Display position determination device, display position determination computer program, and display position determination method

Abstract

To provide a display position determination device capable of matching a display position of the other vehicle displayed on a display section with a position of the other vehicle viewed in a real visual field.SOLUTION: A display position determination device comprises: a position determination section 232 for determining a display position, where a vehicle icon representing the other vehicle is displayed on a display section 5a, based on a detection position of the other vehicle detected around a vehicle 10; and a lane selection section 231 for selecting a proximate lane at a position closest to the detection position of the other vehicle based on map information and the detection position of the other vehicle. The position determination section 232 determines the display position of the vehicle icon so as to be displayed in the proximate lane in a case where a separate distance between the detection position of the other vehicle and the proximate lane is longer than a reference distance and a part of the other vehicle is detected to be positioned at a non-existing side of the other lane in a width direction of the proximate lane.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to a display position determination device, a display position determination computer program, and a display position determination method. [Background technology]

[0002] Conventionally, it is known to display information representing the surrounding environment of a vehicle on a display device inside the vehicle to inform the driver of the surrounding environment of the vehicle (for example, see Patent Document 1). For example, other vehicles detected by a sensor mounted on the vehicle are displayed on a display device inside the vehicle so that the driver can recognize their positional relationship with the vehicle.

[0003] This allows the driver to confirm that the information displayed on the display device inside the vehicle does not differ from the surrounding environment of the vehicle as seen by the driver.

[0004] The display position of the vehicle icon representing the other vehicle displayed on the display device is determined based on the detection position of the other vehicle detected by the sensor. If the whole of the other vehicle is not detected by the sensor, the display position of the vehicle icon is determined based on the detected part of the other vehicle, and may not reflect the actual position of the other vehicle. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2017-182586 A Summary of the Invention [Problem to be solved by the invention]

[0006] For example, when the detection position of another vehicle detected by a sensor is a position where no lane exists, the display position of the vehicle icon displayed on the display device is also a position where no lane exists.

[0007] Thus, there are cases where the display position of the vehicle icon displayed on the display device does not match the position of the other vehicle in the driver's field of vision.

[0008] Therefore, an object of the present disclosure is to provide a display position determination device that can match the display position of another vehicle displayed on a display unit with the position of the other vehicle reflected in the actual field of view. [Means for solving the problem]

[0009] According to one embodiment, there is provided a display position determination device, which includes a position determination unit that determines a display position at which a vehicle icon representing another vehicle is displayed on a display unit based on a detection position of the other vehicle detected around a vehicle, and a lane selection unit that selects an adjacent lane that is closest to the detection position of the other vehicle based on map information and the detection position of the other vehicle, and is characterized in that, when a separation distance between the detection position of the other vehicle and the adjacent lane is greater than a reference distance and a part of the other vehicle is detected to be located on a side of the adjacent lane where no other lanes exist in a width direction, the position determination unit determines the display position of the vehicle icon to be displayed in the adjacent lane.

[0010] In addition, in this display position determination device, when the separation distance is greater than the reference distance and a part of the other vehicle is detected to be located on the side of the approaching lane in the width direction where no other lanes exist, it is preferable that the position determination unit determines the display position of the vehicle icon to be displayed at the end of the approaching lane in the width direction on the side of the detected position of the other vehicle.

[0011] In the display position determination device, the position determination unit determines whether or not a state in which the separation distance is greater than the reference distance and a part of the other vehicle is detected to be located on a side of the approaching lane where no other lanes exist in the width direction of the approaching lane has continued for a predetermined reference time, When the separation distance is greater than the reference distance and a part of the other vehicle is detected as being located on the side of the adjacent lane in the width direction where no other lanes exist for a predetermined reference time, it is preferable that the position determination unit determines the display position of the vehicle icon representing the other vehicle so that it is displayed at the detection position of the other vehicle.

[0012] In addition, in this display position determination device, it is preferable that the position determination unit determines the display position of the vehicle icon to be displayed within the adjacent lane when the distance between the detection position of the other vehicle and the center of the adjacent lane is greater than a reference distance and when a part of the other vehicle is detected to be located on the side of the adjacent lane in the width direction where no other lanes exist.

[0013] According to another embodiment, there is provided a computer program for determining a display position, the computer program for determining a display position causes a processor to execute a process including: determining a display position at which a vehicle icon representing another vehicle is to be displayed on a display unit based on a detection position of the other vehicle detected around a vehicle; and selecting an adjacent lane that is closest to the detection position of the other vehicle based on map information and the detection position of the other vehicle; and, when a distance between the detection position of the other vehicle and the adjacent lane is greater than a reference distance and a part of the other vehicle is detected to be located on a side of the adjacent lane where no other lanes exist in a width direction of the adjacent lane, the display position of the vehicle icon is determined to be displayed in the adjacent lane.

