Vehicle display device, display method, and program

Abstract

To provide a vehicle display device, a display method, and a program that can intuitively convey the danger of lane deviation to passengers.SOLUTION: A vehicle display device 10 displays a predetermined image on the projection surface of a head-up display device 44 that shows the foreground of a vehicle 12. The vehicle display device 10 recognizes a travel lane in which the vehicle 12 travels and a position of the vehicle relative to the travel lane, and thereby determines whether the vehicle 12 is likely to deviate from the travel lane. When it is determined that there is a possibility of deviating from the travel lane, the vehicle display device 10 displays an image of a three-dimensional object located along the travel lane in a display area. This allows the vehicle display device to give a visual effect to an occupant that the vehicle is stepping on a three-dimensional object, thereby intuitively communicating the danger of lane deviation.SELECTED DRAWING: Figure 1

Description

[Technical field]

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

[0002] The following Patent Document 1 discloses a vehicle display device (head-up display device) that displays a warning image indicating the direction in which the vehicle will deviate when there is a possibility that the vehicle will deviate from the lane in which it is traveling. This vehicle display device displays a planar image of a pair of boundary lines that indicate the boundaries of the traveling lanes on the road. The image of the pair of boundary lines highlights the image of the boundary line on the departure direction side by utilizing differences in color, brightness, thickness, etc., thereby clearly indicating the departure direction of the vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2018-140646 A Summary of the Invention [Problem to be solved by the invention]

[0004] Meanwhile, rumble strips, which are convex blocks arranged in a strip on a road, are known as a method for warning a driver of lane departure. Rumble strips are considered to be effective in preventing lane departure accidents because the vibrations and sounds made when the driver drives over the blocks make the driver intuitively aware of the risk of lane departure. Therefore, it is desirable for a vehicle display device that warns a driver of lane departure to also intuitively recognize the risk of lane departure. However, it is difficult to make the driver intuitively aware of the risk of lane departure by simply clearly indicating the departure direction using a planar image showing the lane boundary line, as in the above-mentioned Patent Document 1.

[0005] The present disclosure has been made in consideration of the above points, and aims to provide a vehicle display device, a display method, and a program that can intuitively inform occupants of the risk of lane departure. [Means for solving the problem]

[0006] A vehicle display device according to a first aspect of the present disclosure is a vehicle display device that displays a predetermined image in a display area showing a view in front of the vehicle, and includes a lane recognition unit that recognizes the lane in which the vehicle is traveling, a vehicle position recognition unit that recognizes the position of the vehicle relative to the lane, a lane departure determination unit that determines whether or not the vehicle is likely to deviate from the lane based on the recognized lane and the position of the vehicle, and a lane departure determination unit that displays an image of a three-dimensional object arranged along the lane when it is determined that the vehicle is likely to deviate from the lane. The three-dimensional object is displayed in the display area in a vibrating manner, and at least one of the vibration period and the amplitude of the image of the three-dimensional object is changed according to the distance between the vehicle and a boundary line in the road width direction of the travel lane. and a display instruction unit, wherein the image of the three-dimensional object is an image of a row of a plurality of objects on a road surface spaced apart from each other.

[0007] According to the first aspect, the vehicle display device displays a predetermined image in a display area showing the view in front of the vehicle. The vehicle display device recognizes the lane in which the vehicle is traveling and the position of the vehicle relative to the lane, and determines whether or not the vehicle is likely to deviate from the lane based on the recognition. When determining that the vehicle is likely to deviate from the lane, the vehicle display device displays an image of a three-dimensional object arranged along the lane in the display area. This allows the vehicle display device to give the occupant a visual effect of the vehicle running over the three-dimensional object, thereby intuitively conveying the risk of lane departure. In addition, because the image of the vibrating three-dimensional object is displayed in the display area, the occupant can feel a sense of presence as if the vehicle is vibrating as it steps on the three-dimensional object. This allows the vehicle display device to more effectively give the occupant a visual effect of the vehicle stepping on a three-dimensional object. Furthermore, since the vibration period or amplitude of the image of the three-dimensional object can be changed according to the distance between the vehicle and the boundary line in the road width direction of the driving lane, the strength of the visual effect given to the occupant can be adjusted according to the possibility of lane departure. For example, by shortening the vibration period of the image of the three-dimensional object or increasing the amplitude as the distance between the vehicle and the boundary line of the driving lane approaches, the visual effect given to the occupant that the vehicle feels as if it has stepped on the three-dimensional object can be enhanced. In this way, the vehicle display device can allow the occupant to intuitively recognize the degree of risk of lane departure.

[0008] A vehicle display device according to a second aspect of the present disclosure has the configuration described in the first aspect, and the lane departure judgment unit judges that the vehicle is likely to deviate from the driving lane when the distance between the vehicle and a road width direction boundary line in the driving lane becomes equal to or less than a predetermined threshold.

