Vehicle display control device, method and program

Abstract

To enhance visibility of display information even if displaying information on a small-size display unit which does not widely cover the front visual field of an occupant.SOLUTION: A display control ECU displays, on a HUD 56, road width lines 62 which simulate border lines of a traffic lane on which an own vehicle is traveling and at the same time displays markers 66 and a belt-like path line 68 including the markers 66 in positions corresponding to future positions of the own vehicle on the HUD 56 and on a head-up display, displaying them in a form which can discriminate the markers 66 from the path line 68 by coloring the path line 68. In addition, the display control ECU displays the road width lines 62, the markers 66 and the path line 68 on a meter display 58 and at the same time displays the path line 68 in color different from the markers 66 and the road width lines 62.SELECTED DRAWING: Figure 5

Description

[Technical field]

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

[0002] Patent Document 1 discloses a technology that detects the driving state of a vehicle, calculates a predicted driving trajectory of the vehicle in the future based on the detected driving state, and displays it on a head-up display device. In this technology, a group of points is arranged at a predetermined interval on a curve that indicates the predicted driving trajectory of the center of gravity of the vehicle, and a frame having a width almost the same as the width of the vehicle is arranged so that the center of gravity is aligned with each of the group of points, and the frame is displayed as a bird's-eye view. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 08-178679 Summary of the Invention [Problem to be solved by the invention]

[0004] The technology described in Patent Document 1 is premised on displaying information on a superimposed (Augmented Reality: AR) type head-up display that completely covers the forward field of vision of a vehicle front seat occupant, but it is very difficult to construct an optical system that realizes such a large head-up display, and is not realistic at present. On the other hand, when the technology described in Patent Document 1 is applied to displaying information on a small display unit such as a small head-up display or an instrument panel display that has a display range that covers only a part of the occupant's forward field of vision, the visibility of the information displayed on the display unit decreases. In addition, it becomes difficult for the driver to intuitively grasp that the information displayed on the display unit corresponds to the actual foreground that the driver is viewing, and there is room for improvement.

[0005] The present invention has been made in consideration of the above-mentioned facts, and its object is to provide a vehicle display control device, a vehicle display control method, and a vehicle display control program that can improve the visibility of displayed information even when the information is displayed on a small display unit that does not cover a wide area of ​​the occupant's forward field of vision. [Means for solving the problem]

[0006] A first aspect of the present invention is a vehicle display control device that displays on a head-up display road width lines simulating the boundary lines of the lane in which the vehicle is traveling, and also displays a marker and a strip-shaped trajectory line that includes the marker at a position on the head-up display that corresponds to the future position of the vehicle, and is characterized in that the trajectory line is displayed in a manner that allows the trajectory line and the marker to be distinguished from each other by coloring the trajectory line. In the first aspect, road width lines, markers, and track lines including the markers are displayed on the head-up display, and the track lines are colored to make the track lines and the markers distinguishable from each other. This makes it possible to improve the visibility of the displayed information even when the information is displayed on a small display unit that does not cover a wide area of ​​the occupant's forward field of vision.

[0007] A second aspect is characterized in that in the first aspect, an image corresponding to a first person viewpoint, which is a viewpoint seen by a driver of the host vehicle, is displayed on the head-up display. In the second aspect, an image corresponding to a first person viewpoint, which is the viewpoint seen by the driver of the vehicle, is displayed on the head-up display, allowing the user to intuitively understand that the information displayed on the head-up display corresponds to the actual foreground.

[0008] A third aspect is characterized in that, in the first aspect, a second display device different from the head-up display further displays an image that is a composite of an image corresponding to a third-person viewpoint, which is a bird's-eye view from above and behind the vehicle, and the marker. In the third aspect, an image that combines an image corresponding to a third-person viewpoint, which is a bird's-eye view from above and behind the vehicle, and a marker is displayed on the second display device, allowing the user to intuitively understand that the information displayed on the second display device corresponds to the actual foreground.

[0009] A fourth aspect is the third aspect, characterized in that the second display device is a display provided on an instrument panel of the host vehicle. According to the fourth aspect, it is possible to adopt an easily implemented configuration for the second display device, while allowing the user to intuitively grasp that the display information on the second display device corresponds to the actual foreground.

