In-vehicle display device, method and program

Abstract

To deter an occupant from feeling annoyed with a display.SOLUTION: An MET 58 and an HUD 56 are provided in a vehicle interior of an own vehicle, which can be visually recognized by an occupant. An obtaining part obtains information concerning a peripheral target existing around the own vehicle. A control part makes the MET 58 display an image showing a first preceding vehicle 70 traveling ahead on a lane on which the own vehicle is traveling, together with an image showing the own vehicle, out of images of the peripheral target from which the information is obtained by the obtaining part, and makes the HUD 56 display the image showing the first preceding vehicle 70 without making the HUD display the image showing the own vehicle; and when making the HUD display the lane while bending the lane, makes the HUD display the circumference of the image showing the own vehicle with a straight line, with respect to the lane displayed by the MET 58, and display the image showing the own vehicle while bending a front side of the image.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present disclosure relates to an in-vehicle display device, an in-vehicle display method, and an in-vehicle display program. [Background technology]

[0002] Patent Document 1 describes a technology in which an image resembling another vehicle recognized as an object is superimposed on an image resembling the road on which the vehicle is located and displayed on a display unit, and images resembling vehicles that affect the behavior of the vehicle are highlighted. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-042612 A Summary of the Invention [Problem to be solved by the invention]

[0004] Patent Document 1 does not describe the display when the road on which the vehicle is traveling is curved. In order to make the occupant recognize that the image displayed on the display unit is an image imitating the actual scenery, it is preferable to curve the lanes displayed on the display unit to match the road when the road on which the vehicle is traveling is curved. However, when an image showing the vehicle is displayed on the display unit, it is more natural for the occupant to see the image showing the vehicle facing forward (upward) (straight ahead), but if only the lanes are curved in that state, it may give the occupant a sense of discomfort.

[0005] The present disclosure has been made in consideration of the above facts, and aims to provide an in-vehicle display device, an in-vehicle display method, and an in-vehicle display program that can suppress the discomfort felt by occupants when bending lanes are displayed in a display unit that displays an image of the host vehicle. [Means for solving the problem]

[0006] The in-vehicle display device of the first aspect includes a first display unit provided within the cabin of the host vehicle and viewable by an occupant, a second display unit provided within the cabin of the host vehicle and viewable by the occupant, an acquisition unit that acquires information regarding surrounding landmarks present around the host vehicle, and a control unit that causes an image of a first preceding vehicle traveling ahead of the host vehicle in a lane in which the host vehicle is traveling, among images of the surrounding landmarks about which the information has been acquired by the acquisition unit, to be displayed on the first display unit together with an image of the host vehicle, and that causes the second display unit to display an image of the first preceding vehicle without displaying an image of the host vehicle, and that when the lane is to be displayed in a curved manner, causes the lane on the first display unit to be displayed as straight lines around the image of the host vehicle and as curved in front of the image of the host vehicle.

[0007] In the first aspect, when the lane is displayed in a curved manner, the lane on the first display unit that displays an image of the first leading vehicle together with the image of the host vehicle is displayed with the periphery of the image of the host vehicle as straight lines, and the front side of the image of the host vehicle is displayed in a curved manner. This makes it possible to suppress a sense of discomfort felt by the occupants when the lane is displayed in a curved manner on the display unit that displays the image of the host vehicle, even if the image of the host vehicle is displayed in a straight-ahead state.

[0008] In a second aspect, in the first aspect, the first display unit is a meter display of the host vehicle, and the second display unit is a head-up display of the host vehicle.

[0009] According to the second aspect, when an occupant of the vehicle visually checks the area outside the vehicle, the occupant can see a display in which images of surrounding targets other than the first leading vehicle are suppressed on the second display unit (HUD: Head-Up Display). This allows the occupant to quickly recognize information about surrounding targets while reducing annoyance.

[0010] A third aspect is the first or second aspect, wherein the first display unit has a larger display area than the second display unit, and the second display unit has a display area below the foreground when an occupant of the vehicle views the area outside the vehicle.

[0011] According to the third aspect, the sizes of the display areas of the first display section and the second display section can be effectively utilized to allow the occupant to recognize information related to surrounding objects.