[0009] According to the vehicle display device of the second aspect, when the vehicle approaches a road width direction boundary line of the driving lane, it is determined that the vehicle may deviate from the driving lane and an image of a three-dimensional object is displayed in the display area. This allows the occupants to recognize the risk of lane deviation when the vehicle is in a driving state where there is a high possibility of deviation from the driving lane.

[0010] A vehicle display device according to a third aspect of the present disclosure, in the configuration described in the first aspect, further includes a travel direction recognition unit that recognizes the vehicle's travel direction, and the lane departure judgment unit judges that the vehicle is likely to deviate from the travel lane when an angle between the vehicle and a road width direction boundary line in the travel lane becomes equal to or greater than a predetermined threshold.

[0011] According to the vehicle display device of the third aspect, when the angle between the vehicle and the boundary line in the road width direction of the driving lane becomes equal to or larger than a predetermined threshold, it is determined that the vehicle is likely to deviate from the driving lane, and an image of a three-dimensional object is displayed in the display area. This allows the occupants to be aware of the risk of lane departure while traveling on a route where the vehicle is likely to deviate from the driving lane, such as when the vehicle advances into a driving lane with a sharp curve.

[0012] A vehicle display device according to a fourth aspect of the present disclosure has a configuration described in any one of the first to third aspects, and the display instruction unit displays an image of the three-dimensional object in the display area before the vehicle departs from the driving lane.

[0013] According to the fourth aspect, an image of a three-dimensional object can be displayed in the display area before the vehicle departs from the driving lane, making the driver aware of the risk of lane departure, thereby effectively preventing lane departure accidents caused by the vehicle.

[0014] A vehicle display device according to a fifth aspect of the present disclosure has a configuration described in any one of the first to fourth aspects, wherein the display instruction unit displays an image of the three-dimensional object in the display area so as to move from the back side to the front side of the display area along the driving lane.

[0015] According to the vehicle display device of the fifth aspect, the image of the three-dimensional object is displayed as if it is moving along the driving lane from the back side to the front side of the display area, so that the occupant can feel a sense of presence as if the three-dimensional object arranged on the driving route is approaching the vehicle. This allows the vehicle display device to more effectively give the occupant a visual effect of the vehicle running over the three-dimensional object.

[0020] The present disclosure Sixth Aspect The vehicle display device according to the present invention is Fifth aspect In the configuration described in any one of the above aspects, the display area is a projection surface projected by a head-up display device in front of the driver's seat of the vehicle, and the display instruction unit displays an image of the three-dimensional object in the display area along the driving lane in the foreground of the vehicle that is visible through the display area.

[0021] Sixth Aspect According to the document, a display area showing the view in front of the vehicle is a projection surface projected by a head-up display device in front of the driver's seat. The image of the three-dimensional part is displayed along the driving lane that is visually recognized through the display area. In this way, the vehicle display device displays a three-dimensional object so as to blend with the view in front of the driver's seat, so that the occupant in the driver's seat can recognize the risk of lane departure without moving his or her line of sight significantly.

[0022] The present disclosure In the seventh aspect The display method is a display method for causing a computer to execute a process of displaying a predetermined image in a display area showing a view in front of a vehicle, the display method including the steps of: recognizing the lane in which the vehicle is traveling; recognizing the position of the vehicle relative to the lane; determining whether or not there is a possibility that the vehicle will deviate from the lane based on the recognized lane in which the vehicle is traveling and the position of the vehicle; and, when it is determined that there is a possibility that the vehicle will deviate from the lane in which the vehicle is traveling, displaying an image of a three-dimensional object arranged along the lane in which the vehicle is traveling. The three-dimensional object is displayed in the display area in a vibrating manner, and at least one of the vibration period and the amplitude of the image of the three-dimensional object is changed according to the distance between the vehicle and a boundary line in the road width direction of the travel lane. Processing is executed, and the image of the three-dimensional object is an image of a row of a plurality of objects on a road surface spaced apart from each other.

[0023] Seventh aspectAccording to the display method of the present invention, as described above, it is possible to intuitively inform the occupants of the risk of lane departure.

[0024] The present disclosure Eighth aspect The program relating to the present invention is a program for displaying a predetermined image in a display area showing a view in front of a vehicle, and includes a computer that recognizes the lane in which the vehicle is traveling, recognizes the position of the vehicle relative to the lane, determines whether or not the vehicle is likely to deviate from the lane based on the recognized lane and the position of the vehicle, and, when it is determined that the vehicle is likely to deviate from the lane, displays an image of a three-dimensional object arranged along the lane. The three-dimensional object is displayed in the display area in a vibrating manner, and at least one of the vibration period and the amplitude of the image of the three-dimensional object is changed according to the distance between the vehicle and a boundary line in the road width direction of the travel lane. The image of the three-dimensional object is an image of a row of a plurality of objects on a road surface spaced apart from each other.