[0010] A vehicle display control device according to a fifth aspect is a vehicle display control device that displays, on a display device, road width lines simulating the boundary lines of the lane in which the vehicle is traveling, and also displays a marker and a strip-shaped track line that includes the marker at a position on the display device that corresponds to the future position of the vehicle, and is characterized in that the track line is displayed in a color different from that of the marker and the road width lines. In the fifth aspect, the road width lines, the markers, and the belt-shaped track lines including the markers are displayed on the display device, and the track lines are displayed in a color different from the markers and the road width lines. This makes it possible to improve the visibility of the displayed information even when the information is displayed on a small display unit that does not cover a wide area of ​​the occupant's forward field of vision.

[0011] A sixth aspect is characterized in that, in the fifth aspect, an image corresponding to a first person viewpoint, which is a viewpoint seen by the driver of the vehicle, is displayed on a first display device different from the display device. In the sixth aspect, an image corresponding to a first person viewpoint, which is the viewpoint seen by the driver of the vehicle, is displayed on the first display device, allowing the user to intuitively understand that the information displayed on the first display device corresponds to the actual foreground.

[0012] A seventh aspect is characterized in that in the sixth aspect, the first display device is a head-up display having a display range that covers a part of the forward field of vision of an occupant of the host vehicle. In the seventh aspect, the first display device is a head-up display that displays a part of the forward field of vision of the vehicle occupant. This allows the driver to intuitively understand that the information displayed on the first display device corresponds to the actual foreground while adopting an easily implemented configuration for the first display device.

[0013] The eighth aspect is characterized in that, in the fifth aspect, the display device is further caused to display an image that is a composite of an image corresponding to a third person viewpoint, which is a bird's-eye view from above and behind the vehicle, and the marker. In the eighth aspect, an image that combines an image corresponding to a third-person viewpoint, which is a bird's-eye view from above and behind the vehicle, and a marker is displayed on the display device, allowing the user to intuitively understand that the information displayed on the display device corresponds to the actual foreground.

[0014] A ninth aspect of the present invention is characterized in that in the eighth aspect, the display device is a display provided on an instrument panel of the host vehicle. According to the fourth aspect, it is possible to adopt an easily implemented configuration for the display device, while allowing the user to intuitively grasp that the information displayed on the display device corresponds to the actual foreground.

[0015] A tenth aspect of a display control method for a vehicle is a display control method for a vehicle that causes a computer to execute processing including displaying, on a head-up display, road width lines simulating the boundary lines of the lane in which the vehicle is traveling, and displaying a marker and a strip-shaped track line that includes the marker at a position on the head-up display that corresponds to the future position of the vehicle, and is characterized in that the track line is displayed in a manner that allows the track line and the marker to be distinguished by coloring the track line. According to the tenth aspect, like the first aspect, even when information is displayed on a small display unit that does not cover a wide area of ​​the occupant's forward field of vision, the visibility of the displayed information can be improved.

[0016] A display control method for a vehicle according to an eleventh aspect is a display control method for a vehicle that causes a computer to execute processing including displaying, on a display device, road width lines simulating the boundary lines of the lane in which the vehicle is traveling, and displaying, on the display device, a marker and a strip-shaped track line that includes the marker at a position corresponding to the future position of the vehicle, and is characterized in that the track line is displayed in a color different from that of the marker and the road width lines. According to the eleventh aspect, like the fifth aspect, the visibility of displayed information can be improved even in the case where information is displayed on a small display unit that does not cover a wide area of ​​the occupant's forward field of vision.

[0017] A twelfth aspect of the present invention is a display control program for a vehicle that causes a computer to execute processing including displaying, on a head-up display, road width lines simulating the boundary lines of the lane in which the vehicle is traveling, and displaying a marker and a strip-shaped track line that includes the marker at a position on the head-up display that corresponds to a future position of the vehicle, and is characterized in that the track line is displayed in a manner that allows the track line and the marker to be distinguished from each other by coloring the track line. According to the twelfth aspect, similarly to the first aspect, even when information is displayed on a small display unit that does not cover a wide area of ​​the occupant's forward field of vision, the visibility of the displayed information can be improved.

[0018] A thirteenth aspect of the present invention relates to a vehicle display control program for causing a computer to execute processing including displaying, on a display device, road width lines simulating the boundary lines of the lane in which the vehicle is traveling, and displaying, on the display device, a marker and a strip-shaped track line that includes the marker at a position corresponding to the future position of the vehicle, and is characterized in that the track line is displayed in a color different from that of the marker and the road width lines.

