Vehicle display device, display method, and display program

Abstract

To provide a display device for a vehicle, a display method and a display program that allow a car occupant to previously recognize how vehicle control operates according to road condition.SOLUTION: A display device for a vehicle is configured to: generate a trial route for vehicle control on the basis of map information and a virtual destination of the vehicle; acquire statistical information on operation of a past vehicle control in which the operation information for the past vehicle control and a position on a map are stored in association with each other; calculate a trial result related to the operation of the vehicle control according to a trial configured value when the vehicle is virtually run along the trial route on the basis of a trial configured value related to vehicle control and the trial route; generate a trial image for making an occupant on the vehicle previously recognize caution information from the statistical information on the basis of the statistical information and the trial result on the trial road and display the trial image on a display unit of the vehicle.SELECTED DRAWING: Figure 5

Description

Technical Field

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

Background Art

[0002] Conventionally, based on the detection result of the operation amount of a vehicle by a driver and map information, a virtual reality image of a road on which the driver performs virtual reality driving with the vehicle is created, and the virtual reality image is displayed to the driver, so that the driver trains driving to a destination in virtual reality. A system has been disclosed (for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] For example, when the vehicle travels to a place where the passenger visits for the first time, depending on the road conditions, vehicle control including driving support control and autonomous driving control may perform operations that do not conform to the passenger's intention.

Means for Solving the Problems

[0005] One aspect of the present disclosure is a vehicle display device provided in a vehicle capable of executing vehicle control including driving assistance control and autonomous driving control, including a trial route generation unit that generates a trial route of vehicle control based on map information and a virtual destination of the vehicle, an information acquisition unit that acquires statistical information regarding past vehicle control operations in which past vehicle control operation information and positions on the map are stored in association with each other, a trial result calculation unit that calculates a trial result regarding the operation of vehicle control according to a trial set value when the vehicle is virtually driven along the trial route based on the trial set value regarding vehicle control and the trial route, an image generation unit that generates a trial image for causing an occupant of the vehicle to recognize in advance attention - calling information among the statistical information based on the statistical information on the trial route and the trial result, and a display control unit that displays the trial image on a display unit of the vehicle.

[0006] According to the vehicle display device according to one aspect of the present disclosure, based on the trial route and the trial set value, a trial result regarding the operation of vehicle control according to the trial set value when the vehicle is virtually driven along the trial route is calculated. A trial image generated based on the statistical information on the trial route and the trial result is displayed on the display unit of the vehicle. Thereby, the occupant can recognize in advance how the vehicle control operates according to the road conditions, taking the attention - calling information on the trial route as a clue.

[0007] In one embodiment, the vehicle display device includes a notification information storage unit that stores notification information including an attention - calling position on the trial route corresponding to the attention - calling information and the trial set value. The image generation unit generates a notification image including the trial set value based on the notification information when the vehicle travels with the trial route as the actual vehicle control route, and the display control unit may display the notification image on the display unit when the position of the vehicle approaches a position on the map corresponding to the attention - calling position. In this case, when the vehicle travels with the trial route as the actual vehicle control route and the position of the vehicle approaches a position on the map corresponding to the attention - calling position, the notification image is displayed on the display unit. Thereby, the occupant can recognize that the vehicle is approaching a position on the map corresponding to the attention - calling position and the trial set value.

[0008] In one embodiment, the trial set value may be a set vehicle speed related to the automatic driving control among the vehicle controls, and the attention - calling information may be information about a temporary interruption of the automatic driving control based on the vehicle speed of the vehicle when the vehicle in the execution of the automatic driving control travels on a curve. In this case, the occupant can recognize in advance whether the automatic driving control is temporarily interrupted according to the set vehicle speed on the curve.

[0009] Another aspect of the present disclosure is a display method using a vehicle display device provided in a vehicle capable of executing vehicle control including driving support control and automatic driving control. The method includes: generating a trial route of vehicle control based on map information and a virtual destination of the vehicle; acquiring statistical information regarding past vehicle control operations in which past vehicle control operation information and positions on the map are associated and stored; calculating a trial result regarding the operation of vehicle control according to the trial set value when the vehicle is virtually driven along the trial route based on the trial set value and the trial route of vehicle control; generating a trial image for allowing an occupant of the vehicle to recognize in advance attention - calling information among the statistical information based on the statistical information on the trial route and the trial result; and displaying the trial image on a display unit of the vehicle.

[0010] According to the display method according to another aspect of the present disclosure, based on the trial route and the trial set value, a trial result regarding the operation of vehicle control according to the trial set value when the vehicle is virtually driven along the trial route is calculated. A trial image generated based on the statistical information on the trial route and the trial result is displayed on the display unit of the vehicle. Thereby, the occupant can recognize in advance how the vehicle control operates according to the road conditions, taking the attention - calling information on the trial route as a clue.

[0011] Another aspect of the present disclosure is a display program that causes a computer to function as a vehicle display device capable of executing vehicle control including driving support control and autonomous driving control. The display program causes the computer to function as a trial route generation unit that generates a trial route for vehicle control based on map information and a virtual destination of the vehicle, an information acquisition unit that acquires statistical information regarding past vehicle control operations in which past vehicle control operation information and positions on the map are stored in association with each other, a trial result calculation unit that calculates a trial result regarding the operation of vehicle control according to a trial set value when the vehicle is virtually driven along the trial route based on the trial set value for vehicle control and the trial route, an image generation unit that generates a trial image for causing the vehicle occupant to recognize in advance attention-grabbing information among the statistical information based on the statistical information on the trial route and the trial result, and a display control unit that displays the trial image on a display unit of the vehicle.