[0025] Eighth aspect According to the program according to the present invention, as described above, it is possible to intuitively inform the occupants of the risk of lane departure. Effect of the Invention

[0026] According to the present disclosure, it is possible to intuitively inform occupants of the risk of lane departure. [Brief description of the drawings]

[0027] [Figure 1] 1 is a schematic diagram of a front part of a vehicle interior of a vehicle to which a vehicle display device according to an embodiment of the present invention is applied, viewed from the rear side of the vehicle. [Diagram 2] 1 is a block diagram showing a hardware configuration of a vehicle display device according to an embodiment of the present invention; [Diagram 3] 1 is a block diagram showing a functional configuration of a vehicle display device according to an embodiment of the present invention; [Figure 4] This is a plan view showing a schematic diagram of a vehicle in motion, where (A) shows the distance between the vehicle and the boundary line of the travel lane in the road width direction, and (B) shows the angle between the boundary line of the travel lane and the vehicle's direction of travel. [Diagram 5] 5A to 5C are diagrams illustrating a display example of a display area according to the embodiment. [Figure 6] 10 is a flowchart showing an example of the flow of a display process in the present embodiment. [Figure 7] FIG. 13 is a diagram showing an example of a method for displaying an image of a single three-dimensional object in a display area. [Figure 8] 11A and 11B are diagrams illustrating an example of a method for displaying images of a plurality of three-dimensional objects in a display area. [Figure 9] 9 is a partial enlarged view showing an example of a method for displaying an image of a three-dimensional object displayed in an area P shown in FIG. 8. FIG. [Figure 10] FIG. 11 is a schematic diagram showing a vehicle display device according to a modified example of the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0028] A vehicle 12 to which a vehicle display device 10 according to the embodiment is applied will be described with reference to the drawings. The vehicle 12 of the embodiment is configured to be switchable between automatic driving and manual driving, as an example. Automatic driving is a driving mode of the vehicle in which some or all of the operations of the accelerator, brake, turn signal, steering, etc. are performed automatically. Manual driving is a driving mode of the vehicle in which the driver performs all driving operations (operations of the accelerator, brake, turn signal, steering, etc.). As shown in FIG. 1, an instrument panel 14 is provided at the front of the passenger compartment of the vehicle 12.

[0029] 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, 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.

[0030] A windshield glass 18 is provided at the front end of the instrument panel 14. The windshield glass 18 is disposed on the vehicle front side of the driver's seat, extends in the vertical and lateral directions of the vehicle, and separates the inside and outside of the vehicle compartment.

[0031] 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 width direction of the vehicle. In addition, the front end of a front side glass 22 is fixed to the outer end of the front pillar 20 in the width direction of the vehicle. The left end of the windshield glass 18 is fixed to a front pillar on the left side of the vehicle (not shown).

[0032] Here, the instrument panel 14 is provided with a first display section 24 having a display area for a predetermined image. The first display section 24 is configured as a meter display provided in front of the driver's seat on the right side of the instrument panel 14 when viewed in the vehicle width direction. The meter display constitutes a part of a meter display device (not shown) that is connected to various meter devices mounted on the vehicle 12. The first display section 24 is provided at a position that is within the field of view of the driver when the driver is looking forward toward the front of the vehicle.

[0033] Instrument Panel 14 The second display unit 25 has a display area for displaying a predetermined image. The second display unit 25 is configured with a display provided in the center of the instrument panel 14 in the vehicle width direction, on the vehicle front side of the driver's seat.

[0034] The windshield glass 18 is provided with a third display unit 26 having a display area for a predetermined image. 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 44 (see FIG. 2). Specifically, the head-up display device 44 is provided on the vehicle forward side of the instrument panel 14, and is configured so that an image is projected from the head-up display device 44 onto the third display unit 26 of the windshield glass 18. That is, the third display unit 26 is configured as the windshield glass 18 serving as the projection surface for the head-up display device 44.

[0035] (Hardware configuration of the vehicle display device 10) The vehicle 12 is provided with an ECU (Electronic Control Unit) 28 as a control unit. Fig. 2 is a block diagram showing a hardware configuration of the vehicle display device 10. As shown in Fig. 2, the ECU 28 of the vehicle display device 10 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 38, and an input / output interface 40. Each component is connected to each other via a bus 42 so as to be able to communicate with each other.

[0036] The CPU 30 is a central processing unit that executes various programs and controls each part. That is, the CPU 30 reads a program from the ROM 32 or the storage 36, and executes the program using the RAM 34 as a working area. The CPU 30 controls each of the above components and performs various arithmetic processing according to the program recorded in the ROM 32 or the storage 36.

[0037] 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 with an HDD (Hard Disk Drive) or an SSD (Solid State Drive) and stores various programs including an operating system and various data. In this embodiment, the ROM 32 or the storage 36 stores programs for performing display processing, various data, and the like.

[0038] The communication interface 38 is an interface for the vehicle display device 10 to communicate with a server and other devices (not shown), and uses standards such as Ethernet (registered trademark), LTE, FDDI, and Wi-Fi (registered trademark).