[0019] According to the thirteenth aspect, like the fifth aspect, the visibility of displayed information can be improved even when information is displayed on a small display unit that does not cover a wide area of ​​the occupant's forward field of vision. Effect of the Invention

[0020] The present invention has an effect of improving the visibility of displayed information even when information is displayed on a small display unit that does not cover a wide area of ​​the occupant's forward field of vision. [Brief description of the drawings]

[0021] [Figure 1] 1 is a block diagram showing a schematic configuration of an in-vehicle system according to an embodiment; [Diagram 2] FIG. 1 is an image diagram showing an example of a display range of a HUD. [Diagram 3] 13 is a flowchart showing a display control process. [Figure 4] FIG. 2 is an image diagram showing an example of a normal image displayed on the HUD and the meter display. [Diagram 5] FIG. 1A is an image diagram showing an example of a first-person single-lane display image displayed on a HUD, and FIG. 1B is an image diagram showing an example of a third-person multiple-lane display image displayed on a meter display. [Figure 6] FIG. 1 is an image showing an example of a first-person single lane display image displayed on a HUD when driving on a straight road. [Figure 7] FIG. 1 is an image showing an example of a first-person single lane display image displayed on a HUD when approaching a curve in the road. [Figure 8] FIG. 13 is an image showing an example of a first-person one-lane display image displayed on the HUD when the host vehicle is changing lanes. [Figure 9] FIG. 13 is an image showing an example of a first-person single lane display image displayed on the HUD when approaching a fork in the road. [Figure 10] FIG. 13 is a conceptual diagram for explaining a process of selecting a future position at which a marker is to be displayed. [Figure 11] FIG. 2 is an image diagram for explaining a process of changing the display position of an image on a HUD in accordance with a steering angle. [Figure 12] 1 is an image diagram for explaining a process of changing the display position of an image on a HUD in accordance with a steering angle. [Figure 13] FIG. 1 is an image diagram showing an example of a situation in which driver intervention is required during autonomous driving. [Figure 14] FIG. 13 is an image diagram showing another example of a situation in which driver intervention is required during autonomous driving. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0022] An example of an embodiment of the present invention 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 surrounding condition acquisition device group 14, a vehicle driving state detection sensor group 26, an automatic driving ECU (Electronic Control Unit) 34, and a display control ECU 42 are respectively 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 the host vehicle.

[0023] 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.

[0024] 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.

[0025] 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 changes in the relative position and relative speed of each object included in the most recent detection results, and tracks and monitors specific objects such as pedestrians and other vehicles as monitoring targets. The radar device 22 then outputs information such as the relative position and relative speed of each monitoring target object. The camera 24 captures the surroundings of the vehicle with a plurality of cameras and outputs the captured images.

[0026] 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.

[0027] The autonomous driving ECU 34 is connected to a throttle ACT 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.

[0028] 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 units. 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.

[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 driver 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 an 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 performs a display control process (described later) 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.

[0031] A head-up display (hereinafter referred to as HUD) 56 and a meter display 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 occupants 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 60 in FIG. 2. The meter display 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 meter display 58.

[0032] The autonomous driving ECU 34 is an example of an autonomous driving control unit, the display control ECU 42 is an example of a display control unit, and the HUD 56 and the meter display 58 are an example of a display unit.

[0033] Next, the operation of this embodiment will be described. While the automatic driving ECU 34 is performing automatic driving, the driver needs to continuously pay attention to the vehicle behavior and the surrounding traffic conditions, continuously grasp the vehicle behavior and the surrounding traffic conditions, and be aware and ready to act in case of need for intervention. However, if the vehicle side were to transmit the surrounding conditions captured by the sensor to the driver every moment, the excessive information transmission would increase the burden on the driver, which is not in line with the purpose of automatic driving, which is to reduce the driving load.

[0034] In addition, when the vehicle detects a necessity to start a non-steady driving operation such as branching or merging into lanes or changing lanes, the vehicle can call the driver's attention. However, when the vehicle cannot detect an unexpected obstacle on the road and the driver continues normal driving even though the obstacle should be avoided, the vehicle does not have the intention to request attention in the first place, and therefore cannot call the driver's attention.

[0035] In consideration of these issues, the display control ECU 42 performs a display control process shown in Fig. 3. In step 100 of the display control process, the display control ECU 42 determines whether or not the automatic driving ECU 34 is performing automatic driving.

