Vehicle display control device, vehicle display device, vehicle, vehicle display control method, and program

Abstract

To provide a display control device for a vehicle, a display device for a vehicle, a vehicle, a display control method for a vehicle, and a program, which make it easy for a driver to recognize an interrupting operation being executed by another vehicle driving in an adjacent lane.SOLUTION: When another vehicle driving in an adjacent lane adjacent to a driving lane in which the own vehicle is driving executes an interrupting operation of moving from the adjacent lane to an interrupting position ahead of the own vehicle in the driving lane, a processor controls a display unit so as to discontinuously move an image of another vehicle from a first position on an adjacent lane image to a second position on a lane boundary image, while the display unit is capable displaying a driving lane image 41 representing a driving lane, adjacent lane images 42A and 42B representing adjacent lanes, lane boundary line images 43A and 43B representing lane boundary lines for defining boundaries between the driving lane and adjacent lanes, and other vehicle images 50A and 50B representing other vehicles.SELECTED DRAWING: Figure 6

Description

Technical Field

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

Background Art

[0002] Patent Document 1 below discloses an invention in which a head-up display displays a predicted travel trajectory of another vehicle when there is a possibility that the other vehicle traveling in an adjacent lane adjacent to the travel lane in which the vehicle is traveling may cut into the travel lane.

Prior Art Document

Patent Document

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The invention of Patent Document 1 above has room for improvement in making the driver recognize the cut-in operation being performed by another vehicle traveling in the adjacent lane.

[0005] In consideration of the above facts, an object of the present invention is to obtain a vehicle display control device, a vehicle display device, a vehicle, a vehicle display control method, and a program that make it easy for a driver to recognize the cut-in operation being performed by another vehicle traveling in the adjacent lane.

Means for Solving the Problems

[0006] The vehicle display control device according to claim 1 includes a processor. When another vehicle traveling in an adjacent lane adjacent to the driving lane in which the host vehicle is traveling executes an intrusion operation of moving from the adjacent lane to an intrusion position in front of the host vehicle in the driving lane, a display unit capable of displaying a driving lane image representing the driving lane, an adjacent lane image representing the adjacent lane, a lane boundary line image representing a lane boundary line defining a boundary between the driving lane and the adjacent lane, and an other vehicle image representing the other vehicle moves the other vehicle image Before the interruption operation is completed, so as to discontinuously move from a first position on the adjacent lane image to a second position on the lane boundary line image to control the display unit.

[0007] In the vehicle display control device according to claim 1, when another vehicle traveling in an adjacent lane adjacent to the driving lane in which the host vehicle is traveling executes an intrusion operation of moving from the adjacent lane to an intrusion position in the driving lane, the display unit controlled by the processor displays the other vehicle image so as to discontinuously move from a first position on the adjacent lane image representing the adjacent lane to a second position on the lane boundary line image representing a lane boundary line defining a boundary between the driving lane and the adjacent lane. Therefore, a driver who sees the other vehicle image can easily recognize that another vehicle traveling in the adjacent lane is executing an intrusion operation. That is, a driver who sees the other vehicle image can more easily recognize that another vehicle traveling in the adjacent lane is executing an intrusion operation than when the other vehicle image is displayed so as to continuously move from the first position to the second position.

[0008] The vehicle display control device according to the invention described in claim 2, in the invention described in claim 1, when the other vehicle executes the intrusion operation, the processor controls the display unit so as to discontinuously move the other vehicle image from the second position to a third position corresponding to the intrusion position on the driving lane image.

[0009] In the invention according to claim 2, when another vehicle executes an intrusion operation, a display unit controlled by a processor displays the other vehicle image as moving discontinuously from a second position to a third position corresponding to the intrusion position on the travel lane image. Therefore, a driver who sees the other vehicle image can easily recognize that the other vehicle is executing an intrusion operation. That is, a driver who sees the other vehicle image can more easily recognize that the other vehicle is executing an intrusion operation than when the other vehicle image is displayed as moving continuously from the second position to the third position.

[0010] The vehicle display control device according to the invention described in claim 3, in the invention described in claim 1 or claim 2, when the processor determines that there is a possibility that the other vehicle executing the intrusion operation based on the behavior of the other vehicle traveling in the adjacent lane, the display unit displays the other vehicle image.

[0011] In the invention according to claim 3, when the processor determines that there is a possibility that the other vehicle executing the intrusion operation based on the behavior of the other vehicle traveling in the adjacent lane, the display unit displays the other vehicle image. Since only the other vehicle image corresponding to the other vehicle determined to possibly execute the intrusion operation is displayed on the display unit, the driver is less likely to feel bothered compared to the case where the display unit displays the other vehicle images representing all the other vehicles traveling in the adjacent lane.