[0039] A head-up display device 44 that projects predetermined images on the first display unit 24, the second display unit 25, and the third display unit 26, and an actuator 46 are connected to the input / output interface 40. The actuator 46 is configured to include a steering actuator, an accelerator actuator, and a brake actuator, and the steering actuator steers the vehicle 12. The accelerator actuator accelerates the vehicle 12. The brake actuator controls the brakes to decelerate the vehicle 12. A camera (not shown) that captures images of the periphery of the vehicle 12, sensors for causing the vehicle 12 to travel automatically, a GPS device, and the like are connected to the input / output interface 40.

[0040] (Functional configuration of the vehicle display device 10) The vehicle display device 10 uses the above hardware resources to realize various functions. The functional configuration realized by the vehicle display device 10 will be described with reference to FIG.

[0041] 3, the vehicular display device 10 includes, as functional components, a communication unit 50, an acquisition unit 51, an operation plan setting unit 52, an automatic driving control unit 54, a lane recognition unit 56, a vehicle position recognition unit 58, a lane departure determination unit 60, an image generation unit 62, and a display instruction unit 64. Each functional component is realized by the CPU 30 reading and executing a program stored in the ROM 32 or the storage 36.

[0042] The communication unit 50 transmits and receives data to and from an external server and other devices via the communication interface 38. For example, the communication unit 50 transmits and receives map data stored in a server and data on traffic conditions, etc. The communication unit 50 may also be configured to perform vehicle-to-vehicle communication with surrounding vehicles.

[0043] The acquisition unit 51 acquires the driving environment of the vehicle 12 as surrounding information from an external sensor (not shown) via the input / output interface 40. The external sensor includes at least one of a camera that captures an image of a predetermined range around the vehicle 12, a millimeter wave radar that transmits a search wave to a predetermined range, and a lidar (Light Detection and Ranging / Laser Imaging Detection and Ranging) that scans a predetermined range. In addition, the "surrounding information" includes, for example, the road width of the lane 70 (see FIG. 4, FIG. 5, etc.) in which the vehicle 12 is traveling, other vehicles traveling near the vehicle 12, obstacles, etc.

[0044] The operation plan setting unit 52 sets an operation plan for the vehicle 12. Specifically, the operation plan setting unit 52 sets an operation plan from the current location to the destination by inputting the destination by the occupant.

[0045] The automatic driving control unit 54 controls switching between manual driving and automatic driving of the vehicle 12. Furthermore, when the driving mode of the vehicle 12 is switched to automatic driving, the automatic driving control unit 54 automatically drives the vehicle 12 according to a set operation plan while taking into consideration the position information and environmental information around the vehicle 12. Specifically, the automatic driving control unit 54 controls the actuator 46 to automatically drive the vehicle 12.

[0046] The lane recognition unit 56 has a function of recognizing the lane in which the vehicle is traveling. Specifically, the lane recognition unit 56 recognizes the lane by analyzing white lines drawn on the road surface based on an image captured by a camera that captures the area ahead of the vehicle 12. The recognition of the lane includes the recognition of the shape of the lane and the recognition of the width of the lane. The lane recognition unit 56 may recognize the lane in which the vehicle 12 is traveling based on the vehicle position information acquired by a GPS device and high-precision map information.

[0047] The vehicle position recognition unit 58 has a function of recognizing the position of the vehicle relative to the driving lane. Specifically, the vehicle position recognition unit 58 estimates the position of the vehicle 12 relative to the driving lane based on an image captured by a camera that captures the view ahead of the vehicle 12. The estimation of the position of the vehicle 12 includes estimating the position of the vehicle 12 relative to a boundary line (e.g., a white line) in the road width direction of the driving lane, and estimating the traveling direction of the vehicle 12. The vehicle position recognition unit 58 may recognize the position and traveling direction of the vehicle 12 relative to the driving lane based on vehicle position information acquired by a GPS device and high-precision map information.

[0048] The lane departure judgment unit 60 judges whether or not the vehicle is likely to deviate from the driving lane based on the driving lane and the vehicle position recognized by the lane recognition unit 56 and the vehicle position recognition unit 58. Specifically, as shown in FIG. 4(A), when the distance D1 between the vehicle 12 and the boundary line in the road width direction of the driving lane 70 becomes equal to or less than a predetermined threshold, the lane departure judgment unit 60 judges that the vehicle 12 is likely to deviate from the driving lane 70. FIG. 4(A) shows the distance D1 between the vehicle 12 and a white line L1 indicating the boundary line on the left side in the road width direction of the driving lane 70. Note that FIG. 4(A) only shows the distance D1 between the white line L1 on the left side of the vehicle 12 and the vehicle 12, but the lane departure judgment unit 60 can also make a similar judgment based on the distance between the white line L2 on the right side of the vehicle 12 and the vehicle 12.

[0049] Also, as shown in FIG. 4B, the lane departure determination unit 60 may determine that the vehicle 12 may deviate from the driving lane 70 when an angle θ1 between a boundary line in the road width direction in the driving lane 70 and the traveling direction of the vehicle becomes equal to or greater than a predetermined threshold value. In FIG. 4B, the traveling direction of the vehicle 12 (the center line direction of the vehicle) is indicated by a straight line C, and a tangent direction of a white line L1 located on the left side in the road width direction with respect to a reference position O of the vehicle 12 is indicated by a straight line T. The reference position O of the vehicle 12 is, for example, the center position of the vehicle 12. In this embodiment, as an example, the angle θ1 between the straight line C and the straight line T is set to the angle θ1 between the boundary line in the road width direction in the driving lane 70 and the traveling direction of the vehicle.