[0012] According to the display program according to another aspect of the present disclosure, based on the trial route and the trial set value, a trial result regarding the operation of vehicle control according to the trial set value when the vehicle is virtually driven along the trial route is calculated. A trial image generated based on the statistical information on the trial route and the trial result is displayed on the display unit of the vehicle. Thereby, the occupant can recognize in advance how the vehicle control will operate according to the road conditions, taking the attention-grabbing information on the trial route as a clue.

Effects of the Invention

[0013] According to some aspects of the present disclosure, the occupant can recognize in advance how the vehicle control will operate according to the road conditions.

Brief Description of the Drawings

[0014]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

[0015] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In the following description, the same or corresponding elements are denoted by the same reference numerals, and redundant descriptions are omitted.

[0016] FIG. 1 is a block diagram showing a vehicle equipped with a vehicle display device according to an embodiment. As shown in FIG. 1, the vehicle display device 100 is provided in a vehicle 1 capable of executing vehicle control including driving support control and autonomous driving control. The vehicle 1 is, for example, a passenger car or the like.

[0017] [Configuration of Vehicle Control System] The vehicle 1 is equipped with a vehicle control system 2. The vehicle control system 2 is a system that executes vehicle control including driving support control and autonomous driving control of the vehicle 1. The driving support control is vehicle control that automatically controls any one or two of acceleration, deceleration, and steering of the vehicle 1 to make the vehicle 1 travel. The driving support control includes, for example, at least one of lane tracing assist, lane keep control, adaptive cruise control, radar cruise control, and road sign assist. The autonomous driving control is vehicle control that automatically makes the vehicle 1 travel along the road on which the vehicle 1 travels without the driver performing a driving operation. The autonomous driving control may include at least one of traffic jam support, lane change support, and overtaking support.

[0018] The vehicle control system 2 includes a vehicle control ECU [Electronic Control Unit] 20, an external sensor 21, a map database 22, an internal sensor 23, a GPS [Global Positioning System] receiver 24, and an actuator 25.

[0019] The vehicle control ECU 20 is an electronic control unit having a CPU [Central Processing Unit], a ROM [Read Only Memory], a RAM [Random Access Memory], a CAN [Controller Area Network] communication circuit, etc. The vehicle control ECU 20 controls the hardware based on the signal output by the CPU and realizes the functions of the vehicle control ECU 20 described later. As an example of a more specific operation, the vehicle control ECU 20 operates the CAN communication circuit to input and output data, stores the input data in the RAM, loads the program stored in the ROM into the RAM, and executes the program loaded into the RAM. The vehicle control ECU 20 may be composed of a plurality of electronic units. A part of the functions of the vehicle control ECU 20 may be executed by a server capable of communicating with the vehicle 1.

[0020] The external sensor 21 includes at least one of a camera or a radar sensor. The camera is an imaging device that images the situation around the vehicle 1. The camera is provided, for example, on the back side of the front glass of the vehicle 1 and images the front of the vehicle. The radar sensor is a detection device that detects an object around the vehicle 1 using radio waves (e.g., millimeter waves) or light. The radar sensor includes, for example, a radar (millimeter wave radar) or a lidar [LiDAR: Light Detection and Ranging]. The external sensor 21 transmits the captured image and detection information regarding the surrounding objects to the vehicle control ECU 20.

[0021] The map database 22 is a database that stores map information. The map database 22 is formed, for example, in a recording device such as an HDD [Hard Disk Drive] mounted on the vehicle 1. The map information stored in the map database 22 includes, for example, road position information, road shape information (e.g., curvature information), intersection and branch point position information, etc. The map information may include so-called high-precision map information with higher accuracy regarding the position and shape of roads than that of a navigation map.

[0022] The internal sensor 23 is an in-vehicle sensor that detects the driving state of the vehicle 1. The internal sensor 23 may include a vehicle speed sensor, an acceleration sensor, and a yaw rate sensor. Known sensors can be used as the vehicle speed sensor, the acceleration sensor, and the yaw rate sensor. The internal sensor 23 transmits detection information regarding the driving state of the vehicle 1 to the vehicle control ECU 20.

[0023] The GPS receiver 24 measures the position of the vehicle 1 (e.g., the latitude and longitude of the vehicle 1) by receiving signals from three or more GPS satellites. The GPS receiver 24 transmits the measured position information of the vehicle 1 to the vehicle control ECU 20.

[0024] The actuator 25 is a device used for the driving control of the vehicle 1 and operates in response to a control signal from the vehicle control ECU 20. The actuator 25 includes at least a drive actuator, a brake actuator, and a steering actuator. The drive actuator is provided, for example, on an engine or a motor as a power source and controls the driving force of the vehicle 1. The brake actuator is provided, for example, in a hydraulic brake system and controls the braking force applied to the wheels of the vehicle 1. The steering actuator is, for example, an assist motor of an electric power steering system and controls the steering torque of the vehicle 1.