[0012] An in-vehicle display method according to a fourth aspect includes the steps of: acquiring information about surrounding landmarks present in the vicinity of a host vehicle; displaying, among images of the surrounding landmarks about which the information has been acquired, an image showing a first preceding vehicle traveling ahead in the lane in which the host vehicle is traveling, together with an image showing the host vehicle, on a first display unit provided in the cabin of the host vehicle and visible to an occupant; and displaying, on a second display unit provided in the cabin of the host vehicle and visible to an occupant, an image showing the first preceding vehicle without displaying an image showing the host vehicle; and, when the lane is to be displayed in a curved manner, displaying the lane on the first display unit as straight lines around the image showing the host vehicle and as curved in front of the image showing the host vehicle.

[0013] According to the fourth aspect, as in the first aspect, when the display unit that displays an image showing the host vehicle displays a curved lane line, it is possible to suppress the sense of discomfort felt by the occupants.

[0014] An in-vehicle display program according to a fifth aspect causes a computer to execute processing including acquiring information regarding surrounding landmarks present around the host vehicle, displaying, among images of the surrounding landmarks for which the information has been acquired, an image showing a first preceding vehicle traveling ahead in the lane in which the host vehicle is traveling, together with an image showing the host vehicle, on a first display unit provided in the cabin of the host vehicle and visible to an occupant, and displaying, on a second display unit provided in the cabin of the host vehicle and visible to an occupant, an image showing the first preceding vehicle without displaying an image showing the host vehicle, and when the lane is to be displayed in a curved manner, displaying the lane on the first display unit as straight lines around the image showing the host vehicle and as curved in front of the image showing the host vehicle.

[0015] According to the fifth aspect, as in the first aspect, when the lane is displayed in a curved manner on the display unit that displays the image of the host vehicle, it is possible to suppress the sense of discomfort felt by the occupants. Effect of the Invention

[0016] The present disclosure has an effect of suppressing discomfort felt by occupants when a display unit that displays an image of a vehicle displays curved lanes. [Brief description of the drawings]

[0017] [Figure 1] 1 is a block diagram showing a schematic configuration of an in-vehicle system according to an embodiment; [Diagram 2] FIG. 2 is a functional block diagram of a display control ECU. [Diagram 3] FIG. 1 is an image diagram showing an example of a display range of a HUD. [Figure 4] 13 is a flowchart showing a display control process. [Figure 5A] FIG. 1 is an image showing an example of a first-person one-lane display image displayed on a HUD. [Figure 5B] FIG. 2 is an image diagram showing an example of a third-person multi-lane display image displayed on the MET. [Figure 6]1A to 1C are image diagrams showing an example of display on a HUD and a MET according to an embodiment. [Figure 7] 1A to 1C are image diagrams showing an example of display on a HUD and a MET according to an embodiment. [Figure 8] 1A to 1C are image diagrams showing an example of display on a HUD and a MET according to an embodiment. [Figure 9] 1A to 1C are image diagrams showing an example of display on a HUD and a MET according to an embodiment. [Figure 10] 1A to 1C are conceptual diagrams showing examples of displays on a HUD and a MET according to a comparative example. [Figure 11] 1A to 1C are conceptual diagrams showing examples of displays on a HUD and a MET according to a comparative example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] An example of an embodiment of the present disclosure will be described in detail below with reference to the drawings. An in-vehicle system 10 shown in Fig. 1 includes a communication bus 12, to which a group of surrounding condition acquisition devices 14, a group of vehicle driving state detection sensors 26, an automatic driving ECU (Electronic Control Unit) 34, and a display control ECU 42 are connected. Note that Fig. 1 shows only a part of the in-vehicle system 10. In the following description, a vehicle equipped with the in-vehicle system 10 is referred to as a host vehicle.

[0019] The surrounding condition acquisition device group 14 includes a GPS (Global Positioning System) device 16, an in-vehicle communication device 18, a navigation system 20, a radar device 22, a camera 24, etc., as devices that acquire information describing the condition of the surrounding environment of the vehicle.