[0014] According to yet another embodiment, there is provided a display position determination method, which is executed by a display position determination device, and includes determining a display position at which a vehicle icon representing another vehicle is to be displayed on a display unit based on a detection position of the other vehicle detected around a vehicle, and selecting an adjacent lane that is closest to the detection position of the other vehicle based on map information and the detection position of the other vehicle, and is characterized in that, when a distance between the detection position of the other vehicle and the adjacent lane is greater than a reference distance and a part of the other vehicle is detected to be located on a side of the adjacent lane where no other lanes exist in a width direction of the adjacent lane, the display position of the vehicle icon is determined to be displayed in the adjacent lane. Effect of the Invention

[0015] The display position determination device of the present disclosure determines the display position at which a vehicle icon is displayed on the display unit so that it is displayed within the adjacent lane when the detected position of another vehicle is away from the adjacent lane so as to satisfy a predetermined relationship, thereby enabling the display position of the other vehicle displayed on the display unit to match the position of the other vehicle reflected in the actual field of view. [Brief description of the drawings]

[0016] [Figure 1] 1 is a diagram illustrating an overview of the operation of a display image generating device according to an embodiment of the present invention. [Diagram 2] 1 is a schematic configuration diagram of a vehicle in which a display system according to an embodiment of the present invention is implemented. [Diagram 3] 5 is an example of an operational flowchart relating to a display image generating process of the display image generating device of the present embodiment. [Figure 4] 10 is an example of an operational flowchart relating to a display position determination process of the display image generating device according to the present embodiment. [Diagram 5] 11A and 11B are diagrams illustrating an example of a display position determination process. [Figure 6] FIG. 11 is a diagram illustrating another example of the display position determination process. [Figure 7] 13 is an example of an operational flowchart relating to a display position determination process in a modified example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] 1 is a diagram for explaining an outline of the operation of the display image generating device 13 of this embodiment. The display image generating device 13 is an example of a display position determining device. Hereinafter, an outline of the operation of the display image generating device 13 disclosed in this specification regarding vehicle control processing will be explained with reference to FIG.

[0018] 1, vehicle 10 is traveling on lane 51 of road 50 having lanes 51 and 52. Lane 51 is divided by lane dividing line 53 and lane dividing line (lane boundary line) 54, and lane 52 is divided by lane dividing line 54 and lane dividing line 55. Road 50 curves to the right ahead of vehicle 10.

[0019] The vehicle 10 has a display device 5a and a display image generating device 13. The vehicle 10 can be driven by the vehicle 10 itself. The display image generating device 13 displays other vehicles around the vehicle 10 detected by a sensor (not shown) mounted on the vehicle 10 on the display device 5a so that the driver can confirm that information used to control the vehicle 10 is correct.

[0020] In the example shown in Fig. 1, a sensor (not shown) mounted on the vehicle 10 detects another vehicle 30 at a curve ahead of the vehicle 10. The detection position X of the vehicle 30 is off to the right of the lane 52. There are no other lanes to the right of the lane 52. For example, at a curve, if the entire vehicle 30 is not detected by the sensor due to road features such as a sign 60 or a side wall, the vehicle 30 may be detected as deviating from the lane.

[0021] Generally, it is difficult to imagine that the vehicle 30 would deviate from the lane that it is supposed to be traveling in. Therefore, in reality, it is highly likely that the vehicle 30 is traveling in the lane 52.

[0022] The display image generating device 13 selects the lane 52 that is closest to the detected position X of the vehicle 30 as the adjacent lane, based on the map information and the detected position of the vehicle 30.

[0023] The distance L between the detection position X of the vehicle 30 and the adjacent lane 52 is greater than the reference distance M, and a part of the vehicle 30 is detected to be located on the side where no other lanes exist in the direction perpendicular to the extension direction of the adjacent lane 52 (hereinafter also referred to as the width direction of the adjacent lane). Therefore, the display image generating device 13 determines the display position of the vehicle icon 30a representing the vehicle 30 so that it is displayed within the adjacent lane 52.

[0024] A vehicle icon 10a representing the vehicle 10, lane markings 53a, 54a, 55a representing the lane markings 53, 54, 55, and a vehicle icon 30a representing the vehicle 30 are displayed on the display image 40 of the display device 5a.

[0025] Vehicle icon 10a is displayed between demarcation line 53a and demarcation line 54a at the bottom of display image 40. Vehicle icon 30a is displayed between demarcation line 54a and demarcation line 55a at the top of display image 40. A case where vehicle 30 is displayed at detection position X of vehicle 30 is shown by vehicle icon 30b. If vehicle icon 30b, rather than vehicle icon 30a, were displayed on display device 5a, the display position of vehicle 30 displayed on display device 5a would not match the position of vehicle 30 reflected in the actual field of view.