[0025] The vehicle control ECU 20 is configured to be able to recognize the position of the vehicle 1 on the map, the external environment of the vehicle 1, and the driving state of the vehicle 1.

[0026] Based on the detection information of the external sensor 21, the vehicle control ECU 20 recognizes the external environment around the vehicle 1. The external environment includes the position of an object relative to the vehicle 1, the relative speed of the object relative to the vehicle 1, and the moving direction of the object relative to the vehicle 1. The objects include moving objects such as other vehicles around the vehicle 1 and stationary objects such as structures around the vehicle 1. The external environment includes lane lines recognized by lane line recognition processing from the detection information of the external sensor 21, road shapes, and toll gate passage shapes.

[0027] The vehicle control ECU 20 is configured to be able to acquire map information used for vehicle control. The vehicle control ECU 20 acquires the map information from the map database 22. The vehicle control ECU 20 may also acquire the map information from a server communicable with the vehicle 1 via a communication network.

[0028] Based on the detection result of the internal sensor 23, the vehicle control ECU realizes the running state of the vehicle 1. The running state includes, for example, the vehicle speed of the vehicle 1, the acceleration of the vehicle 1, and the yaw rate of the vehicle 1.

[0029] Based on the position information of the GPS receiver 24 and the map information, the vehicle control ECU 20 acquires the position of the vehicle 1 on the map. The vehicle control ECU 20 may also recognize the position of the vehicle 1 on the map by using SLAM [Simultaneous Localization and Mapping] technology.

[0030] Based on the destination, the map information, the position of the vehicle 1 on the map, the external environment, and the running state (such as vehicle speed, yaw rate, etc.), the vehicle control ECU 20 generates a running plan for the vehicle 1. The destination may be a destination set by a passenger including the driver, or may be a destination proposed by the vehicle control system 2.

[0031] The driving route of vehicle 1 is the driving trajectory that vehicle 1 in motion is scheduled to travel in the future under automatic driving control. The vehicle control ECU 20 calculates the target route (lane-based route) of vehicle 1 to the destination based on the destination, the current position of vehicle 1 on the map, and the map information.

[0032] The vehicle control ECU 20 calculates a speed pattern (speed plan) for vehicle 1 to travel along the driving route. The vehicle control ECU 20 calculates the speed pattern of vehicle 1 based on the set speed of the automatic driving control set by the occupant, the speed limit (e.g., the legal maximum speed) included in the map information, the position information of stop lines, traffic signals, etc. included in the map information, and the external environment such as the preceding vehicle and pedestrians. By calculating the driving route and speed pattern of vehicle 1, the vehicle control ECU 20 generates a driving plan including the driving route and speed pattern of vehicle 1.

[0033] Based on the generated driving plan, the vehicle control ECU 20 executes the automatic driving control of vehicle 1. The vehicle control ECU 20 executes the automatic driving control by controlling the vehicle speed and steering angle of vehicle 1 by transmitting a control signal to the actuator 25.

[0034] [Configuration of Vehicle Display Device] Next, the configuration of the vehicle display device 100 according to the present embodiment will be described. The vehicle display device 100 is a device that displays images related to trial vehicle control. The trial vehicle control is vehicle control in a virtual reality space for allowing the occupant to experience in advance how the vehicle control will operate according to the road conditions before actually executing vehicle control including driving support control and automatic driving control. The vehicle display device 100 mainly includes a display control ECU 10 mounted on vehicle 1, a statistical information storage unit 17, a trial input unit 18, and a display device (display unit) 19. The vehicle display device 100 may include a map database 22 and a GPS receiver 24 for acquiring map information and the position of vehicle 1 on the map (hereinafter simply referred to as the position of vehicle 1).

[0035] The display control ECU 10 is an electronic control unit having a CPU, ROM, RAM, CAN communication circuit, etc. The display control ECU 10 controls the display device 19. The display control ECU 10 may be an electronic control unit built into the display device 19. The display control ECU 10 may be a part of the vehicle control ECU 20. The display control ECU 10 may be composed of a plurality of electronic units. The display control ECU 10 is communicably connected to, for example, the vehicle control ECU 20. A part of the functions of the display control ECU 10 may be executed by a server communicable with the vehicle 1.

[0036] The statistical information storage unit 17 is a database that stores statistical information. The statistical information is information regarding past vehicle control operations. In the statistical information storage unit 17, past vehicle control operation information and positions on the map are associated with each other and stored as statistical information. The "past vehicle control operation information" is an accumulation of information on the results of vehicle control executed by the vehicle 1 and other vehicles in the past. For example, it can include information such as how the vehicle speed or steering angle of the vehicle 1 was controlled by vehicle control, whether the vehicle control was automatically canceled, and how the travel plan including the route and speed pattern of the automatic driving control was modified. The statistical information storage unit 17 is formed, for example, in a recording device such as an HDD [Hard Disk Drive] mounted on the vehicle 1. The statistical information storage unit 17 may be formed in a recording device of a server communicable with the vehicle 1.

[0037] The trial input unit 18 is a device that receives the trial input of the occupants of the vehicle 1. The trial input means the input of condition settings regarding the trial vehicle control. The trial input includes, for example, a virtual destination of the vehicle 1 and trial setting values regarding vehicle control. The virtual destination is a destination in the virtual reality space for allowing the occupants to experience in advance how the vehicle control will operate. The trial setting values are various parameters of the vehicle control that can be set by the occupants when allowing the occupants to experience in advance how the vehicle control will operate. Specific examples of the trial setting values will be described later.