[0050] The angle θ1 between the boundary line in the road width direction of the travel lane 70 and the traveling direction of the vehicle becomes larger as the tangent direction of the white line L1 differs from the traveling direction of the vehicle 12. Therefore, for example, when the vehicle 12 approaches a sharp curve in the travel lane, the angle θ1 may be set to be equal to or greater than a predetermined threshold value to determine that the vehicle 12 may deviate from the travel lane 70.

[0051] In addition, Figure 4 (B) only shows the angle θ1 between the tangent direction of the white line L1 on the left side of the vehicle 12 and the traveling direction of the vehicle 12, but the lane departure judgment unit 60 can make a similar judgment based on the angle between the tangent direction of the white line L2 on the right side of the vehicle 12 and the traveling direction of the vehicle 12.

[0052] The image generating unit 62 generates an image to be displayed on the third display unit 26, which is the projection surface of the head-up display device 44. The images generated by the image generating unit 62 include, for example, a meter display M (see FIG. 5) indicating the traveling speed of the vehicle 12, and various images intended to assist manual driving and automatic driving.

[0053] Particularly in this embodiment, when the lane departure judgment unit 60 judges that there is a possibility that the vehicle 12 will depart from the driving lane, the image generation unit 62 displays a stereoscopic image B (see FIG. 7) in the display area of ​​the third display unit 26. As an example, the stereoscopic image B is an image of a block-shaped three-dimensional object. As shown in FIG. 8, in this embodiment, a plurality of stereoscopic images B are displayed on the third display unit 26 along the driving lane 70. A method of displaying the stereoscopic image B will be described later in detail.

[0054] The display instruction unit 64 has a function of displaying the image generated by the image generation unit 62 in the display area of ​​the third display unit 26 , and a function of deleting the image displayed on the third display unit 26 .

[0055] The display instruction unit 64 displays various images in the display area of ​​the third display unit 26 so as to blend in with the foreground of the vehicle 12 as viewed by the occupant in the driver's seat through the third display unit 26 (windshield glass 18), for example. Fig. 5 shows an example of the third display unit 26 as viewed by the occupant in the driver's seat. In this figure, the display area of ​​the third display unit 26 displays the meter display M in a manner that avoids overlapping with the white lines L1, L2 on the road, taking into consideration the visibility of the occupant in the driver's seat.

[0056] Furthermore, particularly in this embodiment, when the lane departure judgment unit 60 judges that there is a possibility that the vehicle 12 will depart from the driving lane, the display instruction unit 64 displays the stereoscopic image B in the display area along the driving lane 70 in front of the vehicle 12 as viewed through the third display unit 26 (windshield glass 18). Therefore, when the stereoscopic image B is displayed on the third display unit 26, it is possible to provide the occupant in the driver's seat who views the third display unit 26 with a visual effect that a block-shaped three-dimensional object is placed near the driving lane 70.

[0057] In addition, the display instruction unit 64 deletes the stereoscopic image B from the third display unit 26 when the lane departure judgment unit 60 judges that there is a possibility that the vehicle 12 will deviate from the driving lane, and then judges that there is no possibility that the vehicle will deviate from the driving lane.

[0058] (action) Next, the operation of this embodiment will be described.

[0059] (Display processing) An example of a display process for displaying a stereoscopic image B on the third display unit 26, which is the projection screen of the head-up display device 44, will be described with reference to the flowchart shown in Fig. 6. This display process is executed by the CPU 30 reading a display program from the ROM 32 or the storage 36, expanding it in the RAM 34, and executing it.

[0060] 6, the CPU 30 determines whether the vehicle 12 is moving in step S100. If the CPU 30 determines that the vehicle 12 is moving, the process proceeds to step S101. If the CPU 30 determines that the vehicle 12 is not moving in step S100, the CPU 30 ends the display process.

[0061] In step S101, the CPU 30 recognizes the driving lane 70 on which the vehicle 12 is traveling, based on the function of the lane recognition unit 56.

[0062] In step S102, the CPU 30 recognizes the position of the vehicle 12 relative to the driving lane 70 based on the function of the vehicle position recognition unit 58.

[0063] In step S103, the CPU 30 determines whether or not there is a possibility that the vehicle 12 will deviate from the driving lane 70 based on the function of the lane departure determination unit 60. Specifically, as shown in FIG. 4(A), when the distance D1 between the vehicle 12 and the boundary line (white lines L1, L2) in the road width direction of the driving lane 70 becomes equal to or less than a predetermined threshold, it is determined that there is a possibility that the vehicle 12 will deviate from the driving lane 70. As an example, the threshold value of the distance D1 is set to a distance at which the vehicle 12 does not step over the white lines L1, L2 of the driving lane 70. As a result, in a step described later, it is possible to warn the occupant of the risk of lane departure before the vehicle 12 deviates from the driving lane 70.

