Vehicle display device

Abstract

To provide a vehicular display device that can intuitively inform a driver of a degree of a risk that a vehicle may deviate from a travelling lane.SOLUTION: A vehicular display device 10 comprises: a pair of left and right light emitting parts 34 (a left-side light emitting part 30A and a right-side light emitting part 32A), arranged in a vehicle interior 14, which are configured so that light can visually observed, at a side closer to inside than a pair of left and right road surface lines M (a road-side belt DL and a lane-change line RM) on a travel lane DL and in a direction which extends in a nearly same direction as respective directions of the pair of left and right road surface lines M; and a display part that when a vehicle 12 tries to deviate from the travel lane DL, changes at least either of a cycle of flashing of the light emitting part (the right-side light emitting part 32A) at the lane side which the vehicle tries to deviate from and a movement speed of light that is emitted flowingly from the light emitting part (the right-side light emitting part 32A), in accordance with a degree of a risk that the vehicle may deviate, and displays the degree.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a display device for a vehicle. [Background technology]

[0002] The following Patent Document 1 discloses a route control assistance device in which a plurality of light emitting diodes (LEDs) are provided on the upper surface of a vehicle's instrument panel. This device is configured to be able to change the number, brightness, and color of the LEDs that are emitted depending on the magnitude of deviation when the vehicle deviates from a target state of the driving lane. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2007-512636 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, there is room for improvement in more intuitively communicating to the driver the high risk of the vehicle leaving its lane.

[0005] In consideration of the above, an object of the present invention is to provide a display device for a vehicle that can intuitively inform a driver of the high risk of the vehicle deviating from its driving lane. [Means for solving the problem]

[0006] Aspects of the invention The vehicle display device according to the present invention comprises: a surrounding environment information acquisition unit that acquires surrounding environment information of the vehicle including a pair of left and right road surface lines of a driving lane in front of the vehicle; and a vehicle information acquisition unit that acquires vehicle information including a vehicle speed, an acceleration, and a yaw rate; The vehicle is equipped with a front-view camera that displays the lane ahead of the driver during normal driving. The above A pair of left and right light emitting units configured to emit light inwardly of a pair of left and right road surface lines and extending in substantially the same direction as the pair of left and right road surface lines; From the vehicle speed, lateral speed, lateral position, and departure angle obtained from the road surface line, the vehicle speed, the acceleration, and the yaw rate, When the vehicle deviates from the driving lane When it is determined that a deviation is imminent, and the risk of deviation is high, , The above The device has a display unit that changes and displays at least one of the blinking cycle of the light-emitting unit on the side where deviation is occurring and the moving speed of the light emitted in a flowing manner from the light-emitting unit, depending on the level of the risk of deviation.

[0007] In the vehicle display device according to the embodiment of the present invention, The pair of left and right light emitting units are arranged in the vehicle cabin so that light can be seen inside the pair of left and right road surface lines of the driving lane in the driver's forward field of vision during normal driving. The pair of left and right light emitting units are also configured so that light can be seen in a direction extending in approximately the same direction as the pair of left and right road surface lines in the driver's forward field of vision. However, the "road surface lines" referred to here refer to lines marked on the lane such as center lines, lane boundary lines, and roadside strips.

[0008] Where: On the display When the vehicle is about to deviate from the driving lane to the right, the right light-emitting unit is illuminated at the timing when the extension of the road surface line on the right side overlaps with the right light-emitting unit in the driver's forward visual field. Similarly, when the vehicle is about to deviate from the driving lane to the left, the left light-emitting unit is illuminated at the timing when the extension of the road surface line on the left side overlaps with the left light-emitting unit in the driver's forward visual field. As a result, when the vehicle is about to deviate from the driving lane, the road surface line on the side where the vehicle is about to deviate is pseudo-extended and displayed inside the vehicle cabin in the driver's forward visual field. Therefore, the driver can intuitively receive the notification of lane departure while keeping his or her eyes facing forward.

