Vehicle display device, vehicle display method, and program

Abstract

To provide a vehicle display device, a vehicle display method, and a program that make it difficult for occupants viewing a moving image to feel a sense of discomfort when at least one of the size and display position of the moving image representing a relative moving object is changed in accordance with the relative distance between a vehicle and the relative moving object located around the vehicle.SOLUTION: A vehicle display device is installed in a vehicle, can display a moving image representing a relative moving object when a detection device detects the relative moving object located around the vehicle in a detection range, changes a display condition, which is at least one of size and display position of the moving image, according to the relative distance when the relative distance between the vehicle and the relative moving object is within the normal range, and does not change the display condition when the relative distance is outside the normal range.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present invention relates to a display device for a vehicle, a display method for a vehicle, and a program. [Background technology]

[0002] The following Patent Document 1 discloses a display device for a vehicle that can display an image showing a preceding vehicle located in front of a vehicle (host vehicle). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-117925 Summary of the Invention [Problem to be solved by the invention]

[0004] The relative distance between an image representing the vehicle (own vehicle) and an image representing the preceding vehicle on the vehicle display device, and the size of the image representing the preceding vehicle, may be changed depending on the relative distance between the vehicle (own vehicle) and the preceding vehicle.

[0005] In this case, if the relative distance between the image representing the vehicle itself and the image representing the preceding vehicle on the vehicle display device becomes too long or too short, the occupant looking at the vehicle display device may feel uncomfortable. Also, if the image representing the preceding vehicle becomes too large or too small, the occupant looking at the vehicle display device may feel uncomfortable.

[0006] The present invention takes into consideration the above-mentioned facts and aims to provide a display device for a vehicle, a display method for a vehicle, and a program that are unlikely to cause occupants to feel uncomfortable when viewing a moving image representing a relative moving body when at least one of the size and display position of the moving image representing a relative moving body located around the vehicle is changed depending on the relative distance between the vehicle and the relative moving body located around the vehicle. [Means for solving the problem]

[0007] The vehicle display device of the first embodiment is provided on a vehicle, and when a detection device detects a relative moving object located around the vehicle within a predetermined detection range, is capable of displaying a moving image representing the relative moving object, and when the relative distance between the vehicle and the relative moving object is within a normal range, the display conditions, which are at least one of the size and display position of the moving image, are changed depending on the relative distance, and when the relative distance is outside the normal range, the display conditions are not changed.

[0008] The vehicle display device of the first embodiment is provided in a vehicle, and is capable of displaying a moving image representing a relative moving object when the detection device detects the relative moving object located around the vehicle within a predetermined detection range. Furthermore, when the relative distance between the vehicle and the relative moving object is within a normal range, the vehicle display device changes the display conditions, which are at least one of the size and display position of the moving image, according to the relative distance. On the other hand, when the relative distance is outside the normal range, the vehicle display device does not change the display conditions. Therefore, the vehicle display device of the first embodiment is unlikely to cause an occupant to feel uncomfortable when viewing the moving image.

[0009] In the second aspect, in the first aspect, when the relative distance is within the normal range, the moving image is gradually made smaller as the relative distance becomes longer, and when the size of the moving image when the relative distance is at its maximum value when in the normal range is defined as the minimum dimension, the size of the moving image when the relative distance is outside the normal range and larger than the maximum value is set to the minimum dimension.

[0010] In the vehicle display device of the second aspect, when the relative distance between the vehicle and the relative moving body is within a normal range, the moving image is gradually made smaller as the relative distance between the vehicle and the relative moving body becomes longer. Furthermore, in the vehicle display device of the second aspect, when the size of the moving image when the relative distance is the maximum value when the relative distance is within the normal range is defined as the minimum size, the size of the moving image when the relative distance is outside the normal range and larger than the maximum value is set to the minimum size. That is, in the vehicle display device of the second aspect, when the relative distance is outside the normal range and larger than the maximum value, the size of the moving image is not made smaller than the minimum size. Therefore, in the vehicle display device of the second aspect, when the relative distance is outside the normal range and larger than the maximum value, the occupant who sees the moving image is less likely to feel uncomfortable.

[0011] In the third aspect of the vehicle display device, in the first or second aspect, when the relative distance is within the normal range, the moving image is gradually made smaller as the relative distance becomes longer, and when the size of the moving image when the relative distance becomes the minimum value when the relative distance is within the normal range is defined as the maximum dimension, the size of the moving image when the relative distance is outside the normal range and smaller than the minimum value is set to the maximum dimension.

[0012] In the vehicle display device of the third aspect, when the relative distance between the vehicle and the relative moving body is within the normal range, the moving image is gradually made smaller as the relative distance between the vehicle and the relative moving body becomes longer. Furthermore, in the vehicle display device of the third aspect, when the size of the moving image when the relative distance is the minimum value when the relative distance is within the normal range is defined as the maximum dimension, the size of the moving image when the relative distance is outside the normal range and smaller than the minimum value is set to the maximum dimension. That is, in the vehicle display device of the third aspect, when the relative distance is outside the normal range and smaller than the minimum value, the size of the moving image is not made larger than the maximum dimension. Therefore, in the vehicle display device of the third aspect, when the relative distance is outside the normal range and smaller than the minimum value, the occupant who sees the moving image is less likely to feel uncomfortable.

[0013] In the fourth aspect of the vehicle display device, in the first aspect, when the relative distance is within the normal range, the moving image is gradually made smaller as the relative distance becomes longer, and the size of the moving image when the relative distance when in the normal range is at an arbitrary first distance is defined as a first dimension, the size of the moving image when the relative distance when in the normal range is at an arbitrary second distance longer than the first distance is defined as a second dimension, the size of the moving image when the relative distance when in the normal range is at an arbitrary third distance longer than the second distance is defined as a third dimension, and the size of the moving image when the relative distance when in the normal range is at an arbitrary fourth distance longer than the third distance is defined as a fourth dimension, the second dimensional change amount, which is the value obtained by subtracting the third dimension from the fourth dimension divided by the third dimension, is made smaller than the first dimensional change amount, which is the value obtained by subtracting the second dimension from the first dimension divided by the first dimension.

[0014] The vehicle display device of the fourth aspect gradually reduces the size of the moving image as the relative distance between the vehicle and the relative moving object increases when the relative distance is within a normal range. Furthermore, the vehicle display device of the fourth aspect reduces the second dimensional change amount, which is the value obtained by subtracting the third dimension from the fourth dimension and dividing the value by the third dimension, to a smaller value than the first dimensional change amount, which is the value obtained by subtracting the second dimension from the first dimension and dividing the value by the first dimension. Therefore, the vehicle display device of the fourth aspect is less likely to cause an occupant who views the moving image to feel uncomfortable.

[0015] The vehicle display device of the fifth aspect is capable of displaying a vehicle image representing the vehicle in the first aspect, and when the relative distance is within the normal range, the display distance, which is the distance between the vehicle image and the moving image, is gradually increased as the relative distance increases, and when the display distance when the relative distance becomes the maximum value when within the normal range is defined as the maximum distance, the display distance when the relative distance is outside the normal range and greater than the maximum value is set to the maximum distance.

