Indicating control device

Abstract

To provide a display control device which can enhance the responsibility of display of an image with respect to the vehicle behavior.SOLUTION: A display device 26 is arranged on a seat back of a front seat 10. The display device 26 is visually recognizable by an occupant on a rear seat 12. A travel control ECU 60 predicts the behavior of a vehicle VC according to an accelerator operation amount ACCP and the like. Especially, the travel control ECU 60 predicts the longitudinal acceleration of the vehicle VC. A CPU 22 changes an image displayed by the display device 26 according to the longitudinal acceleration of the vehicle predicted by the travel control ECU 60.SELECTED DRAWING: Figure 1

Description

[Technical field]

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

[0002] For example, Patent Document 1 below describes a vehicle equipped with a device for displaying images such as television, movies, and games. This document also describes a device that displays a background image around the image, which changes depending on the detected value of the vehicle's acceleration. This process takes into account the idea that car sickness can be suppressed by allowing vehicle occupants to anticipate the vehicle's movements. In other words, the aim is to suppress car sickness by allowing vehicle occupants to anticipate the vehicle's movements based on the background image. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2008-242251 Summary of the Invention [Problem to be solved by the invention]

[0004] However, when the background image is changed based on the detected value of the acceleration sensor, there is a risk that the background image may lag behind the actual movement of the vehicle. [Means for solving the problem]

[0005] The means for solving the above problems and their effects will be described below. A display control device that executes a calculated acceleration acquisition process and a display process, wherein the calculated acceleration acquisition process is a process for acquiring a calculated acceleration variable, and the calculated acceleration variable is a calculated acceleration of the vehicle according to the driving state of the vehicle, or a variable indicating the driving state of the vehicle that generates the acceleration of the vehicle, and the display process is a process for displaying an image that is visible to an occupant of the vehicle by operating a display device, and includes image change process, and the image change process is a process for changing the image using the calculated acceleration variable as input.

[0006] The calculated acceleration variable is a variable that indicates the acceleration of the vehicle. Therefore, in the above configuration, the calculated acceleration variable is used as an input to change the image visible to the vehicle occupants, thereby changing the image in accordance with the acceleration of the vehicle. Therefore, the occupants can predict the behavior of the vehicle from the image. In particular, in the above configuration, the image is changed not in accordance with the detected value of acceleration, but in accordance with the driving state of the vehicle that contributes to the generation of acceleration. Therefore, the responsiveness of the image display to the behavior of the vehicle can be improved compared to when the detected value is used. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is a diagram illustrating a partial configuration inside a vehicle according to an embodiment. [Diagram 2] 10(a) to 10(c) are diagrams illustrating examples of images displayed on a display device. [Diagram 3] 4 is a flowchart showing a procedure of a process executed by the display control device according to the embodiment. [Figure 4] 10A and 10B are diagrams illustrating an example of a change in a peripheral image according to longitudinal acceleration according to the embodiment. [Figure 5] 4 is a flowchart showing a procedure of a process executed by the display control device according to the embodiment. [Figure 6] 10A and 10B are diagrams illustrating an example of a change in a surrounding image in response to a turn according to the embodiment. [Figure 7] 4 is a flowchart showing a procedure of a process executed by the display control device according to the embodiment. [Figure 8] It is a flowchart showing the procedure of the process executed by the display control device according to the embodiment.

Embodiments for Carrying Out the Invention

[0008] Hereinafter, an embodiment will be described with reference to the drawings. In the vehicle VC shown in FIG. 1, a front seat 10 and a rear seat 12 are provided. A display control device 20 is provided on the seat back of the front seat 10.

[0009] The display control device 20 includes a CPU 22, a storage device 24, and a display device 26. The display device 26 includes a display panel such as a liquid crystal or an organic EL. The display control device 20 executes a process of displaying an image on the display device 26 by the CPU 22 executing an image display program 24a stored in the storage device 24.

[0010] At this time, signals from various devices in the vehicle VC are input to the display control device 20 via the in-vehicle network 30. For example, in-vehicle image data Dpi, which is image data of the inside of the vehicle captured by the in-vehicle camera 32, is input to the display control device 20. In the present embodiment, the in-vehicle camera 32 is arranged at a position where it can capture an image of the head of the occupant in the rear seat 12.

[0011] In addition, the vehicle speed SPD detected by the vehicle speed sensor 40 is input to the display control device 20. Further, the steering angle θt, which is the tire slip angle of the vehicle VC detected by the steering angle sensor 42, is input to the display control device 20. Further, the vertical acceleration Gz, which is the acceleration in the vertical direction of the vehicle detected by the Gz sensor 44, is input to the display control device 20. Note that FIG. 1 shows that the longitudinal direction of the vehicle VC is the x-axis direction. In particular, FIG. 1 shows that the front of the vehicle VC is the positive direction of the x-axis. Also, FIG. 1 shows that the lateral direction of the vehicle VC is the y-axis direction. In particular, FIG. 1 shows that the right direction of the vehicle VC is the positive direction of the y-axis. Also, FIG. 1 shows that the vertical direction of the vehicle VC is the z-axis direction. In particular, FIG. 1 shows that the upper side of the vehicle VC is the positive direction of the z-axis.

[0012] In addition, various signals from the driving control ECU 60 are input to the display control device 20. The driving control ECU 60 grasps the user's intention through the user interface 70. That is, when the user operates the user interface 70 to instruct automatic driving, the vehicle VC is automatically driven. At this time, the driving control ECU 60 refers to the outside vehicle image data Dpo, which is the image data of the surroundings of the vehicle VC captured by the outside vehicle camera 72. The driving control ECU 60 includes a CPU 62 and a storage device 64. Then, the driving control ECU 60 executes automatic driving by the CPU 62 executing the driving control program 64a stored in the storage device 64. That is, the driving control ECU 60 drives the vehicle VC by operating the drive system 74. Further, the driving control ECU 60 turns the vehicle VC by operating the steering system 76 to steer the steered wheels. Also, the driving control ECU 60 decelerates and stops the vehicle VC by operating the braking system 78.

