Vehicle display control device, vehicle display control method and vehicle display control program

Abstract

To display an attribute of an unknown object located around an own vehicle in a manner that prevents an occupant from misunderstanding.SOLUTION: A vehicle display control device comprises a display control section which displays, when displaying an image of a surrounding situation of an own vehicle on a display region installed around a driver's seat and an attribute of an object located around the own vehicle remains unknown, an unknown object in a manner indicating that its attribute is not yet determined until the attribute is identified.SELECTED DRAWING: Figure 8

Description

[Technical Field]

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

[0002] Patent document 1 discloses that information about the surroundings of the vehicle is acquired, and using the acquired information about the surroundings of the vehicle, a virtual image is generated that shows the surroundings of the vehicle as if viewed from above, and when consideration of whether or not to perform an automatic lane change begins before the automatic lane change, the display area of ​​the surroundings of the vehicle on the virtual image is made wider than before consideration began. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6825709 Summary of the Invention [Problem to be solved by the invention]

[0004] According to the technology described in Patent Document 1, a virtual image showing the surroundings of the vehicle can be generated and displayed in a display area provided around the driver's seat. However, in the display area where the virtual image is displayed, all objects around the vehicle whose attributes are unknown may be displayed as "sedan." This may cause the occupants to misunderstand the attributes of the objects.

[0005] The present disclosure aims to provide a vehicle display control device, a vehicle display control method, and a vehicle display control program that can display the attributes of unknown objects located around the vehicle in a manner that does not cause misunderstandings among occupants. [Means for solving the problem]

[0006] The vehicle display control device of claim 1 includes an acquisition unit that acquires the surrounding conditions of the vehicle, and a display control unit that, when displaying an image showing the surrounding conditions of the vehicle in a display area provided around the driver's seat of the vehicle, displays the object in a manner indicating that the attributes of the object are not yet determined until the attributes are determined, if the attributes of the object are unknown.

[0007] The vehicular display control device according to claim 1 can display the attributes of unknown objects located around the vehicle in a manner that does not cause misunderstandings by the occupants, thereby preventing the occupants from misunderstanding the attributes of the objects.

[0008] The vehicle display control device of claim 2 is the same as claim 1, in which the aspect is a specific image representing a predetermined shape, and the display control unit changes the display form of the specific image according to a degree of certainty representing the likelihood of the attribute of the object.

[0009] In the vehicle display control device according to claim 2, it is possible to grasp the change in the accuracy of the attribute of an object just by looking at the specific image.

[0010] The vehicle display control device of claim 3 is the same as claim 2, wherein the attributes are multiple types of attributes, and when any of the probabilities for each of the multiple types of attributes becomes equal to or greater than a threshold, the display control unit displays an image representing the attribute whose probabilities are equal to or greater than the threshold instead of the specific image.

[0011] In the vehicle display control device according to claim 3, an image that represents an attribute with high accuracy is displayed instead of a specific image, so that misunderstanding of the attribute of an object is suppressed.

[0012] The vehicle display control device of claim 4 is the same as claim 2, wherein the attribute is a plurality of types of attribute, and the display control unit displays the specific image superimposed on an image representing the attribute with the highest degree of certainty among the degrees of certainty for each of the plurality of types of attribute, and removes the specific image when the attribute is confirmed.

[0013] In the vehicle display control device according to claim 4, the specific image is removed and an image showing an attribute with high accuracy is displayed, so that misunderstanding of the attribute of an object is suppressed.

[0014] The vehicle display control device of claim 5 is the same as claim 2, wherein the attributes are multiple types of attributes, and the display control unit displays the specific image superimposed on an image representing the attribute with the highest degree of certainty among the degrees of certainty for each of the multiple types of attributes, and increases the transparency of the specific image as the degree of certainty of the attribute increases.

[0015] In the vehicle display control device according to claim 5, the accuracy of the attribute of the object can be grasped from the change in the transparency of the specific image.

[0016] The vehicle display control device according to claim 6 is the same as claim 1, wherein the aspect is a specific image representing a predetermined shape, and the display control unit changes the size of the specific image according to the size of the object.

[0017] In the vehicle display control device according to claim 6, it is possible to grasp the sense of size of an object just by looking at the specific image.

[0018] The vehicle display control device of claim 7 is the same as claim 1, wherein the aspect is a specific image representing a predetermined shape, and further includes a memory unit that pre-stores a plurality of the specific images that differ in at least one of size and transparency, and the display control unit selectively displays one of the plurality of specific images stored in the memory unit until the attributes of the object are determined.

