Display system and display method

Abstract

To provide a display system reducing troublesomeness for a driver.SOLUTION: A display system includes: a lane line recognition unit recognizing a lane line of an own vehicle line where an own vehicle travels on the basis of a detection result of a camera of the own vehicle; a road end construction recognition unit recognizing a road end construction located outside the lane line on the basis of the detection result of the sensor of the own vehicle; and a display control unit controlling display on a display on the basis of a recognition result of the lane line recognition unit and the road end construction recognition unit. When the lane line is not recognized and the road end construction is recognized, the display control unit causes the display 4 to display a first road end construction icon 91a corresponding to the road end construction, and when the lane line is recognized, the display control unit causes the display 4 to display a lane line icon 81a corresponding to the lane line and not to display the first road end construction icon 91a even when the road end construction is recognized.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present disclosure relates to a display system and a display method. [Background technology]

[0002] Japanese Patent Application Laid-Open Publication No. 2018-173834 is known as a technical document related to a display system. Japanese Patent Application Laid-Open Publication No. 2018-173834 discloses a technology for displaying the detection results of lane markings on a display screen of the vehicle to inform the driver of the extent of the lane. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2018-173834 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the display screen of the vehicle may sometimes display the detection results of roadside structures located outside the lane markings of the vehicle's lane. In such cases, if the detection of the roadside structure becomes unstable, the roadside structure will be displayed intermittently on the display screen, which may be annoying to the driver.

[0005] An object of the present disclosure is to provide a display system and a display method that can reduce the inconvenience to the driver. [Means for solving the problem]

[0006] The display system disclosed herein is a display system that is mounted on a vehicle and displays the situation around the vehicle on a display inside the vehicle cabin, and is equipped with a lane marking recognition unit that recognizes the lane markings on the vehicle's lane based on the detection results of the vehicle's camera, a roadside structure recognition unit that recognizes roadside structures located outside the lane markings based on the detection results of the vehicle's sensor, and a display control unit that controls the display based on the recognition results of the lane marking recognition unit and the roadside structure recognition unit.If a lane marking is not recognized but a roadside structure is recognized, the display control unit displays a roadside structure icon corresponding to the roadside structure on the display, and if a lane marking is recognized, even if the roadside structure is recognized, the display control unit displays a lane marking icon corresponding to the lane marking and does not display the roadside structure icon.

[0007] In this display system, when a lane marking is not recognized but a roadside structure is recognized, the display control unit displays a roadside structure icon on the display, and when a lane marking is recognized, the display control unit displays a lane marking icon on the display even if the roadside structure is recognized, but does not display a roadside structure icon. As a result, when a lane marking is recognized in addition to a roadside structure, the roadside structure icon is not displayed, thereby reducing the annoyance to the driver caused by the intermittent display of the roadside structure icon. Therefore, this display system can reduce the annoyance to the driver.

[0008] The display system further includes a pavement edge recognition unit that recognizes the pavement edge of the road located on either the left or right of the vehicle based on the detection results of the vehicle's sensor, and the display control unit may cause the display to display a pavement edge icon corresponding to the pavement edge when a lane marking is not recognized but a pavement edge is recognized, and when a lane marking is recognized, cause the display to display the lane marking icon but not the pavement edge icon even if the pavement edge is recognized. This reduces the annoyance to the driver caused by the intermittent display of the pavement edge icon when lane marks are recognized in addition to the pavement edge, thereby reducing the annoyance to the driver caused by the intermittent display of the pavement edge icon.

[0009] If no lane markings are recognized and both a roadside structure and a pavement edge are recognized, the display control unit may display a pavement edge icon on the display but not a roadside structure icon, thereby reducing the annoyance to the driver caused by the intermittent display of the roadside structure icon.