[0026] As described above, when the distance L between the detection position of the vehicle 30 and the adjacent lane 52 is greater than the reference distance M and part of the vehicle 30 is detected to be located on the side of the adjacent lane 52 where no other lanes exist in the width direction, the display image generating device 13 determines the display position at which the vehicle icon 30a is displayed on the display device 5a so that it is displayed within the adjacent lane 52, thereby making it possible to match the display position of the vehicle 30 displayed on the display device 5a with the position of the vehicle 30 reflected in the actual field of view.

[0027] 2 is a schematic configuration diagram of a vehicle 10 in which the display system 1 of the present embodiment is implemented. The vehicle 10 has a camera 2, a LiDAR sensor 3, a positioning information receiver 4, a user interface (UI) 5, a map information storage device 11, an object detection device 12, a display image generation device 13, and the like. Furthermore, the vehicle 10 may have a distance measurement sensor (not shown) such as a millimeter wave radar for measuring distances to objects around the vehicle 10. The display system 1 has at least the UI 5 and the display image generation device 13.

[0028] The camera 2, the LiDAR sensor 3, the positioning information receiver 4, the UI 5, the map information storage device 11, the object detection device 12, and the display image generating device 13 are communicatively connected via an in-vehicle network 14 that complies with a standard such as a controller area network.

[0029] The camera 2 is an example of an imaging unit provided on the vehicle 10. The camera 2 is attached to the vehicle 10 so as to face the front of the vehicle 10. The camera 2 captures a camera image showing the environment of a predetermined area in front of the vehicle 10 at a camera image capture time that is set, for example, at a predetermined cycle. The camera image may show a road included in the predetermined area in front of the vehicle 10 and road features such as lane markings on the road surface. The camera 2 has a two-dimensional detector composed of an array of photoelectric conversion elements sensitive to visible light, such as a CCD or C-MOS, and an imaging optical system that forms an image of the area to be captured on the two-dimensional detector.

[0030] Every time the camera 2 captures an image, it outputs the image and the time the image was captured to the object detection device 12 or the like via the in-vehicle network 14. The camera image is used by the object detection device 12 in a process of detecting other objects around the vehicle 10.

[0031] The LiDAR sensor 3 is attached to, for example, the outer surface of the vehicle 10 so as to face the front of the vehicle 10. The LiDAR sensor 3 emits a laser to scan the front of the vehicle 10 at a reflected wave information acquisition time set at a predetermined cycle, and receives a reflected wave reflected by a reflecting object. The time required for the reflected wave to return contains distance information between the vehicle 10 and another object located in the direction of the radar irradiation. The LiDAR sensor 3 outputs reflected wave information including the radar irradiation direction and the time required for the reflected wave to return, together with the reflected wave information acquisition time when the radar was emitted, to the object detection device 12 via the in-vehicle network 14. The reflected wave information is used in the object detection device 12 to detect other objects around the vehicle 10. In this embodiment, the reflected wave information acquisition time is synchronized with the camera image capture time.

[0032] The positioning information receiver 4 outputs positioning information indicating the current position of the vehicle 10. For example, the positioning information receiver 4 may be a GNSS receiver. Every time the positioning information receiver 4 acquires positioning information at a predetermined reception cycle, the positioning information receiver 4 outputs the positioning information and the positioning information acquisition time when the positioning information was acquired to the map information storage device 11 or the like.

[0033] The UI 5 is controlled by the display image generating device 13 and the like, and notifies the driver of information used to control the vehicle 10. Information used to control the vehicle 10 includes information on other vehicles around the vehicle 10. The UI 5 has a display device 5a such as a liquid crystal display or a touch panel to display information. The UI 5 may also have an audio output device (not shown) to notify the driver of information. The UI 5 may also notify the driver of information other than the information used to control the vehicle 10 (for example, information related to the traveling of the vehicle 10, such as a traveling route).

[0034] The map information storage device 11 stores map information of a relatively wide area (for example, a range of 10 to 30 km square) including the current position of the vehicle 10. This map information has high-precision map information including three-dimensional information of the road surface, road speed limits, road curvature, road features such as lane markings on the road, and information indicating the types and positions of structures.

[0035] The map information storage device 11 receives wide-area map information from an external server via a base station by wireless communication via a wireless communication device (not shown) mounted on the vehicle 10 according to the current position of the vehicle 10, and stores the information in the storage device. Every time positioning information is input from the positioning information receiver 4, the map information storage device 11 refers to the stored wide-area map information, and outputs map information of a relatively small area (for example, a range of 100 m square to 10 km square) including the current position represented by the positioning information to the object detection device 12, the display image generation device 13, etc. via the in-vehicle network 14.

[0036] The object detection device 12 detects other objects and their types in front of the vehicle 10 based on the camera image. The other objects include moving objects such as pedestrians and other vehicles moving around the vehicle 10. The object detection device 12 has, for example, a classifier that identifies other objects shown in the image by inputting the camera image. For example, a deep neural network (DNN) that is trained in advance to detect an object shown in an input image from the input image can be used as the classifier. The object detection device 12 may use a classifier other than a DNN. For example, the object detection device 12 may use, as the classifier, a support vector machine (SVM) that is trained in advance to input a feature amount (e.g., Histograms of Oriented Gradients, HOG) calculated from a window set on an image and output a confidence level that the object to be detected is shown in the window. Alternatively, the object detection device 12 may detect an object region by performing template matching between a template in which the object to be detected is shown and the image.