[0064] 4B, when an angle θ1 between a boundary line (white lines L1, L2) in the travel lane 70 in the road width direction and the traveling direction of the vehicle 12 becomes equal to or larger than a predetermined threshold, the CPU 30 determines that there is a possibility that the vehicle 12 will deviate from the travel lane 70. Therefore, for example, when the vehicle 12 travels straight on the travel lane 70 that makes a sharp curve, the angle θ1 becomes equal to or larger than a predetermined threshold, and it is determined that there is a possibility that the vehicle 12 will deviate from the travel lane 70.

[0065] If the CPU 30 determines in step S103 that there is a possibility that the vehicle 12 will deviate from the driving lane 70, the process proceeds to step S104. On the other hand, if the CPU 30 determines that there is no possibility that the vehicle 12 will deviate from the driving lane 70, the process proceeds to step S105.

[0066] In step S104, the CPU 30, based on the functions of the image generation unit 62 and the display instruction unit 64, displays a block-shaped three-dimensional image B in the display area of ​​the third display unit 26 before the vehicle 12 departs from the driving lane 70. This three-dimensional image B is displayed along the driving lane 70 ahead of the vehicle as viewed through the third display unit 26, so that it is possible to give the occupant in the driver's seat a visual effect that a block-shaped three-dimensional object is placed near the driving lane 70.

[0067] In particular, in this embodiment, a stereoscopic image B is displayed along the boundary line on the driving lane 70 on the side in the lane departure direction of the vehicle 12. This allows the occupant in the driver's seat to recognize the lane departure direction without moving his or her line of sight from the foreground of the vehicle.

[0068] Here, with reference to Figs. 7 to 9, a description will be given of an example of a display on the third display unit 26 when it is determined that there is a possibility that the vehicle 12 will deviate to the left of the driving lane 70.

[0069] As shown in Fig. 7, a block-shaped stereoscopic image B is displayed in the display area of ​​the third display unit 26 so as to blend in with the driving lane 70 in the foreground of the vehicle 12. The stereoscopic image B flows from the back to the front of the display area along the white line L1 on the left side in the road width direction. The stereoscopic image B is enlarged as it moves from the back to the front of the display area. This provides the occupant in the driver's seat with the visual effect that the traveling vehicle 12 is running over an approaching three-dimensional object.

[0070] In this embodiment, as shown in Fig. 8, a plurality of stereoscopic images B moving in the above-mentioned manner are displayed in the display area of ​​the third display unit 26. The plurality of stereoscopic images B each move in a flowing manner from the back side to the front side of the display area, stop moving at the front side of the display area, and are then displayed lined up in a row along the driving lane 70. This provides the occupant in the driver's seat with the visual effect that rumble strips are formed along the white line L1 on the departure direction (left direction) side of the vehicle 12.

[0071] As shown enlarged in Fig. 9, the stereoscopic image B, which stops moving in front of the display area, is displayed to vibrate in the vertical direction. This allows the occupant in the driver's seat who sees the third display unit 26 to feel a sense of reality as if the vehicle 12 is vibrating as he steps on a three-dimensional object. At least one of the vibration period and the amplitude may be changed according to the distance D1 between the white lines L1, L2 and the vehicle 12, or the angle θ1 (see Fig. 4) between the white lines L1, L2 and the traveling direction of the vehicle 12. For example, the visual effect given to the occupant can be improved by decreasing the vibration period or increasing the amplitude as the distance D1 between the white lines L1, L2 and the vehicle 12 becomes closer.

[0072] Although an example in which the stereoscopic image B is vibrated in the vertical direction has been described with reference to FIG. 9, the present invention is not limited to this, and the stereoscopic image B may be vibrated in the horizontal direction or in an oblique direction.

[0073] As described above, the vehicular display device 10 according to this embodiment recognizes the lane in which the vehicle 12 is traveling and the position of the vehicle 12 relative to the lane, and determines whether or not there is a possibility that the vehicle 12 will deviate from the lane based on the above. Furthermore, when determining that there is a possibility that the vehicle 12 will deviate from the lane, the vehicular display device 10 displays a stereoscopic image B arranged along the lane in the display area. This allows the vehicular display device 10 to give the occupant a visual effect that makes it appear as if the vehicle 12 is running over a three-dimensional object, thereby intuitively conveying the risk of lane departure.

[0074] 4(A), when the vehicle 12 approaches the white lines L1, L2 indicating the boundary lines in the road width direction in the driving lane 70, the vehicular display device 10 according to this embodiment determines that there is a possibility that the vehicle 12 will deviate from the driving lane 70. This allows the occupants to recognize the risk of lane deviation when the vehicle 12 is in a driving state where there is a high possibility that the vehicle 12 will deviate from the driving lane.