[0010] The display method disclosed herein is a display method for displaying the situation around the vehicle on a display inside the vehicle cabin, and includes a lane marking recognition step for recognizing the lane markings on the vehicle's lane based on the detection results of the vehicle's camera, a roadside structure recognition step for recognizing roadside structures located outside the lane markings based on the detection results of the vehicle's sensor, and a display control step for controlling the display based on the recognition results of the lane marking recognition step and the roadside structure recognition step.In the display control step, if a lane marking is not recognized but a roadside structure is recognized, a roadside structure icon corresponding to the roadside structure is displayed on the display, and if a lane marking is recognized, even if the roadside structure is recognized, a lane marking icon corresponding to the lane marking is displayed on the display, and no roadside structure icon is displayed.

[0011] In the display control step of this display method, if a lane marking is not recognized but a roadside structure is recognized, a roadside structure icon is displayed on the display, and if a lane marking is recognized, even if a roadside structure is recognized, a lane marking icon is displayed on the display but the roadside structure icon is not displayed. As a result, if a lane marking is recognized in addition to a roadside structure, the roadside structure icon is not displayed, thereby reducing the annoyance to the driver caused by the intermittent display of the roadside structure icon. Therefore, this display method can reduce the annoyance to the driver.

[0012] The display system disclosed herein is a display system that is mounted on a vehicle and displays the situation around the vehicle on a display inside the vehicle cabin, and includes a roadside structure recognition unit that recognizes roadside structures located on either the left or right side of the vehicle based on the detection results of the vehicle's sensors, and a display control unit that controls the display on the display based on the recognition results of the roadside structure recognition unit, where the roadside structures include at least two of guardrails, walls, and curbs, and when multiple types of roadside structures are recognized on either the left or right side of the vehicle, the display control unit displays on the display a roadside structure icon corresponding to the roadside structure closest to the vehicle out of the multiple types of roadside structures, and does not display on the display roadside structure icons corresponding to the remaining roadside structures.

[0013] In this display system, when multiple types of roadside structures are recognized, the display control unit displays on the display the roadside structure icon corresponding to the roadside structure closest to the vehicle, and does not display the roadside structure icons corresponding to the remaining roadside structures. This displays only the roadside structure icon corresponding to the roadside structure closest to the vehicle, thereby reducing the annoyance to the driver caused by the intermittent display of the roadside structure icons corresponding to the remaining roadside structures. Therefore, this display system can reduce the annoyance to the driver.

[0014] When multiple types of roadside structures are recognized on either the left or right side of the vehicle, and the roadside structure closest to the vehicle is lost, the display control unit may display on the display a roadside structure icon corresponding to the roadside structure next closest to the vehicle among the multiple types of roadside structures, thereby reducing the annoyance to the driver caused by the intermittent display of roadside structure icons corresponding to the remaining roadside structures.

[0015] The display system may further include a pavement edge recognition unit that recognizes the pavement edge of the road located on either the left or right of the vehicle based on the detection results of the vehicle's sensor, and when the pavement edge is recognized, the display control unit may display a pavement edge icon corresponding to the pavement edge on the display without displaying any roadside structure icons, thereby reducing the annoyance to the driver caused by the intermittent display of the roadside structure icons. [Effects of the Invention]

[0016] According to the present disclosure, it is possible to provide a display system and a display method that can reduce the inconvenience to the driver. [Brief explanation of the drawings]

[0017] [Figure 1] FIG. 1 is a block diagram illustrating a functional configuration of a display system according to an embodiment. [Figure 2] FIG. 2 is a perspective view showing an example of the situation around the vehicle; [Figure 3] FIG. 2 is a diagram showing an example of a display screen of the display shown in FIG. [Figure 4] FIG. 2 is a diagram showing an example of a display screen of the display shown in FIG. [Figure 5] FIG. 2 is a diagram showing an example of a display screen of the display shown in FIG. [Figure 6] FIG. 2 is a diagram showing an example of a display screen of the display shown in FIG. [Figure 7] FIG. 2 is a diagram showing an example of a display screen of the display shown in FIG. [Figure 8] FIG. 2 is a diagram showing an example of a display screen of the display shown in FIG. [Figure 9] 2 is a flowchart showing steps of a display method using the display system shown in FIG. 1. [Figure 10] 10 is a flowchart showing details of the display control steps shown in FIG. 9. DETAILED DESCRIPTION OF THE INVENTION

[0018] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings.