[0037] The object detection device 12 may also detect other objects in front of the vehicle 10 based on the reflected wave information. The object detection device 12 may also determine the direction of the other object relative to the vehicle 10 based on the position of the other object in the camera image, and determine the distance between the other object and the vehicle 10 based on the direction and the reflected wave information output by the LiDAR sensor 3. The object detection device 12 estimates the position of the other object, for example, expressed in a vehicle coordinate system having an origin on the vehicle 10, based on the current position of the vehicle 10 and the distance and direction to the other object relative to the vehicle 10. For example, the center of gravity of an area representing the other object may be used as the position of the other object. Alternatively, the position of the other object may be determined by offsetting the position of the center of gravity of the area representing the other object in the traveling direction of the vehicle 10 or in a direction perpendicular to the traveling direction. The object detection device 12 outputs object detection information including information indicating the type of the detected other object (for example, a pedestrian, another vehicle) and information indicating its position to the display image generation device 13, etc.

[0038] Note that the object detection device 12 may detect other objects based on reflected wave information without using a camera image. In this case, the object detection device 12 has, for example, a classifier that inputs the reflected wave information to identify other objects represented in the reflected wave information. In this way, the object detection device 12 estimates the type and position of the other object based on the reflected wave information.

[0039] The display image generating device 13 executes lane selection processing, position determination processing, and image generation processing. To this end, the display image generating device 13 has a communication interface (IF) 21, a memory 22, and a processor 23. The communication interface 21, the memory 22, and the processor 23 are connected via a signal line 24. The communication interface 21 has an interface circuit for connecting the display image generating device 13 to the in-vehicle network 14.

[0040] The memory 22 is an example of a storage unit and includes, for example, a volatile semiconductor memory and a non-volatile semiconductor memory. The memory 22 stores computer programs of applications used in the information processing executed by the processor 23 and various data.

[0041] All or part of the functions of the display image generating device 13 are functional modules realized by, for example, a computer program running on the processor 23. The processor 23 has a lane selection unit 231, a position determination unit 232, and an image generating unit 233. Alternatively, the functional modules of the processor 23 may be dedicated electronic circuits provided in the processor 23. The processor 23 has one or more CPUs (Central Processing Units) and their peripheral circuits. The processor 23 may further have other arithmetic circuits such as a logic arithmetic unit, a numerical arithmetic unit, or a graphic processing unit.

[0042] The map information storage device 11, the object detection device 12, and the display image generation device 13 are, for example, an electronic control unit (ECU). In Fig. 2, the map information storage device 11, the object detection device 12, and the display image generation device 13 are described as separate devices, but all or some of these devices may be configured as a single device.

[0043] Fig. 3 is an example of an operation flowchart relating to the display image generation process of the display image generating device 13 of this embodiment. The display image generation process of the display image generating device 13 will be described below with reference to Fig. 3. The display image generating device 13 executes the display image generation process in accordance with the operation flowchart shown in Fig. 3 at a display image generation time having a predetermined cycle. The cycle in which the display image generation process is executed can be determined by the relationship between the cycle of the camera image capture time and the reflected wave information acquisition time.

[0044] First, the image generating unit 233 generates a display image including lane markings included in a camera image captured by the camera 2 (step S101). The image generating unit 233 acquires the positions of the lane markings in the area represented in the camera image at the position of the vehicle 10 at the time the camera image was captured. In the map information, the area represented in the camera image can be calculated based on internal parameters such as installation position information such as the optical axis direction and mounting position of the camera 2, and the focal length and angle of view of the imaging optical system.

[0045] The image generating unit 233 expresses the coordinates of the lane markings of the area shown in the camera image, expressed in the world coordinate system, in a vehicle coordinate system having an origin on the vehicle 10. For example, the vehicle coordinate system has an origin at the midpoint between the left and right rear wheels of the vehicle 10 and a point on the ground, a zv axis representing the traveling direction of the vehicle 10, an xv axis representing a direction perpendicular to the zv axis and parallel to the ground, and a yv axis representing the vertical direction. Such coordinate transformation can be expressed by rotation and translation of coordinates.

[0046] The image generator 233 generates a projection image by projecting the lane markings expressed in the vehicle coordinate system onto a predetermined projection plane perpendicular to the zv axis, and generates a display image including the lane markings. This predetermined projection plane may be disposed near the driver's seat of the vehicle 10.

[0047] The image generating unit 233 may identify lane markings from the camera image and generate a display image including the lane markings based on the identified lane markings.