[0038] As the trial input unit 18, for example, the input unit of the HMI [Human Machine Interface] provided in the vehicle 1 (for example, the touch panel display of the car navigation device, buttons, etc.) can be used. The trial input unit 18 receives the input operation by the occupant as a trial input. The trial input unit 18 transmits the information of the received trial input by the occupant to the display control ECU 10.

[0039] The display device 19 is a display mounted on the vehicle 1 and displays an image for the driver. The image is displayed in a predetermined display area of the display device 19. The display device 19 is controlled by the display control ECU 10 to display the image in the display area. As the display device 19, a display capable of changing the size of the figure, the shape of the figure, brightness, color, etc. is used.

[0040] As an example of the display device 19, a head-mounted display [HMD: Head Mounted Display] provided inside the vehicle 1 is used. In addition, as the display device 19, a head-up display [HUD: Head Up Display], a liquid crystal display of the navigation system, or a liquid crystal display provided in front of the driver of the instrument panel (so-called multi-information display [MID: Multi Information Display]) may be used. The head-up display is a display device that irradiates an image from a projection unit installed in the instrument panel of the vehicle 1 onto the display surface of the front windshield (the reflection surface inside the front windshield).

[0041] Hereinafter, the functions of the display control ECU 10 will be described. As shown in FIG. 1, the display control ECU 10 has, as a functional configuration, a trial route generation unit 11, an information acquisition unit 12, a trial result calculation unit 13, a notification information storage unit 14, an image generation unit 15, and a display control unit 16.

[0042] The display control ECU 10 may function trial vehicle control when, for example, the occupant inputs to the trial input unit 18 to enable the "trial mode". The display control ECU 10 may enable the trial mode, for example, on the condition that the vehicle 1 is located in the garage of the occupant's home, the vehicle 1 is completely stopped, and the shift position is in the P range. The trial route generation unit 11 may enable the trial mode, for example, on the condition that the vehicle 1 is located in a parking area or the like, the vehicle 1 is completely stopped, and the shift position is in the P range.

[0043] The trial route generation unit 11 acquires the position of the vehicle 1 as the trial start position. The trial start position is the position on the map that becomes the starting point of the trial vehicle control by the display control ECU 10. The trial route generation unit 11 acquires the trial start position, for example, when the vehicle 1 is not temporarily stopped such as waiting for a signal but is parked. The trial route generation unit 11 here can use the position of the vehicle 1 recognized by the vehicle control ECU 20.

[0044] The trial route generation unit 11 generates a trial route for vehicle control based on the map information and the virtual destination of the vehicle 1. The trial route generation unit 11 acquires, for example, the virtual destination of the vehicle 1 input by the occupant to the trial input unit 18. The trial route generation unit 11 generates a trial route of the vehicle 1 from the trial start position to the virtual destination, for example, in the same manner as the calculation method in the vehicle control ECU 20, based on the trial start position, the virtual destination, and the map information. The trial route corresponds to a virtual target route (a route in terms of lanes). The trial route generation unit 11 here can use the map information acquired by the vehicle control ECU 20.

[0045] The information acquisition unit 12 acquires statistical information regarding past vehicle control operations in which the operation information of past vehicle control and the position on the map are stored in association. The information acquisition unit 12 acquires the statistical information, for example, along the trial route from the trial start position to the virtual destination.

[0046] The trial result calculation unit 13 calculates a trial result based on the trial setting values and the trial route related to vehicle control. The trial result means the output regarding the operation of vehicle control according to the trial setting values when the vehicle 1 is virtually driven along the trial route.

[0047] For example, the trial result calculation unit 13 acquires the trial setting values input by the occupant to the trial input unit 18. While executing vehicle control according to the trial setting values, the trial result calculation unit 13 virtually drives the vehicle 1 on the trial route. For example, when there is attention - calling information on the trial route where the vehicle 1 is virtually driving, the trial result calculation unit 13 calculates, as the trial result, the content of the attention - calling information, the point on the trial route where the attention - calling information exists, and the trial setting values used during the execution of vehicle control.

[0048] The attention - calling information may include unexpected operations in vehicle control according to the trial setting values. "Unexpected operations" mean that in vehicle control according to the trial setting values, there is a possibility, with a probability equal to or higher than a predetermined probability, that the operation does not conform to the occupant's assumption based on statistical information. Examples of unexpected operations include, for example, the automatic cancellation of vehicle control not in line with the occupant's assumption, the control of the vehicle speed of the vehicle 1 not in line with the occupant's assumption, and the control of the steering angle of the vehicle 1 not in line with the occupant's assumption.

[0049] The attention - calling information is likely to exist at specific locations on the trial route where, for example, there is a possibility of misrecognition of the external sensor 21 due to external factors. As an example of the attention - calling information, the situations in FIGS. 2 to 4 will be described.

