is in an inoperative state, the occupant who looks at the display unit 18 is less likely to feel annoyed.

[0062] Although the vehicle display control device according to the embodiment has been described above, the design can be appropriately modified without departing from the spirit and scope of the present invention.

[0063] For example, when it is determined that the switching condition is satisfied, the display modes of the vehicle images 30A, 30B, 30C, 30D, 30E, the road images 31A, 31B, 31C, 31D, 31E, the approaching vehicle images 32B, 32C, and the parked vehicle images 33D, 33E on the display unit 18 may change intermittently. For example, when it is determined that the first switching condition related to the BSM control is satisfied, the vehicle image 30A may change directly to the vehicle image 30B without passing through other vehicle images, and the vehicle image 30B may change directly to the vehicle image 30C without passing through other vehicle images. Also, the vehicle image 30A may change directly to the vehicle image 30C without passing through other vehicle images.

[0064] When the display unit 18 is set to the normal mode, the display unit 18 may simultaneously display a vehicle image representing the vehicle 10, a road image representing the road on which the vehicle 10 travels, and an image other than the vehicle image and the road image. This other image includes, for example, a map image and an image representing the vehicle speed of the vehicle 10. Furthermore, when the display unit 18 is set to the normal mode, this other image may be displayed in the center (predetermined position) of the display unit 18, and the vehicle image and the road image may be displayed on the side of the display unit 18. Also, when the display unit 18 is set to the driving assistance mode, a driving assistance related image may be displayed in the center of the display unit 18, and the other image may be displayed on the side of the display unit 18.

[0065] When it is determined that a switching condition related to the SEA control or the parking notification control is satisfied, the magnitude of the viewing angle may be changed over time while changing the position of the virtual viewpoint.

[0066] Image data representing a vehicle image, a road image, an approaching vehicle image, and a parked vehicle image created without being based on 3D modeling data may be recorded in the ROM 23. In this case, image data representing a vehicle image, a road image, an approaching vehicle image, and a parked vehicle image as viewed from a number of virtual viewpoints that are located between the virtual viewpoints PA and PE on the curve CL and are different from the virtual viewpoint PD may be stored in the ROM 23.

[0067] The vehicle images 30A, 30B, 30C, 30D, 30E, road images 31A, 31B, 31C, 31D, 31E, approaching vehicle images 32B, 32C, and parked vehicle images 33D, 33E displayed on the display unit 18 may be images generated based on image data acquired by multiple cameras mounted on the vehicle 10. [Explanation of symbols]

[0068] 10 Vehicles 221 Driving assistance control unit (assistance control determination unit) 222 Display control unit 30A 30B 30C 30D 30E Vehicle images 35 Approaching vehicle notification image (notification image) 36 Approaching target notification image (notification image) 37 Nearby target notification image (notification image) 40 Vehicle display control device PA Virtual Viewpoint (First Viewpoint) PE Virtual Viewpoint (2nd Viewpoint)

Claims

1. A display unit provided in a vehicle capable of executing driving assistance control and capable of displaying a vehicle image representing the vehicle; an assistance control determination unit capable of determining whether or not a switching condition for switching the driving assistance control from a non-operating state to an operating state is satisfied; a display control unit that controls the display unit to display the vehicle image while changing a display mode of the vehicle image when the assistance control determination unit determines that the switching condition is satisfied; and A display control device for a vehicle.

2. The display control unit, The display control device for a vehicle according to claim 1 , wherein the display unit is controlled to display a notification image indicating that the driving assist control is in the active state when the switching condition is satisfied.

3. The display control unit, 3. The vehicle display control device according to claim 1, wherein the display unit is controlled so that the vehicle image becomes gradually smaller over time when the switching condition is satisfied.

4. the vehicle image is an image representing the vehicle as viewed from a predetermined virtual viewpoint, The display control unit, 3. The display control device for a vehicle according to claim 1 or 2, wherein the display unit is controlled so that, when the switching condition is satisfied, the vehicle image changes over time from an image when the virtual viewpoint is located at a first viewpoint rearward of the vehicle to an image when the virtual viewpoint is located at a second viewpoint forward and above the first viewpoint.

5. The display control unit, The vehicle display control device according to claim 1 or 2, wherein the display unit is controlled so that the display mode of the vehicle image changes continuously.

6. The display control unit, 3. The vehicle display control device according to claim 1, further comprising: a display control unit configured to display the vehicle image at a predetermined position on the display unit when the assistance control determination unit determines that the switching condition is satisfied.

Images