[0048] Then, the image generating unit 233 places a vehicle icon representing the vehicle 10 in the lane in which the vehicle 10 is located in the display image. The image generating unit 233 selects the lane in which the vehicle 10 is located based on the current position of the vehicle 10 and the map information. The image generating unit 233 places the vehicle icon representing the vehicle 10 in the lane in which the vehicle 10 is located, below the display image.

[0049] Next, the position determination unit 232 determines whether or not another vehicle has been detected based on the object detection information (step S102). When the object detection information includes another vehicle, the position determination unit 232 determines that the other vehicle has been detected. On the other hand, when the object detection information does not include another vehicle, the position determination unit 232 determines that the other vehicle has not been detected.

[0050] If another vehicle is detected (step S102-Yes), the position determination unit 232 determines a display position at which a vehicle icon representing another vehicle is displayed on the display device 5a (step S103). The display position determination process for determining the display position at which a vehicle icon representing another vehicle is displayed on the display device 5a will be described later.

[0051] Next, the image generating unit 233 places a vehicle icon representing the other vehicle at a display position within the display image (step S104). The vehicle icon may be generated according to the type of the detected other vehicle. For example, a standard vehicle and a large vehicle such as a truck may be generated as different vehicle icons. In addition, it is preferable that the size of the vehicle icon is changed according to the distance between the current position of the vehicle 10 and the other vehicle. In this case, the size of the vehicle icon is determined so that the closer the distance between the current position of the vehicle 10 and the other vehicle is, the larger the vehicle icon will be.

[0052] Next, the image generating unit 233 displays the display image on the display device 5a (step S105), and ends the series of processes.

[0053] On the other hand, if no other vehicle has been detected (step S102-No), the image generating unit 233 displays a display image not including any other vehicle on the display device 5a (step S105), and ends the series of processes.

[0054] 4 is an example of an operational flowchart relating to the display position determination process of the display image generating device of this embodiment. Next, the display position determination process of the display image generating device 13 will be described below with reference to FIG.

[0055] First, the lane selection unit 231 selects an adjacent lane that is closest to the detected position of the other vehicle based on the map information and the detected position of the other vehicle (step S201). The lane selection unit 231 determines the lane that is closest to the detected position of the other vehicle projected onto the road plane as the adjacent lane. For example, the lane selection unit 231 selects the lane that is closest to the center line of the lane in the width direction of the lane and the position of the other vehicle projected onto the road plane.

[0056] Next, the position determination unit 232 determines whether the distance between the detection position of the other vehicle and the adjacent lane is greater than a reference distance (step S202). The position of the other vehicle projected onto the road plane described above can be used as the detection position of the other vehicle. The distance between the detection position of the other vehicle and the center of the adjacent lane can be used as the distance between the detection position of the other vehicle and the adjacent lane. The center line in the width direction of the lane can be used as the center of the adjacent lane. The reference distance can be determined based on the width of the adjacent lane, and can be, for example, 1 m to 1.5 m.

[0057] In addition, the end of the adjacent lane that is closer to the detection position of the other vehicle may be used as the distance between the detection position of the other vehicle and the adjacent lane.

[0058] If the distance between the detection position of the other vehicle and the adjacent lane is greater than the reference distance (step S202-Yes), the position determination unit 232 determines whether or not a part of the other vehicle is detected as being located on the side of the adjacent lane in the width direction where no other lanes exist (step S203).

[0059] The position determination unit 232 determines the width dimension of the other vehicle according to the type of the other vehicle included in the object detection information. Determining the width dimension of the other vehicle according to the type of the other vehicle is preferable from the viewpoint of estimating the correct width dimension of the other vehicle even when the whole of the other vehicle is not shown in the camera image. Note that the position determination unit 232 may estimate the width dimension of the other vehicle based on the number of pixels in the width direction of the area showing the other vehicle shown in the camera image and the distance between the vehicle 10 and the other vehicle.

[0060] The position determination unit 232 aligns the orientation of the width line segment, which represents the dimension of the other vehicle in the width direction, with the width direction of the adjacent lane, and aligns the midpoint of the width line segment with the position of the other vehicle projected onto the road plane. Then, the position determination unit 232 determines whether or not the width line segment is located on the side where no other lanes exist in the width direction of the adjacent lane. If at least a part of the width line segment is located on the side where no other lanes exist in the width direction of the adjacent lane, the position determination unit 232 determines that a part of the vehicle is located on the side where no other lanes exist in the width direction of the adjacent lane. On the other hand, if the width line segment is not located on the side where no other lanes exist in the width direction of the adjacent lane, the position determination unit 232 determines that a part of the vehicle is not located on the side where no other lanes exist in the width direction of the adjacent lane.