[0020] The GPS device 16 receives GPS signals from multiple GPS satellites to determine the position of the vehicle. The positioning accuracy of the GPS device 16 improves as the number of GPS signals it can receive increases. The in-vehicle communication device 18 is a communication device that performs at least one of vehicle-to-vehicle communication with other vehicles and road-to-vehicle communication with roadside devices. The navigation system 20 includes a map information storage unit 20A that stores map information, and performs processing to display the position of the vehicle on a map and provide route guidance to a destination based on the position information obtained from the GPS device 16 and the map information stored in the map information storage unit 20A.

[0021] The radar device 22 includes a plurality of radar devices with different detection ranges, detects objects such as pedestrians and other vehicles around the vehicle as point cloud information, and acquires the relative position and relative speed of the detected objects and the vehicle. The radar device 22 also includes a processing device that processes the detection results of the surrounding objects. The processing device excludes noise and roadside objects such as guardrails from the monitoring targets based on the relative position and relative speed changes with respect to each object included in the most recent detection results, and tracks and monitors specific objects such as pedestrians and other vehicles as surrounding targets. The radar device 22 then outputs information such as the relative position and relative speed with respect to each surrounding target. The camera 24 captures the surroundings of the vehicle with a plurality of cameras and outputs the captured images.

[0022] In addition, the vehicle driving condition detection sensor group 26 includes a steering angle sensor 28 that detects the steering angle of the vehicle, a vehicle speed sensor 30 that detects the driving speed of the vehicle, and an acceleration sensor 32 that detects the acceleration applied to the vehicle, as multiple sensors that acquire the vehicle driving condition.

[0023] The autonomous driving ECU 34 is connected to a throttle ACT (Actuator) 36 that changes the throttle opening of the vehicle and a brake ACT 38 that changes the braking force generated by the vehicle's braking device. The autonomous driving ECU 34 is also connected to a steering ACT 40 that changes the steering amount by the vehicle's steering device.

[0024] The autonomous driving ECU 34 includes a central processing unit (CPU), memories such as a read only memory (ROM) and a random access memory (RAM), non-volatile storage units such as a hard disk drive (HDD) and a solid state drive (SSD), and a communication interface (I / F). Autonomous driving software is stored in the storage unit. When an autonomous driving mode is selected, the autonomous driving ECU 34 performs autonomous driving processing to automatically drive the host vehicle without the driver's operation of the host vehicle when the autonomous driving mode is selected by the CPU executing the autonomous driving software. The autonomous driving processing is processing to determine the situation of the host vehicle and its surroundings based on information obtained from the surrounding situation acquisition device group 14 and the vehicle driving state detection sensor group 26, and to control the throttle ACT 36, the brake ACT 38, and the steering ACT 40.

[0025] In detail, the autonomous driving ECU 34 acquires information on surrounding objects existing around the vehicle from the surrounding situation acquisition device group 14 including the radar device 22. Then, based on the acquired information indicating the vehicle and its surrounding situation, it determines whether or not an event is occurring during the driving of the vehicle. Examples of events include merging lanes, changing lanes, passing through an intersection, and cutting in of a preceding vehicle. The presence or absence of an event and its type are output to the display control ECU 42 as surrounding situation information.

[0026] Furthermore, the autonomous driving ECU 34 evaluates the influence of the presence of each surrounding target on autonomous driving as the importance for each surrounding target present around the host vehicle based on the relative position and relative speed of the surrounding target represented by information acquired from the radar device 22, etc. For example, when there is no event, and surrounding targets are present around the host vehicle, the autonomous driving ECU 34 sets the importance for each surrounding target so that the importance of the surrounding target increases as the distance between the host vehicle and the surrounding target decreases. Furthermore, when a first preceding vehicle that travels ahead of the host vehicle on the lane in which the host vehicle is traveling is present around the host vehicle, the importance of the first preceding vehicle is set to the maximum.

[0027] Also, for example, when an event is occurring in which a second preceding vehicle traveling ahead on a lane other than the lane in which the host vehicle is traveling changes lanes to the lane in which the host vehicle is traveling, the autonomous driving ECU 34 sets the importance of the second preceding vehicle higher than the importance of the other surrounding objects. Also, for the other objects, the importance is set so that the importance of the surrounding objects increases as the distance between the host vehicle and the surrounding objects decreases.