[0019] The vehicular display control device according to claim 7 can display various types of specific images.

[0020] A display control method for a vehicle according to claim 8 is a method executed by a computer to acquire a surrounding situation of a vehicle, and display an image showing the surrounding situation of the vehicle in a display area provided around a driver's seat of the vehicle, and if the attributes of an object located around the vehicle are unknown, display the object in a manner indicating that the attributes have not been determined until the attributes are determined.

[0021] The display control program for a vehicle according to claim 9 causes a computer to execute a process of acquiring a surrounding situation of a vehicle, and displaying an image showing the surrounding situation of the vehicle in a display area provided around the driver's seat of the vehicle, and if the attributes of an object located around the vehicle are unknown, displaying the object in a manner indicating that the attributes have not been determined until the attributes are determined. [Effects of the Invention]

[0022] As described above, according to the present disclosure, the attributes of unknown objects located around the vehicle can be displayed in a manner that does not mislead the occupants. [Brief explanation of the drawings]

[0023] [Figure 1] 1 is a schematic diagram showing a part of a vehicle interior including a vehicular display control device according to an embodiment; [Figure 2] FIG. 3 is a diagram illustrating an example of a display area of ​​a first display unit according to the embodiment. [Figure 3] 1 is a block diagram illustrating an example of a hardware configuration of a vehicle display control device according to an embodiment. [Figure 4] 1 is a block diagram illustrating an example of a functional configuration of a vehicle display control device according to an embodiment. [Figure 5] 3 is a diagram showing an example of first to third virtual viewpoints according to the embodiment. FIG. [Figure 6] FIG. 10 is a diagram showing an example of an image showing the surroundings of a vehicle displayed in an area. [Figure 7] 10A to 10D are diagrams showing examples of images representing attributes of an object. [Figure 8]FIG. 10 is a diagram showing an example of an image including a specific image. [Figure 9] 10A and 10B are diagrams showing how a specific image displayed in an area transitions to a sedan image. [Figure 10] FIG. 10 is a diagram showing how a specific image displayed in an area is removed. [Figure 11] 10A and 10B are diagrams illustrating how the transparency of a specific image displayed in an area changes. [Figure 12] 10A and 10B are diagrams illustrating a state in which the size of a specific image displayed in an area is changed. [Figure 13] FIG. 10 is a diagram illustrating an example of a specific image database. [Figure 14] 5 is a flowchart illustrating an example of a processing flow by a vehicle display control program according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0024] A vehicle display control system 10 including a vehicle display control device 28 according to an embodiment will be described below with reference to the drawings. Note that the arrow UP in Fig. 1 indicates the upper side in the vehicle vertical direction, and the arrow RH indicates the right side in the vehicle width direction. In the following description, the vertical direction and the left-right direction refer to the up and down in the vehicle vertical direction and the left and right in the vehicle width direction, respectively.

[0025] 1 is a schematic diagram showing a part of the interior of a vehicle 12 including a vehicle display control device 28 according to this embodiment. The example of FIG. 1 shows the front part of the interior of the vehicle 12 as seen from the rear side of the vehicle.

[0026] As shown in Fig. 1, an instrument panel 14 is provided in the front of the passenger compartment of a vehicle 12. The instrument panel 14 extends in the vehicle width direction, and a steering wheel 16 is provided on the right side of the instrument panel 14. That is, in this embodiment, as an example, the vehicle is a right-hand drive vehicle in which the steering wheel 16 is provided on the right side, and the driver's seat is located on the right side of the vehicle. However, the present invention is not limited to this, and may also be applied to a vehicle in which the driver's seat is located on the left side of the vehicle.

[0027] A windshield glass 18 is provided at the front end of the instrument panel 14. The windshield glass 18 extends in the vertical direction and the width direction of the vehicle, and separates the interior of the vehicle from the exterior of the vehicle.

[0028] The right end of the windshield glass 18 is fixed to a front pillar 20 on the right side of the vehicle. The front pillar 20 extends in the vertical direction of the vehicle, and the windshield glass 18 is fixed to the inner end of the front pillar 20 in the vehicle width direction. In addition, the front ends of front side windows 22 are fixed to the outer end of the front pillar 20 in the vehicle width direction. The left end of the windshield glass 18 is fixed to a front pillar on the left side of the vehicle (not shown).