[0016] The vehicle display device of the fifth aspect is capable of displaying a vehicle image representing a vehicle, and when the relative distance between the vehicle and the relative moving body is within a normal range, the display distance between the vehicle image and the moving image is gradually increased as the relative distance increases. Furthermore, in the vehicle display device of the fifth aspect, if the display distance when the relative distance is the maximum value when the relative distance is within the normal range is defined as the maximum distance, the display distance when the relative distance is outside the normal range and is greater than the maximum value is set to the maximum distance. That is, the vehicle display device of the fifth aspect does not increase the display distance of the moving image beyond the maximum distance when the relative distance is outside the normal range and is greater than the maximum value. Therefore, the vehicle display device of the fifth aspect is unlikely to make the occupant who sees the moving image feel uncomfortable when the relative distance is outside the normal range and is greater than the maximum value.

[0017] The vehicle display device of the sixth aspect is capable of displaying a vehicle image representing the vehicle in the first or fifth aspect, and when the relative distance is within the normal range, the display distance, which is the distance between the vehicle image and the moving image, is gradually increased as the relative distance increases, and when the display distance when the relative distance becomes the minimum value when in the normal range is defined as the minimum distance, the display distance when the relative distance is outside the normal range and smaller than the minimum value is set to the minimum distance.

[0018] The vehicle display device of the sixth aspect is capable of displaying a vehicle image representing a vehicle, and when the relative distance between the vehicle and the relative moving body is within a normal range, the display distance between the vehicle image and the moving image is gradually increased as the relative distance increases. Furthermore, in the vehicle display device of the sixth aspect, if the display distance when the relative distance is the minimum value when the relative distance is within the normal range is defined as the minimum distance, the display distance when the relative distance is outside the normal range and smaller than the minimum value is set to the minimum distance. That is, the vehicle display device of the sixth aspect does not shorten the display distance of the moving image to less than the minimum distance when the relative distance is outside the normal range and smaller than the minimum value. Therefore, the vehicle display device of the sixth aspect is unlikely to make the occupant who sees the moving image feel uncomfortable when the relative distance is outside the normal range and smaller than the minimum value.

[0019] The vehicle display device of the seventh aspect is capable of displaying a vehicle image representing the vehicle in the first aspect, and when the relative distance is within the normal range, a display distance between the vehicle image and the moving image is gradually increased as the relative distance increases, and the display distance when the relative distance is within the normal range is defined as a first display distance, and the display distance when the relative distance is within the normal range is defined as a second display distance, and the display distance when the relative distance is within the normal range is defined as a second distance longer than the first distance. When the display distance when the relative distance when in the normal range is at an arbitrary third distance longer than the second distance is defined as a third display distance, and when the display distance when in the normal range is at an arbitrary fourth distance longer than the third distance is defined as a fourth display distance, a second distance change amount, which is the value obtained by subtracting the third display distance from the fourth display distance divided by the third display distance, is made smaller than a first distance change amount, which is the value obtained by subtracting the first display distance from the second display distance divided by the first display distance.

[0020] The vehicle display device of the seventh aspect is capable of displaying a vehicle image representing a vehicle, and when the relative distance between the vehicle and the relative moving object is within a normal range, the display distance between the vehicle image and the moving image is gradually increased as the relative distance increases. Furthermore, the vehicle display device of the seventh aspect makes the second distance change amount, which is the value obtained by subtracting the third display distance from the fourth display distance and dividing it by the third display distance, smaller than the first distance change amount, which is the value obtained by subtracting the first display distance from the second display distance and dividing it by the first display distance. Therefore, the vehicle display device of the seventh aspect is unlikely to cause an occupant who sees the moving image to feel uncomfortable.

[0021] In the vehicle display device of an eighth aspect, in the first or second aspect, the vehicle is capable of executing driving assistance control, and the size of the normal range is changed according to a level of the driving assistance control.

[0022] The vehicle display device of the eighth aspect makes it easy for a vehicle occupant to recognize that a relative moving object is being recognized.

[0023] The vehicle display device of a ninth aspect is the eighth aspect, and expands the normal range as the level of the driving assist control increases.

[0024] The vehicle display device of the ninth aspect makes it easy for an occupant to recognize that a relative moving object is being recognized.

[0025] The vehicle display device of a tenth aspect is the eighth aspect, wherein the maximum value of the normal range is increased as the level of the driving assist control increases.

[0026] The vehicle display device of the tenth aspect makes it easy for a vehicle occupant to recognize that a relative moving object is being recognized.

[0027] An eleventh aspect of the vehicle display method is a display device that is provided on a vehicle and is capable of displaying a moving image representing a relative moving object when a detection device detects a relative moving object located around the vehicle within a predetermined detection range, and when the relative distance between the vehicle and the relative moving object is within a normal range, changes the display conditions, which are at least one of the size and display position of the moving image, in accordance with the relative distance, and when the relative distance is outside the normal range, does not change the display conditions.

[0028] The program of the 12th aspect is a program that causes a computer to execute a process of displaying a moving image representing a relative moving body on a display device provided in a vehicle when a detection device detects a relative moving body located around the vehicle within a predetermined detection range, and causes the computer to execute a process of changing a display condition, which is at least one of the size and display position of the moving image, in accordance with the relative distance when the relative distance between the vehicle and the relative moving body is within a normal range, and a process of not changing the display condition when the relative distance is outside the normal range. Effect of the Invention

[0029] As described above, the vehicle display device, vehicle display method, and program of the present invention have the excellent effect of making it less likely for occupants to feel uncomfortable when viewing a moving image that represents a relative moving body when at least one of the size and display position of the moving image is changed depending on the relative distance between the vehicle and a relative moving body located around the vehicle. [Brief description of the drawings]

[0030] [Figure 1] 1 is a diagram showing the interior of a vehicle equipped with a vehicle display device according to an embodiment; [Diagram 2] FIG. 2 is a diagram showing a hardware configuration of the vehicle shown in FIG. [Diagram 3] 3 is a functional block diagram of a display control ECU shown in FIG. 2. [Figure 4] FIG. 3 is a functional block diagram of the ADAS-ECU shown in FIG. 2. [Diagram 5] FIG. 1 is a diagram showing a display device displaying a vehicle image representing a vehicle, a road image representing a road on which the vehicle is traveling, and a preceding vehicle image representing a preceding vehicle. [Figure 6] 10 is a diagram showing an image size determination map indicating the relationship between the relative distance (detection distance) between a vehicle and a preceding vehicle, and the size of an image of the preceding vehicle. FIG. [Figure 7] 13 is a diagram showing a display position determination map indicating the relationship between the relative distance (detection distance) between the vehicle and the preceding vehicle, and the display position of the preceding vehicle image. FIG. [Figure 8] 4 is a flowchart showing a process executed by a CPU of a display control ECU. [Figure 9] FIG. 13 is a diagram showing an image size determination map according to the first modified example. [Figure 10] FIG. 13 is a diagram showing a display position determination map in a second modified example. [Figure 11] FIG. 13 is a plan view showing a vehicle of a third modified example, a road on which the vehicle is traveling, and a preceding vehicle. [Figure 12] FIG. 7 is a view similar to FIG. 5 of a third modified example. [Figure 13] FIG. 13 is a plan view showing a vehicle of a fourth modified example, a road on which the vehicle is traveling, and a preceding vehicle. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0031] Hereinafter, an embodiment of a display device for a vehicle, a display method for a vehicle, and a program according to the present invention will be described with reference to the drawings. In the drawings, an arrow FR indicates the front side in the vehicle longitudinal direction, an arrow LH indicates the left side in the vehicle lateral direction, and an arrow UP indicates the upper side in the vehicle vertical direction.