[0028] Also, for example, when an event is occurring in which the host vehicle changes lanes from a first lane in which the host vehicle is traveling to a second lane other than the first lane, the autonomous driving ECU 34 evaluates the importance of a first preceding vehicle traveling in the first lane and a second preceding vehicle traveling in the second lane as being higher than the importance of other surrounding objects. Also, for the other objects, the importance is set so that the importance of the surrounding objects increases as the distance between the host vehicle and the surrounding objects decreases. Information representing the importance of each surrounding object is output to the display control ECU 42 as surrounding object information together with information representing the relative position, relative speed, etc. of each surrounding object.

[0029] In this embodiment, the level of autonomous driving performed by the autonomous driving ECU 34 is level 2 or level 3. In autonomous driving at level 2 or level 3, the occupant is required to monitor the autonomous driving by the autonomous driving ECU 34 and intervene as necessary in preparation for, for example, deviation from the controllable range or inappropriate operation due to erroneous detection, non-detection, or failure of sensors.

[0030] The display control ECU 42 includes a CPU 44, a memory 46 such as a ROM or a RAM, a non-volatile storage unit 48 such as a HDD or an SSD, and a communication I / F 50. The CPU 44, the memory 46, the storage unit 48, and the communication I / F 50 are connected to each other via an internal bus 52 so as to be able to communicate with each other. A display control program 54 is stored in the storage unit 48. The display control ECU 42 functions as the acquisition unit 53 and the control unit 55 shown in FIG. 2 by reading the display control program 54 from the storage unit 48 and expanding it in the memory 46, and executing the display control program 54 expanded in the memory 46 by the CPU 44, and performs a display control process described later. The display control program 54 is an example of an in-vehicle display program.

[0031] A head-up display (hereinafter referred to as HUD) 56 and a meter display (hereinafter referred to as MET) 58 are connected to the display control ECU 42. The HUD 56 according to this embodiment is a small HUD whose display range is a part of the forward field of vision of the vehicle occupant due to reflection on the windshield glass or the like (the image is formed at the lower part of the foreground), as shown by the display range indicated by reference numeral 60 in FIG. 3. The MET 58 is a display provided on the instrument panel of the vehicle. The display control ECU 42 controls the display of information on the HUD 56 and the MET 58. Preferably, the display area of ​​the MET 58 is larger than the display area of ​​the HUD 56.

[0032] Specifically, the acquisition unit 53 acquires information about surrounding targets existing around the host vehicle. The control unit 55 suppresses displaying, on the HUD 56, images of surrounding targets other than the first leading vehicle traveling ahead of the host vehicle in the lane in which the host vehicle is traveling, among images of surrounding targets about which information has been acquired by the acquisition unit 53. The MET 58 is an example of a first display unit, and the HUD 56 is an example of a second display unit.

[0033] Next, the operation of this embodiment will be described. The display control ECU 42 performs the display control process shown in FIG. 4 while the ignition of the vehicle is on. In step 100 of the display control process, the acquisition unit 53 acquires information on the lane recognized by the automatic driving ECU 34 from the automatic driving ECU 34. The lane information includes information on the lane on which the vehicle is traveling (information on whether the lane is straight or curved, etc.) and information on adjacent lanes adjacent to the left and right of the lane (presence or absence of adjacent lanes, etc.). Based on the lane information acquired by the acquisition unit 53 from the automatic driving ECU 34, the control unit 55 generates a first-person one-lane image as shown in FIG. 5A as an example, as an image including road width lines 62 that simulate lane boundaries, and causes the generated first-person one-lane image to be displayed on the HUD 56.

[0034] The first-person one-lane image is an image similar to the state when a driver looks ahead through the windshield glass of the vehicle, and the lanes adjacent to the left and right of the vehicle's lane are excluded from display. The first-person one-lane image shows the vehicle's lane as large as possible while omitting information that is not important for monitoring driving, thereby minimizing annoyance.

[0035] In the next step 102, the control unit 55 generates a third-person multi-lane image, as shown in FIG. 5B for example, as an image including road width lines 62 simulating lane boundary lines, based on the lane information acquired by the acquisition unit 53 from the autonomous driving ECU 34. Then, the control unit 55 causes the MET 58 to display the generated third-person multi-lane image.