[0036] If the determination in step 100 is negative, the process proceeds to step 120, where the display control ECU 42 displays a normal image on the HUD 56 and the meter display 58. An example of the normal image displayed on the HUD 56 is shown in Fig. 4(A), and an example of the normal image displayed on the meter display 58 is shown in Fig. 4(B).

[0037] On the other hand, if the automatic driving is being performed by the automatic driving ECU 34, the determination in step 100 is affirmative, and the process proceeds to step 102. In step 102, the display control ECU 42 acquires information on the lanes recognized by the automatic driving ECU 34 from the automatic driving ECU 34. The lane information includes information on the lane in which the vehicle is traveling (such as information on whether the lane is straight or curved) and information on adjacent lanes adjacent to the left and right of the lane (such as whether there is an adjacent lane). Based on the lane information acquired from the automatic driving ECU 34, the display control ECU 42 generates a first-person single-lane display image as shown in FIG. 5(A) as an example, and a third-person multiple-lane display image as shown in FIG. 5(B) as an example, as images including road width lines 62 that simulate lane boundary lines.

[0038] The first-person one-lane display 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 the display. The first-person one-lane display image is an image in which the vehicle's lane is displayed as large as possible while omitting information that is not important for monitoring driving, thereby minimizing annoyance, and various displays described below are displayed large and easy to see.

[0039] The third-person multi-lane display 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. In the third-person multi-lane display image, the vehicle is displayed as an icon 64. The third-person multi-lane display 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.

[0040] In the first-person one-lane display image and the third-person multiple-lane display image, the road width lines 62 simulating the boundary lines of the lanes are displayed. For example, when the vehicle approaches a curve on the road on which the vehicle is traveling, the road width lines 62 change from the display shown in FIG. 6 to the display shown in FIG. 7, and when the vehicle approaches a fork in the road on which the vehicle is traveling, the road width lines 62 change from the display shown in FIG. 6 to the display shown in FIG. 9. This allows the driver to understand that the first-person one-lane display image and the third-person multiple-lane display image are road schematic diagrams (perspective representations of lane boundary lines) that are in a similarity-reduction comparison relationship with the actual scene. In addition, when the vehicle is about to change lanes, as shown in FIG. 8, the road width lines 62 remain unchanged, but the markers 66 and track lines 68, which will be described later, change, allowing the driver to understand that the vehicle is about to change lanes.

[0041] In step 104, the display control ECU 42 acquires the coordinate array of the future position of the host vehicle from the autonomous driving ECU 34, and selects a future position at which to display the marker 66 (see FIG. 5, etc.). As an example, a case will be described in which communication is performed between the display control ECU 42 and the autonomous driving ECU 34 every 100 milliseconds, and in each communication, a finite number of coordinate arrays of the host vehicle's future position in 100 millisecond increments (e.g., 50 arrays = up to 5 seconds in the future) are transmitted from the autonomous driving ECU 34 to the display control ECU 42, as shown in FIG.

[0042] At time t0, the display control ECU 42 sets the current position of the vehicle as a base point n0, hides the marker 66 for the first nine coordinates n1 to n9, and selects the tenth coordinate n10 as a future position at which the marker 66 will be displayed. Similarly, the display control ECU 42 hides the marker 66 for coordinates n11 to n19, and selects coordinate n20 as a future position at which the marker 66 will be displayed. As a result, an array of markers 66 at one-second intervals is generated for the array of coordinates of future positions received from the autonomous driving ECU 34.

[0043] At time t1, 100 milliseconds later, the vehicle moves to approximately the position of coordinate n1 at time t0, and the display control ECU 42 generates a new arrangement of markers 66 based on the new position of the vehicle. At this time, the display / non-display attribute for each coordinate at time t0 is maintained, the marker 66 is hidden for n1 to n8, n9 is selected as the future position at which the marker 66 is displayed, the marker 66 is hidden for n10 to n18, and n19 is selected as the future position at which the marker 66 is displayed. In other words, the future position at which the marker 66 is displayed is switched so that the time difference from the current time of the future position at which the marker 66 is displayed becomes smaller as time passes (for example, from time t0 to time t1). As a result, an arrangement of markers 66 is generated at time t1 in which the phase has moved toward the vehicle by 100 milliseconds compared to time t0.