[0029] Here, the instrument panel 14 is provided with a first display unit 24 having an image display area V1. The first display unit 24 is configured as a meter display provided on the right side of the instrument panel 14, in front of the driver's seat. The first display unit 24 is connected to various meter devices mounted on the vehicle 12, and is provided in a position within the field of view of an occupant (hereinafter also referred to as the "driver") when the driver is looking ahead of the vehicle. The display area V1 is an area visible to the driver in the driver's seat through the opening 17 of the steering wheel 16.

[0030] The instrument panel 14 is provided with a second display unit 25 having an image display area V2. The second display unit 25 is configured by a center display disposed in the center of the instrument panel 14 in the vehicle width direction.

[0031] The windshield glass 18 is provided with a third display unit 26 having an image display area V3. The third display unit 26 is set above the first display unit 24 and is configured as a projection surface onto which an image is projected by a head-up display device (not shown) serving as a display device. Specifically, a head-up display device capable of projecting an image is provided on the vehicle front side of the instrument panel 14, and an image is projected from this head-up display device onto the third display unit 26 of the windshield glass 18. In other words, the third display unit 26 is configured as part of the windshield glass 18 that serves as the projection surface for the head-up display device.

[0032] The steering wheel 16 is provided with a gaze detection sensor 44. The gaze detection sensor 44 is disposed so as to face the face of the driver seated in the driver's seat.

[0033] Here, the vehicle 12 is provided with a vehicle display control device 28 that constitutes the vehicle display control system 10. The vehicle display control device 28 of this embodiment is, for example, an ECU (Electronic Control Unit) that performs various controls. The vehicle display control device 28 of this embodiment is configured to display a first image that shows the surrounding situation of the vehicle as seen from a virtual viewpoint in at least one of display areas V1, V2, and V3 around the driver's seat.

[0034] The following describes, as an example, a case where an image (described later) representing the surrounding situation according to this embodiment is displayed on the first display unit 24 of the vehicle 12. Note that the image representing the surrounding situation according to this embodiment may be displayed not only on the first display unit 24 but also on the second display unit 25 or the third display unit 26.

[0035] FIG. 2 is a diagram showing an example of the display region V1 of the first display unit 24 according to the present embodiment.

[0036] As shown in Fig. 2, the vehicle display control device 28 displays an image showing the surrounding conditions of the vehicle 12 in area X, which is a portion of the display area V1. As described above, area X is the area that can be seen by the driver in the driver's seat through the opening 17 of the steering wheel 16. Specifically, as shown in Fig. 2, area X is the center of the area that can be seen between the ridge line L1 at the upper edge and the ridge line L2 at the lower edge of the opening 17 of the steering wheel 16. Meter displays M1 and M2 that show the meters of the measuring instruments of the vehicle 12 are displayed on the left and right of area X.

[0037] FIG. 3 is a block diagram showing an example of the hardware configuration of the vehicular display control device 28 according to this embodiment.

[0038] 3, the vehicle display control device 28 includes a CPU (Central Processing Unit: processor) 30, a ROM (Read Only Memory) 32, a RAM (Random Access Memory) 34, a storage 36, a communication interface (communication I / F) 38, and an input / output interface (input / output I / F) 40. Each component is connected to each other via an internal bus 42 so as to be able to communicate with each other.

[0039] The CPU 30 is a central processing unit that executes various programs and controls each part. That is, the CPU 30 reads programs from the ROM 32 or storage 36 and executes the programs using the RAM 34 as a work area. The CPU 30 also controls the above-mentioned components and performs various arithmetic processing in accordance with the programs recorded in the ROM 32 or storage 36.

[0040] The ROM 32 stores various programs and various data. The RAM 34 temporarily stores programs or data as a working area. The storage 36 is configured by an HDD (Hard Disk Drive) or an SSD (Solid State Drive) and is a non-transitory storage medium that stores various programs including an operating system and various data. The ROM 32 or the storage 36 stores a vehicle display control program for performing the vehicle display control process according to this embodiment.

[0041] The communication interface 38 is an interface that allows the vehicle display control device 28 to communicate with a server and other devices, and uses standards such as CAN (Controller Area Network), Ethernet (registered trademark), LTE (Long Term Evolution), FDDI (Fiber Distributed Data Interface), and Wi-Fi (registered trademark).

[0042] The input / output interface 40 is connected to a gaze detection sensor 44, the first display unit 24, the second display unit 25, and a head-up display device 46. An image is projected onto the third display unit 26 by the head-up display device 46.

[0043] The gaze detection sensor 44 is provided on the steering wheel 16 and is positioned facing the face of the driver seated in the driver's seat. The gaze detection sensor 44 detects the gaze direction of the occupant by recognizing the eyes of the occupant using principles such as the corneal reflex method and the scleral reflex method. The gaze detection sensor 44 may also be provided on the instrument panel 14.