[0013] The cruise control ECU 60 executes a process to predict the behavior of the vehicle VC, regardless of whether autonomous driving is being performed. This is realized by the CPU 62 executing a behavior prediction program 64b stored in the storage device 64. When predicting behavior when the vehicle is not in autonomous driving mode, the cruise control ECU 60 references an accelerator operation amount ACCP, which is the amount of accelerator pedal depression detected by the accelerator sensor 46. The cruise control ECU 60 also references a brake operation amount Brk, which is the amount of brake pedal depression detected by the brake sensor 48. The cruise control ECU 60 also references belt state variables Ssv1 to Ssv5, which are the states of the seat belts, detected by the seat belt sensor 50. Each of the five belt state variables Ssv1 to Ssv5 indicates the state of the seat belt of one seat in the vehicle VC.

[0014] Specifically, the CPU 62 estimates that the weight of the vehicle VC is heavier when the number of belt state variables Ssv1 to Ssv5 that are in the engaged state is large than when the number is small. Furthermore, the CPU 62 calculates the estimated longitudinal acceleration Gxe, which is an estimate of the longitudinal acceleration Gx, to a larger value when the accelerator operation amount ACCP is large than when it is small. Here, even if the accelerator operation amount ACCP is the same, the CPU 62 calculates the estimated longitudinal acceleration Gxe to a larger value when the vehicle speed SPD is small than when it is large. Furthermore, even if the accelerator operation amount ACCP is the same, the CPU 62 estimates the estimated longitudinal acceleration Gxe to a smaller value when the vehicle VC is heavy than when it is light. Furthermore, the CPU 62 calculates the estimated longitudinal acceleration Gxe to a larger negative value with an absolute value when the brake operation amount Brk is large than when it is small. Furthermore, even if the brake operation amount Brk is the same, the CPU 62 calculates the estimated longitudinal acceleration Gxe to a larger negative value with an absolute value when the vehicle speed SPD is small than when it is large. Furthermore, even if the brake operation amount Brk is the same, when the vehicle VC is heavy, the CPU 62 calculates the estimated longitudinal acceleration Gxe to a negative value with a smaller absolute value than when the vehicle VC is light.

[0015] The display control device 20 displays on the display device 26 images desired by the occupant, such as television or online videos, and also displays surrounding images intended to prevent car sickness. FIG. 2 shows an example of an image displayed on the display device 26.

[0016] 2(a) shows a peripheral image 80. The peripheral image 80 is an image with a checkered pattern. More specifically, it is an image in which vertical and horizontal stripes are superimposed. Fig. 2(b) illustrates a main image 90, which is an image desired by the occupant. Fig. 2(c) shows an example of an image displayed on the display device 26. As shown in Fig. 2(c), a peripheral image 80 is displayed around the main image 90 on the display device 26.

[0017] The display control device 20 changes the peripheral image 80 in accordance with the state of the vehicle VC, thereby reducing car sickness in occupants viewing the main image 90. Below, the processing for changing the peripheral image 80 will be described in the following order: processing in response to a request for acceleration in the longitudinal direction of the vehicle VC, processing during turning, processing in response to vertical movement of the vehicle VC, and peripheral image displacement processing.

[0018] "Processing according to requests for longitudinal acceleration of the vehicle VC" Fig. 3 shows the procedure of processing in response to a request for longitudinal acceleration of the vehicle VC. The processing shown in Fig. 3 is realized by the CPU 22 repeatedly executing the image display program 24a stored in the storage device 24, for example, at a predetermined interval. Note that, hereinafter, the step number of each processing step will be represented by a number preceded by "S."

[0019] 3, the CPU 22 first determines whether the vehicle is in the autonomous driving mode (S10). This determination can be made, for example, by outputting a flag indicating that the vehicle is in the autonomous driving mode to the display control device 20 when the cruise control ECU 60 is performing the autonomous driving. If the CPU 22 determines that the vehicle is not in the autonomous driving mode (S10: NO), the CPU 22 retrieves the estimated longitudinal acceleration Gxe calculated by the cruise control ECU 60 (S12). Next, the CPU 22 assigns the estimated longitudinal acceleration Gxe to the display longitudinal acceleration Gxr (S14).

[0020] On the other hand, when the CPU 22 determines that the vehicle is in the autonomous driving mode (S10: YES), the CPU 22 retrieves the required longitudinal acceleration Gx* calculated by the cruise control ECU 60 during autonomous driving (S16). Next, the CPU 22 assigns the required longitudinal acceleration Gx* to the display longitudinal acceleration Gxr (S18).

[0021] When the CPU 22 completes the processing of S14 and S18, it calculates a y-axis rotation amount θry, which is the amount of rotation of the peripheral image 80 around the rotation axis ry, based on the display longitudinal acceleration Gxr (S20). The rotation axis ry is an axis parallel to the y-axis and is located at the center of the display panel of the display device 26 in the up-down direction. The positive direction of the rotation axis ry is the same as the positive direction of the y-axis. The CPU 22 also calculates a Z-direction displacement amount ΔZx, which is the amount of displacement of the peripheral image 80 in the z-axis direction, based on the display longitudinal acceleration Gxr (S22).