[0044] In step 106, the display control ECU 42 converts the coordinates of the future position where the marker 66 will be displayed into coordinates on the first-person one-lane display image shown in Fig. 5(A) based on the result of selecting the future position where the marker 66 will be displayed in step 104, and displays the marker 66 on the converted coordinates of the first-person one-lane display image. Also, the display control ECU 42 converts the coordinates of the future position where the marker 66 will be displayed into coordinates on the third-person multiple lane display image shown in Fig. 5(B), and displays the marker 66 on the converted coordinates of the third-person multiple lane display image.

[0045] By the processing of steps 104 and 106, the markers 66 are displayed on the first-person one-lane display image and the third-person multiple-lane display image at positions corresponding to the future position of the vehicle, and the array of markers 66 advances (moves downward on the display) toward a reference position corresponding to the vehicle as the vehicle travels. This results in a display in which the array of markers 66 placed on the road at fixed intervals (for example, one second) flows by. This allows the driver to intuitively understand that the first-person one-lane display image and the third-person multiple-lane display image correspond to the actual foreground.

[0046] In addition, during a period when the display control ECU 42 is not communicating with the autonomous driving ECU 34 (for example, the period between time t0 and time t1), it is desirable to calculate the display position of the marker 66 by, for example, extrapolation, and display the marker 66. This allows the marker 66 to move continuously as an animation, enabling a higher quality and smoother display.

[0047] In step 108, the display control ECU 42 sets the vehicle width direction of the host vehicle as the width direction and the array of the host vehicle's future position as the length direction, and displays a strip-shaped track line 68 encompassing the array of markers 66 in the first-person one-lane display image and the third-person multi-lane display image, respectively (see FIGS. 5(A) and 5(B)). In the first-person one-lane display image and the third-person multi-lane display image, the direction in which the strip-shaped track line 68 extends indicates the traveling direction of the host vehicle, allowing the driver to intuitively grasp the traveling position of the host vehicle.

[0048] Moreover, the belt-like track lines 68 extending in the traveling direction of the vehicle are perceived by the driver as being similar to rails laid on the road, and the markers 66 placed at regular intervals are perceived by the driver as being similar to sleepers on a railway track. In this way, the representation by the markers 66 and the track lines 68 is a mental model that many people have a sense of déjà vu, so the driver can intuitively recognize that it is a preview display of the future time that the vehicle will travel.

[0049] In step 112, the display control ECU 42 determines whether the vehicle distance setting for the autonomous driving is being changed. If the vehicle distance setting is being changed, the determination in step 112 is affirmative and the process proceeds to step 114. In step 114, the display control ECU 42 displays vehicle distance setting lines 70 (the number of vehicle distance setting lines 70 changes depending on the set vehicle distance time) indicating the set vehicle distance time in each of the first-person one-lane display image and the third-person multi-lane display image (see FIGS. 5(A) and (B)).

[0050] In this way, when the inter-vehicle distance setting line 70 is displayed, the driver can understand the set inter-vehicle time. In this embodiment, the inter-vehicle distance setting line 70 is stationary on the first-person one-lane display image and the third-person multiple-lane display image. On the other hand, the marker 66 is a marker whose display position moves as the host vehicle travels, so that it is possible to avoid confusion between the marker 66 and the inter-vehicle distance setting line 70.

[0051] If the vehicle distance setting is not being changed, the determination in step 112 is negative, and step 114 is skipped. In this case, the vehicle distance setting line 70 is not displayed in the first-person one-lane display image and the third-person multiple-lane display image.

[0052] 5, the display control ECU 42 displays a first-person one-lane display image on the HUD 56. When displaying the image on the HUD 56, a process is performed to change the display position of the image on the HUD 56 in accordance with the steering angle.

[0053] That is, first, the steering angle detected by the steering angle sensor 28 is obtained. Then, if the steering angle is 0, the first-person one lane display image is displayed on the HUD 56 so that the image center of the first-person one lane display image displayed on the HUD 56 coincides with the center CL of the display range of the HUD 56, as shown in FIG.

[0054] On the other hand, when the steering angle is not 0, as shown in FIG. 12 for example, the first-person one lane display image is displayed on the HUD 56 so that the image center of the first-person one lane display image displayed on the HUD 56 is offset in the direction of the steering angle (rightward or leftward) by an amount corresponding to the steering angle with respect to the center CL of the display range of the HUD 56.