[0044] The vehicular display control device 28 uses the above hardware resources to realize various functions. The functional configuration realized by the vehicular display control device 28 will be described with reference to FIG.

[0045] FIG. 4 is a block diagram showing an example of the functional configuration of the vehicular display control device 28 according to this embodiment.

[0046] 4, the vehicular display control device 28 is configured to include, as functional components, a peripheral information acquisition unit 52, an attribute recognition unit 54, and a display control unit 56. Note that each functional component is realized by the CPU 30 reading and executing a vehicular display control program stored in the ROM 32 or the storage 36.

[0047] The surrounding information acquisition unit 52 is an example of an acquisition unit, and acquires surrounding information indicating the surrounding conditions of the vehicle 12 (host vehicle). Specifically, the vehicle 12 is provided with a plurality of sensors capable of detecting the surrounding conditions, and information detected by these sensors is acquired as the surrounding information.

[0048] The surrounding information also includes map information of the surroundings of the vehicle 12. The vehicle 12 is provided with a GPS receiver for determining the current location, and the surrounding information acquisition unit 52 acquires map information of the surroundings of the vehicle 12 by referring to the vehicle's location information and map data stored in an external server or storage 36.

[0049] The attribute recognition unit 54 detects objects located around the vehicle from the surrounding information acquired by the surrounding information acquisition unit 52, and recognizes the attributes of the detected objects. The term "attribute" here refers to a variety of types, including, for example, "sedan" indicating that the object is a passenger car (including a taxi), "bus" indicating that the object is a bus, "truck" indicating that the object is a truck, "bike" indicating that the object is a motorcycle, "bicycle" indicating that the object is a bicycle, and "person" indicating that the object is a person. Attributes are not limited to these examples, and may be classified more finely. Note that known methods such as a pattern matching method or a machine learning method can be used to recognize attributes.

[0050] The attribute recognition unit 54 can calculate the accuracy of the attribute of a detected object at predetermined time intervals. The "accuracy" here is an index value that indicates the reliability of the attribute. The higher the accuracy of an attribute, the higher the possibility that the attribute is that attribute. In other words, the attribute recognition unit 54 calculates the accuracy of each attribute of a detected object at predetermined time intervals, and determines an attribute whose accuracy is equal to or greater than a threshold as the attribute of the object. Once an attribute is determined, an identification number (ID) corresponding to the attribute is assigned. Even if an object whose attribute has been determined moves out of the camera's shooting range, the range detected by the sensor remains the same. The "predetermined time" and "threshold" are set to appropriate values ​​based on, for example, past knowledge or experimental results. The "threshold" is set to, for example, a value of 90% or more.

[0051] The display control unit 56 displays an image showing the surrounding conditions of the host vehicle in a display area provided around the driver's seat of the host vehicle. Here, the "image showing the surrounding conditions of the host vehicle" is an image assumed to be seen from a virtual viewpoint. The "image showing the surrounding conditions of the host vehicle" includes an image showing the attributes determined by the attribute recognition unit 54. As described above, the "display area provided around the driver's seat of the host vehicle" is at least one of the display areas V1, V2, and V3.

[0052] The virtual viewpoint is a viewpoint set in a virtual space. In one example of this embodiment, the virtual viewpoint is set in a three-dimensional virtual space with the position of the vehicle 12 (host vehicle) as the origin O. This virtual viewpoint can be defined by viewpoint coordinates and a viewpoint angle (orientation) in the virtual space.

[0053] FIG. 5 is a diagram showing an example of the first to third virtual viewpoints C1 to C3 according to this embodiment.

[0054] As shown in Figure 5, the virtual coordinates of the virtual viewpoints C1 to C3 are three-dimensional coordinates with the fore-and-aft direction (travel direction) of the vehicle 12 as the X axis, the vehicle width direction as the Y axis, and the vehicle up-and-down direction as the Z axis. The viewpoint angle can be expressed as a set of rotation angles (roll, pitch, and yaw angles) around each axis. Therefore, the display control unit 56 generates an image showing the surroundings of the vehicle 12, assuming that the surroundings of the vehicle 12 are viewed at a specific viewpoint angle from specific viewpoint coordinates in the virtual space, and displays the image in the display area.