[0022] FIG. 4 illustrates the y-axis rotation amount θry and the Z-direction displacement amount ΔZx. As shown in FIG. 4, when the vehicle VC accelerates, the CPU 22 rotates the peripheral image 80 counterclockwise about the rotation axis ry. As a result, the upper side of the peripheral image 80 is displaced forward of the vehicle VC and the lower side is displaced rearward of the vehicle VC. In other words, the upper side is displaced away from the occupant viewing the peripheral image 80 and the lower side is displaced closer to the occupant. This is in view of the fact that when the vehicle VC accelerates, the direction of the resultant vector of the acceleration of the vehicle VC and the gravitational acceleration is shifted rearward of the vehicle VC with respect to the negative z-axis direction. Therefore, the occupant feels as if the body is tilted rearward of the vehicle VC more upward. The peripheral image 80 is rotated to match the physical sensation. Further, when the vehicle VC accelerates, the CPU 22 displaces the peripheral image 80 downward by the absolute value of the Z-direction displacement amount ΔZx.

[0023] On the other hand, when the vehicle VC decelerates, the CPU 22 rotates the peripheral image 80 clockwise about the rotation axis ry. As a result, the upper side of the peripheral image 80 is displaced forward of the vehicle VC and the lower side is displaced rearward of the vehicle VC. In other words, the upper side is displaced closer to the occupant viewing the peripheral image 80 and the lower side is displaced away from the occupant. This is in view of the fact that when the vehicle VC decelerates, the direction of the resultant vector of the acceleration of the vehicle VC and the gravitational acceleration is shifted forward of the vehicle VC with respect to the negative z-axis direction. Therefore, the occupant feels as if the body is tilted forward of the vehicle VC more upward. The peripheral image 80 is rotated to match the physical sensation. Further, when the vehicle VC decelerates, the CPU 22 displaces the peripheral image 80 upward by the absolute value of the Z-direction displacement amount ΔZx.

[0024] In this embodiment, the display device 26 has a two-dimensional display surface. Therefore, the peripheral image 80 does not actually rotate. Here, "rotating the peripheral image 80" means displaying an image when the peripheral image 80 is rotated by using perspective. That is, when the vehicle VC accelerates, the stripe pattern constituting the peripheral image 80 is displayed smaller on the upper side than on the lower side.

[0025] The CPU 22 monotonically increases the absolute value of the y-axis rotation amount θry in accordance with the absolute value of the display-use longitudinal acceleration Gxr. This process includes a monotonically strong increase process. The CPU 22 also monotonically increases the absolute value of the Z-direction displacement amount ΔZx in accordance with the absolute value of the display-use longitudinal acceleration Gxr. This process includes a monotonically strong increase process.

[0026] Specifically, the process of S20 described above may be a process in which the CPU 22 performs map calculations on the y-axis rotation amount θry while map data is stored in the storage device 24. Here, the map data uses the display longitudinal acceleration Gxr as an input variable and the y-axis rotation amount θry as an output variable. Furthermore, the process of S22 described above may be a process in which the CPU 22 performs map calculations on the Z-direction displacement amount ΔZx while map data is stored in the storage device 24. Here, the map data uses the display longitudinal acceleration Gxr as an input variable and the Z-direction displacement amount ΔZx as an output variable.

[0027] Map data is a set of data consisting of discrete values of input variables and values of output variables corresponding to each of the input variable values. A map operation may be a process in which, when the value of an input variable matches one of the input variable values in the map data, the value of the corresponding output variable in the map data is used as the operation result. When the value of an input variable does not match any of the input variable values in the map data, a map operation may be a process in which the value obtained by interpolating the values of multiple output variables included in the map data is used as the operation result.

[0028] When the CPU 22 completes the process of S22, it temporarily ends the series of processes shown in FIG. "Processing when turning" The procedure for processing during turning is shown in Fig. 5. The processing shown in Fig. 5 is realized by the CPU 22 repeatedly executing the image display program 24a stored in the storage device 24, for example, at a predetermined interval.

[0029] In the series of processes shown in FIG. 5, the CPU 22 first acquires the steering angle θt, the steering angular velocity ωt, and the vehicle speed SPD (S30). Note that the steering angular velocity ωt is calculated by the CPU 22 based on the steering angle θt. Next, the CPU 22 calculates the x-axis rotation amount θrx0 of the peripheral image 80 around the rotation axis rx as the center of rotation based on the steering angle θt and the vehicle speed SPD (S32). The rotation axis rx is an axis parallel to the x-axis and passes through the center of the display panel. Also, the CPU 22 calculates the Y-direction displacement amount ΔY0, which is the displacement amount of the peripheral image 80 in the y-axis direction, based on the steering angle θt and the vehicle speed SPD (S34).

[0030] FIG. 6 exemplifies the x-axis rotation amount θrx0 and the Y-direction displacement amount ΔY. As shown in FIG. 6, when the vehicle VC turns right, the CPU 22 rotates the peripheral image 80 clockwise around the rotation axis rx. As a result, the vertical stripes of the peripheral image 80 are along the direction from the lower left to the upper right. This is in view of the fact that when the vehicle VC turns right, the direction of the resultant vector of the centrifugal force and the gravitational acceleration in the direction of traveling to the left is shifted in the negative direction of the y-axis with respect to the negative z-axis direction. Therefore, the occupant feels as if the body is tilted more to the left side of the vehicle VC as it goes upward. The peripheral image 80 is rotated to match this physical sensation. Further, when the vehicle VC turns right, the CPU 22 displaces the peripheral image 80 to the left by the absolute value of the Y-direction displacement amount ΔY0.

[0031] Also, as shown in FIG. 6, when the vehicle VC turns left, the CPU 22 rotates the peripheral image 80 counterclockwise around the rotation axis rx. As a result, the vertical stripes of the peripheral image 80 are along the direction from the lower right to the upper left. This is in view of the fact that when the vehicle VC turns left, the direction of the resultant vector of the centrifugal force and the gravitational acceleration in the direction of traveling to the right is shifted in the positive direction of the y-axis with respect to the negative z-axis direction. Therefore, the occupant feels as if the body is tilted more to the right side of the vehicle VC as it goes upward. The peripheral image 80 is rotated to match this physical sensation. Further, when the vehicle VC turns left, the CPU 22 displaces the peripheral image 80 to the right by the absolute value of the Y-direction displacement amount ΔY0.