[0061] When a part of the other vehicle is detected to be located on the side of the adjacent lane where no other lanes exist in the width direction (step S203-Yes), the position determination unit 232 determines the display position of the vehicle icon representing the other vehicle to be displayed in the adjacent lane (step S204), and ends the series of processes. The position determination unit 232 moves the position of the other vehicle, in which the detection position of the other vehicle is projected onto the road plane, into the adjacent lane in the width direction of the lane, to determine the display position of the other vehicle. For example, the position determination unit 232 determines the display position of the other vehicle to be displayed in the center in the width direction of the adjacent lane. Alternatively, the position determination unit 232 determines the display position of the other vehicle to be displayed at the end of the detection position side of the other vehicle in the width direction of the adjacent lane. The position determination unit 232 projects the display position of the other vehicle expressed in the vehicle coordinate system onto the above-mentioned projection surface, and determines the display position of the vehicle icon in the display image.

[0062] On the other hand, if a part of the other vehicle is not detected as being located on the side of the adjacent lane where no other lanes exist in the width direction (step S203-No), the position determination unit 232 determines the display position of the vehicle icon representing the other vehicle to be displayed at the detected position (step S205), and ends the series of processes. If a part of the other vehicle is not detected as being located on the side of the adjacent lane where no other lanes exist in the width direction, it is estimated that the other vehicle is located in the adjacent lane. The position determination unit 232 projects the display position of the other vehicle expressed in the vehicle coordinate system onto the above-mentioned projection surface, and determines the display position of the vehicle icon in the display image.

[0063] An example of this is when the other vehicle is located in a lane that is adjacent to the adjacent lane and is wider than the adjacent lane. For example, the other vehicle may be moving from an acceleration lane to a main lane, or from a main lane to a deceleration lane. Since the acceleration lane and the deceleration lane may be narrower than the main lane, the acceleration lane or the deceleration lane may be selected as the adjacent lane even if the other vehicle is located in the main lane. In such a case, it is preferable to display the display position of the vehicle icon representing the other vehicle at the detection position from the viewpoint of matching the display position of the other vehicle displayed on the display device 5a with the position of the other vehicle reflected in the actual field of view.

[0064] Furthermore, if the distance between the detection position of the other vehicle and the adjacent lane is not greater than the reference distance (step S202-No), the position determination unit 232 determines the display position of the vehicle icon representing the other vehicle so that it is displayed in the adjacent lane (step S204), and ends the series of processes. In this case, the other vehicle is considered to be traveling in the adjacent lane. For example, the position determination unit 232 determines the display position of the other vehicle so that it is displayed in the center in the width direction of the adjacent lane.

[0065] Next, a process in which the display image generating device 13 generates a display image including other vehicles will be described below with reference to FIGS.

[0066] First, in the example shown in FIG. 1, as described above, another vehicle 30 is detected at a curve ahead of the vehicle 10. The detection position X of the vehicle 30 is on the right side, away from the lane 52. In the width direction of the lane 52, there are no other lanes on the right side. In a curve, if the entire vehicle 30 cannot be detected by the sensor due to road features such as a sign 60 or a side wall, the vehicle 30 may be detected as protruding from the lane. Also, although not in the example shown in FIG. 1, if the other vehicle overlaps with an object such as another vehicle, the position of the other vehicle may not be detected correctly.

[0067] The display image generating device 13 selects the lane 52 that is closest to the detected position X of the vehicle 30 as the adjacent lane, based on the map information and the detected position X of the vehicle 30.

[0068] The distance L between the detection position X of the vehicle 30 and the center of the adjacent lane 52 in the width direction is greater than the reference distance M, and a part of the vehicle 30 is detected to be located on the side of the adjacent lane 52 where no other lanes exist in the width direction of the adjacent lane. Therefore, the display image generating device 13 determines the display position of the vehicle icon 30a representing the vehicle 30 so that it is displayed within the adjacent lane 52.

[0069] The display image generating device 13 then displays the lane markings 53, 54, 55 and the vehicle 30 on the display device 5a together with the vehicle 10. A vehicle icon 10a representing the vehicle 10, markings 53a, 54a, 55a representing the lane markings 53, 54, 55, and a vehicle icon 30a representing the vehicle 30 are displayed on the display image 40 of the display device 5a.

[0070] The vehicle icon 10a is displayed between the demarcation line 53a and the demarcation line 54a at the bottom of the display image 40. The vehicle icon 30a is displayed between the demarcation line 54a and the demarcation line 55a at the top of the display image 40. This allows the driver to confirm that the information grasped by the vehicle 10 does not differ from the actual information.

[0071] A case where the vehicle 30 is displayed at the detection position X of the vehicle 30 is shown by a vehicle icon 30b. If the vehicle icon 30b, instead of the vehicle icon 30a, were displayed on the display device 5a, the display position of the vehicle 30 displayed on the display device 5a would not match the position of the vehicle 30 reflected in the actual field of view.

[0072] 5, another vehicle 30 is also detected at a curve ahead of the vehicle 10. The detection position X of the vehicle 30 is within the lane 52. When the vehicle 30 is located at the detection position X, it is estimated that a part of the vehicle 30 is located on the side of the adjacent lane 52 in the width direction where no other lanes exist.

