Display control method and display control device

Abstract

To provide a display control method and a display control device which can inhibit an operator from being slow to notice a subsequent vehicle in an adjacent lane.SOLUTION: When a subsequent vehicle V2 traveling on a lane adjacent to a lane in which a vehicle V1 travels is detected, an image of an area behind the vehicle, including an entire part in a width direction of the adjacent lane, is displayed on a display device 13 installed in a vehicle cabin.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a display control method and a display control device for a vehicle.

Background Art

[0002] There is known an image display device that generates a cut-out image according to an angle-of-view value from a rear image captured by a camera that captures the rear of a vehicle, and generates a display image adjusted to the size of a display area of a display from the cut-out image (Patent Document 1). The angle-of-view value indicates the size of the cut-out image relative to the size of the rear image, and is set based on the inter-vehicle distance between the vehicle and a following vehicle so that the size of the following vehicle in the display image is equal to the size of the following vehicle reflected in a mirror that reflects the rear of the vehicle.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the above prior art, since it is not disclosed how to display an adjacent lane to the lane in which the vehicle is traveling in the display image, the adjacent lane may not be appropriately displayed in the display image, and the driver of the vehicle may be delayed in noticing a following vehicle traveling in the adjacent lane.

[0005] The problem to be solved by the present invention is to provide a display control method and a display control device capable of suppressing a delay in the driver's recognition of a following vehicle in an adjacent lane.

Means for Solving the Problems

[0006] When a following vehicle traveling in an adjacent lane to the lane in which the vehicle is traveling is detected, the above problem is solved by displaying an image behind the vehicle including the entire width direction of the adjacent lane on a display device installed in the vehicle interior.

Effect of the Invention

[0007] According to the present invention, it is possible to suppress a delay in the driver's recognition of a following vehicle in an adjacent lane.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Mode for Carrying Out the Invention

[0009] Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description, providing to a vehicle is assumed to include mounting on a vehicle, installing on a vehicle, and attaching to a vehicle.

[0010] [Configuration of Display Control Device] FIG. 1 is a block diagram showing an example of an embodiment of a display control device according to the present invention. The display control device is a group of devices that controls the display of a display device provided in a vehicle. As shown in FIG. 1, the display control device 1 includes an imaging device 11, a distance measuring device 12, a display device 13, and a controller 20. These devices are connected by a CAN (Controller Area Network) or other in-vehicle LAN and can exchange information with each other.

[0011] The imaging device 11 is a device that images objects around the vehicle, and is, for example, a camera equipped with an image sensor such as a CCD, or a camera such as an infrared camera. The distance measuring device 12 is a device that detects the relative distance, relative speed, etc. between the vehicle and the object, and is a laser radar, a millimeter wave radar, a LiDAR (light detection and ranging) unit, etc. In order to reduce blind spots where objects cannot be detected, a plurality of the imaging device 11 and the distance measuring device 12 are provided at the front, rear, sides, etc. of the vehicle.

[0012] The objects detected by the imaging device 11 and the distance measuring device 12 are objects existing on the road and its surroundings, and include road lane boundary lines, center lines, road surface markings, median strips, guardrails, curbs, road signs, traffic lights, etc. In addition, the objects also include obstacles that can affect the running of the vehicle, such as other vehicles, motorcycles, bicycles, pedestrians, etc.

[0013] The detection results of the imaging device 11 and the distance measuring device 12 are acquired by the controller 20 at predetermined time intervals (for example, every 0.1 to 1 millisecond) as needed. The controller 20 recognizes the objects around the vehicle and the driving environment of the vehicle from the acquired detection results. Further, the controller 20 may integrate or synthesize (so-called sensor fusion) the detection results of the imaging device 11 and the distance measuring device 12.

[0014] The display device 13 is a device that provides information to the vehicle occupants, for example, a liquid crystal display provided on the instrument panel. The display device 13 may be provided with an input device for the vehicle occupants to input instructions to the controller 20. Examples of the input device include a touch panel and a switch. Further, the display device 13 may be an electronic mirror installed in the vehicle interior, on which an image of the rear of the vehicle acquired from the imaging device 11 is displayed. The electronic mirror is installed, for example, at the upper center of the vehicle windshield instead of a conventional rearview mirror.

[0015] The controller 20 controls the display of the display device 13 by causing the devices constituting the display control device 1 to cooperate. The controller 20 is, for example, a computer, and includes a CPU (Central Processing Unit) as a processor, a ROM (Read Only Memory) in which a program is stored, and a RAM (Random Access Memory) that functions as an accessible storage device. The CPU executes the program stored in the ROM and is an operation circuit for realizing the functions of the controller 20. Note that the controller 20 may be provided outside the vehicle.