[0012] The vehicle display control device according to the invention described in claim 4, in the invention according to any one of claims 1 to 3, the processor controls the display unit to display the other vehicle image representing the other vehicle located on the adjacent lane in front of the own vehicle at one of a plurality of positions set to be arranged in the front-rear direction on the adjacent lane image.

[0013] In the invention according to claim 4, the other vehicle image representing the other vehicle located on the adjacent lane in front of the own vehicle is displayed at one of a plurality of positions set to be arranged in the front-rear direction on the adjacent lane image. Therefore, a driver who sees the other vehicle image can recognize the position along the front-rear direction of the other vehicle image representing the other vehicle that may execute the intrusion operation.

[0014] In the vehicle display control device according to the invention described in claim 5, in the invention described in claim 4, when the other vehicle image located at a specific position behind a predetermined position among the plurality of positions is located at at least one of the first position and the second position, the display unit is controlled so that the other vehicle image located at the specific position is displayed in a manner different from the other vehicle images located at positions different from the specific position.

[0015] In the invention described in claim 5, when the other vehicle image located at a position behind a predetermined position among the plurality of positions is located at at least one of the first position and the second position, the other vehicle image located at the specific position is displayed in a manner different from the other vehicle images located at positions different from the specific position. Since the front-rear direction distance between the other vehicle corresponding to this other vehicle image and the own vehicle is short, it is necessary to pay sufficient attention to the cutting-in operation by this other vehicle. Since the other vehicle image corresponding to such an other vehicle is displayed in such a manner, the driver who sees the other vehicle image can pay sufficient attention to the cutting-in operation by this other vehicle.

[0016] In the vehicle display control device according to the invention described in claim 6, in the invention described in any one of claims 1 to 5, when the processor determines that the other vehicle moving from the adjacent lane to the traveling lane is a preceding vehicle for the own vehicle that is executing follow-up control, the front display unit is controlled so that the other vehicle image determined to be the preceding vehicle is displayed in a manner different from the other vehicle images not determined to be the preceding vehicle.

[0017] In the invention described in claim 6, when the processor determines that the other vehicle moving from the adjacent lane to the traveling lane is a preceding vehicle for the own vehicle that is executing follow-up control, the display unit displays the other vehicle image determined to be the preceding vehicle in a manner different from the other vehicle images not determined to be the preceding vehicle. Therefore, the driver who sees the other vehicle image can recognize whether the other vehicle corresponding to the other vehicle image is a preceding vehicle for the own vehicle.

[0018] The vehicle display device according to the invention described in claim 7 includes a display unit and the vehicle display control device according to any one of claims 1 to 6.

[0019] The vehicle according to the invention described in claim 8 includes the vehicle display device according to claim 7.

[0020] In the vehicle display control method according to the invention described in claim 9, when another vehicle traveling in an adjacent lane adjacent to the travel lane in which the host vehicle is traveling performs an intrusion operation of moving from the adjacent lane to an intrusion position in front of the host vehicle in the travel lane, a display unit capable of displaying a travel lane image representing the travel lane, an adjacent lane image representing the adjacent lane, a lane boundary line image representing a lane boundary line defining a boundary between the travel lane and the adjacent lane, and an other vehicle image representing the other vehicle moves the other vehicle image Before the interruption operation is completed, from a first position on the adjacent lane image to a second position on the lane boundary line image in a discontinuous manner to control the display unit.

[0021] In the program according to the invention described in claim 10, when another vehicle traveling in an adjacent lane adjacent to the travel lane in which the host vehicle is traveling performs an intrusion operation of moving from the adjacent lane to an intrusion position in front of the host vehicle in the travel lane, a display unit capable of displaying a travel lane image representing the travel lane, an adjacent lane image representing the adjacent lane, a lane boundary line image representing a lane boundary line defining a boundary between the travel lane and the adjacent lane, and an other vehicle image representing the other vehicle moves the other vehicle image Before the interruption operation is completed, from a first position on the adjacent lane image to a second position on the lane boundary line image in a discontinuous manner to cause a processor to execute a process of controlling the display unit.

Advantages of the Invention

[0022] As described above, the vehicle display control device, the vehicle display device, the vehicle, the vehicle display control method, and the program according to the present invention have an excellent effect of making it easy for a driver to recognize an intrusion operation being performed by another vehicle traveling in an adjacent lane.

Brief Description of the Drawings

[0023]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Embodiments for Carrying Out the Invention

[0024] Hereinafter, embodiments of a vehicle display control device, a vehicle display device, a vehicle 10, a vehicle display control method, and a program according to the present invention will be described with reference to the drawings.