[0055] The first virtual viewpoint C1 is a viewpoint from which the vehicle 12 is viewed from a high position diagonally rearward. As an example, the viewpoint angle of the first virtual viewpoint C1 coincides with the direction of a line segment S1 passing through the viewpoint coordinates of the first virtual viewpoint C1 and the origin O, and the rotation angle (pitch angle) θ1 around the Y axis is greatest. The display control unit 56 generates an image of the range R1 visible from the first virtual viewpoint C1 at a predetermined angle of view φ, and displays it in the display area as an image showing the surrounding conditions of the vehicle 12.

[0056] The second virtual viewpoint C2 is a viewpoint seen from a position further rearward than the first virtual viewpoint C1 and lower than the first virtual viewpoint C1. As an example, the viewpoint angle of the second virtual viewpoint C2 coincides with the direction of a line segment S2 passing through the viewpoint coordinates of the second virtual viewpoint C2 and the origin O, and the rotation angle (pitch angle) θ2 around the Y axis is smaller than the rotation angle θ1 of the first virtual viewpoint C1. Therefore, the second virtual viewpoint C2 is a viewpoint facing upward than the first virtual viewpoint C1. The display control unit 56 generates an image of the range R2 visible from the second virtual viewpoint C2 at a predetermined angle of view φ and displays it in the display area as an image showing the surrounding conditions of the vehicle 12.

[0057] The third virtual viewpoint C3 is a viewpoint seen from a position further rearward than the first virtual viewpoint C1 and the second virtual viewpoint C2, and is a viewpoint seen from a position lower than the first virtual viewpoint C1 and higher than the second virtual viewpoint C2. As an example, the viewpoint angle of the third virtual viewpoint C3 matches that of the second virtual viewpoint C2. The display control unit 56 generates an image of the range R3 visible from the third virtual viewpoint C3 at a predetermined angle of view φ, and displays it in the display area as an image showing the surrounding conditions of the vehicle 12.

[0058] The display control unit 56 in this embodiment sets one of the first virtual viewpoint C1 to the third virtual viewpoint C3, and, as an example, displays an image 60 showing the surrounding situation of the vehicle 12 in an area X, which is a part of the display area V1, as shown in FIG. 6.

[0059] FIG. 6 is a diagram showing an example of an image 60 showing the surroundings of the vehicle 12 displayed in the area X. As shown in FIG.

[0060] 6, the display control unit 56 displays, as an image 60, a lane image 62 indicating the lane in which the vehicle 12 is traveling and a white line image 63 indicating the white lines dividing the lane, around a host vehicle image 61 showing the vehicle 12. In addition, above the lane image 62, an image 64 indicating the traveling speed of the vehicle 12 and an image 65 indicating the gear position of the vehicle 12 are displayed. In addition, above the host vehicle image 61, an image 66S indicating the attribute of a "sedan" (hereinafter referred to as a "sedan image") is displayed.

[0061] As described above, all objects in the vicinity of the vehicle displayed in area X whose attributes are unknown may be displayed as a "sedan." An "object whose attribute is unknown" refers to an object whose presence has been detected, but whose attribute is unknown. For example, the attribute may not be determined due to bad weather such as rain or snow, or the object being located far from the vehicle. In such cases, the attribute is deemed unknown, and the sedan image 66S is displayed. This may cause the driver to misunderstand the attribute of the object.

[0062] In contrast, when displaying an image showing the surrounding conditions of the vehicle in area X, if the attribute of an object located around the vehicle is unknown, the display control unit 56 according to this embodiment displays the unknown object in a manner indicating that the attribute has not been determined until the attribute is determined. That is, the display control unit 56 displays an object located around the vehicle in area X and whose attribute is unknown in a manner indicating that the attribute of the object has not been determined until the attribute of the object is determined. The "manner indicating that the attribute of the object has not been determined" here is, for example, a specific image representing a predetermined shape, as shown in FIG. 7(D). This prevents the driver from misunderstanding the attribute of the object.

[0063] 7(A) to 7(D) are diagrams showing examples of images representing the attributes of an object. FIG. 7(A) shows a sedan image 66S that is displayed when the attribute of the object is "sedan." FIG. 7(B) shows an image 66B (hereinafter referred to as a "bus image") that is displayed when the attribute of the object is "bus." FIG. 7(C) shows an image 66T (hereinafter referred to as a "truck image") that is displayed when the attribute of the object is "truck." FIG. 7(D) shows a specific image 66K that is displayed when the attribute of the object is unknown.