[0032] A vehicle 12 to which the vehicle display device of this embodiment is applied includes a front windshield 14 and an instrument panel 16, as shown in FIG. 1. The instrument panel 16 is provided with a display device (vehicle display device) 18 and a driving assistance switch 24. As described later, the display device 18 can display various images including a road image 50, a vehicle image 55, and a preceding vehicle image (moving image) 60. A sensor unit (detection device) 20 is provided on an upper portion of the vehicle inner side surface of the front windshield 14. The sensor unit 20 includes a camera 21 and a millimeter wave sensor 22. The camera 21 can capture an object located in front of the vehicle. The millimeter wave sensor 22 transmits a detection wave forward and receives a reflected wave. That is, the camera 21 and the millimeter wave sensor 22 can detect an object located in a predetermined detection range. The driving assistance switch 24 is a switch for causing the vehicle 12 to execute driving assistance control, which will be described later.

[0033] As shown in FIG. 2, the vehicle 12 has, in addition to the sensor unit 20 and the driving assistance switch 24, a display control ECU (Electronic Control Unit) 26 and an ADAS-ECU 36 as hardware configurations.

[0034] The display control ECU 26 includes a CPU (Central Processing Unit) (processor) (computer) 26A, a ROM (Read Only Memory) (non-transient storage medium) (storage medium) 26B, a RAM (Random Access Memory) 26C, a storage (non-transient storage medium) (storage medium) 26D, an in-vehicle communication I / F 26F, and an input / output I / F 26G. The CPU 26A, the ROM 26B, the RAM 26C, the storage 26D, the in-vehicle communication I / F 26F, and the input / output I / F 26G are connected to each other so as to be able to communicate with each other via an internal bus 26Z.

[0035] The CPU 26A is a central processing unit that executes various programs and controls each part. The CPU 26A reads out a program from the ROM 26B or the storage 26D, and executes the program using the RAM 26C as a working area. The CPU 26A controls each component and performs various calculation processes according to the program recorded in the ROM 26B or the storage 26D.

[0036] The ROM 26B stores various programs and various data. The RAM 26C temporarily stores programs or data as a working area. The storage 26D is configured by a storage device such as a hard disk drive (HDD) or a solid state drive (SSD), and stores various programs and various data.

[0037] The in-vehicle communication I / F 26F is an interface for connecting to the ADAS-ECU 36 via the external bus 26H. For example, the interface uses a communication standard based on the CAN protocol.

[0038] The input / output I / F 26G is an interface for communicating with various devices.

[0039] 3 is a block diagram showing an example of the functional configuration of the display control ECU 26. The display control ECU 26 has, as its functional configuration, a display control unit 261 and a communication control unit 262. The display control unit 261 and the communication control unit 262 are realized by the CPU 26A reading and executing a program stored in the ROM 26B.

[0040] The display control unit 261 controls the display device 18. The function of the display control unit 261 will be described in detail later.

[0041] The communication control unit 262 controls the in-vehicle communication I / F 26F.

[0042] The ADAS-ECU 36 is composed of a CPU, a ROM (non-transient storage medium) (storage medium), a RAM, a storage (non-transient storage medium) (storage medium), an in-vehicle communication I / F, and an input / output I / F, which are connected to each other so that they can communicate with each other via an internal bus.

[0043] The sensor unit 20 is connected to the ADAS-ECU 36. The ADAS-ECU 36 is further connected to various actuators for driving an accelerator device, a brake device, and a steering device. The vehicle 12 is equipped with an electric motor (actuator) as a drive source. The ADAS-ECU 36 is connected to the electric motor. However, the drive source of the vehicle 12 may include an internal combustion engine.

[0044] 4 is a block diagram showing an example of the functional configuration of the ADAS-ECU 36. The ADAS-ECU 36 has a driving assistance control unit 361 as a functional configuration. The driving assistance control unit 361 is realized by the CPU reading and executing a program stored in the ROM.

[0045] The driving assistance control unit 361 controls the actuator group, and the vehicle 12 executes driving assistance control of driving levels 1 to 5 defined by the SAE (Society of Automotive Engineers). For example, the vehicle 12 can execute ACC (adaptive cruise control, level 1). The driving assistance switch 24 is switched between an ON state and an OFF state by being operated by the occupant. When the driving assistance switch 24 is in the ON state, the vehicle 12 can execute driving assistance control. Furthermore, when a predetermined condition is met, the occupant can cause the vehicle 12 to execute any driving assistance control among levels 1 to 5 by operating the driving assistance switch 24 in the ON state. The occupant can also drive the vehicle at level 0. When the level of the driving assistance control is 0, the driving assistance control is basically not executed, or the function of the driving assistance control that is executed is a limited function. The case where ACC is being executed will be described below.

[0046] 1, it is assumed that the vehicle 12 is traveling forward on a straight road 40, and a preceding vehicle (relative moving body) 45 located ahead of the vehicle 12 is traveling forward on the road 40. In this case, when the driving assistance switch 24 is operated to cause the vehicle 12 to execute ACC, the driving assistance control unit 361 recognizes the presence of the preceding vehicle 45, the relative distance (detection distance) of the preceding vehicle 45 to the vehicle 12, and the relative position of the preceding vehicle 45 to the vehicle 12, based on data transmitted from the sensor unit 20 to the ADAS-ECU 36. Furthermore, the driving assistance control unit 361 controls the actuator group so that the inter-vehicle distance between the vehicle 12 and the preceding vehicle 45 is maintained at a set distance, which is the inter-vehicle distance set by the occupant using the driving assistance switch 24.

[0047] Next, the function of the display control unit 261 will be described in detail.

[0048] The display control unit 261, while the driving assistance control unit 361 is executing ACC, causes the display device 18 to display a road image 50 representing the road 40 and a vehicle image 55 representing the vehicle 12, as shown in Fig. 5. The display position of the vehicle image 55 on the display device 18 is fixed. Furthermore, when the driving assistance control unit 361 recognizes the preceding vehicle 45, the display control unit 261 causes the display device 18 to display a preceding vehicle image 60 representing the preceding vehicle 45, as shown in Fig. 5. In other words, when the sensor unit 20 detects the preceding vehicle 45 while the driving assistance control unit 361 is executing ACC, the display control unit 261 causes the display device 18 to display the preceding vehicle image 60.