[0032] Specifically, the CPU 22 monotonically increases the absolute value of the x-axis rotation amount θrx0 according to the absolute value of the steering angle θt. This process includes a process of monotonically increasing strongly. This process is a process in view of the fact that the centrifugal force becomes larger when the absolute value of the steering angle θt is large than when it is small. Also, the CPU 22 monotonically increases the absolute value of the x-axis rotation amount θrx0 according to the vehicle speed SPD. This process includes a process of monotonically increasing strongly. This is a process in view of the fact that the centrifugal force becomes larger when the vehicle speed SPD is large than when it is small.

[0033] Also, the CPU 22 monotonically increases the absolute value of the Y-direction displacement amount ΔY0 according to the absolute value of the steering angle θt. This process includes a process of monotonically increasing strongly. This is a process in view of the fact that the magnitude of the yaw rate becomes larger when the absolute value of the steering angle θt is large than when it is small. Also, the CPU 22 monotonically increases the absolute value of the Y-direction displacement amount ΔY0 according to the vehicle speed SPD. This process includes a process of monotonically increasing strongly. This is a process in view of the fact that the magnitude of the yaw rate becomes larger when the vehicle speed SPD is large than when it is small.

[0034] The process of S32 in FIG. 5 may be realized, for example, by the CPU 22 performing a map operation on the x-axis rotation amount θrx0 with the map data stored in the storage device 24. Here, the map data is data having the steering angle θt and the vehicle speed SPD as input variables and the x-axis rotation amount θrx0 as an output variable. Also, the process of S34 in FIG. 5 may be realized, for example, by the CPU 2 in the state where the map data is stored in the storage device 24 performing a map operation on the Y-direction displacement amount ΔY0. Here, the map data is data having the steering angle θt and the vehicle speed SPD as input variables and the Y-direction displacement amount ΔY0 as an output variable.

[0035] The CPU 22 sets the time constant of the filter based on the steering angular velocity ωt (S36). The filter is for low-pass filtering the x-axis rotation amount θrx0 and the Y-direction displacement amount ΔY0. The CPU 22 sets the cutoff frequency fc1 when the absolute value of the steering angular velocity ωt is smaller than the threshold value ωtth to be greater than the cutoff frequency fc2 when the absolute value is equal to or greater than the threshold value ωtth.

[0036] Then, the CPU 22 substitutes the value obtained by low-pass filtering the x-axis rotation amount θrx0 for the x-axis rotation amount θrx (S38). As a result, when the steering angular velocity ωt is smaller than the threshold value ωtth, the responsiveness of the x-axis rotation amount θrx to a change in the x-axis rotation amount θrx0 is kept low compared to when the steering angular velocity ωt is equal to or greater than the threshold value ωtth.

[0037] Furthermore, CPU 22 substitutes the value obtained by low-pass filtering the Y-direction displacement amount ΔY0 for the Y-direction displacement amount ΔY (S40). As a result, when the steering angular velocity ωt is smaller than threshold value ωtth, the responsiveness of the Y-direction displacement amount ΔY to changes in the Y-direction displacement amount ΔY0 is kept low compared to when the steering angular velocity ωt is equal to or greater than threshold value ωtth.

[0038] When the CPU 22 completes the process of S40, it temporarily ends the series of processes shown in FIG. "Processing according to the vertical movement of the vehicle VC" The procedure of the process corresponding to the vertical movement of the vehicle VC is shown in Fig. 7. The process shown in Fig. 7 is realized by the CPU 22 repeatedly executing the image display program 24a stored in the storage device 24, for example, at a predetermined interval.

[0039] 7, the CPU 22 first acquires the vertical acceleration Gz (S50). Next, the CPU 62 acquires the interior image data Dpi (S52). In the process of S52, the CPU 22 acquires the time-series data of the interior image data Dpi. Then, based on the time-series data of the interior image data Dpi, the CPU 22 assigns the difference between the maximum value and the minimum value of the displacement of the occupant's head in the z-axis direction over a predetermined period to the head movement amount Δh (S54).

[0040] Next, the CPU 22 sets a time constant for low-pass filtering the vertical acceleration Gz according to the head movement amount Δh (S56). The CPU 22 monotonically increases the cut-off frequency fc according to the head movement amount Δh. This process includes a process of monotonically increasing strongly.

[0041] Then, the CPU 22 substitutes the value obtained by low-pass filtering the vertical acceleration Gz into the Z-direction displacement amount ΔZz (S58). The Z-direction displacement amount ΔZz is a displacement amount for displacing the peripheral image 80 in the Z direction according to the vertical displacement of the vehicle VC.

[0042] According to the process of S56, when the head movement amount Δh is large, the reflection of the high-frequency component of the vertical acceleration Gz in the Z-direction displacement amount ΔZz is suppressed more than when it is small. This is aimed at suppressing the discomfort felt by the occupant due to the phase shift between the line of sight and the peripheral image 80.

[0043] Specifically, the process of S56 may be realized by the CPU 22 performing a map operation on the value of a variable that determines the time constant of the filter in a state where the map data is stored in the storage device 24. Here, the map data has the head movement amount Δh as an input variable and the value of the variable that determines the time constant as an output variable.

[0044] Note that when the process of S58 is completed, the CPU 22 temporarily ends the series of processes shown in FIG. 7. "Displacement processing of the peripheral image" FIG. 8 shows the procedure of the displacement processing of the peripheral image. The process shown in FIG. 8 is realized by the CPU 22 repeatedly executing the image display program 24a stored in the storage device 24 at a predetermined cycle, for example.