[0036] The third-person multi-lane image is an image that displays the lane adjacent to the vehicle on the left and right, as if the vehicle is viewed from above and behind. By excluding non-existent lanes from the display, the maximum number of lanes is three under normal conditions. However, the maximum number of lanes is not limited to three lanes for ease of understanding of transitional states accompanying branching and merging. The third-person multi-lane image displays the vehicle as an icon 64. The third-person multi-lane image can display the approach of another vehicle or a situation where the lane change is postponed until the other vehicle passes when the vehicle changes lanes of the vehicle, for example, due to the approach of another vehicle from the right rear or left rear.

[0037] In the first-person single lane image and the third-person multi-lane image, road width lines 62 simulating lane boundaries are displayed, so that the occupant can understand that the first-person single lane display image and the third-person multi-lane display image are road schematic diagrams that have a similarity-reduced contrast relationship with the actual scene. In addition, in the first-person single lane image and the third-person multi-lane image, markers 66 are displayed at positions corresponding to the future position of the host vehicle, and the array of markers 66 advances (moves downward on the display) toward a reference position corresponding to the host vehicle according to the running of the host vehicle. This allows the occupant to intuitively understand that the first-person single lane image and the third-person multi-lane image correspond to the actual foreground. Furthermore, in the first-person single lane image and the third-person multi-lane image, a strip-shaped track line 68 that encompasses the array of markers 66 is displayed. In the first-person single-lane image and the third-person multi-lane image, the direction in which the strip-shaped trajectory line 68 extends indicates the traveling direction of the vehicle, allowing the occupant to intuitively grasp the traveling position of the vehicle.

[0038] In the next step 104, the acquisition unit 53 acquires surrounding target information indicating the relative position, relative speed, importance, etc. of each surrounding target from the autonomous driving ECU 34. The surrounding target information is an example of information related to the surrounding targets. In addition, in step 106, the acquisition unit 53 acquires surrounding situation information indicating the presence or absence of an event and its type, etc. from the autonomous driving ECU 34. In step 108, the control unit 55 determines whether or not an event is occurring during the driving of the host vehicle based on the surrounding situation information acquired by the acquisition unit 53 from the autonomous driving ECU 34.

[0039] If no event is occurring during the driving of the host vehicle (if the vehicle is in a steady state), the determination in step 108 is negative and the process proceeds to step 110. In step 110, the control unit 55 determines whether or not a first preceding vehicle traveling ahead of the host vehicle in the lane in which the host vehicle is traveling is present around the host vehicle based on the surrounding target information. If a first preceding vehicle traveling ahead of the host vehicle in the lane in which the host vehicle is traveling is present around the host vehicle, the control unit 55 causes only the first preceding vehicle 70 to be superimposed on the first-person single lane image displayed on the HUD 56, as shown in Figs. 6 and 7, for example.

[0040] In a situation where there are surrounding targets other than the first leading vehicle around the vehicle, if all of the surrounding targets were displayed on the HUD 56, the display on the HUD 56 would be bothersome to the occupant, as shown in Fig. 10. In contrast, in this embodiment, as shown in Fig. 6 and Fig. 7, only the first leading vehicle 70 out of the surrounding targets around the vehicle is displayed on the HUD 56, so that the occupant can be prevented from feeling that the display on the HUD 56 is bothersome.

[0041] In step 112, the control unit 55 superimposes the first leading vehicle 70 on the third-person multi-lane image displayed on the MET 58, and superimposes the other surrounding landmarks 72 by gradually toning down the colors according to their importance, as shown in Fig. 6 and Fig. 7 for example. Examples of toning down include making the display color lighter, displaying in a dark color (e.g., gray), reducing the sharpness of the display to blur, etc. After the process of step 112 is performed, the process returns to step 104.

[0042] In a situation where there are surrounding targets other than the first preceding vehicle around the vehicle, if all surrounding targets are displayed in normal display on the MET 58, the display of the MET 58 becomes bothersome to the occupant, as shown in Fig. 10 and Fig. 11 for example. In contrast, in this embodiment, as shown in Fig. 6 and Fig. 7, surrounding targets 72 other than the first preceding vehicle 70 existing around the vehicle are displayed in a toned-down manner according to their importance, so that it is possible to prevent the occupant from feeling bothered by the display of the MET 58. In addition, it is possible to make the occupant recognize the importance of each of the surrounding targets other than the first preceding vehicle existing around the vehicle.