[0049] Furthermore, the display control unit 261 recognizes the relative position and relative distance of the preceding vehicle 45 with respect to the vehicle 12, based on the information on the relative position and relative distance of the preceding vehicle 45 received from the ADAS-ECU 36 while the ACC is being executed.

[0050] Furthermore, when the display control unit 261 causes the display device 18 to display the preceding vehicle image 60, it changes the display mode of the preceding vehicle image 60 on the display device 18 by utilizing the image size determination map 62 (see Figure 6) and the display position determination map 64 (see Figure 7) recorded in the ROM 26B or the storage 26D.

[0051] The image size determination map 62 represents the relationship between the relative distance (detection distance) between the vehicle 12 and the preceding vehicle 45 and the size (display condition) of the preceding vehicle image 60 on the display device 18. When ACC is being executed, the image size determination map 62 defines the range of relative distance between 10 m and 110 m as the normal range NA. The range of relative distance shorter than 10 m is the first special range SA1, and the range of relative distance longer than 110 m is the second special range SA2. The image size determination map 62 specifies that when the relative distance is within the normal range NA, the relative distance between the vehicle 12 and the preceding vehicle 45 is proportional to the size (dimension) of the preceding vehicle image 60 on the display device 18. That is, when the relative distance is within the normal range NA, the preceding vehicle image 60 gradually becomes smaller as the relative distance between the vehicle 12 and the preceding vehicle 45 becomes longer. Here, the size of the preceding vehicle image 60 when the relative distance between the vehicle 12 and the preceding vehicle 45 becomes the maximum value (110 m) when the relative distance between the vehicle 12 and the preceding vehicle 45 is in the normal range NA is defined as the minimum dimension Mid. Furthermore, the size of the preceding vehicle image 60 when the relative distance between the vehicle 12 and the preceding vehicle 45 becomes the minimum value (10 m) when the relative distance between the vehicle 12 and the preceding vehicle 45 is in the normal range NA is defined as the maximum dimension Mxd. Furthermore, the image size determination map 62 specifies that the size of the preceding vehicle image 60 when the relative distance between the vehicle 12 and the preceding vehicle 45 is in the second special range SA2 is maintained at the minimum dimension Mid. Furthermore, the image size determination map 62 specifies that the size of the preceding vehicle image 60 when the relative distance between the vehicle 12 and the preceding vehicle 45 is in the first special range SA1 is maintained at the maximum dimension Mxd. Note that when the driving assistance control level is 0 (manual drive), the normal range NA is a range of relative distance between 10 m and 40 m. When the level of driving assist control is different from ACC, the size of the preceding vehicle image 60 on the display device 18 may be defined based on a dedicated image size determination map 62, or the size of the preceding vehicle image 60 may be defined based on the same image size determination map 62 as when ACC is activated except that the normal range NA is different. In this way, the normal range NA may be changed according to the level of driving assist control. More specifically, the size of the preceding vehicle image 60 may be defined based on an image size determination map 62 that expands the normal range NA as the level of driving assist control increases.When the level increases and the driving assistance range of the driving assistance control unit 361 becomes larger, the number of operations that the occupant must perform decreases relatively. Therefore, when the level of the driving assistance control increases, it becomes more necessary to inform the occupant that the driving assistance control unit 361 recognizes the preceding vehicle 45 in order to reassure the occupant. Therefore, if the normal range NA is expanded with the increase in the level of the driving assistance control, the occupant can easily recognize that the driving assistance control unit 361 recognizes the preceding vehicle 45, and the occupant can be reassured. For example, when steering assistance, which is a driving assistance control of level 2, is activated in addition to the driving assistance control of acceleration and deceleration, which is the driving assistance control of level 1, the maximum value of the normal range NA may be expanded compared to when the driving assistance control of level 1 is being executed. For example, in this case, the normal range NA may be set to a range of relative distance between 10 m and 130 m. Note that, when the level of the driving assistance control increases, the minimum value of the normal range NA may be reduced.

[0052] The display position determination map 64 represents the relationship between the relative distance (detection distance) between the vehicle 12 and the preceding vehicle 45 and the display position (display condition) of the preceding vehicle image 60 on the display device 18. In other words, the display position determination map 64 represents the relationship between the relative distance between the vehicle 12 and the preceding vehicle 45 and the display distance, which is the distance between the vehicle image 55 and the preceding vehicle image 60 on the display device 18. In the display position determination map 64, the range of the relative distance between 10 m and 110 m is defined as the normal range NA. The range of the relative distance shorter than 10 m is the first special range SA1, and the range of the relative distance longer than 110 m is the second special range SA2. The display position determination map 64 specifies that, when the relative distance is within the normal range NA, the relative distance between the vehicle 12 and the preceding vehicle 45 and the display distance of the preceding vehicle image 60 on the display device 18 are proportional to each other. That is, when the relative distance is within the normal range NA, the display distance gradually increases as the relative distance between the vehicle 12 and the preceding vehicle 45 increases. Here, the display distance of the preceding vehicle image 60 when the relative distance between the vehicle 12 and the preceding vehicle 45 becomes the maximum value (110 m) when the relative distance between the vehicle 12 and the preceding vehicle 45 is in the normal range NA is defined as the maximum distance Mxl. Furthermore, the display distance of the preceding vehicle image 60 when the above-mentioned relative distance becomes the minimum value (10 m) when the relative distance between the vehicle 12 and the preceding vehicle 45 is in the normal range NA is defined as the minimum distance Mil. Furthermore, the display position determination map 64 specifies that the display distance of the preceding vehicle image 60 is maintained at the maximum distance Mxl when the relative distance between the vehicle 12 and the preceding vehicle 45 is in the second special range SA2. Furthermore, the display position determination map 64 specifies that the display distance of the preceding vehicle image 60 is maintained at the minimum distance Mil when the relative distance between the vehicle 12 and the preceding vehicle 45 is in the first special range SA1.

[0053] In this specification, the display mode of the preceding vehicle image 60 on the display device 18 defined by the image size determination map 62 and the display position determination map 64 when the relative distance between the vehicle 12 and the preceding vehicle 45 is within the normal range NA is referred to as a change mode. Also, the display mode of the preceding vehicle image 60 on the display device 18 defined by the image size determination map 62 and the display position determination map 64 when the relative distance is within the first special range SA1 or the second special range SA2 is referred to as a fixed mode.

[0054] (Action and Effects) Next, the operation and effects of this embodiment will be described.

[0055] Next, a description will be given of the processing executed by the CPU 26A of the display control ECU 26. The CPU 26A repeatedly executes the processing of the flowchart shown in FIG.

[0056] In step S10 (hereinafter, the letter "step" will be omitted), the CPU 26A determines whether or not the vehicle 12 (ADAS-ECU 36) is executing ACC. If the determination in S10 is Yes, the CPU 26A proceeds to S11.