[0045] In the series of processes shown in FIG. 8, the CPU 22 first captures the y-axis rotation amount θry, the x-axis rotation amount θrx, the Z-direction displacement amounts ΔZx and ΔZz, and the Y-direction displacement amount ΔY (S60). Next, the CPU 22 substitutes the sum of the Z-direction displacement amount ΔZx and the Z-direction displacement amount ΔZz into the Z-direction displacement amount ΔZ (S62).

[0046] The CPU 22 then generates a peripheral image 80 to be displayed on the display device 26 in accordance with the y-axis rotation amount θry, the x-axis rotation amount θrx, the Z-direction displacement amount ΔZ, and the Y-direction displacement amount ΔY (S64). The peripheral image 80 for display is an image rotated by the y-axis rotation amount θry around the rotation axis ry. Furthermore, the peripheral image 80 for display is an image rotated by the x-axis rotation amount θrx around the rotation axis rx. Furthermore, the peripheral image 80 for display is an image displaced in the Z-axis direction by the Z-direction displacement amount ΔZ. Furthermore, the peripheral image 80 for display is an image displaced in the Y-axis direction by the Y-direction displacement amount ΔY.

[0047] Next, the CPU 22 operates the display device 26 to display the image generated by the process of S64 (S66). When the CPU 22 completes the process of S66, it temporarily ends the series of processes shown in FIG.

[0048] Here, the operation and effects of this embodiment will be described. The CPU 22 sets the y-axis rotation amount θry and the Z-direction displacement amount ΔZx based on the front-back acceleration Gxr for display. The front-back acceleration Gxr for display is the required front-back acceleration Gx* generated by the automatic driving process or the estimated front-back acceleration Gxe predicted by the accelerator operation amount ACCP or the like. The y-axis rotation amount θry and the Z-direction displacement amount ΔZx set according to the front-back acceleration Gxr for display are easier to enhance the responsiveness compared with the y-axis rotation amount θry and the Z-direction displacement amount ΔZx set according to the detection values of the sensors that detect the front-back acceleration. That is, there is a possibility that a response delay may occur in the detection values of the front-back acceleration sensors that detect the front-back acceleration according to the force acting on itself. Also, the time until the peripheral image 80 is generated and displayed according to the detection value of the sensor can also be a factor of the response delay. On the other hand, the front-back acceleration Gxr for display is a variable indicating the behavior of the vehicle VC in the near future. Moreover, the short time required until the front-back acceleration Gxr for display becomes the front-back acceleration of the actual vehicle VC can be adjusted as appropriate. Therefore, by setting the y-axis rotation amount θry and the Z-direction displacement amount ΔZx according to the front-back acceleration Gxr for display, the response delay of the display of the peripheral image 80 with respect to the behavior of the vehicle VC can be sufficiently suppressed.

[0049] Also, the CPU 22 sets the x-axis rotation amount θrx and the Y-direction displacement amount ΔY based on the steering angle θt. Thereby, it is easier to enhance the responsiveness of the display of the peripheral image 80 with respect to the behavior of the vehicle VC compared with the case where the x-axis rotation amount θrx and the Y-direction displacement amount ΔY are set based on a sensor that detects the lateral acceleration or a yaw rate sensor. This is because the steering angle θt is a variable that determines the behavior of the vehicle VC in the near future.

[0050] According to the present embodiment described above, the following operations and effects can be further obtained. (1) When setting the x-axis rotation amount θrx and the Y-direction displacement amount ΔY, the CPU 22 takes into account the vehicle speed SPD. The magnitudes of the lateral acceleration and the yaw rate are not determined solely from the steering angle θt but depend on the vehicle speed SPD. Therefore, by taking into account the vehicle speed SPD, it is possible to more faithfully reflect the behavior of the vehicle VC in the display of the surrounding image 80 as compared with the case of setting the x-axis rotation amount θrx and the Y-direction displacement amount ΔY based only on the steering angle θt.

[0051] (2) The CPU 22 uses the values obtained by filtering the x-axis rotation amount θrx0 and the Y-direction displacement amount ΔY0 as the x-axis rotation amount θrx and the Y-direction displacement amount ΔY. Thereby, it is possible to suppress excessive fluctuations in the surrounding image 80 due to the influence of noise contained in the steering angle θt.

[0052] (3) When filtering the x-axis rotation amount θrx0 and the Y-direction displacement amount ΔY0, the CPU 22 sets the time constant of the filter according to the steering angular velocity ωt. In particular, when the absolute value of the steering angular velocity ωt is large, the CPU 22 makes the cut-off frequency by the low-pass filter processing smaller than when it is small. Thereby, it is possible to achieve a preferable compromise between suppressing the influence of noise contained in the steering angle θt and quickly reflecting the behavior of the vehicle VC determined by the steering angle θt in the surrounding image 80.

[0053] (4) The CPU 22 sets the Z-direction displacement amount ΔZx by the value obtained by filtering the vertical acceleration Gz. Thereby, it is possible to suppress excessive vertical displacement of the surrounding image 80 depending on the state of the road surface and the like.

[0054] (5) The CPU 22 sets the time constant of the filter for performing filter processing on the vertical acceleration Gz according to the head movement amount Δh. Thereby, it is possible to more preferably suppress the annoyance felt by the occupant due to the phase shift between the line of sight and the surrounding image 80 as compared with the case where the time constant is fixed.

[0055] <Other Embodiments> This embodiment can be modified as follows: This embodiment and the following modifications can be combined with each other within the scope of technical compatibility.

[0056] "About calculated acceleration variables" (a) Steering angle In the above embodiment, the steering angle θt detected by the steering angle sensor 42 is used as the input for the variation processing of the peripheral image 80, but this is not limiting. For example, in a vehicle equipped with a steer-by-wire system, a command value for the steering angle may be used as the input. However, in a vehicle equipped with a steer-by-wire system, it is not essential to use a command value for the steering angle as the input.