[0009] In addition, the present invention In one aspect When the vehicle is about to deviate from the driving lane, at least one of the blinking cycle of the light-emitting unit on the side of the vehicle about to deviate and the moving speed of the light emitted from the light-emitting unit in a flowing manner is changed by the display unit according to the level of risk of the vehicle deviating from the driving lane (hereinafter referred to as "deviation risk" as appropriate). In other words, when the deviation risk is high, the driver receives a strong notification from the light-emitting unit, and when the deviation risk is low, the driver receives a weak notification from the light-emitting unit. Effect of the Invention

[0010] As described above, the vehicle display device according to the present invention has the excellent effect of being able to intuitively inform the driver of the high risk that the vehicle will deviate from its driving lane. [Brief description of the drawings]

[0011] [Figure 1] 1 is a schematic diagram of a front passenger compartment portion including an instrument panel of a vehicle equipped with a vehicle display device according to an embodiment of the present invention, as viewed from a driver's side. [Diagram 2] 2 is a block diagram illustrating a control system for the vehicle display device shown in FIG. 1. [Diagram 3] 2 is a flowchart showing a process executed in an ECU of the vehicle display device shown in FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, a vehicle display device according to an embodiment of the present invention will be described with reference to Fig. 1 to Fig. 3. Note that the arrow UP shown in Fig. 1 indicates the upper and lower sides of a vehicle equipped with the vehicle display device according to this embodiment, and the arrows LH and RH indicate the left and right sides in the left-right direction of the vehicle. In addition, when the directions of front-rear, left-right, and up-down are used in the following description unless otherwise specified, they respectively indicate the front-rear, left-right, and up-down directions of a vehicle equipped with the vehicle display device according to this embodiment.

[0013] 1 shows a front portion 16 of a vehicle interior 14 (hereinafter referred to as "vehicle interior front portion 16") in a vehicle 12 equipped with a vehicle display device 10. An instrument panel 18 is disposed in the vehicle interior front portion 16 and extends in the vehicle width direction. In addition, a front windshield 20 is provided in front of the instrument panel 18 to separate the interior of the vehicle interior 14 from the exterior of the vehicle interior 14.

[0014] A front camera 22 that captures an image of the area in front of the vehicle 12 is provided at the center in the left-right direction at the upper end of the front windshield 20. The front camera 22 may be a monocular camera or a compound-eye camera. In addition to the front camera 22, other sensors such as radar (Radio Detecting and Ranging) or lidar (Light Detection and Ranging or Laser Imaging Detection and Raging) may be used to acquire information of the area in front of the vehicle 12. Furthermore, a combination of a plurality of these sensors may be mounted on the vehicle 12.

[0015] A steering wheel 24 is disposed on the left rear side of the instrument panel 18. That is, the vehicle 12 is a left-hand drive vehicle with the driver's seat provided on the left side. FIG. 1 is a view of the vehicle as seen from a driver seated in the driver's seat (not shown). In the driver's forward field of view seen through the front windshield 20, a side strip LM is marked as a road surface line on the left side of the driving lane DL in which the vehicle 12 is traveling. In addition, a lane change lane RM is marked as a road surface line on the right side of the driving lane DL. In the following description, the side strip LM on the left side of the driving lane DL and the lane change lane RM on the right side of the driving lane DL will be referred to as a "pair of left and right road surface lines M" as appropriate.

[0016] A meter panel 26 is disposed on the upper left surface of the instrument panel 18, in front of the steering wheel 24. The meter panel 26 has a height in the vertical direction of the vehicle, and is formed in a generally U-shape with an open rearward side in a plan view. The meter panel 26 includes a display 28 capable of displaying meters such as a speedometer toward the driver. The meter panel 26 also includes a left panel 30 and a right panel 32 extending from the left and right ends of the display 28 toward the generally rearward side of the vehicle. The left panel 30 and the right panel 32 extend in the generally longitudinal direction of the vehicle, moving away from each other as they approach the generally rearward side of the vehicle. The display 28 is not limited to a digital type, and an analog type meter having a pointer may be used.