[0050] The attention - calling information may be information about a temporary interruption of the automatic driving control based on the vehicle speed of the vehicle 1 when the vehicle 1 is driving on a curve during the execution of the automatic driving control. FIG. 2 is a diagram for explaining an example of the attention - calling information. FIG. 2 depicts a situation where the vehicle 1 executing the automatic driving control is driving on its own lane 31 along the center line 32. There is a curve 33 in front of the vehicle 1. In the example of FIG. 2, the set vehicle speed of the executing automatic driving control is lower than the maximum vehicle speed allowed for the automatic driving control on the straight part of the own lane 31 and higher than the maximum vehicle speed allowed for the automatic driving control on the curve 33. At the position P1 where the vehicle approaches the curve 33 from the straight part of the own lane 31, there is a possibility that the vehicle control is automatically canceled not in line with the assumption of the occupant. In this case, the point on the trial route where the attention - calling information exists is the position P1.

[0051] The attention - calling information may be information about an unintended operation of the automatic driving control based on the situation of other vehicles in front of the vehicle 1 when the vehicle 1 is driving through a toll gate during the execution of the automatic driving control. FIG. 3 is a diagram for explaining another example of the attention - calling information. FIG. 3 depicts a situation where the vehicle 1 executing the automatic driving control is driving on its own lane 31 along the center line 32 towards the toll gate 34. There are other vehicles 35, 36 in front of the vehicle 1 that are decelerating to pass through the gate of the toll gate 34. In the example of FIG. 3, the occupant assumes that the vehicle 1 will drive as indicated by the solid - line arrow towards the gate where there are no other vehicles 35, 36. Here, based on the detection result of the structure of the toll gate 34 or the other vehicle 36 by the external sensor 21 of the vehicle 1, there is a possibility that the automatic driving control performs an unintended operation not in line with the assumption of the occupant. If the automatic driving control performs an unintended operation when the vehicle 1 is at the position P2, the point on the trial route where the attention - calling information exists is the position P2.

[0052] The attention - arousal information may be information about the operation of the driving support control that may cause mis - guidance when the vehicle 1 during the execution of the driving support control approaches a plurality of branch roads. FIG. 4 is a diagram for explaining still another example of the attention - arousal information. FIG. 4 depicts a situation where the vehicle 1 is traveling along the own - lane 31 along the center - line 32 so as to approach a plurality of branch roads 37, 38 while, for example, executing lane - tracing assist as the driving support control. In the example of FIG. 4, the occupant assumes that the vehicle 1 is to be driven toward the branch road 38 as indicated by the solid - line arrow heading toward the branch road 38. Here, there is a possibility that the lane - tracing assist operates against the occupant's assumption such that the steering wheel of the vehicle 1 is mis - assisted by the sensitivity of the lane - tracing assist and the amount of yaw assist that mis - guides the vehicle 1 to the branch road 37 on the front - side of the branch road 38. When the vehicle 1 is mis - guided at the position P3 in front of the branch road 37, the point on the trial travel path where the attention - arousal information exists is the position P3.

[0053] In addition, for example, in places where there are aging deterioration or repainting of the lane lines, etc., the lane lines are likely to be mis - recognized and attention - arousal information is likely to exist.

[0054] The notification - information storage unit 14 stores notification information including the attention - arousal position on the trial travel path corresponding to the attention - arousal information and the trial set value. The notification information is information stored for notifying the occupant when the vehicle 1 travels with the trial travel path corresponding to the trial mode as the actual vehicle - control travel path. The attention - arousal position means a point on the trial travel path at which, when the vehicle 1 travels with the trial travel path as the actual vehicle - control travel path, the occupant is alerted. For example, in the cases of FIGS. 2 to 4 above, the attention - arousal positions are the positions among P1 to P3 at which the occupant is alerted when the vehicle 1 travels with the trial travel path as the actual vehicle - control travel path. The notification - information storage unit 14 may store, for example, the notification information about the attention - arousal information of the notification - desired target selected by the occupant when there is a plurality of attention - arousal information on the trial travel path. The notification - information storage unit 14 may receive an operation to the trial input unit 18 by which the occupant selects the notification - desired target.

[0055] The trial image generation unit 15 generates a trial image based on the statistical information on the trial route and the trial results. The trial image is an image for allowing the occupant of the vehicle 1 to recognize in advance the attention - attracting information among the statistical information. The image generation unit 15 generates, for example, a trial image representing a situation where the vehicle 1 virtually travels at a point where attention - attracting information exists on the trial route. The trial image includes at least any one of the content of the attention - attracting information, the point on the trial route where the attention - attracting information existed, and the trial setting value used during the execution of vehicle control.

[0056] The trial image may be an overhead image representing the vehicle 1 as viewed from above from the rear. The trial image includes, for example, a self - vehicle image displayed corresponding to the position of the vehicle 1 in the lane in which the vehicle 1 is currently traveling when the vehicle 1 is viewed from above from the rear. The trial image may include an object image displayed corresponding to the position of an object such as another vehicle around the vehicle 1. The content of the attention - attracting information, the point on the trial route where the attention - attracting information existed, and the trial setting value used during the execution of vehicle control may be superimposed on the overhead image.

[0057] Instead of the overhead image, the image generation unit 15 may display a trial image representing on a map a point where attention - attracting information exists on the trial route.

[0058] When there are a plurality of pieces of attention - attracting information, the image generation unit 15 may generate a plurality of trial images corresponding to the plurality of pieces of attention - attracting information. The image generation unit 15 may organize the plurality of trial images into a list with a title or the like indicating what kind of attention - attracting information each is. The title may be, for example, cancellation of automatic driving, sudden deceleration, wrong guidance, etc. The image generation unit 15 may organize the plurality of trial images by sorting them in order from the attention - attracting information closest to the trial start position along the trial route.