[0043] Moreover, if an event is occurring in the driving of the host vehicle, the determination in step 108 is affirmative, and the process proceeds to step 114. In step 114, the control unit 55 determines whether the event occurring in the driving of the host vehicle is an event in which a second preceding vehicle traveling ahead in a lane other than the lane in which the host vehicle is traveling changes lanes (cuts in) into the lane in which the host vehicle is traveling.

[0044] If the determination in step 114 is positive, the process proceeds to step 116. In step 116, the control unit 55 causes the HUD 56 to highlight the second preceding vehicle 74, as shown in FIG. 8 for example, based on the importance level set for the second preceding vehicle. Examples of highlighting include displaying the second preceding vehicle 74 in a specific display color (e.g., amber), displaying the second preceding vehicle 74 surrounded by a frame, or flashing the second preceding vehicle 74. This can draw the attention of the occupant and make it easier for the occupant to recognize the cut-in when the second preceding vehicle 74 changes lanes into the lane in which the host vehicle is traveling. In addition, since the HUD 56 does not display surrounding objects other than the second preceding vehicle 74, it can be suppressed that the occupant feels bothered by the display of the HUD 56.

[0045] In the next step 118, the control unit 55 displays the second preceding vehicle 74 in the third person multi-lane image displayed on the MET 58 in an highlighted manner, and displays the other surrounding objects in a toned-down manner according to their importance, as shown in FIG. 8 as an example. Note that FIG. 8 shows a situation in which there are no surrounding objects other than the second preceding vehicle 74 around the vehicle. This can attract the attention of the occupant, make it easier for the occupant to recognize the cut-in, and prevent the occupant from feeling bothered by the display of the MET 58. After the process of step 118 is performed, the process returns to step 104.

[0046] If the determination in step 114 is negative, the process proceeds to step 120. In step 120, the control unit 55 determines whether or not an event occurring during the driving of the host vehicle is an event in which the host vehicle changes lanes from the lane in which the host vehicle is traveling to a lane other than the lane in which the host vehicle is traveling.

[0047] If the determination in step 120 is positive, the process proceeds to step 122. In step 122, the control unit 55 superimposes a first preceding vehicle 76 traveling ahead of the host vehicle in the lane in which the host vehicle is traveling and a second preceding vehicle 78 traveling ahead of the host vehicle in a lane other than the lane in which the host vehicle is traveling on the HUD 56, as shown in FIG. 9 for example. This makes it easier for a passenger who visually confirms the HUD 56 to recognize the presence of the first preceding vehicle 76 and the second preceding vehicle 78 related to the lane change when the host vehicle changes lanes from the lane in which the host vehicle is traveling to a lane other than the lane in which the host vehicle is traveling. In addition, since the HUD 56 does not display surrounding objects other than the first preceding vehicle 76 and the second preceding vehicle 78, it is possible to suppress the passenger from feeling bothered by the display of the HUD 56.

[0048] In step 124, the control unit 55 causes the MET 58 to display the first leading vehicle 76 and the second leading vehicle 78 in a superimposed manner, and tones down the other surrounding targets in accordance with their importance, as shown in Fig. 9 for example. Note that, as an example, Fig. 9 shows a situation in which there are no surrounding targets other than the first leading vehicle 76 and the second leading vehicle 78 around the host vehicle. After the processing of step 124 is performed, the process returns to step 104.

[0049] This makes it possible for a driver who sees the MET 58 to easily recognize the presence of the first preceding vehicle 76 and the second preceding vehicle 78 involved in the lane change when the driver changes lanes from the lane in which the driver is currently traveling to a lane other than the lane in which the driver is currently traveling. Also, it is possible to prevent the driver from feeling bothered by the display of the MET 58.

[0050] Moreover, if the determination in step 120 is negative, the process proceeds to step 126. In step 126, the control unit 55 performs a display control process according to an event (e.g., merging into lanes, passing through an intersection, etc.) occurring during driving of the vehicle, and then returns to step 104. In this case as well, only the minimum number of surrounding landmarks necessary according to the importance are displayed on the HUD 56, so that it is possible to prevent the occupant from feeling bothered by the display on the HUD 56.