[0017] (A pair of light emitting parts 34 on the left and right) Here, a left light-emitting unit 30A is provided at the upper end of the left panel 30, following the upper end of the left panel 30. Similarly, a right light-emitting unit 32A is provided at the upper end of the right panel 32, following the upper end of the right panel 32. In the following description, the left light-emitting unit 30A and the right light-emitting unit 32A will be collectively referred to as "a pair of left and right light-emitting units 34" as appropriate.

[0018] The pair of left and right light-emitting units 34 are arranged in a position where they can be seen inside the pair of left and right road lines M in the driver's forward field of vision when the vehicle 12 is being driven normally (when the vehicle 12 is traveling approximately in the center of the driving lane DL).

[0019] The pair of left and right light emitting units 34 are provided with a plurality of light sources (not shown) and are arranged in a direction extending in the same direction as the pair of left and right road surface lines M in the driver's forward field of vision. In the example shown in FIG. 1, the left light emitting unit 30A is provided with a plurality of light sources and is extended in a strip shape in the same direction as the side strip LM on the left side of the driving lane DL. Similarly, the right light emitting unit 32A is provided with a plurality of light sources and is extended in a strip shape in the same direction as the lane changing line RM on the right side of the driving lane DL. As an example, LEDs for decoration are used as the plurality of light sources in the pair of left and right light emitting units 34. Note that the pair of left and right light emitting units 34 may use other light sources without being limited to the plurality of LEDs for decoration.

[0020] Furthermore, the pair of left and right light emitting units 34 are configured to be able to change the blinking cycle. Also, the pair of left and right light emitting units 34 are configured to be able to move the light so that it flows from rear to front by sequentially emitting the multiple light sources. Note that the direction in which the light flows is not limited to from rear to front, but may be another direction along the road surface line M in the driver's forward field of vision (for example, from front to rear in this embodiment).

[0021] (Control system for vehicle display device 10) Next, the control system of the vehicular display device 10 will be briefly described with reference to the block diagram shown in Fig. 2. As shown in Fig. 2, the vehicle 12 is provided with a pair of left and right side cameras 36 for capturing images of the sides of the vehicle 12, in addition to the front camera 22, as sensors for acquiring information on the surrounding environment of the vehicle 12. The vehicle 12 is also provided with a vehicle speed sensor 38 for measuring the vehicle speed, an acceleration sensor 40 for measuring acceleration in the front-rear and left-right directions, and a yaw rate sensor 42 for measuring the yaw rate around an axis in the up-down direction, as sensors for acquiring information on the vehicle itself. Furthermore, the steering wheel 24 shown in Fig. 1 is provided with a direction indicator 44 for indicating the driver's intention to change lanes.

[0022] The vehicle display device 10 includes an ECU (Electronic Control Unit) 50 capable of controlling a pair of left and right light emitting units 34 based on information acquired by sensors such as the front camera 22. The ECU 50 includes a data acquisition unit 52 that acquires data from the sensors, and a data output unit 66 that outputs data processed by the ECU 50 to the pair of left and right light emitting units 34, respectively.

[0023] Here, the ECU 50 is configured to include, as its functional configuration, a road surface line recognition unit 54 that recognizes the road surface line M, and a calculation unit 56 that performs calculation processing based on information from the sensors. Furthermore, the ECU 50 is equipped with a lane departure judgment unit 58 that judges whether the vehicle 12 will deviate from the driving lane DL, and a notification necessity judgment unit 60 that judges whether to notify the driver of the lane departure. Furthermore, the ECU 50 is equipped with a departure risk judgment unit 62 that judges the level of risk that the vehicle 12 will deviate from the driving lane DL (the degree of danger including the harm that may occur if the vehicle 12 deviates from the driving lane DL) based on each data calculated by the calculation unit 56.