[0064] That is, in the region X, for an object whose attribute has been determined, a sedan image 66S, a bus image 66B, or a truck image 66T representing the attribute is displayed, and for an object whose attribute has not been determined, a specific image 66K indicating that the attribute has not been determined is displayed. Note that in the example of FIG. 7(D), a cloud-shaped image is shown as an example of the specific image 66K, but the specific image is not limited to a cloud-shaped image and may be, for example, a circle, an ellipse, a triangle, a rectangle, or other shapes. Furthermore, for example, a "?" mark may be added in the specific image 66K to explicitly indicate that the attribute has not been determined.

[0065] Fig. 8 is a diagram showing an example of an image 60 including a specific image 66K. For example, if the attribute of an object corresponding to the sedan image 66S shown in Fig. 6 described above is unknown, the specific image 66K is displayed instead of the sedan image 66S.

[0066] The display control unit 56 may also change the display form of the specific image 66K depending on the accuracy of the attribute of the object. For example, various methods are conceivable, such as increasing the transparency of the specific image 66K, changing the color of the specific image 66K, changing the shape of the specific image 66K, or changing the size of the specific image 66K as the accuracy of the attribute increases. The "transparency" here is an index value that represents the degree to which an image is transparent, and is a concept that includes transmittance. The transparency may also be referred to as transparency. This allows the driver to grasp the change in the accuracy of the attribute of the object just by glancing at the specific image 66K.

[0067] In addition, when the accuracy of any of the multiple types of attributes becomes equal to or greater than a threshold, the display control unit 56 may, as an example, display an image representing the attribute whose accuracy is equal to or greater than the threshold instead of the specific image 66K, as shown in Figure 9.

[0068] 9 is a diagram showing how a specific image 66K displayed in area X transitions to a sedan image 66S. In the example of FIG. 9, the attribute whose accuracy is equal to or greater than the threshold is "sedan," so the sedan image 66S is displayed.

[0069] 9 (S1), the attribute recognition unit 54 detects an object located in front of the vehicle 12, calculates the accuracy of each attribute of the detected object, and if the calculated accuracy is less than a threshold, determines that the attribute of the object is unknown. Since the attribute of the object is unknown, the display control unit 56 displays a specific image 66K.

[0070] In (S2), the attribute recognition unit 54 calculates the accuracy of each attribute of the detected object at predetermined time intervals. The display control unit 56 displays an image (e.g., sedan image 66S) representing an attribute for which the calculated accuracy is equal to or greater than a threshold, in place of the specific image 66K. This displays an image representing an attribute with high accuracy, thereby preventing misunderstanding of the object's attribute.

[0071] 10, the display control unit 56 may superimpose a specific image 66K on an image representing an attribute with the highest degree of certainty among the degrees of certainty for each of a plurality of types of attributes, and remove the specific image 66K when the attribute is confirmed. Note that when the degree of certainty of the attribute is equal to or greater than a threshold, it is determined that the attribute is confirmed.

[0072] Fig. 10 is a diagram showing the removal of a specific image 66K displayed in area X. In the example of Fig. 10, the attribute with the highest accuracy is "sedan," so a sedan image 66S is displayed.

[0073] In (S11) of FIG. 10, the attribute recognition unit 54 detects an object located in front of the vehicle 12, calculates the accuracy of each attribute of the detected object, and if the calculated accuracy is less than a threshold, determines that the attribute of the object is unknown. The attribute recognition unit 54 also identifies the attribute with the highest calculated accuracy. The display control unit 56 displays a specific image 66K superimposed on an image representing the attribute with the highest accuracy (e.g., a sedan image 66S). In the example of FIG. 10, the transparency of the specific image 66K is 0%, so at least a portion of the sedan image 66S is hidden by the specific image 66K.

[0074] In (S12), the attribute recognition unit 54 calculates the accuracy of each attribute of the detected object at predetermined time intervals. When the attribute of the object is determined, the display control unit 56 removes the specific image 66K. In the example of FIG. 10, the attribute of the object is determined to be "sedan," so the specific image 66K is removed and a sedan image 66S is displayed. This displays an image that represents an attribute with high accuracy, thereby preventing misunderstanding of the object's attribute.

[0075] 11, the display control unit 56 may superimpose a specific image 66K on an image representing an attribute with the highest degree of certainty among the degrees of certainty for each of a plurality of types of attributes, and increase the transparency of the specific image 66K as the degree of certainty of the attribute increases. Note that the change in transparency may be gradual or continuous.

[0076] Fig. 11 is a diagram showing how the transparency of a specific image 66K displayed in area X changes. In the example of Fig. 11, the attribute with the highest accuracy is "sedan," so a sedan image 66S is displayed.