[0059] When the vehicle travels with the trial route as the actual vehicle control route, the image generation unit 15 may generate a notification image including trial setting values based on the notification information. The notification image is an image for presenting the notification information as the preview result in the trial mode to the passengers when the vehicle 1 travels with the trial route corresponding to the trial mode as the actual vehicle control route. The image generation unit 15 generates, for example, a notification image including an image representing the situation around the attention - calling position included in the stored notification information and an image representing the trial setting values included in the stored notification information based on the stored notification information. The image generation unit 15 may generate a notification image that pops up in a region that is a part of the navigation screen, for example. The image generation unit 15 may generate a notification image used as an interrupt notification to a multi - information display such as a meter or a head - up display, for example.

[0060] The display control unit 16 causes the display device 19 of the vehicle 1 to display a trial image. By causing the display device 19 to display the trial image, the display control unit 16 provides attention - calling information to the passengers in the parked vehicle 1. By making the passengers in the vehicle 1 recognize the attention - calling information in advance, when the vehicle 1 travels with the trial route as the actual vehicle control route, the passengers in the vehicle 1 can make prior preparations regarding the attention - calling information. Also, the passengers can change the trial setting values to preliminarily adjust and test various passenger - settable parameters of the vehicle control so that the vehicle control does not perform unexpected operations.

[0061] In the example of FIG. 2, as an unexpected operation, there is a possibility that the vehicle control may be automatically canceled not in accordance with the passengers' assumption. By the passengers in the vehicle 1 recognizing this attention - calling information, the passengers in the vehicle 1 can test the set vehicle speed of the automatic driving control so that the vehicle control is not automatically canceled not in accordance with the passengers' assumption. Thus, the trial setting value may be the set vehicle speed related to the automatic driving control in the vehicle control.

[0062] In the example of FIG. 3, as an unexpected operation, there is a possibility that the automatic driving control may perform an operation not intended along with the assumption of the occupant. By the occupant of vehicle 1 recognizing this caution information, the occupant of vehicle 1 may try parameters of the automatic driving control (such as the set inter-vehicle distance, etc.) so that the automatic driving control does not perform an operation not intended along with the assumption of the occupant.

[0063] In the example of FIG. 4, as an unexpected operation, there is a possibility that the lane tracing assist may operate not in accordance with the assumption of the occupant. By the occupant of vehicle 1 recognizing this caution information, the occupant of vehicle 1 can try the sensitivity of the lane tracing assist and the amount of yaw assist so that the lane tracing assist does not operate not in accordance with the assumption of the occupant. Thus, the trial setting value may be the set sensitivity regarding the driving support control among the vehicle controls. The trial setting value may be the set assist amount regarding the driving support control among the vehicle controls. In this case, at the branch road 37, by suppressing the operation of the driving support control to an unexpected level and making the operation of the driving support control to a non-unexpected level, the operation intervention of the occupant can be smoothly assisted.

[0064] The display control unit 16 may cause the display device 19 of vehicle 1 to display the notification image. The display control unit 16 causes the generated notification image to be displayed on the display device 19 of vehicle 1. By causing the display device 19 to display the notification image, the display control unit 16 provides notification information to the occupant in vehicle 1 that is traveling with the trial route as the actual vehicle control route. The occupant (driver) of vehicle 1 during traveling can refer to the trial setting value shown in the notification image and adjust various parameters that can be set by the occupant in the actual vehicle control during execution.

[0065] When the display control unit 16 determines that the position of the vehicle 1 has approached the position on the map corresponding to the attention - calling position, the display control unit 16 may cause a notification image to be displayed on the display device 19 of the vehicle 1. For example, when the distance between the position of the vehicle 1 on the map and the position on the map corresponding to the attention - calling position is equal to or less than a predetermined approach threshold, the display control unit 16 determines that the position of the vehicle 1 has approached the position on the map corresponding to the attention - calling position. For example, when the distance between the position of the vehicle 1 on the map and the position on the map corresponding to the attention - calling position is greater than the predetermined approach threshold, the display control unit 16 determines that the position of the vehicle 1 has not approached the position on the map corresponding to the attention - calling position. The approach threshold is a threshold of the distance between the position of the vehicle 1 on the map and the position on the map corresponding to the attention - calling position for switching whether to display the notification image.

[0066] [Processing of Vehicle Display Device, Display Method, and Processing of Display Program] Next, an example of the processing of the vehicle display device 100 will be described with reference to the flowcharts of FIGS. 5 and 6. FIG. 5 is a flowchart showing an example of the processing of the display control ECU of the vehicle display device. The processing (steps) shown in FIG. 5 is repeatedly executed at a predetermined calculation cycle, for example, when the trial mode is enabled by the input of the occupant of the vehicle 1.

[0067] As shown in FIG. 5, in S01, the display control ECU 10 of the vehicle display device 100 causes the trial route generation unit 11 to generate a trial route. The trial route generation unit 11 acquires, for example, the position of the vehicle 1 (trial start position) and the virtual destination of the vehicle 1 input by the occupant to the trial input unit 18. The trial route generation unit 11 generates a trial route from the trial start position to the virtual destination.