[0019] [Display System] Fig. 1 is a block diagram of the functional configuration of a display system according to one embodiment. The display system 1 shown in Fig. 1 is used in, for example, an autonomous vehicle or a driving assistance vehicle. As shown in Fig. 1, the display system 1 includes a camera 2, a sensor 3, a display 4, and an ECU (Electronic Control Unit) 10. The display system 1 is mounted on a host vehicle 6 (see Fig. 2).

[0020] The camera 2 is an imaging device that captures images of the external situation of the vehicle 6. The camera 2 is mounted on the vehicle 6. The camera 2 includes, for example, a front camera that captures images in front of the vehicle 6, a rear camera that captures images behind the vehicle 6, and side cameras that capture images of the left and right sides of the vehicle 6. Each camera may be a monocular camera or a stereo camera. The stereo camera has two imaging units arranged to reproduce binocular parallax. The imaging information of the stereo camera also includes information in the depth direction. The camera 2 transmits captured images of the external situation of the vehicle 6 to the ECU 10.

[0021] The sensor 3 is a detection device that detects the external situation of the host vehicle 6. The sensor 3 is mounted on the host vehicle 6. The sensor 3 is, for example, a radar sensor. The radar sensor is a detection device that detects objects around the host vehicle using radio waves (for example, millimeter waves) or light. The radar sensor is, for example, a millimeter wave radar or a LiDAR (Light Detection and Ranging). The sensor 3 transmits information related to the external situation of the host vehicle 6 to the ECU 10.

[0022] The ECU 10 is an electronic control unit having a central processing unit (CPU) and a storage unit such as a read-only memory (ROM) or a random access memory (RAM). The ECU 10 performs various functions by, for example, executing programs stored in the storage unit by the CPU. The ECU 10 is installed in, for example, the vehicle 6.

[0023] The display 4 is mounted in the cabin of the host vehicle 6. The display 4 is, for example, a center display mounted on the dashboard of the host vehicle 6. The display 4 may be a display of a tablet computer that can be installed in the host vehicle 6, or may be a HUD (Head Up Display). The display system 1 displays the situation around the host vehicle 6 on the display 4 in the cabin. The display 4 displays predetermined information based on a control signal transmitted from the ECU 10. The predetermined information is, for example, icons corresponding to various objects around the host vehicle 6.

[0024] FIG. 2 is a perspective view showing an example of the situation around the host vehicle. As shown in FIG. 2, there may be a dividing line 81, a pavement edge 82, a road edge structure 9, and the like around the host vehicle 6. In this embodiment, the dividing line 81 is the dividing line of the host vehicle's lane along which the host vehicle 6 is traveling. In this embodiment, the pavement edge 82 is the outer edge of the paved road along which the host vehicle 6 is traveling. The pavement edge 82 is located on either the left or right side of the host vehicle 6. The pavement edge 82 is the boundary between the paved road and the soil or the like on the outside of the paved road. The dividing line 81 is located inside the paved road relative to the pavement edge 82.

[0025] The roadside structures 9 include, for example, a first roadside structure 91 and a second roadside structure 92. The roadside structures 9 are, for example, structures that protrude from the ground or are located higher than the ground. The first roadside structure 91 is, for example, a curb. The second roadside structure 92 is, for example, a wall. The roadside structure 9 may be, for example, a traffic cone or a construction sign placed on the ground. The first roadside structure 91 is located on either the left or right side of the vehicle 6. The first roadside structure 91 is located outside the dividing line 81. "Outside the dividing line" refers to the side opposite the own lane from the inner edge of the dividing line on the own lane side. Note that "outside the dividing line" also includes the area opposite the own lane from the outer edge of the dividing line. In this embodiment, when viewed vertically, the first roadside structure 91 partially overlaps the dividing line 81 outside the inner edge of the dividing line 81. In this embodiment, the first road edge structure 91 is located inside the outer edge of the pavement 82.

[0026] The second road edge structure 92 is located on either the left or right side of the vehicle 6. The second road edge structure 92 is located outside the dividing line 81. In this embodiment, the second road edge structure 92 is located outside the pavement edge 82. The display system 1 displays an icon corresponding to the vehicle 6, the dividing line 81, the pavement edge 82 or the road edge structure 9 on the display screen of the display 4.