[0016] [Functions of the Controller] A program for controlling the display of the display device 13 (hereinafter also referred to as display control) is stored in the ROM of the controller 20, and the CPU of the controller 20 executes the program to perform display control. In FIG. 1, the acquisition unit 21, the generation unit 22, and the output unit 23 are extracted and shown for convenience as functional blocks for performing display control.

[0017] The acquisition unit 21 acquires image information from the imaging device 11 and outputs it to the generation unit 22. The generation unit 22 generates a display image (hereinafter also simply referred to as an image) to be displayed on the display device 13 based on the image information input from the acquisition unit 21 and outputs it to the output unit 23. The output unit 23 outputs the display image input from the generation unit 22 to the display device 13 for display.

[0018] FIG. 2 is a plan view showing an example of a driving scene in which the display control device 1 executes display control. The road shown in FIG. 2 has a left lane L1 defined by lane boundary lines C1 and C2, a center lane L2 defined by lane boundary lines C2 and C3, and a right lane L3 defined by lane boundary lines C3 and C4. Also, the vehicle traveling on the road shown in FIG. 2 is assumed to travel from the left side to the right side of the drawing.

[0019] In the scene shown in FIG. 2, the host vehicle V1 travels at position P1 in the center lane L2, and a following vehicle V2 of the host vehicle V1 travels at position P2 behind position P1 in the left lane L1. The host vehicle V1 shown in FIG. 2 is assumed to include a controller 20 and an electronic mirror as a display device 13 installed in the vehicle interior. The electronic mirror is assumed to be installed at the upper center of the windshield of the host vehicle V1. Also, a wide-angle camera (imaging device 11) for imaging the rear of the host vehicle V1 is provided at the upper center of the rear glass of the host vehicle V1. In the following description, the host vehicle V1 is also simply referred to as the vehicle.

[0020] The angle α shown in FIG. 2 indicates the imaging range (so-called horizontal viewing angle) of the wide-angle camera when the host vehicle V1 is viewed in plan view. That is, the wide-angle camera images an object in a range defined by boundaries A1 and A2 (specifically, a range corresponding to the inferior angle formed by the directions of boundary A1 and boundary A2). The wide-angle camera has a viewing angle within a predetermined range (for example, 40° to 120°) corresponding to the horizontal size of the imaging element, and the controller 20 controls the viewing angle within the range from the minimum viewing angle to the maximum viewing angle of the wide-angle camera. Note that the imaging range (so-called vertical viewing angle) of the wide-angle camera when the host vehicle V1 is viewed in side view is a viewing angle corresponding to the vertical size of the imaging element of the wide-angle camera.

[0021] In the scene shown in FIG. 2, the acquisition unit 21 acquires image information from the above-mentioned wide-angle camera and outputs it to the generation unit 22. The generation unit 22 cuts out a part of the image acquired from the wide-angle camera according to the size of the display part of the electronic mirror, and generates a display image to be displayed on the electronic mirror. The output unit 23 outputs the display image generated by the generation unit 22 to the electronic mirror and causes it to be displayed on the display part of the electronic mirror. Thereby, the occupant of the host vehicle V1 can check the rear of the host vehicle V1 based on the image displayed on the electronic mirror.

[0022] The generation unit 22 cuts out a part of the image acquired from the wide-angle camera so that an image similar to the image (mirror image) captured by the rearview mirror attached at the same position as the electronic mirror is generated. The range cut out by the generation unit 22 from the image acquired from the wide-angle camera is preset based on the installation position of the electronic mirror, the installation position of the wide-angle camera, the angle of view of the wide-angle camera, etc.

[0023] In the driving scene shown in FIG. 2, only a part in the width direction of the left lane L1 is included in the angle of view in the range close to the host vehicle V1. Therefore, only a part of the following vehicle V2 traveling in the left lane L1 can be imaged by the wide-angle camera, and only a part of the vehicle body of the following vehicle V2 is displayed on the electronic mirror. Since the left rear of the host vehicle V1 is a blind spot for the driver, when the following vehicle V2 overtakes the host vehicle V1, the driver of the host vehicle V1 may be slow to notice the approaching following vehicle V2.