[0025] As shown in FIG. 1, the vehicle (own vehicle) 10 of the present embodiment includes a front windshield 14 and an instrument panel 16. A display (display unit) (vehicle display device) 18 and a driving support switch 24 are provided on the instrument panel 16. A sensor group 20 is provided at the upper part of the inner side surface of the front windshield 14. The sensor group 20 includes at least one of a camera, a LiDAR (Laser Imaging Detection and Ranging) sensor, a locator camera, and a millimeter-wave radar sensor. The driving support switch 24 is a switch for causing the vehicle 10 to execute driving support control described later.

[0026] As shown in FIG. 2, as a hardware configuration, the vehicle 10 has, separately from the display 18, the sensor group 20, and the driving support switch 24, a display control ECU (vehicle display control device) 26, a head-up display (hereinafter, HUD) (display unit) (vehicle display device) 28, a car navigation ECU 32, a GPS device 34, and an ADAS-ECU 36.

[0027] The display control ECU 26 includes a CPU (Central Processing Unit) (processor) 26A, a ROM (Read Only Memory) 26B, a RAM (Random Access Memory) 26C, a storage 26D, a wireless communication I / F (Interface) 26E, an in-vehicle communication I / F 26F, and an input / output I / F 26G. The CPU 26A, the ROM 26B, the RAM 26C, the storage 26D, the wireless communication I / F 26E, the in-vehicle communication I / F 26F, and the input / output I / F 26G are communicably connected to each other via an internal bus 26Z.

[0028] The CPU 26A is a central processing unit that executes various programs and controls each part. The CPU 26A reads a program from the ROM 26B or the storage 26D and executes the program using the RAM 26C as a work area. The CPU 26A performs control of each component and various arithmetic processes according to the programs recorded in the ROM 26B or the storage 26D.

[0029] The ROM 26B stores various programs and various data. The RAM 26C temporarily stores a program or data as a work area. The storage 26D is composed of a storage device such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive) and stores various programs and various data.

[0030] The wireless communication I / F 26E is an interface for wireless communication with various devices. For example, the wireless communication I / F 26E can perform wireless communication with the wireless communication devices of other vehicles 70A and 70B described later. Communication standards such as Bluetooth (registered trademark) and Wi-Fi (registered trademark) are used for the wireless communication I / F 26E.

[0031] The in-vehicle communication I / F 26F is an interface for connecting to the car navigation ECU 32 and the ADAS-ECU 36 via the external bus 26H. For this interface, a communication standard based on, for example, the CAN protocol is used.

[0032] The input / output I / F 26G is an interface for communicating with the display 18 and the HUD 28.

[0033] FIG. 3 shows an example of the functional configuration of the display control ECU 26 in a block diagram. The display control ECU 26 includes a display control unit 261 and a communication control unit 262 as its functional configuration. The display control unit 261 and the communication control unit 262 are realized by the CPU 26A reading and executing the programs stored in the ROM 26B.

[0034] The display control unit 261 controls the display 18 and the HUD 28 as described later.

[0035] The communication control unit 262 controls the wireless communication I / F 26E and the in-vehicle communication I / F 26F.

[0036] The HUD 28 includes a projection device 30. Images projected from the projection device 30 are reflected forward by a mirror (not shown), and various images are displayed in the display area HA (see FIG. 1) formed on the front windshield 14.

[0037] The car navigation ECU 32 and the ADAS-ECU 36 are configured to include a CPU (processor), a ROM, a RAM, a storage, a wireless communication I / F, an in-vehicle communication I / F, and an input / output I / F. The CPU, ROM, RAM, storage, wireless communication I / F, in-vehicle communication I / F, and input / output are communicably connected to each other via an internal bus.

[0038] The car navigation ECU 32 controls the car navigation system. Map data is recorded in the ROM or storage of the car navigation ECU 32. A GPS device 34 is connected to the car navigation ECU 32. The GPS device 34 has a GPS antenna (not shown) that receives signals from GPS satellites.

[0039] A sensor group 20 and a driving assistance switch 24 are connected to the ADAS-ECU 36. Also, the ADAS-ECU 36 is connected to various actuators for driving a braking device, a steering device, and an internal combustion engine (driving source). The ADAS-ECU 36 may be connected to an electric motor (driving source).

[0040] An example of the ADAS-ECU 36 is shown in a block diagram in FIG. 4. The ADAS-ECU 36 has, as a functional configuration, a driving assistance control unit 361 and an interrupt determination unit 362. The driving assistance control unit 361 and the interrupt determination unit 362 are realized by the CPU reading and executing a program stored in the ROM.

[0041] The driving assistance control unit 361 has a function of causing the vehicle 10 to execute driving assistance control by controlling the actuator group (and the electric motor). The "driving assistance control" in this specification includes driving assistance control of driving levels 1 to 5 defined by SAE (Society of Automotive Engineers). The driving assistance control includes, for example, ACC (Adaptive Cruise Control) and CACC (Cooperative Adaptive Cruise Control). The initial state of the driving assistance switch 24 is the OFF state. When the driving assistance switch 24 is turned ON, the vehicle 10 becomes capable of executing driving assistance control. Further, by operating the driving assistance switch 24 in the ON state, the occupant can cause the vehicle 10 to execute any driving assistance control among levels 1 to 5.