[0075] 4B, the vehicular display device 10 according to this embodiment determines that there is a possibility that the vehicle 12 will deviate from the driving lane 70 when the angle θ1 between the vehicle 12 and the white lines L1, L2 indicating the boundary line in the road width direction in the driving lane 70 becomes equal to or larger than a predetermined threshold value. This allows the occupants to be made aware of the risk of lane deviation while the vehicle 12 is traveling on a route where there is a high possibility that the vehicle 12 will deviate from the driving lane, such as when the vehicle 12 advances into a driving lane with a sharp curve.

[0076] In addition, in this embodiment, before the vehicle 12 deviates from the driving lane 70, the stereoscopic image B is displayed in the display area of ​​the third display unit 26, so that the occupants can be made aware of the danger. Therefore, lane departure accidents caused by the vehicle 12 can be effectively prevented.

[0077] In addition, in this embodiment, the stereoscopic image B is displayed moving from the back to the front of the display area along the driving lane 70 (white lines L1, L2), so that the occupant can feel a sense of presence as if a three-dimensional object arranged on the driving route is approaching the vehicle. This allows the vehicular display device 10 to more effectively give the occupant a visual effect that makes it seem as if the vehicle 12 is running over a three-dimensional object.

[0078] In addition, in this embodiment, since the vibrating stereoscopic image B is displayed in the display area, the passenger can feel a sense of reality as if the vehicle is vibrating as it steps on a three-dimensional object. This allows the vehicular display device 10 to more effectively give the passenger a visual effect of the vehicle 12 stepping on a three-dimensional object.

[0079] In this embodiment, the vibration period or amplitude of the stereoscopic image B can be changed according to the distance D1 between the white lines L1, L2 of the driving lane 70 and the vehicle 12, or the angle θ1 between the white lines L1, L2 and the traveling direction of the vehicle 12. This makes it possible to adjust the intensity of the visual effect given to the occupant according to the possibility of lane departure. For example, by shortening the vibration period of the stereoscopic image B or increasing the amplitude as the distance D1 between the white lines L1, L2 of the driving lane 70 and the vehicle 12 becomes closer, the visual effect given to the occupant that the vehicle 12 feels as if it has stepped on a three-dimensional object can be enhanced. This allows the vehicular display device 10 to allow the occupant to intuitively recognize the degree of risk of lane departure.

[0080] In this embodiment, the display area of ​​the third display unit 26 showing the view in front of the vehicle is the projection surface of a head-up display device 44 provided in front of the driver's seat. The stereoscopic image B is displayed along the driving lane 70 visible through the display area. In this way, the vehicle display device 10 displays a three-dimensional object so as to blend with the view in front of the driver's seat of the vehicle, so that the occupant in the driver's seat can recognize the risk of lane departure without significantly moving his or her line of sight from the view in front of the vehicle.

[0081] [supplementary explanation] In the above embodiment, the case where the display area showing the foreground of the vehicle is configured by the projection surface of the head-up display device 44 has been described, but the present invention is not limited thereto. As in the vehicle display device 100 according to the modified example shown in FIG. 10, a stereoscopic image B may be displayed in the display area of ​​the second display unit 25, which is a display provided on the instrument panel 14. In the second display unit 25 shown in FIG. 10, a map image N showing the current position of the vehicle 12 is displayed in the lower part of the display area, and a foreground image F showing the foreground of the vehicle is displayed in the upper part of the display area. The foreground image F is configured, for example, by an image acquired from a camera (not shown) that captures the front of the vehicle 12, or an animated foreground image. The stereoscopic image B is displayed along the driving lane 70 of the vehicle 12 included in the foreground image F. As a result, regardless of the seating position, an occupant who views the second display unit 25 can obtain a visual effect that makes the occupant feel as if the vehicle 12 has stepped on a three-dimensional object.

[0082] Similarly, in the instrument panel 14, the stereoscopic image B may be displayed in a display area of ​​the first display unit 24, which is a meter display provided in front of the driver's seat. Since the first display unit 24 is provided in front of the driver's seat, the occupant in the driver's seat can view the first display unit 24 without moving his or her line of sight from the foreground of the vehicle, thereby enhancing the visual effect of feeling as if the vehicle 12 is stepping on a three-dimensional object.

[0083] In the above embodiment, a configuration in which a plurality of stereoscopic images B are displayed in the display area has been described, but the present invention is not limited to this. A configuration in which one stereoscopic image B is displayed in the display area is also possible. The stereoscopic image B is not limited to a block shape, and can be changed to various shapes. For example, it may be a wall-shaped stereoscopic image erected from the boundary line in the road width direction of the travel lane 70.

[0084] In the above embodiment, stereoscopic image B is displayed in a vibrating manner after stopping its movement at the front side of the display area, but a stereoscopic image displayed at the back side of the display area may also be displayed in a vibrating manner as it moves towards the front.

[0085] In the above embodiment, the stereoscopic image B is displayed along the boundary line (white line L1 in FIG. 7) on the vehicle's departure direction side of the driving lane 70, but the present invention is not limited to this. When it is determined that the vehicle 12 may depart from the driving lane 70, the stereoscopic image B may be displayed along the boundary lines on both sides of the driving lane 70 in the road width direction.