[0027] The ECU 10 has, as its functional components, a lane marking recognition unit 11, a pavement edge recognition unit 12, a roadside structure recognition unit 13, and a display control unit 14.

[0028] The lane marking recognition unit 11 recognizes the lane markings 81 of the lane in which the vehicle 6 is traveling, based on the detection results (image data) of the camera 2 of the vehicle 6. Specifically, the lane marking recognition unit 11 recognizes the lane markings 81 by well-known image processing methods such as edge extraction, noise removal, pattern matching, deep learning, etc.

[0029] The pavement edge recognition unit 12 recognizes the pavement edge 82 based on the detection results of the sensor 3 of the host vehicle 6. The pavement edge recognition unit 12 may recognize the pavement edge 82 based on the detection results of both the sensor 3 and the camera 2. The roadside structure recognition unit 13 recognizes the roadside structures 9 based on the detection results of the sensor 3 of the host vehicle 6. The roadside structure recognition unit 13 may recognize the roadside structures 9 based on the detection results of both the sensor 3 and the camera 2.

[0030] The display control unit 14 controls the display on the display 4 based on the recognition results of the lane marking recognition unit 11, the pavement edge recognition unit 12, and the roadside structure recognition unit 13. Each of Figures 3 to 8 is a diagram showing an example of a display screen of the display 4. In Figures 3 to 8, information that is displayed on the display screen 41 of the display 4 is represented by a solid line, and information that is not displayed on the display screen 41 of the display 4 is represented by a dashed line.

[0031] The display control unit 14 displays at least one of a demarcation line icon 81a corresponding to the demarcation line 81, a pavement edge icon 82a corresponding to the pavement edge 82, a first road edge structure icon 91a corresponding to the first road edge structure 91, and a second road edge structure icon 92a corresponding to the second road edge structure 92 on the display screen 41 of the display 4.

[0032] 3, when a demarcation line 81 is recognized by the demarcation line recognition unit 11, the display control unit 14 displays a demarcation line icon 81a on the display screen 41 of the display 4. When a demarcation line 81 is recognized, even if a pavement edge 82 is recognized by the pavement edge recognition unit 12, the display control unit 14 displays the demarcation line icon 81a on the display screen 41 of the display 4 but does not display a pavement edge icon 82a.

[0033] As shown in Figure 4, when a demarcation line 81 is recognized by the demarcation line recognition unit 11, even if a first road edge structure 91 (or a second road edge structure 92) is recognized by the road edge structure recognition unit 13, the display control unit 14 displays the demarcation line icon 81a on the display screen 41 of the display 4 and does not display the first road edge structure icon 91a (or the second road edge structure icon 92a).

[0034] 5, when a dividing line 81 is not recognized and both the pavement edge 82 and the second road edge structure 92 are recognized, the display control unit 14 displays the pavement edge icon 82a on the display screen 41 of the display 4 but does not display the second road edge structure icon 92a. Note that when a dividing line 81 is not recognized and both the pavement edge 82 and the first road edge structure 91 are recognized, the display control unit 14 may display the first road edge structure icon 91a on the display screen 41 of the display 4 but not the pavement edge icon 82a. The display control unit 14 may also display either the pavement edge 82 or the road edge structure 92, whichever is closer to the vehicle 6, on the display screen 41 of the display 4.

[0035] As shown in Figure 6, when neither the dividing line 81 nor the pavement edge 82 is recognized and the second road edge structure 92 (or the first road edge structure 91) is recognized, the display control unit 14 displays the second road edge structure icon 92a (or the first road edge structure icon 91a) on the display screen 41 of the display 4.