[0051] As described above, in this embodiment, the first display unit (MET 58) is provided in the cabin of the vehicle and is visible to the occupant, and the second display unit (HUD 56) is provided in the cabin of the vehicle and is visible to the occupant. The acquisition unit 53 acquires information about surrounding targets existing around the vehicle. The control unit 55 suppresses displaying, on the second display unit, images of surrounding targets other than the first preceding vehicle traveling ahead of the vehicle in the lane in which the vehicle is traveling, among images of surrounding targets about which information is acquired by the acquisition unit 53. This makes it possible to suppress the occupant from feeling bothered by the display of the second display unit, even when the second display unit has a limited display area like the HUD 56 and there are many surrounding targets existing around the vehicle.

[0052] In addition, in this embodiment, when an event is taking place while driving the vehicle, the control unit 55 causes the second display unit to display an image of a surrounding target other than the first preceding vehicle, which is set according to the event. In this manner, by displaying an image of a surrounding target other than the first preceding vehicle according to an event taking place while driving the vehicle, it is possible to call the attention of a passenger viewing the display on the second display unit.

[0053] In addition, in this embodiment, when an event occurring during driving of the host vehicle is an event in which a second preceding vehicle traveling ahead in a lane other than the lane in which the host vehicle is traveling changes lanes into the lane in which the host vehicle is traveling, the control unit 55 highlights the second preceding vehicle on the second display unit. This makes it easier for the occupant to recognize the cutting in when the second preceding vehicle changes lanes into the lane in which the host vehicle is traveling, that is, when a so-called cutting in occurs.

[0054] In addition, in this embodiment, when an event occurring during driving of the vehicle is an event in which the vehicle changes lanes from the lane in which the vehicle is traveling to a lane other than the lane in which the vehicle is traveling, the control unit 55 causes the second display unit to display a first preceding vehicle traveling ahead in the lane in which the vehicle is traveling and a second preceding vehicle traveling ahead in the lane other than the lane in which the vehicle is traveling. This makes it easier for the occupant to recognize the presence of the first and second preceding vehicles involved in the lane change when the vehicle changes lanes from the lane in which the vehicle is traveling to a lane other than the lane in which the vehicle is traveling.

[0055] In this embodiment, the control unit 55 causes the first display unit to display an image of a surrounding target whose information is acquired by the acquisition unit 53. This results in different display modes between the first display unit and the second display unit, and when the first display unit has a relatively large display area like the MET 58, the display area of ​​the first display unit can be effectively utilized.

[0056] In this embodiment, the control unit 55 displays images of surrounding targets other than the first leading vehicle traveling ahead of the host vehicle on the lane in which the host vehicle is traveling on the first display unit in a manner that makes them less noticeable than the image of the first leading vehicle. This makes it possible to prevent the occupant from feeling bothered by the display on the first display unit even when there are many surrounding targets around the host vehicle.

[0057] In this embodiment, the control unit 55 tones down the display of the images of the surrounding objects other than the first leading vehicle, so that the images of the surrounding objects are displayed less prominently than the image of the first leading vehicle. This allows the image of the first leading vehicle and the images of the surrounding objects other than the first leading vehicle to be displayed with a sharp contrast, so that the occupant can recognize the degree of influence on the vehicle when driving the vehicle.

[0058] In this embodiment, the first display unit is a display (MET 58) provided on the instrument panel of the vehicle, and the second display unit is a HUD 56 that displays a part of the forward field of vision of the vehicle occupant by reflection on the windshield glass, etc. The vehicle occupant can quickly recognize the contents displayed on the HUD 56 without intentionally changing the focus when viewing the outside of the vehicle. In the display area of ​​the HUD 56, the display of images of surrounding targets other than the first leading vehicle is suppressed, thereby suppressing the occupant from viewing the outside of the vehicle. In addition, the MET 58 can display surrounding targets other than the first leading vehicle suppressed by the HUD 56.