[0024] Furthermore, the ECU 50 is provided with a lighting control unit 64 that determines the display color, blinking cycle, and light movement speed of the pair of left and right light-emitting units 34 according to the level of departure risk determined by the departure risk determination unit 62. The display unit in the present invention is composed of the lighting control unit 64 and a data output unit 66. Here, the blinking cycle and light movement speed of the pair of left and right light-emitting units 34 are configured to be continuously changeable by the lighting control unit 64. Furthermore, the light emission color, blinking cycle, and light movement speed of the pair of left and right light-emitting units 34 according to the departure risk are configured to be freely customizable by the driver operating a display device 46 (see FIG. 1) provided in the driver's seat.

[0025] Next, a process executed in the ECU 50 of the vehicle display device 10 will be described with reference to the flowchart shown in Fig. 3. This flowchart is executed at predetermined time intervals when the vehicle 12 is traveling in the driving lane DL, for example, as shown in Fig. 1.

[0026] First, in step 100, the data acquisition unit 52 acquires surrounding environment information from the front camera 22 and the side camera 36. In addition, host vehicle information is acquired from the vehicle speed sensor 38, the acceleration sensor 40, and the yaw rate sensor 42. In addition, data on whether the turn indicator 44 is operating is acquired from the turn indicator 44 (see FIG. 2).

[0027] Next, in step 102, the road surface line recognition unit 54 determines whether or not a road surface line exists in the driving lane based on image data captured by the front camera 22 (see FIG. 2). If the result in step 102 is positive, that is, if the road surface line M (side strip LM and lane change line RM) is detected in the driving lane DL as in this embodiment, the process proceeds to the next step 104. On the other hand, if the result in step 102 is negative, that is, if no road surface line is detected on either the left or right side of the driving lane, the process ends.

[0028] In step 104, the calculation unit 56 calculates the vehicle speed, lateral speed, lateral position, and departure angle of the vehicle 12 based on the various data obtained by the data acquisition unit 52 and the data of the road surface line M detected by the road surface line recognition unit 54 (see FIG. 2). Here, the lateral position refers to the position of the vehicle 12 in the width direction of the driving lane DL. Also, the departure angle refers to the angle between the direction of the driving lane DL and the traveling direction of the vehicle 12.

[0029] In step 106, based on the lateral speed, lateral position, and departure angle calculated in step 104, the lane departure determination unit 58 (see FIG. 2) determines whether or not there is a possibility that the vehicle 12 will depart from the driving lane DL, or whether or not the vehicle 12 has already departed from the driving lane DL.

[0030] If the result in step 106 is YES, i.e., if it is determined that there is a possibility that the vehicle 12 will depart from the driving lane DL, or if it is determined that the vehicle 12 has already departed from the driving lane DL, the process proceeds to step 108. For example, if it is determined that there is a possibility that the vehicle 12 shown in FIG. 1 will cross the right lane changing lane RM, the process proceeds to step 108. On the other hand, if the result in step 106 is NO, i.e., if it is determined that there is no possibility that the vehicle 12 will depart from the driving lane DL, the process ends. Note that it is not necessary to use all of the vehicle speed, lateral speed, lateral position, and departure angle as factors for determining whether or not the vehicle 12 is likely to depart, and other factors may also be used for the determination.

[0031] In step 108, the notification necessity determination unit 60 confirms the driver's intention to change lanes based on the signal of the turn indicator 44 obtained by the data acquisition unit 52, and determines whether or not it is necessary to notify the driver of lane departure (see FIG. 2). If the turn indicator 44 is not operated, it is determined that there is a possibility of lane departure even though the driver has no intention of changing lanes. In this case, it is determined that it is necessary to notify the driver, and the process proceeds to step 110. On the other hand, if the turn indicator 44 is operated, it is determined that there is a possibility that the driver will cross the road line M with the intention of changing lanes. In this case, it is determined that there is no need to notify the driver, and the process ends. Note that the means for confirming the driver's intention to change lanes is not limited to the operation of the turn indicator 44, and other means may be used.