[0055] 12, the center of the first-person one-lane display image is offset to the right with respect to the center CL of the display range of the HUD 56. This allows the driver to feel as if the image displayed on the HUD 56 is always in the appropriate position within the lane, without shifting to the outside of the corner, when the road on which the vehicle is traveling is curved.

[0056] In the next step 118, the display control ECU 42 displays a third-person multi-lane display image on the meter display 58, as shown in Fig. 5. After the processing of step 118 is performed, the process returns to step 100, and steps 102 to 118 are repeated while the determination in step 100 is positive.

[0057] In level 2 or level 3 automated driving, a situation may arise where the driver needs to intervene. As an example, FIG. 13 shows a situation where the vehicle is about to change lanes to the left lane even though a bus is traveling in the left lane adjacent to the left of the vehicle's lane (a situation where the vehicle does not recognize that the bus is a dangerous presence when changing lanes), and it is desirable for the driver to intervene to stop the lane change. Even in such a case, the markers 66, track lines 68, road width lines 62, etc. are displayed on the HUD 56, so that the driver can quickly become aware that the vehicle is about to change lanes to the left lane. Then, the driver can recognize that the bus is a dangerous presence when changing lanes and perform an intervening operation to stop the lane change, even without the vehicle side issuing a special warning.

[0058] 14 shows an example of a situation in which the vehicle is going to go straight even though the lane ahead is blocked by lane regulation (the vehicle does not recognize that the lane ahead is blocked), and it is desirable for the driver to intervene and change lanes. In such a case, the markers 66, track lines 68, road width lines 62, etc. are displayed on the HUD 56 and meter display 58, so that the driver can quickly become aware that the vehicle is going to go straight. The driver can recognize that the lane ahead of the vehicle, in which the vehicle is going to go straight, is blocked and can intervene to change lanes, even without the vehicle issuing a special warning.

[0059] As described above, in this embodiment, the display control ECU 42 displays the marker 66 at a position on the HUD 56 and the meter display 58 that corresponds to the future position of the host vehicle obtained from the automatic driving ECU 34 that performs automatic driving of the host vehicle, and moves the display position of the marker 66 on the HUD 56 and the meter display 58 toward a reference position on the HUD 56 and the meter display 58 that corresponds to the host vehicle in accordance with the traveling of the host vehicle. As a result, the display position of the marker 66 moves in synchronization with the traveling of the host vehicle, so that even when information is displayed on a small HUD 56 and a meter display 58 that do not cover a wide area of ​​the occupant's forward field of vision, the occupant can intuitively understand that the displayed information corresponds to the actual foreground.

[0060] Furthermore, in this embodiment, the display control ECU 42 switches the future position of the host vehicle at which the marker 66 is displayed so that the time difference between the future position of the host vehicle and the current time becomes smaller as time passes, thereby moving the display position of the marker 66 on the HUD 56 and the meter display 58 toward the reference position on the HUD 56 and the meter display 58. In this way, the display position of the marker 66 on the HUD 56 and the meter display 58 can be moved by the simple process of switching the future position at which the marker 66 is displayed.

[0061] In this embodiment, the display control ECU 42 displays the markers 66 at multiple positions on the HUD 56 and the meter display 58 corresponding to multiple future positions of the host vehicle that are different in time from the current time by a predetermined time interval. This allows the user to intuitively grasp changes in the behavior of the host vehicle along the time axis, including acceleration and deceleration of the host vehicle, from the display intervals of the multiple markers 66.

[0062] In this embodiment, the display control ECU 42 sets the vehicle width direction of the host vehicle as the width direction and the array of the host vehicle's future positions as the length direction, and causes the HUD 56 and the meter display 58 to display a belt-shaped trajectory line 68 that encompasses the array of the markers 66. This allows the user to intuitively grasp the traveling position of the host vehicle from the direction in which the trajectory line 68 extends.

[0063] In addition, in this embodiment, the display control ECU 42 displays road width lines 62 simulating the boundary lines of the lane in which the vehicle is traveling on the HUD 56 and the meter display 58. This allows the driver to more intuitively understand that the displayed information corresponds to the actual foreground.

[0064] In addition, in this embodiment, when the inter-vehicle time is changed, the display control ECU 42 causes the HUD 56 and the meter display 58 to display the inter-vehicle setting line 70 corresponding to the set inter-vehicle time, so that the inter-vehicle time can be grasped.