[0042] Furthermore, while the driving assistance control unit 361 is executing follow-up control (ACC or CACC), it determines whether a vehicle traveling ahead of the vehicle 10 corresponds to the preceding vehicle. Further, when the driving assistance control unit 361 automatically operates the brake device during the execution of the follow-up control, as shown in FIG. 1, the display 18 displays an image 18A representing the brake operation.

[0043] The interruption determination unit 362 has a function of determining whether there are other vehicles 70A and 70B in any of the lanes included in the road 60 (see FIG. 1) on which the vehicle 10 is currently traveling, based on the information acquired by the sensor group 20. Further, the interruption determination unit 362 calculates the positions of the other vehicles 70A and 70B in the lane width direction and the positions in the lane extension direction, based on the information acquired by the sensor group 20.

[0044] Furthermore, the interruption determination unit 362 has a function of determining, based on the information acquired by the sensor group 20, whether other vehicles 70A and 70B (see FIG. 1) traveling in adjacent lanes 62A and 62B (see FIG. 1) adjacent to the traveling lane 61 (see FIG. 1) on which the vehicle 10 is traveling may execute an interruption operation of moving to an interruption position, which is a region in front of the vehicle 10 in the traveling lane 61, and whether the interruption operation is being executed. Note that the interruption determination unit 362 may perform this determination based on the determination logic disclosed in Japanese Patent Application Laid-Open No. 2021-37895.

[0045] The ADAS-ECU 36 transmits information related to the driving support control selected by the driving support switch 24 to the display control ECU 26.

[0046] Subsequently, the images displayed on the display 18 and the display area HA will be described with reference to FIGS. 5 to 7. The images shown in FIGS. 5 to 7 are images schematically representing the scenery visually recognized by the driver D (see FIG. 1) of the vehicle 10. However, for the sake of convenience, these sceneries (images) are drawn as images seen from a position higher than the eyes of the driver D.

[0047] The road images 40 shown in FIGS. 5 to 7 are displayed on the display 18 and the display area HA. The arrows DR shown in FIGS. 5 to 7 indicate the rear side of the vehicle 10, and the arrow DF indicates the front side (traveling direction) of the vehicle 10. The road image 40 is an image based on the map data recorded in the storage of the car navigation ECU 32. For example, as shown in FIG. 1, when the road 60 on which the vehicle 10 is currently traveling includes the traveling lane 61 and two adjacent lanes 62A and 62B adjacent to the traveling lane 61, the road image 40 includes a traveling lane image 41 and two adjacent lane images 42A and 42B. The traveling lane image 41 corresponds to the traveling lane 61, the adjacent lane image 42A corresponds to the adjacent lane 62A, and the adjacent lane image 42B corresponds to the adjacent lane 62B.

[0048] For example, when the display control unit 261 of the display control ECU 26 recognizes that the vehicle 10 is traveling in the travel lane 61 based on the information acquired from the car navigation ECU 32 (GPS device 34), the display control unit 261 controls the display 18 and the HUD 28 to display the own vehicle image 55 on the travel lane image 41. The travel lane image 41 includes a first line L1, a second line L2, a third line L3, and a fourth line L4 that are located in front of the own vehicle image 55. The first line L1, the second line L2, the third line L3, and the fourth line L4 each indicate a position in front of the vehicle 10 (own vehicle image 55). The distance from the vehicle 10 to the second line L2 is longer than the distance from the vehicle 10 to the first line L1, the distance from the vehicle 10 to the third line L3 is longer than the distance from the vehicle 10 to the second line L2, and the distance from the vehicle 10 to the fourth line L4 is longer than the distance from the vehicle 10 to the third line L3.

[0049] For example, when the interrupt determination unit 362 determines based on the information acquired by the sensor group 20 that another vehicle 70A is traveling in the adjacent lane 62A and another vehicle 70B is traveling in the adjacent lane 62B, this determination result is transmitted from the ADAS-ECU 36 to the display control ECU 26. Thereby, the display control unit 261 of the display control ECU 26 controls the display 18 and the HUD 28 to superimpose and display the other vehicle images 50A and 50B corresponding to the other vehicles 70A and 70B on the adjacent lane images 42A and 42B in the display area HA of the display 18. Further, the interrupt determination unit 362 calculates the distances between the vehicle 10 and the other vehicles 70A and 70B based on the information acquired from the sensor group 20 and the position information acquired by the GPS device 34. Information regarding this distance is transmitted from the ADAS-ECU 36 to the display control ECU 26. The display control unit 261 of the display control ECU 26 that has received the information regarding the distance adjusts the positions of the other vehicle image 50A on the adjacent lane image 42A and the other vehicle image 50B on the adjacent lane image 42B. For example, when the distance from the vehicle 10 to the other vehicle 70A is a predetermined short distance, as shown in FIG. 5, the other vehicle image 50A is displayed such that the front-rear position of its rear end portion is the same as the position of the first line L1. When the distance from the vehicle 10 to the other vehicle 70B is a predetermined long distance, as shown in FIG. 5, the other vehicle image 50B is displayed such that the front-rear position of its rear end portion is the same as the position of the third line L3.