[0068] In S02, the display control ECU 10 causes the information acquisition unit 12 to acquire statistical information. The information acquisition unit 12 acquires statistical information regarding past vehicle control operations in which past vehicle control operation information and positions on the map are stored in association. The information acquisition unit 12 acquires statistical information, for example, along the trial route from the trial start position to the virtual destination.

[0069] In S03, the display control ECU 10 calculates a trial result by the trial result calculation unit 13. The trial result calculation unit 13 acquires, for example, the trial setting value input by the occupant to the trial input unit 18. Based on the trial setting value and the trial route, the trial result calculation unit 13 calculates a trial result regarding the operation of vehicle control according to the trial setting value when the vehicle 1 is virtually driven along the trial route. The trial result calculation unit 13 virtually drives the vehicle 1 on the trial route while executing vehicle control according to the trial setting value. The trial result calculation unit 13 calculates, for example, when there is caution information on the trial route where the vehicle 1 is virtually traveling, the content of the caution information, the point on the trial route where the caution information exists, and the trial setting value used during the execution of vehicle control, as the trial result.

[0070] In S04, the display control ECU 10 generates a trial image by the image generation unit 15. The image generation unit 15 generates a trial image based on the statistical information on the trial route and the trial result. The image generation unit 15 generates, for example, a trial image representing the situation where the vehicle 1 virtually travels at the point where caution information exists on the trial route. The image generation unit 15 may display a trial image showing the point where caution information exists on the trial route on the map. The trial image is an image for allowing the occupant of the vehicle 1 to recognize the caution information in the statistical information in advance.

[0071] In S05, the display control ECU 10 displays the trial image by the display control unit 16. The display control unit 16 causes the generated trial image to be displayed on the display device 19 of the vehicle 1. By causing the trial image to be displayed on the display device 19, the display control unit 16 provides caution information to the occupant in the parked vehicle 1. The display control unit 16 displays a trial image representing the situation where the virtually traveling vehicle 1 approaches or passes the point where caution information exists on the trial route.

[0072] In S06, the display control ECU 10 stores notification information in the notification information storage unit 14. The notification information storage unit 14 stores notification information including a warning position on the trial route corresponding to the warning information and a trial set value. Thereafter, the display control ECU 10 ends the process of FIG. 5.

[0073] FIG. 6 is a flowchart showing an example of the display process of the notification image. The process (steps) shown in FIG. 6 is repeatedly executed at a predetermined calculation cycle when the vehicle 1 travels with the trial route corresponding to the trial mode as the actual vehicle control route, for example, when the notification information is stored in the trial mode while the vehicle 1 is parked.

[0074] In S11, the display control ECU 10 recognizes the position of the vehicle by the image generation unit 15. The image generation unit 15 recognizes the position of the vehicle 1 (the position of the vehicle 1 on the map on the actual vehicle control route).

[0075] In S12, the display control ECU 10 generates a notification image by the image generation unit 15. The image generation unit 15 generates a notification image including an image representing the situation around the warning position included in the stored notification information and an image representing the trial set value included in the stored notification information, based on the notification information stored in S06 of FIG. 5, for example.

[0076] In S13, the display control ECU 10 determines by the display control unit 16 whether the position of the vehicle 1 has approached the position on the map corresponding to the warning position. The display control unit 16 determines that the position of the vehicle 1 has approached the position on the map corresponding to the warning position when, for example, the distance between the position of the vehicle 1 on the map and the position on the map corresponding to the warning position is equal to or less than a predetermined approach threshold value. The display control unit 16 determines that the position of the vehicle 1 has not approached the position on the map corresponding to the warning position when, for example, the distance between the position of the vehicle 1 on the map and the position on the map corresponding to the warning position is greater than the predetermined approach threshold value.

[0077] When it is determined that the position of the vehicle 1 has approached the position on the map corresponding to the warning position (S13: YES), the display control ECU 10 proceeds to the process of S14. When it is determined that the position of the vehicle 1 has not approached the position on the map corresponding to the warning position (S13: NO), the display control ECU 10 ends the process of FIG. 6.

[0078] In S14, the display control ECU 10 causes the display control unit 16 to display the notification image. The display control unit 16 causes the generated notification image to be displayed on the display device 19 of the vehicle 1. By causing the display control unit 16 to display the notification image on the display device 19, the display control ECU provides notification information to the passengers in the vehicle 1 that is traveling with the trial route as the actual vehicle control route. Thereafter, the display control ECU 10 ends the process of FIG. 6.

[0079] [Display Program] The display program causes the display control ECU 10 (computer) to function (operate) as the above-described trial route generation unit 11, information acquisition unit 12, trial result calculation unit 13, notification information storage unit 14, image generation unit 15, and display control unit 16. The display program is provided by a non-temporary recording medium such as a ROM or a semiconductor memory, for example. The display program may also be provided via communication such as a network.

[0080] According to the vehicle display device 100, display method, and display program described above, based on the trial route and the trial setting value, a trial result regarding the operation of vehicle control according to the trial setting value when the vehicle 1 is virtually traveled along the trial route is calculated. A trial image generated based on the statistical information on the trial route and the trial result is displayed on the display device 19 of the vehicle 1. Thereby, the passenger can recognize in advance how the vehicle control operates according to the road conditions, using the warning information on the trial route as a clue.