[0057] In S11, the CPU 26A determines whether or not the driving assistance control unit 361 recognizes the preceding vehicle 45, based on the information received from the ADAS-ECU 36. If the determination in S11 is Yes, the CPU 26A proceeds to S12.

[0058] In S12, the CPU 26A causes the display device 18 to display the preceding vehicle image 60.

[0059] After completing the process of S12, the CPU 26A proceeds to S13, where it determines, based on the information received from the ADAS-ECU 36, whether or not the relative distance between the vehicle 12 and the preceding vehicle 45 is within the normal range NA.

[0060] If the answer is Yes in S13, the CPU 26A proceeds to S14, where it causes the display device 18 to display the preceding vehicle image 60 based on the change mode.

[0061] If the result of the determination in S13 is No, the CPU 26A proceeds to S15, where it causes the display device 18 to display the preceding vehicle image 60 based on the fixed mode.

[0062] When the determination in S10 or S11 is No, or when the process of S15 is completed, the CPU 26A temporarily ends the process of the flowchart in FIG.

[0063] As described above, the display device 18 of this embodiment can display the preceding vehicle image 60 representing the preceding vehicle 45 when the sensor unit 20 detects the preceding vehicle 45 located around the vehicle 12 within a predetermined detection range. Furthermore, when the relative distance between the vehicle 12 and the preceding vehicle 45 is within the normal range NA, the display device 18 makes the size of the preceding vehicle image 60 on the display device 18 proportional to the relative distance between the vehicle 12 and the preceding vehicle 45, and makes the display distance between the vehicle image 55 and the preceding vehicle image 60 on the display device 18 proportional to the relative distance between the vehicle 12 and the preceding vehicle 45. That is, the display device 18 sets the size of the preceding vehicle image 60 when the relative distance between the vehicle 12 and the preceding vehicle 45 is the maximum value (110 m) when it is within the normal range NA to the minimum dimension Mid, and sets the size of the preceding vehicle image 60 when the relative distance is the minimum value (10 m) when it is within the normal range NA to the maximum dimension Mxd. Furthermore, display device 18 sets the display distance of preceding vehicle image 60 to maximum distance Mxl when the relative distance reaches a maximum value when the relative distance is in normal range NA, and sets the display distance of preceding vehicle image 60 to minimum distance Mil when the relative distance reaches a minimum value when the relative distance is in normal range NA. Therefore, when the relative distance between vehicle 12 and preceding vehicle 45 is in normal range NA, a passenger who looks at display device 18 can easily recognize the sense of distance between vehicle 12 and preceding vehicle 45.

[0064] However, if the size of the preceding vehicle image 60 when the relative distance between the vehicle 12 and the preceding vehicle 45 is in the second special range SA2 is made smaller than the minimum dimension Mid, or if the size of the preceding vehicle image 60 when the relative distance is in the first special range SA1 is made larger than the maximum dimension Mxd, the occupant who sees the display device 18 is likely to feel uncomfortable. However, the display device 18 of this embodiment maintains the size of the preceding vehicle image 60 when the relative distance is in the second special range SA2 at the minimum dimension Mid, and maintains the size of the preceding vehicle image 60 when the relative distance is in the first special range SA1 at the maximum dimension Mxd. Therefore, the display device 18 can make the occupant understand that the driving assistance control unit 361 recognizes the preceding vehicle 45 even when the relative distance between the vehicle 12 and the preceding vehicle 45 is outside the normal range NA, and is unlikely to make the occupant who sees the preceding vehicle image 60 feel uncomfortable.

[0065] Furthermore, if the display distance of the preceding vehicle image 60 when the relative distance between the vehicle 12 and the preceding vehicle 45 is in the second special range SA2 is made longer than the maximum distance Mxl, or if the display distance of the preceding vehicle image 60 when the relative distance is in the first special range SA1 is made shorter than the minimum distance Mil, the occupant who sees the display device 18 is likely to feel uncomfortable. However, the display device 18 of this embodiment maintains the display distance of the preceding vehicle image 60 when the relative distance is in the second special range SA2 at the maximum distance Mxl, and maintains the display distance of the preceding vehicle image 60 when the relative distance is in the first special range SA1 at the minimum distance Mil. Therefore, the display device 18 is unlikely to make the occupant who sees the preceding vehicle image 60 feel uncomfortable when the relative distance between the vehicle 12 and the preceding vehicle 45 is outside the normal range NA.

[0066] Furthermore, if the display distance of the preceding vehicle image 60 when the relative distance between the vehicle 12 and the preceding vehicle 45 is in the second special range SA2 is made longer than the maximum distance Mxl, or if the display distance of the preceding vehicle image 60 when the relative distance is in the first special range SA1 is made shorter than the minimum distance Mil, the dimensions required for the display device 18 (the vertical dimensions in FIG. 1) tend to become large. However, the display device 18 maintains the display distance of the preceding vehicle image 60 when the relative distance is in the second special range SA2 at the maximum distance Mxl, and maintains the display distance of the preceding vehicle image 60 when the relative distance is in the first special range SA1 at a minimum. This prevents the dimensions of the display device 18 from becoming excessively large.

[0067] Although the vehicle display device, the vehicle display method, and the program according to the embodiment have been described above, the design of these may be modified as appropriate without departing from the gist of the present invention.

[0068] For example, the present invention may be embodied in the form of a first modified example shown in Fig. 9. In the first modified example, the size of the preceding vehicle image 60 on the display device 18 is controlled in accordance with an image size determination map 66. The content of the size of the preceding vehicle image 60 determined by the image size determination map 66 when the relative distance between the vehicle 12 and the preceding vehicle 45 is within the normal range NA is different from that determined by the image size determination map 62. On the other hand, the content of the size of the preceding vehicle image 60 determined by the image size determination map 66 when the relative distance between the vehicle 12 and the preceding vehicle 45 is within the first special range SA1 or the second special range SA2 is the same as that determined by the image size determination map 62.