[0057] (b) Estimated longitudinal acceleration Gxe The estimated longitudinal acceleration Gxe is not limited to being calculated based on the accelerator operation amount ACCP. For example, if it is calculated based on the torque or output of the on-board prime mover, the accelerator operation amount ACCP is not essential.

[0058] It is not essential to calculate the estimated longitudinal acceleration Gxe using the brake operation amount Brk as an input. For example, if the braking system 78 includes a hydraulic actuator, a hydraulic command value or a detected hydraulic pressure value may be used as an input for the calculation process of the estimated longitudinal acceleration Gxe instead of the brake operation amount Brk.

[0059] The estimated longitudinal acceleration Gxe is not limited to being calculated based on the brake operation amount Brk or the hydraulic pressure of the hydraulic actuator. For example, in a vehicle equipped with a rotating electric machine, if braking force is obtained by regenerative control of the rotating electric machine, the estimated longitudinal acceleration Gxe may be calculated based on the regenerative torque or regenerative power of the rotating electric machine.

[0060] "Image Variation Processing" (a) Processing using variables indicating longitudinal acceleration according to commands to the drive system and braking system as inputs ·When not in the automatic driving mode, it is not essential to set the y-axis rotation amount θry and the Z-direction displacement amount ΔZx using the estimated longitudinal acceleration Gxe as the input. For example, simply, the y-axis rotation amount θry and the Z-direction displacement amount ΔZx may be set using the accelerator operation amount ACCP and the brake operation amount Brk as the input. Here, the CPU 22 may, for example, monotonically increase the absolute value of the y-axis rotation amount θry and the absolute value of the Z-direction displacement amount ΔZx according to the accelerator operation amount ACCP or the brake operation amount Brk. In that case, this process includes a process of monotonically increasing strongly.

[0061] Furthermore, for example, the y-axis rotation amount θry and the Z-direction displacement amount ΔZx may be set taking into account the vehicle speed SPD. In that case, for example, the absolute value of the y-axis rotation amount θry and the absolute value of the Z-direction displacement amount ΔZx may be monotonically increased according to the vehicle speed SPD. In that case, this process includes a process of monotonically increasing strongly. This can be realized using, for example, map data with the vehicle speed SPD, the accelerator operation amount ACCP, and the brake operation amount Brk as input variables.

[0062] ·In the above embodiment, the input for the process of calculating the y-axis rotation amount θry and the input for the process of calculating the Z-direction displacement amount ΔZx are the same, but it is not limited to this. For example, the input for the process of calculating the y-axis rotation amount θry may be the longitudinal acceleration Gxr for display, while the input for the process of calculating the Z-direction displacement amount ΔZx may be the accelerator operation amount ACCP and the brake operation amount Brk. [[ID=IO]]

[0063] ·In the above embodiment, based on the variable indicating the longitudinal acceleration corresponding to the commands for the drive system and the brake system, the surrounding image 80 is rotated about the rotation axis ry as the center of rotation and translated in the Z-axis direction, but it is not limited to this. For example, based on the variable indicating the longitudinal acceleration, the surrounding image 80 is rotated about the rotation axis ry as the center of rotation, but the process of translating in the Z-axis direction may not be performed. Also, for example, based on the variable indicating the longitudinal acceleration, the surrounding image 80 is translated in the Z-axis direction, but the process of rotating the surrounding image 80 about the rotation axis ry as the center of rotation may not be performed.

[0064] ·For at least one of the input of the process of calculating the y-axis rotation amount θry and the input of the process of calculating the Z-direction displacement amount ΔZx, the detected value by the sensor of the longitudinal acceleration Gx may be used. Even in that case, for example, by determining the x-axis rotation amount θrx and the Y-direction displacement amount ΔY according to the command value of the steering angle, the responsiveness of the display of the peripheral image 80 can be enhanced.

[0065] Also, for example, only when the detected value by the sensor of the longitudinal acceleration Gx is negative, at least one of the input of the process of calculating the y-axis rotation amount θry and the input of the process of calculating the Z-direction displacement amount ΔZx may be executed based on the detected value. In other words, only when the vehicle VC is decelerating, at least one of the input of the process of calculating the y-axis rotation amount θry and the input of the process of calculating the Z-direction displacement amount ΔZx may be executed. In that case, when the vehicle VC is accelerating, at least one of the input of the process of calculating the y-axis rotation amount θry and the input of the process of calculating the Z-direction displacement amount ΔZx may be executed based on the display longitudinal acceleration Gxr. ·It is not essential that the rotation axis ry is located at the center in the vertical direction of the display panel.

[0066] (b) Regarding the process during turning ·In the above embodiment, two time constants of the filter are prepared, but it is not limited to this. For example, by preparing three or more, the time constant may be changed in multiple stages based on the steering angular velocity ωt. At that time, the cut-off frequency fc may be monotonically decreased according to the absolute value of the steering angular velocity ωt. However, this process includes the process of monotonically decreasing strongly.

[0067] ·In the above embodiment, the x-axis rotation amount θrx0 and the Y-direction displacement amount ΔY0 are used as the input of the filter process, but it is not limited to this. For example, the steering angle θt may be used as the input of the filter process, and the output of the filter process may be used as the input of the process of calculating the x-axis rotation amount θrx and the Y-direction displacement amount ΔY.

[0068] ·It is not essential to make the time constant of the filter in the filter process variable. Even if it is not made variable, it is possible to suppress the influence of the noise of the steering angle θt from reaching the display of the peripheral image 80.