[0036] 7 , when both a first roadside structure 91 and a second roadside structure 92 are recognized as multiple types of roadside structures on either the left or right side of the host vehicle 6, the display control unit 14 displays, on the display screen 41 of the display 4, a first roadside structure icon 91a corresponding to the first roadside structure 91 that is closest to the host vehicle 6 among the multiple types of roadside structures, and does not display, on the display screen 41 of the display 4, a second roadside structure icon 92a corresponding to the remaining second roadside structure 92. For example, even when a third roadside structure is recognized outside the second roadside structure 92, the display control unit 14 displays, on the display screen 41 of the display 4, the first roadside structure icon 91a corresponding to the first roadside structure 91 that is closest to the host vehicle 6, and does not display, on the display screen 41 of the display 4, the second roadside structure icon 92a corresponding to the remaining second roadside structure 92 and the third roadside structure icon corresponding to the third roadside structure.

[0037] 8, when a first roadside structure 91 and a second roadside structure 92 are recognized as multiple types of roadside structures on either the left or right side of the host vehicle 16, and the first roadside structure 91 closest to the host vehicle 6 is lost, the display control unit 14 displays a second roadside structure icon 92a corresponding to the second roadside structure 92 that is next closest to the host vehicle 6 among the multiple types of roadside structures on the display screen 41 of the display 4. Of the roadside structures 9 recognized by the roadside structure recognition unit 13, the display control unit 14 displays the roadside structure 9 closest to the host vehicle 6 on the display screen 41 of the display 4.

[0038] [Display system ECU processing and display method] Next, an example of processing by the ECU 10 of the display system 1 will be described. FIG. 9 is a flowchart showing each step of processing by the ECU 10 (a display method using the display system 1). As shown in FIG. 9, in step S1 (a lane marking recognition step), the ECU 10 recognizes a lane marking 81 of the lane along which the host vehicle 6 is traveling, based on the detection results of the camera 2 of the host vehicle 6. In step S2 (a pavement edge recognition step), the ECU 10 recognizes a pavement edge 82 located on either the left or right side of the host vehicle 6, based on the detection results of the sensor 3 of the host vehicle 6. In step S3 (a road edge structure recognition step), the ECU 10 recognizes a second road edge structure 92 located outside the lane marking 81, based on the detection results of the sensor 3 of the host vehicle 6. In step S4 (a display control step), the ECU 10 controls the display on the display 4 based on the recognition results of steps S1 to S3. Note that steps S1 to S3 may be performed in any order or simultaneously.

[0039] Fig. 10 is a flowchart showing details of step S4 shown in Fig. 9. As shown in Fig. 10, in step S41, the ECU 10 determines whether or not the lane marking 81 of the lane in which the host vehicle 6 is traveling has been recognized. If the lane marking 81 has been recognized (step S41: YES), the ECU 10 causes the display 4 to display a lane marking icon 81a in step S42.

[0040] When the demarcation line 81 is recognized, even if the pavement edge 82, the first road edge structure 91, or the second road edge structure 92 is recognized, the ECU 10 causes the display 4 to display the demarcation line icon 81a and does not cause the display 4 to display the pavement edge icon 82a, the first road edge structure icon 91a, or the second road edge structure icon 92a. When the demarcation line 81 is not recognized (step S41: NO), the ECU 10 determines in step S43 whether the pavement edge 82 has been recognized. When the pavement edge 82 is recognized (step S43: YES), the ECU 10 causes the display 4 to display the pavement edge icon 82a in step S44.

[0041] If the dividing line 81 is not recognized but the pavement edge 82 is recognized, the ECU 10 causes the display 4 to display the pavement edge icon 82a but not the first road edge structure icon 91a or the second road edge structure icon 92a, even if the first road edge structure 91 or the second road edge structure 92 is recognized.

[0042] If neither the dividing line 81 nor the pavement edge 82 is recognized (step S43: NO), the ECU 10 determines in step S45 whether the first road edge structure 91 or the second road edge structure 92 is recognized. If the first road edge structure 91 or the second road edge structure 92 is recognized (step S45: YES), the ECU 10 causes the display 4 to display the first road edge structure icon 91a or the second road edge structure icon 92a in step S46. If both the first road edge structure 91 and the second road edge structure 92 are recognized, the ECU 10 causes the display 4 to display the first road edge structure icon 91a corresponding to the first road edge structure 91 that is closest to the host vehicle 6. If the road edge structure 91 is not recognized (step S45: NO), the ECU 10 ends the processing.