[0069] The image size determination map 66 also specifies that, when the relative distance is within the normal range NA, the preceding vehicle image 60 becomes gradually smaller as the relative distance between the vehicle 12 and the preceding vehicle 45 increases. However, in the image size determination map 66, the relative distance between the vehicle 12 and the preceding vehicle 45 is not proportional to the size (dimension) of the preceding vehicle image 60. Here, as shown in FIG. 9, the size of the preceding vehicle image 60 when the relative distance is an arbitrary first distance LG1 included in the normal range NA is defined as a first dimension DM1. Furthermore, the size of the preceding vehicle image 60 when the relative distance is an arbitrary second distance LG2 included in the normal range NA and longer than the first distance LG1 is defined as a second dimension DM2. Furthermore, the size of the preceding vehicle image 60 when the relative distance is an arbitrary third distance LG3 included in the normal range NA and longer than the second distance LG2 is defined as a third dimension DM3. Furthermore, the size of the preceding vehicle image 60 when the relative distance is within the normal range NA and is an arbitrary fourth distance LG4 longer than the third distance LG3 is defined as a fourth dimension DM4. The image size determination map 66 specifies that the second dimension change amount, which is the value obtained by subtracting the fourth dimension DM4 from the third dimension DM3 and dividing the value obtained by subtracting the second dimension DM2 from the first dimension DM1 and dividing the value obtained by subtracting the second dimension DM2 from the first dimension DM1, is smaller than the first dimension change amount, which is the value obtained by dividing the value obtained by subtracting the fourth dimension DM4 from the third dimension DM3 by the third dimension DM3. Therefore, as shown in FIG. 9, the graph (function) showing the relationship between the relative distance between the vehicle 12 and the preceding vehicle 45 in the normal range NA and the size of the preceding vehicle image 60 is a curved line, not a straight line. Therefore, when the size of the preceding vehicle image 60 on the display device 18 is changed based on this image size determination map 66, the occupant who sees this preceding vehicle image 60 is less likely to feel uncomfortable than when seeing the preceding vehicle image 60 whose size is changed based on the image size determination map 62.

[0070] The present invention may be embodied in the form of a second modified example shown in Fig. 10. In the second modified example, the display distance between the vehicle image 55 and the preceding vehicle image 60 on the display device 18 is controlled in accordance with a display position determination map 68. The contents of the display distance of the preceding vehicle image 60 on the display device 18 determined by the display position determination map 68 when the relative distance between the vehicle 12 and the preceding vehicle 45 is in the normal range NA are different from those of the display position determination map 64. On the other hand, the contents of the display distance of the preceding vehicle image 60 determined by the display position determination map 68 when the relative distance between the vehicle 12 and the preceding vehicle 45 is in the first special range SA1 or the second special range SA2 are the same as those of the display position determination map 64.

[0071] The display position determination map 68 also specifies that, when the relative distance is within the normal range NA, the display distance of the preceding vehicle image 60 gradually increases as the relative distance between the vehicle 12 and the preceding vehicle 45 increases. However, in the display position determination map 68, the relative distance between the vehicle 12 and the preceding vehicle 45 is not proportional to the display distance of the preceding vehicle image 60. Here, as shown in FIG. 10, the display distance of the preceding vehicle image 60 when the relative distance is an arbitrary first distance LG1 included in the normal range NA is defined as a first display distance DLG1. Furthermore, the display distance of the preceding vehicle image 60 when the relative distance is an arbitrary second distance LG2 included in the normal range NA and longer than the first distance LG1 is defined as a second display distance DLG2. Furthermore, the display distance of the preceding vehicle image 60 when the relative distance is an arbitrary third distance LG3 included in the normal range NA and longer than the second distance LG2 is defined as a third display distance DLG3. Furthermore, the display distance of the preceding vehicle image 60 when the relative distance is within the normal range NA and is an arbitrary fourth distance LG4 longer than the third distance LG3 is defined as a fourth display distance DLG4. The display position determination map 68 specifies that the second distance change amount, which is the value obtained by subtracting the third display distance DLG3 from the fourth display distance DLG4 and dividing the value obtained by subtracting the first display distance DLG1 from the second display distance DLG2 and dividing the value obtained by dividing the value obtained by the first display distance DLG1, is smaller than the first distance change amount, which is the value obtained by subtracting the first display distance DLG1 from the second display distance DLG2 and dividing the value obtained by the first display distance DLG1. Therefore, as shown in FIG. 10, the graph (function) showing the relationship between the relative distance between the vehicle 12 and the preceding vehicle 45 in the normal range NA and the display distance of the preceding vehicle image 60 is a curved line, not a straight line. Therefore, when the display distance of the preceding vehicle image 60 on the display device 18 is changed based on the display position determination map 68, the occupant who sees the preceding vehicle image 60 is less likely to feel uncomfortable than when seeing the preceding vehicle image 60 whose display distance has been changed based on the display position determination map 64.

[0072] The present invention may be embodied in a third modified embodiment shown in Fig. 11 and Fig. 12. In this case, as shown in Fig. 11, it is assumed that the vehicle 12 is traveling in the first lane 71, which is the leftmost lane, of the road 70 having three lanes, a first lane 71, a second lane 72, and a third lane 73. Furthermore, preceding vehicles (relative moving bodies) 75-1, 75-2, and 75-3 located ahead of the vehicle 12 are traveling in the first lane 71, the second lane 72, and the third lane 73, respectively. Here, a straight line passing through the tip of the vehicle 12 in the width direction (left-right direction) of the road 70 is defined as SL. Furthermore, the distances from the straight line SL to the preceding vehicles 75-1, 75-2, and 75-3 along the extension direction of the road 70 are defined as the relative distances between the vehicle 12 and the preceding vehicles 75-1, 75-2, and 75-3, respectively. 11, the relative distances between the vehicle 12 and the preceding vehicles 75-1, 75-2, and 75-3 are the same, that is, the preceding vehicles 75-1, 75-2, and 75-3 are aligned in the left-right direction.

[0073] Therefore, the road image 80 displayed on the display device 18 shown in Fig. 12 includes a first lane image 81, a second lane image 82, and a third lane image 83 corresponding to the first lane 71, the second lane 72, and the third lane 73, respectively. Furthermore, a preceding vehicle image (moving image) 85-1 corresponding to the preceding vehicle 75-1 is displayed on the first lane image 81, a preceding vehicle image (moving image) 85-2 corresponding to the preceding vehicle 75-2 is displayed on the second lane image 82, and a preceding vehicle image (moving image) 85-3 corresponding to the preceding vehicle 75-3 is displayed on the third lane image 83. On the display device 18, the preceding vehicle images 85-1, 85-2, and 85-3 are arranged side by side in the left-right direction. Furthermore, on the display device 18, the preceding vehicle images 85-1, 85-2, and 85-3 are displayed as vehicles of the same model.

[0074] Here, as shown in FIG. 11, a range where the left-right distance from the vehicle 12 is equal to or less than a predetermined distance (for example, 6 m) is defined as the normal range NA. In the example of FIG. 11, the range between the left-right position of the vehicle 12 and the left-right position of the preceding vehicle 75-2 is the normal range NA. That is, the relative distance in the left-right direction between the preceding vehicle 75-2 and the vehicle 12 is the maximum value when this relative distance is in the normal range NA. On the other hand, the third lane 73 is located outside the normal range NA. In this case, as shown in FIG. 12, the preceding vehicle image 85-2 is displayed on the display device 18 as an image smaller than the preceding vehicle image 85-1. On the other hand, the preceding vehicle image 85-2 and the preceding vehicle image 85-3 are displayed on the display device 18 with the same size. In this way, when the relative distance in the left-right direction between the vehicle 12 and the relative moving object is in the normal range NA, the size of the relative moving object (the preceding vehicle 75-2) is changed according to the relative distance. That is, when the relative distance between the vehicle 12 and the relative moving object in the left-right direction is within the normal range NA, the size of the relative moving object becomes smaller as the relative distance becomes longer. On the other hand, when the relative distance between the vehicle 12 and the relative moving object (the preceding vehicle 75-3) in the left-right direction is outside the normal range NA, the size of the preceding vehicle image 85-3 corresponding to this relative moving object on the display device 18 is maintained at the same size as the preceding vehicle image 85-2 when the relative distance between the vehicle 12 is the maximum value when it is within the normal range NA. In this way, in the third modified example, the present invention is applied when the direction of the relative distance between the vehicle 12 and the relative moving object is the left-right direction. Therefore, the display device 18 of the third modified example is unlikely to make the occupant who looks at the display device 18 feel uncomfortable when the relative distance between the vehicle 12 and the relative moving object in the left-right direction is outside the normal range NA.