[0032] In step 110, the level of risk (degree of danger) that the vehicle 12 deviates from the driving lane DL is determined. At this time, the departure risk determination unit 62 determines the level of departure risk based on the vehicle speed and acceleration of the vehicle 12 calculated by the calculation unit 56 and the image data of the side of the vehicle 12 captured by the side camera 36 and acquired by the data acquisition unit 52 (see FIG. 2). For example, when the vehicle speed is fast, the vehicle 12 is accelerating, or there are other vehicles, pedestrians, obstacles, etc. on the side from which the vehicle 12 is about to deviate, the departure risk is determined to be high. On the other hand, when the vehicle speed is slow, the vehicle 12 is decelerating, or there is nothing on the side from which the vehicle 12 is about to deviate, the departure risk is determined to be low. Note that it is not necessary to use all of the vehicle speed, acceleration, and side image as factors for determining the departure risk, and other factors may also be used for the determination.

[0033] Finally, in step 112, the display color, blinking cycle, and light movement speed of the pair of left and right light-emitting units 34 are determined in the lighting control unit 64. Then, a signal is output from the data output unit 66 to the pair of left and right light-emitting units 34, thereby changing the display color, blinking cycle, and light movement speed of the left light-emitting unit 30A and the right light-emitting unit 32A, respectively (see FIG. 2). Specific examples of the display color, blinking cycle, and light movement speed of the pair of left and right light-emitting units 34 will be described later in the section on operation and effect.

[0034] (Actions and Effects of the Present Embodiment) Next, the operation and effects of this embodiment will be described.

[0035] As shown in Fig. 1, in the vehicle display device 10 according to this embodiment, the left light emitting unit 30A is provided at the upper end of the left panel 30 of the meter panel 26 of the instrument panel 18. The right light emitting unit 32A is provided at the upper end of the right panel 32. The pair of left and right light emitting units 34 are disposed at positions that are visible inside the pair of left and right road surface lines M in the driver's forward field of vision during normal driving. The pair of left and right light emitting units 34 each include a plurality of light sources that are oriented to extend in approximately the same direction as the pair of left and right road surface lines M in the driver's forward field of vision.

[0036] Here, according to the vehicle display device 10 according to the present embodiment, when the vehicle 12 is about to deviate from the driving lane DL to the right as shown in FIG. 1, the right light emitting unit 32A is illuminated at the timing when the extension of the lane changing line RM on the right side overlaps with the right light emitting unit 32A in the driver's forward visual field. Also, when the vehicle 12 is about to deviate from the driving lane DL to the left, the left light emitting unit 30A is illuminated at the timing when the extension of the roadside strip LM on the left side overlaps with the left light emitting unit 30A in the driver's forward visual field. Therefore, when the vehicle 12 is about to deviate from the driving lane DL, the road surface line M on the side where the vehicle is about to deviate is pseudo-extended and displayed in the vehicle interior 14 in the driver's forward visual field. This allows the driver to intuitively receive a notification of lane departure while keeping his or her eyes directed forward.

[0037] Furthermore, according to the vehicle display device 10 of this embodiment, when the vehicle 12 is about to deviate from the driving lane DL, the departure risk determination unit 62 determines the level of the departure risk. Then, depending on the level of the departure risk, the lighting control unit 64 determines the blinking cycle and the light movement speed of the left light-emitting unit 30A and the right light-emitting unit 32A, respectively. The blinking cycle and the light movement speed thus determined are output from the data output unit 66 to the left light-emitting unit 30A and the right light-emitting unit 32A, and at least one of the blinking cycle and the light movement speed of the light-emitting unit (the left light-emitting unit 30A or the right light-emitting unit 32A) on the side from which the vehicle 12 is about to deviate is changed.

[0038] This changes the strength of the notification given to the driver from the left light-emitting unit 30A or the right light-emitting unit 32A. In other words, when the departure risk is high, the driver receives a strong notification from the left light-emitting unit 30A or the right light-emitting unit 32A, and when the departure risk is low, the driver receives a weak notification from the left light-emitting unit 30A or the right light-emitting unit 32A.