[0050] (Operation and Effect) Next, the operation and effect of the present embodiment will be described.

[0051] Subsequently, the process executed by the display control ECU 26 of the vehicle 10 will be described using the flowchart of FIG. 8. The display control ECU 26 repeatedly executes the process of the flowchart shown in FIG. 8 every time a predetermined time elapses.

[0052] In step S10, the display control unit 261 of the display control ECU 26 determines whether or not another vehicle 70A and 70B are traveling in the adjacent lanes 62A and 62B based on the information received from the ADAS-ECU 36.

[0053] The display control ECU 26 that determines Yes in step S10 proceeds to step S11, and determines whether the other vehicles 70A and 70B are executing an interrupt operation based on the information received from the ADAS-ECU 36.

[0054] The display control ECU 26 that determines Yes in step S11 proceeds to step S12, and determines whether the other vehicles 70A and 70B are located at the first position based on the information received from the ADAS-ECU 36. The first position is the position in the vehicle width direction of the other vehicles 70A and 70B when the center points in the vehicle width direction of the other vehicles 70A and 70B overlap the central portions in the lane width direction of the adjacent lanes 62A and 62B in a plan view. The dimensions in the lane width direction of the central portions of the adjacent lanes 62A and 62B have a certain length. That is, the first position is not a specific point. When the other vehicles 70A and 70B are located at the first position, the other vehicles 70A and 70B are away from the lane boundary lines 63A and 63B.

[0055] When it is determined that the other vehicles 70A and 70B are located at the first position on the adjacent lanes 62A and 62B, the display control ECU 26 proceeds to step S13. As shown in FIG. 5, the display control unit 261 superimposes and displays the other vehicle images 50A and 50B on the adjacent lane images 42A and 42B. At this time, the other vehicle image 50A is away from the lane boundary line image 43A, and the other vehicle image 50B is away from the lane boundary line image 43B.

[0056] Furthermore, at this time, for example, as shown in FIG. 5, the other vehicle images 50A and 50B are displayed such that the front-rear position of the rear end portion of the other vehicle image 50A is at the same position as the first line L1, and the front-rear position of the rear end portion of the other vehicle image 50B is at the same position as the third line L3.

[0057] The display control ECU 26 that has finished the process of step 13 proceeds to step S14, and determines whether the rear end portion of any one of the other vehicles 70A and 70B is located at the position (specific position) corresponding to the first line L1, which is behind the position (predetermined position) corresponding to the second line L2.

[0058] The display control ECU 26 that determined Yes in step S14 proceeds to step S15 and causes the other vehicle image 50A corresponding to the other vehicle 70A determined Yes in step S14 to be displayed in a color different from the other other vehicle images 50B. For example, the other vehicle image 50B corresponding to the other vehicle 70B determined No in step S14 is displayed in gray, and the other vehicle image 50A corresponding to the other vehicle 70A determined Yes in step S14 is displayed in yellow. The color of the other vehicle image 50A corresponding to the other vehicle 70A determined Yes in step S14 is preferably a color that gives a greater visual stimulus to the driver D than the color of the other vehicle image 50B corresponding to the other vehicle 70B determined No.

[0059] Note that when the other vehicle image 50A displayed in yellow moves to the second position described later while its rear end is located at the position corresponding to the first line L1, the other vehicle image 50A may remain displayed in yellow. Also, when the other vehicle image 50A displayed in yellow moves to the second position while its rear end is located at the position corresponding to the first line L1, the other vehicle image 50A may be displayed in gray.

[0060] The display control ECU 26 that has finished the process of step S15 proceeds to step S16 and determines whether the other vehicles 70A and 70B are located at the second position based on the information received from the ADAS-ECU 36. The second position is the position in the lane width direction of the other vehicles 70A and 70B when the central portions in the vehicle width direction of the other vehicles 70A and 70B overlap the adjacent lanes 62A and 62B in a plan view. The dimensions in the vehicle width direction of the central portions of the other vehicles 70A and 70B have a certain length. That is, the second position is not a specific point.