[0075] It should be noted that the technical concept of the third modified example may be applied to the display positions (display distances) of the preceding vehicle images 85-1, 85-2, and 85-3 on the display device 18.

[0076] The present invention may be embodied in the form of a fourth modified example shown in FIG. 13. In this case, as shown in FIG. 13, the vehicle 12 is traveling in the first lane 71 of the road 70. In the fourth modified example, the distance between the vehicle 12 and the relative moving object located around the vehicle 12 is the relative distance between the vehicle 12 and the relative moving object. Therefore, for example, a position a predetermined distance ahead of the vehicle 12 can be expressed by an arc with the vehicle 12 as its center. Therefore, the normal range NA based on the vehicle 12 is defined by a sector shape with the vehicle 12 as its center. Therefore, for example, a preceding vehicle image (not shown in FIG. 13) representing the preceding vehicle 75-2 traveling in the second lane 72 outside the normal range NA is displayed on the display device 18 with the same size as the preceding vehicle image 85-2 in FIG. 12. On the other hand, a preceding vehicle image (not shown in FIG. 13) representing the preceding vehicle 75-3 traveling in the third lane 73 in the normal range NA is displayed on the display device 18 larger than the preceding vehicle image 85-3.

[0077] The display control ECU 26 may be provided with only one of the image size determination map 62 (66) and the display position determination map 64 (68). In other words, when the relative distance between the vehicle 12 and the relative moving object changes, the size of the moving image representing the relative moving object displayed on the display device 18 or the display position of the moving image on the display device 18 may remain unchanged.

[0078] When the relative distance between the vehicle 12 and the relative moving body is in the first special range SA1 or the second special range SA2, the size of the moving image representing the relative moving body displayed on the display device 18 or the display position of the moving image on the display device 18 may be changed depending on the relative distance.

[0079] The moving image may be an image different from the preceding vehicle image. For example, the moving image may be at least one of an image representing a pedestrian detected by the sensor unit 20, an image representing a motorcycle, an image representing a large vehicle including a truck and a bus, an image representing a pole fixed to the ground, and an image representing a guardrail fixed to the ground.

[0080] The display device of the present invention may be different from the display device 18. For example, the display device may be a HUD (head-up display).

[0081] The minimum value of the normal range NA may be a length different from 10 m. For example, the minimum value of the normal range NA may be any value between 3 and 10 m. Similarly, the maximum value of the normal range NA may be a length different from 110 m. For example, the maximum value of the normal range NA may be any value between 100 and 130 m.

[0082] [Note] The vehicle display device of the present invention may be any combination of the following configurations 1 to 10. <Configuration 1> A vehicle display device that is provided on a vehicle and is capable of displaying a moving image representing a relative moving object when a detection device detects a relative moving object located around the vehicle within a predetermined detection range, and when the relative distance between the vehicle and the relative moving object is within a normal range, changes a display condition, which is at least one of the size and display position of the moving image, in accordance with the relative distance, and does not change the display condition when the relative distance is outside the normal range. <Configuration 2> A vehicle display device, in which when the relative distance is within the normal range, the moving image is gradually made smaller as the relative distance becomes longer, and when the size of the moving image when the relative distance is at its maximum value when within the normal range is defined as the minimum dimension, the size of the moving image when the relative distance is outside the normal range and larger than the maximum value is defined as the minimum dimension. <Configuration 3> A vehicle display device, in which, when the relative distance is within the normal range, the moving image is gradually made smaller as the relative distance becomes longer, and, if the size of the moving image when the relative distance is the minimum value when the relative distance is within the normal range is defined as the maximum dimension, the size of the moving image when the relative distance is outside the normal range and smaller than the minimum value is set to the maximum dimension. <Configuration 4> When the relative distance is within the normal range, the moving image is gradually made smaller as the relative distance becomes longer, and a size of the moving image when the relative distance when in the normal range is an arbitrary first distance is defined as a first dimension, a size of the moving image when the relative distance when in the normal range is an arbitrary second distance longer than the first distance is defined as a second dimension, a size of the moving image when the relative distance when in the normal range is an arbitrary third distance longer than the second distance is defined as a third dimension, and a size of the moving image when the relative distance when in the normal range is an arbitrary fourth distance longer than the third distance is defined as a fourth dimension, wherein a second dimensional change amount, which is a value obtained by subtracting the third dimension from the fourth dimension divided by the third dimension, is smaller than a first dimensional change amount, which is a value obtained by subtracting the second dimension from the first dimension divided by the first dimension. <Configuration 5> A vehicle display device capable of displaying a vehicle image representing the vehicle, and in the case where the relative distance is within the normal range, gradually increasing a display distance, which is a distance between the vehicle image and the moving image, as the relative distance increases, and in the case where the display distance when the relative distance is a maximum value when the relative distance is within the normal range is defined as a maximum distance, the display distance when the relative distance is outside the normal range and larger than the maximum value is set to the maximum distance. <Configuration 6> A vehicle display device capable of displaying a vehicle image representing the vehicle, wherein when the relative distance is within the normal range, a display distance which is the distance between the vehicle image and the moving image is gradually increased as the relative distance increases, and wherein, if the display distance when the relative distance is at its minimum value when within the normal range is defined as the minimum distance, the display distance when the relative distance is outside the normal range and smaller than the minimum value is set to the minimum distance. <Configuration 7> The vehicle display device according to claim 1, wherein a vehicle image representing the vehicle is displayable, and when the relative distance is within the normal range, a display distance between the vehicle image and the moving image is gradually increased as the relative distance increases, and the display distance when the relative distance is within the normal range is an arbitrary first distance defined as a first display distance, the display distance when the relative distance is within the normal range is an arbitrary second distance longer than the first distance defined as a second display distance, the display distance when the relative distance is within the normal range is an arbitrary third distance longer than the second distance defined as a third display distance, and the display distance when the relative distance is within the normal range is an arbitrary fourth distance longer than the third distance defined as a fourth display distance. <Configuration 8> A vehicle display device in which the vehicle is capable of executing driving assistance control, and the size of the normal range is changed according to the level of the driving assistance control. <Configuration 9> A vehicle display device that expands the normal range as the level of the driving assistance control increases. <Configuration 10> A vehicle display device that increases the maximum value of the normal range as the level of the driving assistance control increases. Furthermore, the display method for a vehicle of the present invention may be a combination of the following configuration 11 and at least one of the configurations 1 to 10. <Configuration 11> A display method for a vehicle, the display device being provided on a vehicle and capable of displaying a moving image representing a relative moving object when a detection device detects a relative moving object located around the vehicle within a predetermined detection range, changes a display condition, which is at least one of the size and display position of the moving image, in accordance with the relative distance if the relative distance between the vehicle and the relative moving object is within a normal range, and does not change the display condition if the relative distance is outside the normal range. Furthermore, the program of the present invention may be a combination of the following configuration 12 and at least one of the configurations 1 to 10. <Configuration 12> A program that causes a computer to execute a process of displaying a moving image representing a relative moving object on a display device installed in a vehicle when a detection device detects a relative moving object located around the vehicle within a predetermined detection range, the program causing the computer to execute a process of changing a display condition, which is at least one of the size and display position of the moving image, depending on the relative distance when the relative distance between the vehicle and the relative moving object is within a normal range, and a process of not changing the display condition when the relative distance is outside the normal range. [Explanation of symbols]