[0073] The display image generating device 13 selects the lane 52 that is closest to the detected position X of the vehicle 30 as the adjacent lane, based on the map information and the detected position X of the vehicle 30.

[0074] Since the distance L between the detection position X of the vehicle 30 and the widthwise center of the adjacent lane 52 is not greater than the reference distance M, the display image generating device 13 determines the display position of the vehicle icon 30a representing the vehicle 30 so that it is displayed within the adjacent lane 52.

[0075] Then, the display image generating device 13 displays the lane markings 53, 54, 55 and the vehicle 30 on the display device 5a together with the vehicle 10. The vehicle icon 10a is displayed between the marking lines 53a and 54a at the bottom of the display image 40. The vehicle icon 30a is displayed between the marking lines 54a and 55a at the top of the display image 40. This allows the driver to confirm that the information grasped by the vehicle 10 does not differ from the actual information.

[0076] 6, another vehicle 30 is detected at a curve ahead of the vehicle 10. The detection position X of the vehicle 30 is on the right side of the lane 52.

[0077] The display image generating device 13 selects the lane 52 that is closest to the detected position X of the vehicle 30 as the adjacent lane, based on the map information and the detected position of the vehicle 30.

[0078] A distance L between the detection position X of the vehicle 30 and the center of the adjacent lane 52 in the width direction is not larger than a reference distance M. The display image generating device 13 determines the display position of the vehicle icon 30a representing the vehicle 30 so that the vehicle icon 30a is displayed within the adjacent lane 52.

[0079] Then, the display image generating device 13 displays the lane markings 53, 54, 55 and the vehicle 30 on the display device 5a together with the vehicle 10. The vehicle icon 10a is displayed between the marking lines 53a and 54a at the bottom of the display image 40. The vehicle icon 30a is displayed between the marking lines 54a and 55a at the top of the display image 40. This allows the driver to confirm that the information grasped by the vehicle 10 does not differ from the actual information.

[0080] For example, if the detection position of another vehicle detected by the sensor is within a predetermined reference distance from the center of the adjacent lane, a vehicle icon representing the other vehicle may be displayed on the display device so that it is at the center position of the adjacent lane, and if the detection position of the other vehicle is farther away than a predetermined distance from the center of the adjacent lane, a vehicle icon may be displayed on the display device so that it is at the detection position of the other vehicle detected by the sensor.

[0081] However, if the detection position of another vehicle detected by the sensor is farther than a specified distance from the center of the adjacent lane in a direction where there are no lanes, the display position of the vehicle icon displayed on the display device will be in a position where there are no lanes, and as a result, the display position of the vehicle icon displayed on the display device will not match the position of the other vehicle as seen in the driver's actual field of vision.

[0082] Therefore, as described above, the display image generating device of this embodiment determines the display position at which the vehicle icon is displayed on the display device so that it is displayed within the adjacent lane when the distance between the detection position of the other vehicle and the adjacent lane is greater than the reference distance and part of the other vehicle is detected to be located on the side of the adjacent lane in the width direction where there are no other lanes, thereby making it possible to match the display position of the other vehicle displayed on the display device with the position of the other vehicle reflected in the actual field of view.

[0083] Next, a modified example of the display image generating device of the above-mentioned embodiment will be described below with reference to Fig. 7. Fig. 7 is an example of an operational flowchart relating to a display position determination process in the modified example of the display image generating device.

[0084] This modified example differs from the display position determination process shown in Fig. 4 in that step S306 is added. The processes of steps S301 to S305 in Fig. 7 are the same as the processes of steps S201 to S205 in Fig. 4.

[0085] In this modified example, when a part of the other vehicle is detected to be located on the side of the adjacent lane where no other lanes exist in the width direction (step S303-Yes), the position determination unit 232 judges whether or not the state where the part of the other vehicle is detected to be located on the side of the adjacent lane where no other lanes exist in the width direction of the adjacent lane continues for a predetermined reference time (step S306). The object detection unit 12 tracks the detected other vehicle by assigning an identification ID, so that the position determination unit 232 can obtain the time during which the part of the other vehicle assigned the same identification ID is detected to be located on the side of the adjacent lane where no other lanes exist in the width direction of the adjacent lane continues. The reference time can be, for example, 5 to 10 seconds.

[0086] If the state in which a part of the other vehicle is detected to be located on the side of the adjacent lane where no other lanes exist in the width direction does not continue for a predetermined reference time (step S306-No), the position determination unit 232 determines the display position of the vehicle icon representing the other vehicle so that it is displayed within the adjacent lane (step S304), and ends the series of processes.