[0077] In (S21) of FIG. 11, the attribute recognition unit 54 detects an object located in front of the vehicle 12, calculates the accuracy of each attribute of the detected object, and if the calculated accuracy is less than a threshold, determines that the attribute of the object is unknown. The attribute recognition unit 54 also identifies the attribute with the highest calculated accuracy. The display control unit 56 displays a specific image 66K superimposed on an image representing the attribute with the highest accuracy (e.g., a sedan image 66S). In the example of FIG. 11, the transparency of the specific image 66K is 0%, so at least a portion of the sedan image 66S is hidden by the specific image 66K.

[0078] In (S22), the attribute recognition unit 54 calculates the accuracy of each attribute for the detected object at predetermined time intervals. The display control unit 56 increases the transparency of the specific image 66K as the accuracy of the attribute increases. In the example of FIG. 11, as the accuracy of the object's attribute (here, "sedan") increases, the transparency of the specific image 66K increases, and the sedan image 66S is displayed visibly through the specific image 66K. As the transparency of the specific image 66K gradually increases, the sedan image 66S gradually becomes clearer, as if the so-called "haze" were clearing. Note that when the accuracy exceeds a threshold, the attribute is confirmed, and the transparency of the specific image 66K becomes 100%, i.e., the specific image 66K is removed. This allows the accuracy of the object's attribute to be grasped by the change in transparency of the specific image 66K.

[0079] 12, the display control unit 56 may change the size of the specific image 66K depending on the size of the object. The size of the object is acquired by the attribute recognition unit 54.

[0080] FIG. 12 is a diagram showing a state in which the size of the specific image 66K displayed in the area X is changed.

[0081] For example, if the attributes of the objects located in front of the vehicle 12 and diagonally forward to the right are unknown, and the size of the object in front is relatively small and the size of the object diagonally forward to the right is relatively large, the size of the specific image 66K corresponding to the object in front is made small and the size of the specific image 66K corresponding to the object diagonally forward to the right is made large, as shown in Fig. 12. This allows the sense of the size of the objects to be grasped at a glance at the specific image 66K.

[0082] Furthermore, a plurality of specific images 66K, each differing in at least one of size and transparency, are stored in advance in the storage 36. The storage 36 is an example of a storage unit. The display control unit 56 selectively displays one of the plurality of specific images 66K stored in the storage 36 until the attribute of the object is determined.

[0083] 13 is a diagram showing an example of the specific image database 70. The specific image database (DB) 70 is stored in the storage 36, for example.

[0084] A plurality of specific images 66K that differ in at least one of size and transparency are registered in the specific image DB 70 shown in Fig. 13. This allows various types of specific images 66K to be displayed.

[0085] Next, the operation of the vehicle display control device 28 according to this embodiment will be described with reference to FIG.

[0086] FIG. 14 is a flowchart showing an example of a processing flow of the vehicular display control program according to this embodiment.

[0087] First, when the vehicular display control device 28 is instructed to execute the vehicular display control process, the CPU 30 starts up the vehicular display control program and executes the following steps.

[0088] 14, the CPU 30 acquires surrounding information indicating the surrounding conditions of the vehicle 12. Specifically, as described above, the vehicle 12 is provided with a plurality of sensors capable of detecting the surrounding conditions, and information detected by these sensors is acquired as the surrounding information.

[0089] In step S102, the CPU 30 determines from the surrounding information acquired in step S101 whether or not an object has been detected around the vehicle 12. If it is determined that an object has been detected (in the case of a positive determination), the process proceeds to step S103, and if it is determined that an object has not been detected (in the case of a negative determination), the process returns to step S101 and repeats the process.

[0090] In step S103, the CPU 30 calculates the likelihood of each attribute of the detected object, such as "sedan," "bus," or "truck."

[0091] In step S104, CPU 30 determines whether any of the probabilities for each attribute calculated in step S103 is equal to or greater than a threshold, that is, whether the attribute has been determined. If it is determined that the attribute has not been determined (in the case of a negative determination), the process proceeds to step S105, and if it is determined that the attribute has been determined (in the case of a positive determination), the process proceeds to step S106.

[0092] In step S105, the CPU 30 displays the image 60 including the host vehicle image 61 and the specific image 66K in the area X, as shown in (S1) of FIG. 9 above, for example, and returns to step S103 to repeat the process.

[0093] On the other hand, in step S106, the CPU 30 displays, as an example, an image 60 including the vehicle image 61 and an image representing attributes (e.g., a sedan image 66S) in the area X, as shown in (S2) of FIG. 9 above, and returns to step S101 to repeat the process.