[0065] In this embodiment, the marker 66 is rhombus-shaped, but this is not limited thereto, and the marker 66 may be of other shapes, such as a circle or an ellipse.

[0066] Furthermore, although the above describes an embodiment 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 an embodiment in which autonomous driving is performed at level 4 or level 5. Although autonomous driving at level 4 or higher does not require intervention by the driver, by performing the display according to the present invention, it is possible to allow vehicle occupants to intuitively understand that the autonomous driving is functioning normally, providing a sense of security.

[0067] Further, in the above description, the display according to the present invention (display of markers 66, track lines 68, road width lines 62, etc.) is performed on each of the HUD 56 and the meter display 58. However, the present invention is not limited to this. The display according to the present invention may be performed on only one of the HUD 56 and the meter display 58, and a normal display (for example, the display in FIG. 4) may be performed on the other display. [Explanation of symbols]

[0068] 10. In-vehicle systems 28 Steering Angle Sensor 34 Autonomous Driving ECU 42 Display control ECU 56 HUD 58 Meter Display 62 Road width line 66 Marker 68 Trajectory line 70 Headway Line

Claims

1. A display control device for a vehicle that displays road width lines simulating boundary lines of a lane in which a vehicle is traveling on a head-up display, and displays a marker and a belt-shaped trajectory line including the marker at a position on the head-up display corresponding to a future position of the vehicle, A display control device for a vehicle, comprising: a display control unit for controlling a vehicle position of the vehicle; a display unit for displaying the vehicle position of the vehicle;

2. 2. The display control device for a vehicle according to claim 1, wherein the head-up display displays an image corresponding to a first-person viewpoint, which is a viewpoint seen by a driver of the vehicle.

3. The vehicle display control device according to claim 1, further comprising a second display device different from the head-up display that further displays an image that combines an image corresponding to a third-person viewpoint, which is a bird's-eye view from above and behind the vehicle, and the marker.

4. 4. The display control device for a vehicle according to claim 3, wherein the second display device is a display provided on an instrument panel of the host vehicle.

5. A display control device for a vehicle that displays on a head-up display road width lines simulating the boundaries of the lane in which the vehicle is traveling, and also displays a marker and a strip-shaped trajectory line including the marker at a position on the head-up display corresponding to a future position of the vehicle, A display control device for a vehicle, characterized in that the track lines are displayed in a color different from that of the markers and the road width lines.

6. The vehicle display control device according to claim 5, further comprising a display provided on an instrument panel of the vehicle, which further displays an image obtained by combining an image corresponding to a third-person viewpoint, which is a bird's-eye view from above and behind the vehicle, and the marker, on the display.

7. A display control method for a vehicle, comprising: displaying, on a head-up display, road width lines simulating boundary lines of a lane in which a vehicle is traveling; and displaying, on the head-up display, a marker and a belt-shaped trajectory line including the marker at a position corresponding to a future position of the vehicle, the head-up display, the method comprising: A vehicle display control method, comprising the steps of: coloring the track line so that the track line and the markers can be displayed in a distinguishable manner.

8. A display control method for a vehicle, in which a computer executes a process including displaying on a head-up display road width lines simulating the boundaries of the lane in which the vehicle is traveling, and displaying a marker and a strip-shaped trajectory line including the marker at a position on the head-up display corresponding to a future position of the vehicle, A display control method for a vehicle, comprising displaying the track lines in a color different from that of the markers and the road width lines.

9. On the computer, A display control program for a vehicle for executing a process including displaying, on a head-up display, road width lines simulating boundary lines of a lane in which a vehicle is traveling, and displaying, on the head-up display, a marker and a belt-shaped trajectory line including the marker at a position corresponding to a future position of the vehicle, the program comprising: A display control program for a vehicle, comprising: a display unit for displaying the track line in a manner that allows the track line and the markers to be distinguished from each other by coloring the track line.

10. On the computer, A display control program for a vehicle for executing a process including displaying, on a head-up display, road width lines simulating boundary lines of a lane in which a vehicle is traveling, and displaying, on the head-up display, a marker and a belt-shaped trajectory line including the marker at a position corresponding to a future position of the vehicle, the program comprising: A display control program for a vehicle, comprising: a display unit for displaying the track lines in a color different from that of the markers and the road width lines.

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