[0039] As an example of changing the strength of the notification to the driver, there is a pattern in which the time interval between light emission and the next light emission in the light-emitting unit on the side where lane departure is about to occur (the left light-emitting unit 30A or the right light-emitting unit 32A) is gradually shortened according to the increase in the departure risk. In this pattern, the pair of left and right light-emitting units 34 are not blinked during normal driving, and when there is a possibility of lane departure, the time interval between light emission and the next light emission in the left light-emitting unit 30A or the right light-emitting unit 32A is gradually shortened. In addition, according to the increase in the departure risk, the light-emitting time per blink may be gradually increased while the off time per blink may be gradually shortened. As yet another example, the above patterns may be combined to gradually increase the light-emitting time per blink while gradually shortening the time interval between light emission and the next light emission.

[0040] As another example, there is a pattern in which the moving speed of the light emitted from the light-emitting unit on the side where the vehicle is about to depart (the left light-emitting unit 30A or the right light-emitting unit 32A) that flows from back to front is gradually increased according to the increasing risk of departure. In this pattern, all of the multiple light sources of the pair of left and right light-emitting units 34 are turned on during normal driving, and when there is a possibility of lane departure, the moving speed of the light is gradually increased in the left light-emitting unit 30A or the right light-emitting unit 32A. Also, the moving speed of the light may be changed according to the risk of departure, while the period of the change is also changed.

[0041] In addition, when the departure risk is low, the light emitting unit (left light emitting unit 30A or right light emitting unit 32A) on the side where the vehicle is about to depart may be made to blink, and when the departure risk is high, the light emitting unit (left light emitting unit 30A or right light emitting unit 32A) on the side where the vehicle is about to depart may be made to emit light in a flowing manner. For example, when the vehicle 12 is likely to depart to the right but is still traveling in the driving lane DL, the right light emitting unit 32A may be made to blink, and when the vehicle 12 has crossed the lane change line RM and has already deviated from the driving lane DL, the right light emitting unit 32A may be made to emit light in a flowing manner. Conversely, when the departure risk is low, the light emitting unit (left light emitting unit 30A or right light emitting unit 32A) on the side where the vehicle is about to depart may be made to emit light in a flowing manner, and when the departure risk is high, the light emitting unit (left light emitting unit 30A or right light emitting unit 32A) on the side where the vehicle is about to depart may be made to blink.

[0042] In either example, when the risk of deviation is high, the driver receives a strong notification from the left light-emitting unit 30A or the right light-emitting unit 32A, and feels a sense of pressure as if there is a wall on the side from which the driver is about to deviate. This allows the driver to intuitively sense the increasing risk of deviation and quickly return the vehicle 12 to the driving lane DL.

[0043] Also, for example, during normal driving, the interior of the vehicle compartment 14 can be turned into an illuminated and decorated space by lighting the decorative LEDs of the pair of left and right light-emitting units 34 in cool colors such as green or blue. On the other hand, when there is a possibility of lane departure, the decorative LEDs of the pair of left and right light-emitting units 34 can be made to flash or flow in warm colors such as orange or red, so that the pair of left and right light-emitting units 34 can be used as warning lights. In other words, the pair of light-emitting units 34 can achieve both comfort and safety.

[0044] Furthermore, according to the vehicle display device 10 of this embodiment, the pair of left and right light-emitting units 34 are provided on the instrument panel 18. This allows the pair of left and right light-emitting units 34 to be easily disposed without competing with the mounting space of existing devices such as an air conditioner device.

[0045] [Supplementary explanation of the above embodiment] In the above embodiment, the pair of left and right light emitting units 34 are described as being provided on the left panel 30 and the right panel 32 of the meter panel 26 that is formed in a substantially U-shape in a plan view, respectively. However, the present invention is not limited to this, and may be provided on, for example, the upper surface of an instrument panel that is formed substantially flat. In this case, the pair of left and right light emitting units can be extended to the vicinity of the lower end of the front windshield 20, so that the pair of left and right road surface lines M look even more like they are extended into the vehicle interior 14. This allows the driver to more intuitively receive the notification of lane departure while keeping his or her eyes facing forward. In addition, the pair of left and right light emitting units may be provided on, for example, the display 28. In FIG. 1, the display 28 and the pair of left and right light emitting units 34 are described as being viewed from above the steering wheel 24, but for example, if the pair of left and right light emitting units are provided on the display 28, the pair of left and right light emitting units can be viewed in a general manner of looking at the display 28 from between the steering wheel 24.