[0043] As described above, in the display system 1, when a dividing line 81 is not recognized but a roadside structure 9 is recognized, the display control unit 14 displays the roadside structure 9 on the display 4, and when a dividing line 81 is recognized, the display control unit 14 displays the dividing line icon 81a on the display 4 even if the roadside structure 9 is recognized, but does not display the roadside structure icon (first roadside structure icon 91a or second roadside structure icon 92a). As a result, when a dividing line 81 is recognized in addition to the roadside structure 9, the roadside structure icon is not displayed, thereby reducing the annoyance to the driver caused by the intermittent display of the roadside structure icon. Therefore, the display system 1 can reduce the annoyance to the driver.

[0044] When the demarcation line 81 is not recognized but the pavement edge 82 is recognized, the display control unit 14 displays the pavement edge icon 82a on the display 4, and when the demarcation line 81 is recognized, the display control unit 14 displays the demarcation line icon 81a on the display 4 but does not display the pavement edge icon 82a even if the pavement edge 82 is recognized. As a result, when the demarcation line 81 is recognized in addition to the pavement edge 82, the pavement edge icon 82a is not displayed, thereby reducing the annoyance to the driver caused by the intermittent display of the pavement edge icon 82a.

[0045] If the division line 81 is not recognized and both the roadside structure 9 and the pavement edge 82 are recognized, the display control unit 14 displays the pavement edge icon 82a on the display 4 but does not display the roadside structure icon. This reduces the annoyance to the driver caused by the intermittent display of the roadside structure icon.

[0046] In step S4 (display control step) of the display method of this embodiment, if the lane marking 81 is not recognized and the roadside structure 9 is recognized, the display 4 displays a roadside structure icon (first roadside structure icon 91a or second roadside structure icon 92a), and if the lane marking 81 is recognized, the display 4 displays the lane marking icon 81a but does not display a roadside structure icon even if the roadside structure 9 is recognized. As a result, if the lane marking 81 is recognized in addition to the roadside structure 9, the roadside structure icon is not displayed, thereby reducing the annoyance to the driver caused by the intermittent display of the roadside structure icon. Therefore, this display method can reduce the annoyance to the driver.

[0047] In the display system 1, when multiple types of roadside structures 9 are recognized, the display control unit 14 causes the display 4 to display the first roadside structure icon 91a corresponding to the first roadside structure 91 that is closest to the host vehicle 6, and does not cause the display 4 to display the second roadside structure icons 92a corresponding to the remaining second roadside structures 92. As a result, only the first roadside structure icon 91a corresponding to the first roadside structure 91 that is closest to the host vehicle 6 is displayed, thereby reducing the annoyance felt by the driver due to the intermittent display of the second roadside structure icons 92a corresponding to the remaining second roadside structures 92. Therefore, this display system can reduce the annoyance felt by the driver.

[0048] When a plurality of types of roadside structures 9 are recognized on either the left or right side of the host vehicle 6, and the first roadside structure 91 closest to the host vehicle 6 is lost, the display control unit 14 causes the display 4 to display a second roadside structure icon 92a corresponding to the second roadside structure 92 that is next closest to the host vehicle 6 among the plurality of types of roadside structures 9. This reduces the annoyance to the driver caused by the intermittent display of the second roadside structure icons 92a corresponding to the remaining second roadside structures 92.

[0049] When the pavement edge 82 is recognized, the display control unit 14 may display the pavement edge icon 82a corresponding to the pavement edge 82 on the display 4, but may not display the first road edge structure icon 91a or the second road edge structure icon 92a. This reduces the annoyance to the driver caused by the intermittent display of the first road edge structure icon 91a or the second road edge structure icon 92a.

[0050] Although one embodiment of the present disclosure has been described above, the present disclosure is not limited to the above-described embodiment.

[0051] The first road edge structure 91 or the second road edge structure 92 may be, for example, a guardrail or the like.

[0052] The display system 1 does not need to include the pavement edge recognition unit 12. In this case, the display control unit 14 may cause the display 4 to display the first road edge structure icon 91a or the second road edge structure icon 92a when the dividing line 81 is not recognized and the first road edge structure 91 or the second road edge structure 92 is recognized.