[0059] In this embodiment, the first display unit and the second display unit have different sizes of display areas. By suppressing the amount of information displayed on the second display unit (HUD 56) compared to the amount of information displayed on the first display unit (MET 58), it is possible to reduce the inconvenience to the occupant and provide the occupant with an amount of information appropriate to the display area.

[0060] Although the examples shown in Figs. 6 to 9 show the surrounding objects as vehicles (four-wheeled vehicles), the present invention is not limited to this, and the surrounding objects may be two-wheeled vehicles (bicycles, etc.) or pedestrians.

[0061] In addition, although the above describes an embodiment in which the MET 58 is used as the first display unit and the HUD 56 is used as the second display unit, the present invention is not limited to this. For example, a central monitor provided in the center of the instrument panel of the vehicle may be used as the first display unit or the second display unit.

[0062] Further, although the above describes a mode in which the autonomous driving ECU 34 performs level 2 or level 3 autonomous driving, the present invention is not limited to this and may be applied to a mode in which level 4 or level 5 autonomous driving is performed.

[0063] Also, in the above description, the display control program 54, which is an example of the in-vehicle display program according to the present disclosure, is pre-stored (installed) in the storage unit 48 of the display control ECU 42. However, the in-vehicle display program according to the present disclosure can also be provided in a form recorded on a non-transitory recording medium such as a CD-ROM, a DVD-ROM, or a memory card. [Explanation of symbols]

[0064] 10 In-vehicle systems 34 Autonomous Driving ECU 42 Display control ECU 53 Acquisition Department 55 Control section 56 Head-up Display (HUD) 58 Meter Display (MET)

Claims

1. A first display unit that is provided in a vehicle interior and is visible to an occupant of the vehicle; A second display unit that is provided in a passenger compartment of the vehicle and is visible to a passenger; an acquisition unit that acquires information about surrounding targets present around the host vehicle; a control unit that causes an image of a first preceding vehicle traveling ahead of the host vehicle in a lane in which the host vehicle is traveling, among images of surrounding objects about which the information has been acquired by the acquisition unit, to be displayed on the first display unit together with an image of the host vehicle, and causes the second display unit to display an image of the first preceding vehicle without displaying an image of the host vehicle, and when the lane is to be displayed as curved while the host vehicle is traveling around a curve, causes the lane on the first display unit to be displayed as straight lines around the image of the host vehicle and as curved in front of the image of the host vehicle; An in-vehicle display device comprising:

2. The in-vehicle display device according to claim 1 , wherein the first display unit is a meter display of the host vehicle, and the second display unit is a head-up display of the host vehicle.

3. 3. The in-vehicle display device according to claim 1, wherein the first display unit has a larger display area than the second display unit, and the second display unit has a display area below the foreground when an occupant of the vehicle views the area outside the vehicle.

4. Acquire information about surrounding targets present around the vehicle; Among the images of the surrounding objects for which the information has been acquired, an image showing a first preceding vehicle traveling ahead on the lane in which the host vehicle is traveling is displayed together with an image showing the host vehicle on a first display unit that is provided in the cabin of the host vehicle and is visible to an occupant, and an image showing the first preceding vehicle is displayed on a second display unit that is provided in the cabin of the host vehicle and is visible to an occupant, without displaying an image showing the host vehicle, and when the lane is to be displayed as curved while the host vehicle is traveling around a curve, the lane on the first display unit is displayed as straight lines around the image showing the host vehicle and curved in front of the image showing the host vehicle. The in-vehicle display method includes causing a computer to execute a process including the steps of:

5. On the computer, Acquire information about surrounding targets present around the vehicle; Among the images of the surrounding objects for which the information has been acquired, an image showing a first preceding vehicle traveling ahead on the lane in which the host vehicle is traveling is displayed together with an image showing the host vehicle on a first display unit that is provided in the cabin of the host vehicle and is visible to an occupant, and an image showing the first preceding vehicle is displayed on a second display unit that is provided in the cabin of the host vehicle and is visible to an occupant, without displaying an image showing the host vehicle, and when the lane is to be displayed as curved while the host vehicle is traveling around a curve, the lane on the first display unit is displayed as straight lines around the image showing the host vehicle and curved in front of the image showing the host vehicle. The present invention relates to an in-vehicle display program for executing a process including the above.

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