[0061] When it is determined that the other vehicles 70A and 70B are located at the second position on the adjacent lanes 62A and 62B, the display control ECU 26 proceeds to step S17 and, as shown in FIG. 6, the display control unit 261 superimposes and displays the other vehicle images 50A and 50B on the lane boundary line images 43A and 43B.

[0062] At this time, the display control unit 261 causes the other-vehicle images 50A and 50B representing the other vehicles 70A and 70B to be displayed on the display 18 and the display area HA so that the other-vehicle images 50A and 50B move discontinuously from the first position to the second position. In this specification and the claims, "the other-vehicle images 50A and 50B move discontinuously from the first position to the second position" means that after the other-vehicle images 50A and 50B that were displayed at the positions corresponding to the first positions of the adjacent-lane images 42A and 42B are once erased from the display 18 and the display area HA, the other-vehicle images 50A and 50B are displayed superimposed on the positions corresponding to the second positions of the lane boundary images 43A and 43B.

[0063] Furthermore, in step S17, the display control unit 261 displays the other-vehicle images 50A and 50B superimposed on the adjacent-lane images 42A and 42B while referring to the longitudinal positions of the other vehicles 70A and 70B. For example, the display control unit 261 causes the other-vehicle images 50A and 50B to be displayed superimposed on the lane boundary images 43A and 43B such that the rear end of the other-vehicle image 50A is located at the position corresponding to the first line L1 and the rear end of the other-vehicle image 50B is located at the position corresponding to the third line L3.

[0064] After finishing the process of step S17, the display control ECU 26 proceeds to step S18 and determines whether or not the other vehicles 70A and 70B are located at the third position (interrupt position) on the traveling lane 61 based on the information received from the ADAS-ECU 36. The third position is a position in the lane width direction where the other vehicles 70A and 70B are located between the lane boundary 63A and the lane boundary 63B and are separated from the lane boundary 63A and the lane boundary 63B in a plan view. That is, the third position is not a specific point.

[0065] When it is determined that the other vehicles 70A and 70B are located at the third position on the driving lane 61, the display control ECU 26 proceeds to step S19. As shown in FIG. 7, the display control unit 261 overlays and displays the other vehicle images 50A and 50B on the driving lane image 41 while referring to the longitudinal positions of the other vehicles 70A and 70B. For example, the display control unit 261 overlays and displays the other vehicle images 50A and 50B on the driving lane image 41 such that the rear end of the other vehicle image 50A is located at a position corresponding to the first line L1 and the rear end of the other vehicle image 50B is located at a position corresponding to the third line L3.

[0066] At this time, the display control unit 261 causes the display 18 and the display area HA to display the other vehicle images 50A and 50B representing the other vehicles 70A and 70B so as to move discontinuously from the second position to the third position. In this specification and the claims, "the other vehicle images 50A and 50B move discontinuously from the second position to the third position" means that the other vehicle images 50A and 50B that were overlaid and displayed at positions corresponding to the second position of the lane boundary lines 63A and 63B are once erased from the display 18 and the display area HA, and then the other vehicle images 50A and 50B are overlaid and displayed at positions corresponding to the third position of the driving lane image 41.

[0067] After finishing the process of step S19, the display control ECU 26 proceeds to step S20 and determines whether the ADAS-ECU 36 is executing follow-up control (ACC or CACC) based on the information received from the ADAS-ECU 36.

[0068] If the display control ECU 26 determines Yes in step S20, it proceeds to step S21 and determines whether either of the other vehicles 70A and 70B corresponding to the other vehicle images 50A and 50B displayed on the driving lane image 41 is the preceding vehicle for the vehicle 10 based on the information received from the ADAS-ECU 36.

[0069] The display control ECU 26 that determined Yes in step S21 proceeds to step S22 and causes the other vehicle image 50A corresponding to the other vehicle 70A determined Yes in step S21 to be displayed in a color different from that of the other other vehicle images 50B. For example, the other vehicle image 50B corresponding to the other vehicle 70B determined No in step S21 is displayed in gray, and the other vehicle image 50A corresponding to the other vehicle 70A determined Yes in step S21 is displayed in white. The color of the other vehicle image 50A corresponding to the other vehicle 70A determined Yes in step S21 is preferably a color that gives a greater visual stimulus to the driver D than the color of the other vehicle image 50B corresponding to the other vehicle 70B determined No.

[0070] When it is determined No in steps S10, S11, S12, S16, S18, S20, S21, or when the process of step S22 is completed, the display control ECU 26 temporarily ends the process of the flowchart in FIG. 8.