[0046] Furthermore, the pair of left and right light emitting units 34 may be provided not only on the instrument panel 18 but also on other equipment in the vehicle cabin, such as a yoke-type steering wheel, a head-up display (HUD), a separate display device provided near the instrument panel, etc. For example, when the pair of left and right light emitting units are provided on a plane substantially perpendicular to the vehicle front-rear direction, the pair of left and right light emitting units each extend substantially in the vehicle up-down direction. In this case, the pair of left and right light emitting units may be provided so as to face substantially the same direction as the pair of left and right road surface lines M in the driver's forward field of vision, and to approach each other as they move toward the upper side of the vehicle.

[0047] Furthermore, although the vehicle 12 has been described as a left-hand drive vehicle with the driver's seat on the left side, the vehicle 12 may be a right-hand drive vehicle with the driver's seat on the right side. The vehicle 12 may be an autonomous vehicle, or a vehicle that can switch between autonomous and manual driving. Furthermore, the vehicle 12 may be equipped with not only a device that notifies the driver of lane departure, but also a device that suppresses lane departure.

[0048] Furthermore, in the above embodiment, the calculation unit 56 calculates the vehicle speed, lateral speed, lateral position, and departure angle of the vehicle 12, and then the lane departure determination unit 58, the notification necessity determination unit 60, and the departure risk determination unit 62 perform processing in this order (see steps 104 to 110 in Figs. 2 and 3), but this is not limited to the above. For example, the presence or absence of departure possibility may be determined based on the lateral speed and lateral position, and then the vehicle speed of the vehicle 12 may be calculated only when there is a possibility of departure, and the necessity of notification may be determined based on this vehicle speed. Also, for example, the departure risk may be determined, and then the necessity of notification may be determined based on this departure risk.

[0049] In addition, in the above embodiment, it has been described that the display color, the blinking cycle, and the movement speed of the light of the pair of left and right light-emitting elements 34 are changed depending on the level of risk that the vehicle 12 will deviate from the driving lane DL (the degree of danger including the harmfulness that may arise if the vehicle 12 deviates from the driving lane DL), but this is not limited to the above, and the display color, the blinking cycle, and the movement speed of the light of the light-emitting elements may be changed simply depending on the level of the possibility of deviation. [Explanation of symbols]

[0050] 10 Vehicle display device 12 Vehicles 14 Cabin 30A Left side light emitting part (light emitting part) 32A Right side light emitting part (light emitting part) 34 Pair of light-emitting parts on the left and right DL Travel Lane LM Roadside strip (road surface line) RM Lane change line (road surface line) M Pair of road lines on the left and right 64 Lighting control unit (display unit) 66 Data output section (display section)

Claims

[Claim 1] A surrounding environment information acquisition unit that acquires surrounding environment information of a vehicle including a pair of road surface lines on the left and right of a driving lane in front of the vehicle; A vehicle information acquisition unit that acquires vehicle information including a vehicle speed, an acceleration, and a yaw rate; a pair of left and right light emitting units arranged in a vehicle cabin and configured to emit light visible in a forward field of vision of a driver during normal driving, the light emitting units being configured to emit light in a direction that is inside the pair of left and right road surface lines of a driving lane and that extends in substantially the same direction as the pair of left and right road surface lines; a display unit which determines whether the vehicle is about to deviate from the driving lane and the level of the risk of deviation from the vehicle speed, lateral speed, lateral position, and deviation angle obtained from the road surface lines, the vehicle speed, the acceleration, and the yaw rate, and when it is determined that the vehicle is about to deviate, changes and displays at least one of the blinking cycle of the light-emitting unit on the side where the vehicle is about to deviate and the moving speed of the light emitted in a flowing manner from the light-emitting unit according to the level of the risk of deviation; A vehicle display device having the following:

Images