[0024] Therefore, in order to appropriately recognize the following vehicle V2 traveling in the adjacent lane (the left lane L1 and the right lane L3 in the driving scene shown in FIG. 2) of the lane in which the host vehicle V1 is traveling, when the generation unit 22 detects the following vehicle V2 traveling in the adjacent lane of the lane in which the host vehicle V1 is traveling, it generates a display image including the entire width direction of the adjacent lane. The output unit 23 outputs the display image including the entire width direction of the adjacent lane to the display device 13 and causes it to be displayed. In the following description, the following vehicle V2 traveling in the adjacent lane (the following vehicle V2 in the adjacent lane) is also simply referred to as the following vehicle V2.

[0025] The generation unit 22 determines whether there is a following vehicle V2 in the adjacent lane based on the image acquired by the imaging device 11 and the detection result acquired from the distance measuring device 12. When it is determined that there is a following vehicle V2, the generation unit 22 determines whether the entire width direction of the adjacent lane is included in the viewing angle of the imaging device 11. When it is determined that the entire width direction of the adjacent lane is included in the viewing angle of the imaging device 11, the generation unit 22 does not change the setting of the viewing angle. In contrast, when it is determined that the entire width direction of the adjacent lane is not included in the viewing angle of the imaging device 11, the generation unit 22 enlarges the viewing angle.

[0026] When the generation unit 22 determines whether the entire width direction of the adjacent lane is included in the viewing angle of the imaging device 11, for example, it determines whether the position corresponding to the rear end portion of the host vehicle V1 on the lane boundary line defining the adjacent lane is included in the viewing angle. In the driving scene shown in FIG. 2, the generation unit 22 determines whether the position Px corresponding to the position Pa corresponding to the rear end portion of the host vehicle V1 on the lane boundary line C1 arranged at a position away from the host vehicle V1 among the lane boundary lines C1 and C2 defining the left lane L1 is included in the viewing angle defined by the boundaries A1 and A2. When it is determined that the position Px is included in the viewing angle defined by the boundaries A1 and A2, the generation unit 22 maintains the viewing angle. In contrast, when it is determined that the position Px is not included in the viewing angle defined by the boundaries A1 and A2, the generation unit 22 enlarges the viewing angle.

[0027] Further, when the generation unit 22 determines whether the entire width direction of the adjacent lane is included in the viewing angle α of the imaging device 11, it may determine whether the position of the intersection of the lane boundary line defining the adjacent lane and the boundary defining the viewing angle exists within a range of a predetermined distance from the host vehicle V1. In the driving scene shown in FIG. 2, it is determined whether the position Py of the intersection of the lane boundary line C1 arranged at a position away from the host vehicle V1 among the lane boundary lines C1 and C2 defining the left lane L1 and the boundary A1 exists within a range of a predetermined distance from the host vehicle V1. When it is determined that the position Py exists within a range of a predetermined distance from the host vehicle V1, the generation unit 22 maintains the viewing angle. On the other hand, when it is determined that the position Py does not exist within a range of a predetermined distance from the host vehicle V1, the generation unit 22 enlarges the viewing angle.

[0028] As an example, in the driving scene shown in FIG. 2, since the position Px corresponding to the position Pa on the lane boundary line C1 is not included in the viewing angle defined by the boundaries A1 and A2, the generation unit 22 enlarges the viewing angle of the wide-angle camera from the angle α to the angle β so that the position Px is included in the viewing angle of the wide-angle camera. As another example, in the driving scene shown in FIG. 2, when it is determined that the distance between the host vehicle V1 and the position Py exceeds the predetermined distance, the generation unit 22 enlarges the viewing angle.

[0029] When the generation unit 22 detects the following vehicle V2 in the adjacent lane, it may generate a display image including the entire vehicle body of the following vehicle V2. In this case, the output unit 23 causes the display device 13 to display the display image including the entire vehicle body of the following vehicle V2 generated by the generation unit 22. In the driving scene shown in FIG. 2, when the following vehicle V2 in the left lane L1 is detected by the imaging device 11 and the distance measuring device 12, the generation unit 22 enlarges the viewing angle from the angle α to the angle γ so that the entire vehicle body of the following vehicle V2 is included in the viewing angle.

[0030] When the following vehicle V2 in the adjacent lane is detected, the generation unit 22 may set a viewing angle according to the inter-vehicle distance between the host vehicle V1 and the following vehicle V2. In this case, the output unit 23 causes the display device 13 to display a display image of the viewing angle generated by the generation unit 22. For example, in the driving scene shown in FIG. 2, when the following vehicle V2 in the left lane L1 is detected by the imaging device 11 and the distance measuring device 12, the generation unit 22 sets a viewing angle according to the distance D (that is, the inter-vehicle distance) between the position Pa and the position Pb corresponding to the front end of the following vehicle V2. As an example, while the front end of the following vehicle V2 moves from the position Pb to the position Pa, the generation unit 22 expands the viewing angle from the angle γ to the angle β according to the inter-vehicle distance between the host vehicle V1 and the following vehicle V2.