[0087] On the other hand, if the state where a part of the other vehicle is detected to be located on the side where no other lanes exist in the width direction of the approaching lane continues for a predetermined reference time (step S306-Yes), the position determination unit 232 determines the display position of the vehicle icon representing the other vehicle to be displayed at the detection position (step S304) and ends the series of processes. If the state where a part of the other vehicle is detected to be located on the side where no other lanes exist in the width direction of the approaching lane continues for a long time, it is considered that the position of the other vehicle is not erroneously detected by the sensor, but the other vehicle is likely to be actually located in a direction where no other lanes exist relative to the approaching lane. Therefore, by displaying the display position of the vehicle icon representing the other vehicle at the detection position, the display position of the vehicle 30 displayed on the display device 5a can be matched with the position of the vehicle 30 reflected in the actual field of view.

[0088] In the present disclosure, the display position determination device, the display position determination computer program, and the display position determination method of the above-mentioned embodiments can be modified as appropriate without departing from the spirit of the present disclosure. Furthermore, the technical scope of the present disclosure is not limited to those embodiments, but extends to the inventions described in the claims and their equivalents.

[0089] For example, the method of generating the display image to be displayed on the display unit is not limited to the above-mentioned method. For example, a display image including lane markings and vehicle icons may be generated using a known method. [Explanation of symbols]

[0090] 1 Display System 2 Camera 3 LiDAR Sensor 4 Positioning information receiver 5 User Interface 5a Display device 10 Vehicles 11 Map information storage device 12 Object detection device 13 Display image generation device 21 Communication Interface 22 Memory 23 Processors 231 Lane Selection Section 232 Positioning section 233 Image Generation Unit 14 In-vehicle network

Claims

1. a position determination unit that determines a display position at which a vehicle icon representing the other vehicle is to be displayed on a display unit based on a detected position of the other vehicle detected around the vehicle; a lane selection unit that selects an adjacent lane that is closest to the detected position of the other vehicle based on map information and the detected position of the other vehicle; having The display position determination device is characterized in that, when the distance between the detection position of the other vehicle and the adjacent lane is greater than a reference distance and a part of the other vehicle is detected to be located on the side of the adjacent lane in the width direction where no other lanes exist, the position determination unit determines the display position of the vehicle icon to be displayed at the end of the adjacent lane in the width direction on the side of the detection position of the other vehicle.

2. A position determination unit that determines a display position of a vehicle icon representing another vehicle on a display unit based on a detected position of the other vehicle detected around the vehicle; a lane selection unit that selects an adjacent lane that is closest to the detected position of the other vehicle based on map information and the detected position of the other vehicle; having the position determination unit, when a separation distance between the detection position of the other vehicle and the adjacent lane is greater than a reference distance and a part of the other vehicle is detected to be located on a side of the adjacent lane in a width direction thereof where no other lanes exist, determines a display position of the vehicle icon to be displayed within the adjacent lane; and the position determination unit determines whether or not a state in which the separation distance is greater than the reference distance and a part of the other vehicle is detected to be located on a side of the adjacent lane where no other lanes exist in a width direction of the adjacent lane has continued for a predetermined reference time; A display position determination device characterized in that, when the separation distance is greater than the reference distance and a state in which a part of the other vehicle is detected to be located on the side of the approaching lane in the width direction where no other lanes exist continues for a predetermined reference time, the position determination unit determines the display position of a vehicle icon representing the other vehicle so that it is displayed at the detection position of the other vehicle.

3. A position determination unit that determines a display position of a vehicle icon representing another vehicle on a display unit based on a detected position of the other vehicle detected around the vehicle; a lane selection unit that selects an adjacent lane that is closest to the detected position of the other vehicle based on map information and the detected position of the other vehicle; having 2. The display position determination device according to claim 1, wherein when a distance between the detected position of the other vehicle and a center of the adjacent lane is greater than a reference distance and a part of the other vehicle is detected to be located on a side of the adjacent lane in a width direction where no other lanes exist, the position determination unit determines the display position of the vehicle icon to be displayed within the adjacent lane.

4. determining a display position for displaying a vehicle icon representing the other vehicle on a display unit based on a detected position of the other vehicle detected around the vehicle; selecting an adjacent lane that is closest to the detected position of the other vehicle based on map information and the detected position of the other vehicle; causing a processor to execute a process including: a display position determining computer program for determining a display position, characterized in that, when a distance between the detection position of the other vehicle and the center of the adjacent lane is greater than a reference distance, and when a part of the other vehicle is detected to be located on a side of the adjacent lane in the width direction where no other lanes exist, the display position of the vehicle icon is determined to be displayed within the adjacent lane.

5. A display position determination method executed by a display position determination device, comprising: determining a display position for displaying a vehicle icon representing the other vehicle on a display unit based on a detected position of the other vehicle detected around the vehicle; selecting an adjacent lane that is closest to the detected position of the other vehicle based on map information and the detected position of the other vehicle; Including a display position determination method characterized in that, when a distance between the detection position of the other vehicle and the center of the adjacent lane is greater than a reference distance, and when a part of the other vehicle is detected to be located on a side of the adjacent lane in the width direction where no other lanes exist, the display position of the vehicle icon is determined to be displayed within the adjacent lane.

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