[0071] As described above, when the other vehicles 70A and 70B traveling in the adjacent lanes 62A and 62B execute an interrupt operation to move from the adjacent lanes 62A and 62B to the interrupt position of the traveling lane 61, the display 18 and the HUD 28 display the other vehicle images 50A and 50B as moving discontinuously from the first position on the adjacent lane images 42A and 42B to the second position on the lane boundary images 43A and 43B. Therefore, the driver D who sees the other vehicle images 50A and 50B can easily recognize that the other vehicles 70A and 70B traveling in the adjacent lanes 62A and 62B are executing an interrupt operation. For example, the driver D can more easily recognize that the other vehicles 70A and 70B are executing an interrupt operation than when the other vehicle images 50A and 50B are displayed as moving continuously from the first position to the second position.

[0072] When other vehicles 70A and 70B further execute an intrusion operation, the display 18 and the HUD 28 display so as to discontinuously move the other-vehicle images 50A and 50B from the second position to a third position corresponding to the intrusion position on the driving lane image 41. Accordingly, the driver D who sees the other-vehicle images 50A and 50B can easily recognize that the other vehicles 70A and 70B traveling in the adjacent lanes 62A and 62B are executing an intrusion operation. For example, the driver D can more easily recognize that the other vehicles 70A and 70B are executing an intrusion operation than when the other-vehicle images 50A and 50B are displayed so as to continuously move from the second position to the third position.

[0073] Furthermore, on the display 18 and the HUD 28, only the other-vehicle images 50A and 50B representing the other vehicles 70A and 70B determined by the ADAS-ECU 36 (intrusion determination unit 362) to potentially execute (executing) an intrusion operation are displayed. Therefore, the driver D is less likely to feel bothered than when the display 18 and the HUD 28 display other-vehicle images representing all the other vehicles traveling in the adjacent lanes 62A and 62B.

[0074] Furthermore, the other-vehicle images 50A and 50B representing the other vehicles 70A and 70B located on the adjacent lanes 62A and 62B are displayed at one of a plurality of positions respectively corresponding to the first line L1, the second line L2, the third line L3, and the fourth line L4 set so as to be arranged in the front-rear direction (the extending direction of the adjacent-lane images 42A and 42B) on the adjacent-lane images 42A and 42B. Accordingly, the driver D who sees the other-vehicle images 50A and 50B can recognize the positions along the front-rear direction of the other vehicles 70A and 70B that may execute an intrusion operation.

[0075] Furthermore, the other-vehicle images 50A and 50B representing the other vehicles 70A and 70B located corresponding to the first line L1 on the adjacent lanes 62A and 62B are displayed in a different mode (yellow) from the other-vehicle images 50A and 50B located on the second line L2 to the fourth line L4. Since the longitudinal distances between the other vehicles 70A and 70B corresponding to these other-vehicle images 50A and 50B and the vehicle 10 are short, it is necessary to pay sufficient attention to the cutting-in operations by these other vehicles 70A and 70B. Since the other-vehicle images 50A and 50B corresponding to such other vehicles 70A and 70B are displayed in yellow, the driver D who has seen the other-vehicle images 50A and 50B can pay sufficient attention to the cutting-in operations by these other vehicles 70A and 70B.

[0076] Furthermore, when the ADAS-ECU 36 (driving support control unit 361) determines that the other vehicles 70A and 70B moving from the adjacent lanes 62A and 62B to the driving lane 61 are the preceding vehicles for the vehicle 10 that is executing the follow-up control, the display 18 and the HUD 28 display these other-vehicle images 50A and 50B in a different mode (white) from the other-vehicle images 50A and 50B that are not the preceding vehicles. Accordingly, the driver D who has seen the other-vehicle images 50A and 50B can recognize whether the other vehicles 70A and 70B corresponding to the other-vehicle images 50A and 50B are the preceding vehicles for the vehicle 10.

[0077] As described above, the vehicle display control device, the vehicle display device, the vehicle, the vehicle display control method, and the program according to the embodiment have been described. However, the vehicle display control device, the vehicle display device, the vehicle, the vehicle display control method, and the program can be appropriately designed and changed within the scope not departing from the gist of the present invention.

[0078] For example, the vehicle 10 may not include at least one of the display 18 and the display area HA.

[0079] Only one of the display 18 and the display area HA may display the road image 40, the other-vehicle images 50A and 50B, and the own-vehicle image 55.

[0080] At least one of the display 18 and the display area HA may display the road image 40 and the other vehicle images 50A and 50B in the shape as seen in plan view of the road and the other vehicles.

[0081] When the other vehicles 70A and 70B are in the first position, the other vehicle images 50A and 50B may not be displayed in yellow, and when the other vehicles 70A and 70B move to the second position, the other vehicle images 50A and 50B may be displayed in yellow.

[0082] The other vehicle images 50A and 50B representing the other vehicles 70A and 70B located at positions corresponding to the first line L1 on the adjacent lanes 62A and 62B may be displayed in a manner different from the yellow display and different from the other vehicle images 50A and 50B located on the second line L2 to the fourth line L4. For example, such other vehicle images 50A and 50B may be displayed in a blinking manner.