[0031] When the following vehicle V2 in the adjacent lane is detected, the generation unit 22 may set a predetermined viewing angle. In this case, the output unit 23 causes the display device 13 to display a display image of the predetermined viewing angle generated by the generation unit 22. For example, in the driving scene shown in FIG. 2, when the following vehicle V2 in the left lane L1 is detected by the imaging device 11 and the distance measuring device 12, the generation unit 22 sets the viewing angle to the angle γ and generates a display image.

[0032] When changing the image to be displayed on the display device 13 when the following vehicle V2 in the adjacent lane is detected, the generation unit 22 may gradually change the image so as not to reduce the visibility of the image displayed on the display device 13. For example, when the following vehicle V2 in the adjacent lane is detected, and the generation unit 22 expands the viewing angle and changes the image to be displayed on the display device 13, the generation unit 22 changes the viewing angle at a predetermined ratio. The predetermined ratio can be set to an appropriate value within a range where the visibility of the image displayed on the display device 13 does not decrease, for example, 0.5 to 5° / second. As an example, in the driving scene shown in FIG. 2, when expanding the viewing angle from the angle α to the angle γ, the generation unit 22 expands the viewing angle from the angle α to the angle γ in 2 to 5 seconds.

[0033] [Processing in the Display Control Device] Referring to FIGS. 3 to 5, the procedure when the controller 20 processes information will be described. The processes described below are executed at predetermined time intervals (for example, every 0.1 to 1 millisecond) by a processor (CPU) provided in the controller 20.

[0034] FIG. 3 is a flowchart showing an example of the processing procedure executed in the display control device 1.

[0035] First, in step S1, the acquisition unit 21 determines whether there is a following vehicle V2 in the adjacent lane from the detection results of the imaging device 11 and the distance measuring device 12. If it is determined that there is no following vehicle V2, the acquisition unit 21 repeats step S1. On the other hand, if it is determined that there is a following vehicle V2, the acquisition unit 21 proceeds to step S2.

[0036] In step S2, the acquisition unit 21 acquires an image behind the vehicle from the imaging device 11 and outputs it to the generation unit 22. In step S3, the generation unit 22 determines whether the entire body of the following vehicle V2 in the adjacent lane is displayed in the image acquired by the imaging device 11. If it is determined that a part of the body of the following vehicle V2 is displayed, the generation unit 22 proceeds to step S4, sets the viewing angle α of the imaging device 11 so that the entire body of the following vehicle V2 is displayed, and proceeds to step S5. On the other hand, if it is determined that the entire body of the following vehicle V2 is displayed, the generation unit 22 proceeds to step S5.

[0037] In step S5, the generation unit 22 generates a display image including the entire body of the following vehicle V2 in the adjacent lane and outputs it to the output unit 23. In step S6, the output unit 23 outputs the display image to the display device 13 and causes it to be displayed on the display portion of the display device 13. Then, the execution of the routine ends.

[0038] Next, FIG. 4 is a flowchart showing another example of the processing procedure executed in the display control device 1.

[0039] First, in step S11, similar to step S1, the acquisition unit 21 determines whether there is a following vehicle V2 in the adjacent lane. If it is determined that there is no following vehicle V2, the acquisition unit 21 repeats step S11. On the other hand, if it is determined that there is a following vehicle V2, the acquisition unit 21 proceeds to step S12.

[0040] In step S12, the generation unit 22 calculates the inter-vehicle distance between the host vehicle V1 and the following vehicle V2 from the detection result of the distance measuring device 12. In the subsequent step S13, the generation unit 22 sets a viewing angle α according to the calculated inter-vehicle distance. In the subsequent step S14, the generation unit 22 generates a display image including the entire width direction of the adjacent lane and outputs it to the output unit 23.

[0041] In step S15, the output unit 23 outputs the display image to the display device 13 and causes it to be displayed on the display portion of the display device 13. In the subsequent step S16, when changing the image displayed on the display portion of the display device 13, the output unit 23 gradually changes the image displayed on the display portion to the image generated in step S15 so that the visibility of the display device 13 does not deteriorate. Then, the execution of the routine is terminated.

[0042] Next, FIG. 5 is a flowchart showing still another example of the processing procedure executed in the display control device 1.