[0094] As described above, according to this embodiment, the attributes of unknown objects located around the vehicle can be displayed in a manner that does not cause misunderstandings by the occupant, thereby preventing the occupant from misunderstanding the attributes of the objects.

[0095] In the above embodiment, the vehicular display control process executed by the CPU 30 by reading software (programs) may be executed by various processors other than a CPU. Examples of such processors include a programmable logic device (PLD) (such as a field-programmable gate array (FPGA)) whose circuit configuration can be changed after manufacture, and a dedicated electrical circuit such as an application-specific integrated circuit (ASIC) that is a processor having a circuit configuration specifically designed to execute a specific process. The vehicular display control process may be executed by one of these various processors, or by a combination of two or more processors of the same or different types (e.g., multiple FPGAs, or a combination of a CPU and an FPGA). The hardware structure of these various processors is, more specifically, an electrical circuit that combines circuit elements such as semiconductor elements.

[0096] In the above embodiment, the vehicle display control program is pre-stored (installed) in the ROM 32 or the storage 36, but the present invention is not limited to this. The vehicle display control program may be provided in a form stored in a recording medium such as a CD-ROM (Compact Disk Read Only Memory), a DVD-ROM (Digital Versatile Disk Read Only Memory), or a USB (Universal Serial Bus) memory. The vehicle display control program may also be downloaded from an external device via a network.

[0097] Furthermore, the configuration of the vehicular display control device described in the above embodiment is merely an example, and may be changed depending on the situation without departing from the spirit of the invention.

[0098] Furthermore, the processing flow of the program described in the above embodiment is also an example, and unnecessary steps may be deleted, new steps may be added, or the processing order may be rearranged within the scope of the main idea. [Explanation of symbols]

[0099] 28 Vehicle display control device 56 Display control unit 60 images 66K specific images C1~C3 Virtual viewpoint V1~V3 display area

Claims

1. an acquisition unit that acquires a surrounding situation of the host vehicle; a display control unit that, when an image showing a surrounding situation of the host vehicle is displayed in a display area provided around a driver's seat of the host vehicle, if an attribute of an object located around the host vehicle is unknown, displays the object in a manner indicating that the attribute has not been determined until the attribute is determined; A vehicle display control device comprising:

2. The aspect is a specific image representing a predetermined shape, the display control unit changes the display form of the specific image according to a degree of certainty indicating the degree of certainty of the attribute of the object. The vehicle display control device according to claim 1 .

3. the attribute is a plurality of types of attribute, When any of the probabilities for the plurality of types of attributes is equal to or greater than a threshold, the display control unit displays an image representing the attribute whose probabilities are equal to or greater than the threshold in place of the specific image. The vehicle display control device according to claim 2 .

4. the attribute is a plurality of types of attribute, the display control unit displays the specific image superimposed on an image representing the attribute with the highest degree of certainty among the degrees of certainty for each of the plurality of types of attributes, and removes the specific image when the attribute is determined. The vehicle display control device according to claim 2 .

5. the attribute is a plurality of types of attribute, the display control unit displays the specific image superimposed on an image representing an attribute having the highest degree of certainty among the degrees of certainty for each of the plurality of types of attributes, and increases the transparency of the specific image as the degree of certainty of the attribute increases. The vehicle display control device according to claim 2 .

6. The aspect is a specific image representing a predetermined shape, the display control unit changes the size of the specific image in accordance with the size of the object; The vehicle display control device according to claim 1 .

7. The aspect is a specific image representing a predetermined shape, a storage unit that stores in advance a plurality of the specific images that differ in at least one of size and transparency; the display control unit selectively displays any one of the plurality of specific images stored in the storage unit until the attribute of the object is determined. The vehicle display control device according to claim 1 .

8. Acquire the surrounding conditions of the vehicle, when an image showing the surrounding conditions of the host vehicle is displayed in a display area provided around a driver's seat of the host vehicle, if an attribute of an object located around the host vehicle is unknown, the object is displayed in a manner indicating that the attribute has not been determined until the attribute is determined. A vehicle display control method in which processing is executed by a computer.

9. Acquire the surrounding conditions of the vehicle, when an image showing the surrounding conditions of the host vehicle is displayed in a display area provided around a driver's seat of the host vehicle, if an attribute of an object located around the host vehicle is unknown, the object is displayed in a manner indicating that the attribute has not been determined until the attribute is determined. A vehicle display control program for causing a computer to execute processing.

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