[0069] ·It is not essential to execute the filter process. For example, the x-axis rotation amount θrx and the Y-direction displacement amount ΔY may be directly calculated using the steering angle θt and the vehicle speed SPD as inputs. Also, for example, although the x-axis rotation amount θrx0 is calculated by filtering the x-axis rotation amount θrx, the Y-direction displacement amount ΔY may be directly calculated using the steering angle θt and the vehicle speed SPD as inputs.

[0070] ·In the above embodiment, the x-axis rotation amount θrx0 and the Y-direction displacement amount ΔY0 are set using the steering angle θt and the vehicle speed SPD as inputs, but it is not limited to this. For example, although the steering angle θt is used as an input, the vehicle speed SPD may not be included in the input.

[0071] ·In the above embodiment, the input for the process of calculating the x-axis rotation amount θrx0 and the input for the process of calculating the Y-direction displacement amount ΔY0 are the same, but it is not limited to this. For example, the input for the process of calculating the x-axis rotation amount θrx0 may be the steering angle θt and the vehicle speed SPD, while the input for the process of calculating the Y-direction displacement amount ΔY0 may be only the steering angle θt.

[0072] ·In the above embodiment, as the vehicle VC turns, the peripheral image 80 is rotated about the rotation axis rx as the center of rotation and also translated in the y-axis direction, but it is not limited to this. For example, as the vehicle VC turns, although the peripheral image 80 is rotated about the rotation axis rx as the center of rotation, the process of translating in the y-axis direction may not be performed. Also, for example, as the vehicle VC turns, although the peripheral image 80 is translated in the y-axis direction, the process of rotating the peripheral image 80 about the rotation axis rx as the center of rotation may not be performed.

[0073] ·The detection value by the lateral acceleration Gy sensor may be used for at least one of the input of the process for calculating the x-axis rotation amount θrx0 and the input of the process for calculating the Y-direction displacement amount ΔY. Even in that case, for example, by determining at least one of the y-axis rotation amount θry and the Z-direction displacement amount ΔZx based on a variable indicating the longitudinal acceleration according to the commands for the drive system and the braking system, the responsiveness of the display of the peripheral image 80 can be enhanced. ·It is not essential that the rotation axis rx passes through the center of the display panel.

[0074] (c) Regarding the process related to the vertical vibration of the vehicle ·In the above embodiment, the input of the process for changing the time constant of the filter was the difference between the maximum value and the minimum value of the head, but it is not limited to this. For example, it may be the time from when the head becomes either one of the maximum value and the minimum value until it becomes the other.

[0075] ·It is not essential that the time constant of the filter be variable when filtering the vertical acceleration Gz. ·It is not essential that the Z-direction displacement amount ΔZz be the value obtained by filtering the vertical acceleration Gz. For example, the displacement amount may be the Z-direction displacement amount with the coordinate value of a predetermined location of the head as the input. However, it is not essential to determine the Z-direction displacement amount ΔZz according to the vertical acceleration Gz or the displacement of the head itself.

[0076] (d) Regarding the image ·In FIG. 2, a monochromatic lattice pattern image is illustrated as the peripheral image 80, but it is not limited to this. For example, it may be a checkered pattern image composed of a plurality of colors. However, the peripheral image 80 is not limited to a monochromatic or multi-color lattice pattern image.

[0077] In the above embodiment, the image for suppressing car sickness is the peripheral image 80 that is arranged around the video desired by the occupant of the vehicle VC, but this is not limited to this. For example, an image for suppressing car sickness may be displayed in a position visible to the occupant, without displaying the video desired by the occupant. This image may be, but is not limited to, the grid pattern image shown in FIG. 2. For example, it may be an image of a predetermined object such as a person, a cat, a ball, or a building.

[0078] (e) Image variation processing It is not necessary to perform all of the following processes on the image for preventing car sickness: rotating it around the rotation axis ry as the center of rotation, rotating it around the rotation axis rx as the center of rotation, translating it in the Z direction, and translating it in the Y direction.

[0079] It is not necessary to display an image for preventing car sickness as if it were displaced three-dimensionally on a two-dimensional plane. For example, if the display device is a VR goggle, as described in the "Display Device" section below, the image may be displaced by displaying different images for the left and right eyes.

[0080] "About display control devices" It is not essential that the display control device has a display device. ·The display control device is not limited to one that includes a CPU 22 and a storage device 24 and executes software processing. For example, at least a part of what was software-processed in the above embodiment may be provided with a dedicated hardware circuit such as an ASIC that performs hardware processing. That is, the display control device may have any of the following configurations (a) to (c). (a) It includes a processing device that executes all of the above processing according to a program and a program storage device such as a ROM that stores the program. (b) It includes a processing device and a program storage device that execute a part of the above processing according to a program, and a dedicated hardware circuit that executes the remaining processing. (c) It includes a dedicated hardware circuit that executes all of the above processing. Here, there may be a plurality of software execution devices including a processing device and a program storage device, and dedicated hardware circuits.

[0081] "Regarding the display device" ·The display device is not limited to a display such as a liquid crystal or LED provided on the seat back. For example, it may be a projector that projects an image on the seat back.

[0082] ·The area where the display device displays an image is not limited to the seat back. For example, a display area may be formed by a member extending downward from the ceiling of the vehicle VC. ·The display device is not limited to one that physically divides the display area. For example, it may be VR goggles worn by a passenger.