[0083] 12 Vehicles 18 Display device (vehicle display device) 20 Sensor unit (detection device) 45 Leading vehicle (relative moving object) 55 Vehicle Images 60 Leading vehicle image (moving image) 75-1 75-2 75-3 Leading vehicle (relative moving object) 85-1 85-2 85-3 Leading vehicle image (moving image) NA Normal range Mid Minimum Dimensions Mxd Maximum dimension Mil minimum distance Mxl max distance DM1 First dimension DM2 Second dimension DM3 3rd dimension DM4 4th dimension LG1 1st distance LG2 2nd distance LG3 3rd distance LG4 4th distance DLG1 1st display distance DLG2 2nd display distance DLG3 3rd display distance DLG4 4th display distance

Claims

1. The vehicle is provided with a detection device, and when the detection device detects a relative moving object located around the vehicle within a predetermined detection range, the detection device is capable of displaying a moving image representing the relative moving object; When the relative distance between the vehicle and the relative moving object is within a normal range, a display condition, which is at least one of a size and a display position of the moving image, is changed in accordance with the relative distance; When the relative distance is outside the normal range, the display condition is not changed.

2. When the relative distance is within the normal range, the moving image is gradually made smaller as the relative distance becomes longer; 2. The vehicle display device according to claim 1, wherein the size of the moving image when the relative distance is the maximum value when it is within the normal range is defined as the minimum dimension, and the size of the moving image when the relative distance is outside the normal range and larger than the maximum value is defined as the minimum dimension.

3. When the relative distance is within the normal range, the moving image is gradually made smaller as the relative distance becomes longer; 3. A vehicle display device as described in claim 1 or claim 2, wherein when the size of the moving image when the relative distance becomes the minimum value when the relative distance is within the normal range is defined as the maximum dimension, the size of the moving image when the relative distance is outside the normal range and smaller than the minimum value is defined as the maximum dimension.

4. When the relative distance is within the normal range, the moving image is gradually made smaller as the relative distance becomes longer; A size of the moving image when the relative distance in the normal range is an arbitrary first distance is defined as a first dimension; A size of the moving image when the relative distance in the normal range is a second distance longer than the first distance is defined as a second dimension; A size of the moving image when the relative distance when in the normal range is an arbitrary third distance longer than the second distance is defined as a third dimension; When the size of the moving image when the relative distance when in the normal range is an arbitrary fourth distance longer than the third distance is defined as a fourth dimension, 2. The vehicle display device according to claim 1, wherein a second dimensional change amount, which is a value obtained by subtracting the fourth dimension from the third dimension and dividing the value obtained by subtracting the second dimension from the first dimension and dividing the value by the first dimension, is smaller than a first dimensional change amount, which is a value obtained by subtracting the fourth dimension from the third dimension and dividing the value by the third dimension.

5. A vehicle image representative of the vehicle is displayable; When the relative distance is within the normal range, the display distance between the vehicle image and the moving image is gradually increased as the relative distance increases; 2. The vehicle display device according to claim 1, wherein the display distance when the relative distance is outside the normal range and greater than the maximum value is defined as the maximum distance, when the display distance is defined as the maximum distance when the relative distance is within the normal range.

6. A vehicle image representative of the vehicle is displayable; When the relative distance is within the normal range, the display distance between the vehicle image and the moving image is gradually increased as the relative distance increases; 6. A vehicle display device as described in claim 1 or claim 5, wherein the display distance when the relative distance is outside the normal range and smaller than the minimum value is defined as the minimum distance, when the display distance is defined as the minimum value when the relative distance is within the normal range.

7. A vehicle image representative of the vehicle is displayable; When the relative distance is within the normal range, the display distance between the vehicle image and the moving image is gradually increased as the relative distance increases; The display distance when the relative distance is within the normal range is an arbitrary first distance, is defined as a first display distance; The display distance when the relative distance when in the normal range is an arbitrary second distance longer than the first distance is defined as a second display distance; The display distance when the relative distance is within the normal range is an arbitrary third distance longer than the second distance, and is defined as a third display distance; When the display distance when the relative distance is in the normal range is an arbitrary fourth distance longer than the third distance, the display distance is defined as a fourth display distance, 2. The vehicle display device according to claim 1, wherein a second distance change amount, which is the value obtained by subtracting the third display distance from the fourth display distance and dividing the value obtained by subtracting the first display distance from the second display distance by the third display distance, is smaller than a first distance change amount, which is the value obtained by subtracting the first display distance from the second display distance and dividing the value by the first display distance.

8. The vehicle is capable of executing driving assistance control, The display device for a vehicle according to claim 1 or 2, wherein a size of the normal range is changed according to a level of the driving assistance control.

9. The display device for a vehicle according to claim 8 , wherein the normal range is expanded as the level of the driving assistance control increases.

10. The display device for a vehicle according to claim 8 , wherein the maximum value of the normal range is increased as the level of the driving assist control increases.

11. a display device provided in a vehicle, capable of displaying a moving image representing a relative moving object when a detection device detects the relative moving object located around the vehicle within a predetermined detection range; When the relative distance between the vehicle and the relative moving object is within a normal range, a display condition, which is at least one of a size and a display position of the moving image, is changed in accordance with the relative distance; The display method for a vehicle does not change the display conditions when the relative distance is outside the normal range.

12. A program for causing a computer to execute a process of displaying a moving image representing a relative moving object on a display device provided in a vehicle when a detection device detects a relative moving object located around the vehicle within a predetermined detection range, the program comprising: A process of changing a display condition, which is at least one of a size and a display position of the moving image, in accordance with a relative distance between the vehicle and the relative moving object when the relative distance is within a normal range; and A process of not changing the display condition when the relative distance is outside the normal range; A program for causing the computer to execute the above.

Images