[0083] The "specific position" in the claims may be a position corresponding to the first line L1 and the second line L2 respectively, or a position corresponding to the first line L1, the second line L2, and the third line L3 respectively.

[0084] The number of lines displayed in the driving lane image 41 may be a plurality other than four.

[0085] The other vehicle images 50A and 50B that are leading vehicles may be displayed in a manner different from the white display and different from the other vehicle images 50A and 50B that are not leading vehicles. For example, such other vehicle images 50A and 50B may be displayed in a blinking manner.

Explanation of Reference Numerals

[0086] 10 Vehicle (own vehicle) 18 Display (display unit) (vehicle display device) 26A CPU (processor) 28 Head-up display (HUD) (display unit) (vehicle display device) 36 ADAS-ECU (processor) 41 Driving lane image 42A 42B Adjacent lane image Lane boundary line images of 43A and 43B L1 First line (specific position) L2 Second line (predetermined position) Images of other vehicles 50A and 50B Lane 61 for driving Adjacent lanes 62A and 62B Lane boundaries 63A and 63B Other vehicles 70A and 70B

Claims

1. A vehicle display control device including a processor, wherein the processor controls a display unit to non - continuously move an other vehicle image from a first position on the adjacent lane image to a second position on the lane boundary line image before the cut - in operation is completed, when another vehicle traveling in an adjacent lane adjacent to a traveling lane in which the own vehicle is traveling moves from the adjacent lane to a cut - in position in front of the own vehicle in the traveling lane, and the display unit is capable of displaying a traveling lane image representing the traveling lane, an adjacent lane image representing the adjacent lane, a lane boundary line image representing a lane boundary line defining a boundary between the traveling lane and the adjacent lane, and an other vehicle image representing the other vehicle.

2. The vehicle display control device according to claim 1, wherein the processor controls the display unit to non - continuously move the other vehicle image from the second position to a third position corresponding to the cut - in position on the traveling lane image when the other vehicle executes the cut - in operation.

3. The vehicle display control device according to claim 1 or 2, wherein the processor causes the display unit to display the other vehicle image when it is determined, based on the behavior of the other vehicle traveling in the adjacent lane, that the other vehicle may execute the cut - in operation.

4. The vehicle display control device according to any one of claims 1 to 3, wherein the processor controls the display unit to display the other vehicle image representing the other vehicle located in front of the own vehicle on the adjacent lane at one of a plurality of positions set to be arranged in the front - rear direction on the adjacent lane image.

5. The vehicle display control device according to claim 4, wherein when the other vehicle image located at a specific position behind a predetermined position among the plurality of positions is located at at least one of the first position and the second position, the processor controls the display unit so that the other vehicle image located at the specific position is displayed in a manner different from the other vehicle image located at a position different from the specific position.

6. The vehicle display control device according to any one of claims 1 to 5, wherein when it is determined that the other vehicle moving from the adjacent lane to the traveling lane is a preceding vehicle for the own vehicle that is executing follow - up control, the processor controls the display unit so that the other vehicle image determined to be the preceding vehicle is displayed in a manner different from the other vehicle image not determined to be the preceding vehicle.

7. ​ ​ ​ ​ ​ ​ the display unit, the vehicle display control device according to any one of claims 1 to 6, A vehicle display device comprising:

8. A vehicle comprising the vehicle display device according to claim 7.

9. When a processor executes an intrusion operation in which another vehicle traveling in an adjacent lane adjacent to a traveling lane in which the host vehicle is traveling moves from the adjacent lane to an intrusion position in front of the host vehicle in the traveling lane, a display unit capable of displaying a traveling lane image representing the traveling lane, an adjacent lane image representing the adjacent lane, a lane boundary line image representing a lane boundary line defining a boundary between the traveling lane and the adjacent lane, and an other vehicle image representing the other vehicle, controls the display unit so that the other vehicle image moves discontinuously from a first position on the adjacent lane image to a second position on the lane boundary line image before the intrusion operation is completed. A vehicle display control method.

10. A program that causes a processor to execute a process of controlling a display unit so that when another vehicle traveling in an adjacent lane adjacent to a traveling lane in which the host vehicle is traveling moves from the adjacent lane to an intrusion position in front of the host vehicle in the traveling lane, an other vehicle image moves discontinuously from a first position on the adjacent lane image to a second position on the lane boundary line image before the intrusion operation is completed, the display unit being capable of displaying a traveling lane image representing the traveling lane, an adjacent lane image representing the adjacent lane, a lane boundary line image representing a lane boundary line defining a boundary between the traveling lane and the adjacent lane, and an other vehicle image representing the other vehicle. ​

Images