Explanation of reference numerals

[0083] 10…Front seat 12…Rear seat 20…Display control device 30…In-vehicle network 60…Travel control ECU 80…Surrounding image 90…Main image

Claims

1. Execute an arithmetic acceleration acquisition process (S12, S16, S30) and a display process (S20, S22, S32 - S40, S54 - S58, S60 - S66), The arithmetic acceleration acquisition process is a process of acquiring an arithmetic acceleration variable, The arithmetic acceleration variable is an arithmetic acceleration of the vehicle according to the driving state of the vehicle, or a variable indicating the driving state of the vehicle that generates the acceleration of the vehicle, The display process is a process of displaying an image (80) visible to the occupant of the vehicle by operating a display device (26), and includes an image variation process (S20, S22, S32 - S40, S54 - S58, S60 - S64), The image variation process is a process of changing the image using the arithmetic acceleration variable as an input, The arithmetic acceleration variable includes a variable related to the steering angle of the steered wheels of the vehicle as a variable indicating the driving state of the vehicle that generates the lateral acceleration of the vehicle, The image variation process includes at least one of a process of changing the image by rotating the image around an axis parallel to the longitudinal direction of the vehicle when the vehicle is traveling straight ahead when the steering angle deviates from zero and a process of changing the image by displacing the image in the lateral direction of the vehicle, and a process (S32, S34) of changing the amount of change according to the steering angle so that the magnitude of the steering angle when the amount of change of the image is large when the magnitude of the steering angle is greater than zero is greater than the magnitude of the steering angle when the amount of change is small, The image variation process executes a steering filter process (S36 - S40) that reduces the responsiveness of the change of the image to the change of the steering angle, Execute an angular velocity acquisition process (S30) for acquiring the change rate of the steering angle, The steering filter process includes a responsiveness variable process (S36) that changes the degree of reduction of the responsiveness according to the magnitude of the change rate so that the magnitude of the change rate when the responsiveness of the change of the image is large is greater than the magnitude of the change rate when the responsiveness is small. A display control device.

2. Execute an arithmetic acceleration acquisition process (S12, S16, S30) and a display process (S20, S22, S32 - S40, S54 - S58, S60 - S66), The arithmetic acceleration acquisition process is a process of acquiring an arithmetic acceleration variable, The calculated acceleration variable is a variable indicating the acceleration of the vehicle in calculation according to the driving state of the vehicle, or a variable indicating the driving state of the vehicle that generates the acceleration of the vehicle. The display process is a process of displaying an image (80) visible to the occupant of the vehicle by operating a display device (26), and includes image variation processes (S20, S22, S32 to S40, S54 to S58, S60 to S64). The image variation process is a process of changing the image using the calculated acceleration variable as an input. Execute a vertical G acquisition process (S50) for acquiring a detection value of an acceleration sensor that detects the acceleration of the vehicle in the vertical direction. The image variation process includes a process (S58) of displacing the image in the vertical direction of the vehicle using the detection value as an input. Execute a vertical filter process (S56, S58) for reducing the responsiveness of the change in the vertical direction of the image with respect to the change in the detection value. Execute a head movement acquisition process (S52, S54) for acquiring an output signal of a detection device that senses the movement of the head of an occupant in the vehicle. The vertical filter process includes a process (S56) of changing the responsiveness according to the amount of variation so that the amount of variation in the position of the head when the responsiveness of the displacement of the image with respect to the acceleration in the vertical direction is high is smaller than the amount of variation when the responsiveness is low. A display control device.

3. The calculated acceleration variable includes a variable indicating the longitudinal acceleration according to a command to the drive system of the vehicle. The image variation process includes at least one of a process of changing the image to an image rotated around a rotation axis parallel to the lateral direction of the vehicle and a process of displacing the image in the vertical direction when the calculated acceleration variable indicates acceleration during forward travel of the vehicle, and when the amount of change in the image is large, the magnitude of the longitudinal acceleration is greater than the magnitude of the longitudinal acceleration when the amount of change in the image is small. The display control device according to claim 1 or 2, further comprising a process (S20, S22) of changing the amount of change in the image according to the calculated acceleration variable when the longitudinal acceleration is greater than zero.

4. The calculated acceleration variable includes a variable related to the steering angle of the steered wheels of the vehicle as a variable indicating the driving state of the vehicle that generates the lateral acceleration of the vehicle. The image variation process includes at least one of a process of changing the image by rotating the image around an axis parallel to the longitudinal direction of the vehicle when the vehicle is traveling straight and the steering angle deviates from zero, and a process of changing the image by displacing the image in the lateral direction of the vehicle, and a process of changing the amount of change according to the steering angle such that when the amount of change of the image is large when the magnitude of the steering angle is greater than zero, the magnitude of the steering angle is greater than the magnitude of the steering angle when the amount of change is small (S32, S34). The display control device according to claim 2.

5. Execute a vehicle speed acquisition process (S30) for acquiring the vehicle speed which is the traveling speed of the vehicle, The image variation process includes at least one of a process of changing the image by rotating the image around an axis parallel to the longitudinal direction of the vehicle when the vehicle is traveling straight and the steering angle deviates from zero, and a process of changing the image by displacing the image in the lateral direction of the vehicle, and a process of setting the amount of change to different values according to the vehicle speed such that when the vehicle speed is high when the amount of change of the image is large even when the steering angle is the same, the vehicle speed is higher than the vehicle speed when the amount of change is small (S32, S34). The display control device according to claim 1 or 4.

6. The image variation process executes a steering filter process (S36 to S40) for reducing the responsiveness of the change of the image to the change of the steering angle. The display control device according to claim 4 or 5.

7. Execute an up-down G acquisition process (S50) for acquiring the detection value of an acceleration sensor that detects the up-down acceleration of the vehicle, The image variation process includes a process of displacing the image in the up-down direction of the vehicle using the detection value as an input. The display control device according to claim 1.

8. Execute an up-down filter process (S56, S58) for reducing the responsiveness of the up-down change of the image to the change of the detection value. The display control device according to claim 7.

9. The image is a peripheral image (80) displayed around a main image that the occupant of the vehicle desires to view. The display control device according to any one of claims 1 to 8.

10. An image display method having steps of executing each of the processes in the display control device (20) according to any one of claims 1 to 9.

11. An image display program for causing a processing device (22) provided in the display control device (20) to execute each of the processes in the display control device (20) according to any one of claims 1 to 9.

Images