[0053] The display system 1 does not necessarily have to include the lane marking recognition unit 11. [Explanation of symbols]

[0054] 1...display system, 2...camera, 3...sensor, 4...display, 6...own vehicle, 11...landing line recognition unit, 12...pavement edge recognition unit, 13...road edge structure recognition unit, 14...display control unit, 81...landing line, 81a...landing line icon, 82...pavement edge, 82a...pavement edge icon, 91...first road edge structure, 91a...first road edge structure icon, 92...second road edge structure, 92a...second road edge structure icon.

Claims

1. A display system that is mounted on a vehicle and displays a situation around the vehicle on a display inside the vehicle, a lane marking recognition unit that recognizes lane markings on the lane in which the vehicle is traveling based on the detection results of the camera of the vehicle; a roadside structure recognition unit that recognizes roadside structures located outside the lane markings based on the detection results of the sensor of the vehicle; a display control unit that controls display on the display based on the recognition results of the lane marking recognition unit and the roadside structure recognition unit, The display control unit, when the dividing line is not recognized but the roadside structure is recognized, causes the display to display a roadside structure icon corresponding to the roadside structure, and when the dividing line is recognized, causes the display to display a dividing line icon corresponding to the dividing line even if the roadside structure is recognized, and does not display the roadside structure icon.

2. a pavement edge recognition unit that recognizes a pavement edge of a road located on either the left or right side of the vehicle based on a detection result of the sensor of the vehicle; The display system of claim 1, wherein the display control unit, when the dividing line is not recognized and the pavement edge is recognized, causes the display to display a pavement edge icon corresponding to the pavement edge, and when the dividing line is recognized, causes the display to display the dividing line icon and not the pavement edge icon even if the pavement edge is recognized.

3. 3. The display system according to claim 2, wherein the display control unit causes the display to display the pavement edge icon and not the road edge structure icon when the dividing line is not recognized and both the road edge structure and the pavement edge are recognized.

4. A display method for displaying a situation around a vehicle on a display inside the vehicle, comprising: a lane marking recognition step of recognizing a lane marking on the lane in which the vehicle is traveling based on a detection result from the camera of the vehicle; a roadside structure recognition step of recognizing roadside structures located outside the lane markings based on the detection results of the sensor of the host vehicle; a display control step of controlling display on the display based on the recognition results of the lane marking recognition step and the roadside structure recognition step, In the display control step, if the dividing line is not recognized and the roadside structure is recognized, a roadside structure icon corresponding to the roadside structure is displayed on the display, and if the dividing line is recognized, even if the roadside structure is recognized, a dividing line icon corresponding to the dividing line is displayed on the display and the roadside structure icon is not displayed.

5. A display system that is mounted on a vehicle and displays a situation around the vehicle on a display inside the vehicle, a roadside structure recognition unit that recognizes roadside structures located on either the left or right side of the vehicle based on detection results from the sensor of the vehicle; a display control unit that controls display on the display based on the recognition result of the roadside structure recognition unit, the roadside structure includes at least two of a guardrail, a wall, and a curb; When multiple types of roadside structures are recognized on either the left or right side of the vehicle, the display control unit displays on the display a roadside structure icon corresponding to the roadside structure closest to the vehicle among the multiple types of roadside structures, and does not display on the display roadside structure icons corresponding to the remaining roadside structures.

6. The display system according to claim 5, wherein when a plurality of types of roadside structures are recognized on either the left or right side of the vehicle and the roadside structure closest to the vehicle is lost, the display control unit causes the display to display a roadside structure icon corresponding to the roadside structure that is next closest to the vehicle among the plurality of types of roadside structures.

7. a pavement edge recognition unit that recognizes a pavement edge of a road located on either the left or right side of the vehicle based on a detection result of the sensor of the vehicle; The display system according to claim 5, wherein when the pavement edge is recognized, the display control unit causes the display to display a pavement edge icon corresponding to the pavement edge and does not display the roadside structure icon.

Images