[0043] First, in step S21, similar to step S1, the acquisition unit 21 determines whether there is a following vehicle V2 in the adjacent lane. If it is determined that there is no following vehicle V2, the acquisition unit 21 repeats step S21. On the other hand, if it is determined that there is a following vehicle V2, the acquisition unit 21 proceeds to step S22.

[0044] In step S22, the generation unit 22 sets a predetermined viewing angle, and in the subsequent step S23, generates a display image including the entire width direction of the adjacent lane. In step S24, the output unit 23 outputs the display image to the display device 13 and causes it to be displayed on the display portion of the display device 13. Then, the execution of the routine is terminated.

[0045] [Embodiments of the Present Invention] According to this embodiment, in a display control method for a vehicle V1 including a controller 20 and a display device 13 installed in the vehicle interior, the display device 13 images the rear of the vehicle V1 and displays an image acquired from an imaging device 11 mounted on the vehicle V1. When a following vehicle V2 traveling in an adjacent lane to the lane in which the vehicle V1 is traveling is detected, the controller 20 causes the display device 13 to display the image including the entire width direction of the adjacent lane. This can suppress a delay in the driver's recognition of the following vehicle V2 in the adjacent lane.

[0046] In the display control method of this embodiment, when the following vehicle V2 is detected, the controller 20 causes the display device 13 to display the image including the entire vehicle body of the following vehicle V2. Thereby, the driver of the host vehicle V1 can surely recognize the following vehicle V2 in the adjacent lane.

[0047] In the display control method of this embodiment, when the controller 20 changes the image to be displayed on the display device 13 when the following vehicle V2 is detected, the controller 20 gradually changes the image so as not to reduce the visibility of the image. This can suppress a decrease in the visibility of the display device 13.

[0048] In the display control method of this embodiment, the controller 20 causes the display device 13 to display the image with an angle of view α corresponding to the inter-vehicle distance D between the vehicle V1 and the following vehicle V2. Thereby, the angle of view α corresponding to the inter-vehicle distance D from the following vehicle V2 can be set.

[0049] In the display control method of this embodiment, when the following vehicle V2 is detected, the controller 20 causes the display device 13 to display the image with a predetermined angle of view. This can simplify the generation process of the display image.

[0050] Further, according to the present embodiment, a display control device 1 of the vehicle V1 is provided, which includes a controller 20 and a display device 13 installed in the vehicle interior. The display device 13 captures an image of the rear of the vehicle V1 and displays an image acquired from an imaging device 11 mounted on the vehicle V1. When a following vehicle V2 traveling in an adjacent lane of the lane in which the vehicle V1 is traveling is detected, the controller 20 causes the display device 13 to display the image including the entire width direction of the adjacent lane. This can suppress a delay in the driver's recognition of the following vehicle V2 in the adjacent lane.

Explanation of Signs

[0051] 1…Display control device 11…Imaging device, 12…Distance measuring device, 13…Display device 20…Controller, 21…Acquisition unit, 22…Generation unit, 23…Output unit A1, A2…Boundaries, C1, C2, C3, C4…Lane boundary lines, D…Distance, P1, P2, Pa, Pb, Px, Py…Positions, L1…Left lane, L2…Center lane, L3…Right lane, V1…Own vehicle (vehicle), V2…Following vehicle, α, β, γ…Angles

Claims

1. In a vehicle display control method comprising a controller and a display device installed in the vehicle interior, the display device captures an image of the rear of the vehicle and displays an image acquired from an imaging device mounted on the vehicle, and when a following vehicle traveling in an adjacent lane to the lane in which the vehicle is traveling is detected, the controller causes the display device to display the image including the entire width direction of the adjacent lane. A display control method.

2. The display control method according to claim 1, wherein when the following vehicle is detected, the controller causes the display device to display the image including the entire vehicle body of the following vehicle.

3. The display control method according to claim 1 or 2, wherein when the controller changes the image to be displayed on the display device when the following vehicle is detected, the controller gradually changes the image so as not to reduce the visibility of the image.

4. The display control method according to claim 1 or 2, wherein the controller causes the display device to display the image with an angle of view corresponding to the inter-vehicle distance between the vehicle and the following vehicle.

5. The display control method according to claim 1 or 2, wherein when the following vehicle is detected, the controller causes the display device to display the image with a predetermined angle of view.

6. A vehicle display control device comprising a controller and a display device installed in the vehicle interior, the display device captures an image of the rear of the vehicle and displays an image acquired from an imaging device mounted on the vehicle, and when a following vehicle traveling in an adjacent lane to the lane in which the vehicle is traveling is detected, the controller causes the display device to display the image including the entire width direction of the adjacent lane.

Images