[0086] In the above embodiment, the display process and lane change display process executed by the CPU by reading the software (program) may be executed by various processors other than the CPU. In this case, examples of the processor include a PLD (Programmable Logic Device) such as an FPGA (Field-Programmable Gate Array) whose circuit configuration can be changed after manufacture, and a dedicated electric circuit such as an ASIC (Application Specific Integrated Circuit) which is a processor having a circuit configuration designed exclusively for executing a specific process. In addition, the display process and lane change display process may be executed by one of these various processors, or may be executed by a combination of two or more processors of the same or different types (for example, a plurality of FPGAs, and a combination of a CPU and an FPGA). In addition, the hardware structure of these various processors is, more specifically, an electric circuit that combines circuit elements such as semiconductor elements. In addition, in each of the above embodiments, the programs for the display process and the lane change display process are pre-stored (installed) in a ROM or storage, but the present invention is not limited to this. The programs may be provided in a form recorded on 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 programs may also be downloaded from an external device via a network. [Explanation of symbols]

[0087] 10 Vehicle display device 12 Vehicles 14 Instrument Panel 24 First display section (display area) 25 Second display section (display area) 26 Third display section (display area, projection surface) 44 Head-up display device 56 Lane recognition unit 58 Vehicle position recognition unit 60 Lane departure judgment unit 64 Display instruction section 70 Travel lanes L1, L2 lane boundary line in the road width direction B. Stereoscopic images (images of three-dimensional objects)

Claims

1. A display device for a vehicle that displays a predetermined image in a display area showing a view in front of the vehicle, A lane recognition unit that recognizes a lane in which a vehicle is traveling; a vehicle position recognition unit that recognizes a position of a vehicle relative to a driving lane; a lane departure determination unit that determines whether or not there is a possibility that the vehicle will deviate from the driving lane based on the recognized driving lane and the vehicle position; a display instruction unit that, when it is determined that there is a possibility that the vehicle will deviate from the driving lane, displays an image of a three-dimensional object arranged along the driving lane in the display area in a vibrating manner, and changes at least one of a vibration period and an amplitude of the image of the three-dimensional object according to a distance between the vehicle and a boundary line in the road width direction of the driving lane, The image of the three-dimensional object is an image of a plurality of objects on a road surface arranged in a row at a distance from each other. Vehicle display device.

2. 2. The vehicle display device according to claim 1, wherein the lane departure determination unit determines that the vehicle is likely to deviate from the driving lane when a distance between the vehicle and a boundary line in a road width direction of the driving lane becomes equal to or smaller than a predetermined threshold value.

3. 2. The vehicle display device according to claim 1, wherein the lane departure determination unit determines that the vehicle is likely to deviate from the driving lane when an angle between a boundary line in a road width direction of the driving lane and a traveling direction of the vehicle becomes equal to or larger than a predetermined threshold value.

4. The display device for a vehicle according to any one of claims 1 to 3, wherein the display instruction unit causes an image of the three-dimensional object to be displayed in the display area before the vehicle departs from a driving lane.

5. The display device for a vehicle according to any one of claims 1 to 4, wherein the display instruction unit causes an image of the three-dimensional object to be displayed in the display area so as to move along the driving lane from the back side to the front side of the display area.

6. the display area is a projection surface projected by a head-up display device in front of the driver's seat, The display device for a vehicle according to any one of claims 1 to 5, wherein the display instruction unit causes an image of the three-dimensional object to be displayed in the display area along a driving lane in front of the vehicle that is visible through the display area.

7. A display method for causing a computer to execute a process for displaying a predetermined image in a display area showing a view in front of a vehicle, comprising: The computer includes: Recognize the lane in which the vehicle is traveling, Recognize the vehicle's position relative to the lane, Based on the recognized driving lane and the vehicle position, determine whether or not the vehicle is likely to deviate from the driving lane; when it is determined that there is a possibility that the vehicle will deviate from the driving lane, an image of a three-dimensional object arranged along the driving lane is displayed in the display area in a vibrating manner, and at least one of a vibration period and an amplitude of the image of the three-dimensional object is changed according to a distance between the vehicle and a boundary line in the road width direction of the driving lane; The image of the three-dimensional object is an image of a plurality of objects on a road surface arranged in a row at a distance from each other. Display method.

8. A program for displaying a predetermined image in a display area showing a view in front of a vehicle, On the computer, Recognize the lane in which the vehicle is traveling, Recognize the vehicle's position relative to the lane, Based on the recognized driving lane and the vehicle position, determine whether or not the vehicle is likely to deviate from the driving lane; When it is determined that there is a possibility that the vehicle will deviate from the driving lane, an image of a three-dimensional object arranged along the driving lane is displayed in the display area in a vibrating manner, and at least one of a vibration period and an amplitude of the image of the three-dimensional object is changed according to a distance between the vehicle and a boundary line in a road width direction of the driving lane; The image of the three-dimensional object is an image of a plurality of objects on a road surface arranged in a row at a distance from each other. program.

Images