[0081] In the vehicle display device 100, display method, and display program, notification information including a warning position on a trial route corresponding to warning information and a trial set value is stored. When the vehicle 1 travels with the trial route as the actual vehicle control route, a notification image including the trial set value is generated based on the notification information. When the position of the vehicle 1 approaches the position on the map corresponding to the warning position, the notification image is displayed on the display device 19. As a result, the occupant can recognize that the vehicle 1 is approaching the position on the map corresponding to the warning position and the trial set value.

[0082] In the vehicle display device 100, display method, and display program, the trial set value is the set vehicle speed related to the automatic driving control among the vehicle controls. The warning information is information about a temporary interruption of the automatic driving control based on the vehicle speed of the vehicle 1 when the vehicle 1 travels on a curve during the execution of the automatic driving control. Thereby, the occupant can recognize in advance whether the automatic driving control is temporarily interrupted according to the set vehicle speed in the curve.

[0083] Note that the vehicle display device 100 can let the occupant of the vehicle 1 preview the advanced safety function before actually using the advanced safety function of the vehicle 1 by allowing the occupant of the vehicle 1 to experience in advance places where the warning information is likely to exist statistically. As a result, when the vehicle 1 travels with the trial route as the actual vehicle control route, it can be expected that the vehicle control will be utilized more effectively than when not having experienced in advance. Since the occupant can conduct a trial in the virtual reality space using the vehicle 1, various functions provided by the vehicle 1 can be tested in the same way as during actual driving. For example, regarding the override of the acceleration / deceleration and steering of the vehicle 1, the trial input unit 18 may accept it and reflect it in the trial result.

[0084] As described above, the embodiments of the present disclosure have been described, but the present disclosure is not limited to the above embodiments.

[0085] In the above-described embodiment, the vehicle display device 100 included the statistical information storage unit 17, but the statistical information storage unit 17 is not essential. The generation of the notification image by the image generation unit 15 is not essential. The display control unit 16 may not display the notification image.

[0086] The number of times of calculating the trial result in the above-described embodiment is not particularly limited. The number of times of calculating the trial result may be once or two or more times. The number of times of adjusting the trial setting value is not particularly limited. The number of times of adjusting the trial setting value may be once or two or more times.

[0087] In the above-described embodiment, the trial route generation unit 11 generated a trial route from the trial start position to the virtual destination, but a trial route from a position other than the trial start position may be generated.

Explanation of Reference Numerals

[0088] 1... vehicle, 11... trial route generation unit, 12... information acquisition unit, 13... trial result calculation unit, 14... notification information storage unit, 15... image generation unit, 16... display control unit, 19... display device (display unit), 100... vehicle display device.

Claims

1. A vehicle display device provided in a vehicle capable of executing vehicle control including driving support control and autonomous driving control, a trial route generation unit that generates a trial route of the vehicle control based on map information and a virtual destination of the vehicle, an information acquisition unit that acquires statistical information regarding past operations of the vehicle control, in which past operation information of the vehicle control and positions on a map are stored in association with each other, a trial result calculation unit that calculates a trial result regarding an operation of the vehicle control according to the trial set value when the vehicle is virtually driven along the trial route based on the trial set value regarding the vehicle control and the trial route, an image generation unit that generates a trial image for causing an occupant of the vehicle to recognize in advance attention - calling information among the statistical information based on the statistical information on the trial route and the trial result, and a display control unit that causes the display unit of the vehicle to display the trial image. A vehicle display device.

2. The vehicle display device further includes a notification information storage unit that stores notification information including an attention - calling position on the trial route corresponding to the attention - calling information and the trial set value, wherein the image generation unit generates a notification image including the trial set value based on the notification information when the vehicle travels with the trial route as an actual route of the vehicle control, and the display control unit causes the display unit to display the notification image when the position of the vehicle approaches a position on the map corresponding to the attention - calling position. The vehicle display device according to claim 1.

3. The trial set value is a set vehicle speed regarding the autonomous driving control among the vehicle controls, and the attention - calling information is information regarding a temporary interruption of the autonomous driving control based on the vehicle speed of the vehicle when the vehicle travels a curve during execution of the autonomous driving control. The vehicle display device according to claim 1 or 2.

4. A display method using a vehicle display device provided in a vehicle capable of executing vehicle control including driving support control and autonomous driving control, the method including the steps of: generating a trial route of the vehicle control based on map information and a virtual destination of the vehicle; acquiring statistical information regarding past operations of the vehicle control, in which past operation information of the vehicle control and positions on a map are stored in association with each other; Based on the trial setting values related to the vehicle control and the trial route, calculating a trial result related to the operation of the vehicle control according to the trial setting values when the vehicle is virtually driven along the trial route; Based on the statistical information on the trial route and the trial result, generating a trial image for causing the vehicle occupant to recognize in advance the attention - calling information among the statistical information; Displaying the trial image on the display unit of the vehicle. A display method comprising these steps.

5. A display program that causes a computer to function as a vehicle display device provided in a vehicle capable of executing vehicle control including driving support control and autonomous driving control. The display program causes the computer to be A trial route generation unit that generates a trial route for the vehicle control based on map information and a virtual destination of the vehicle; An information acquisition unit that acquires statistical information related to the past operation of the vehicle control, in which the past operation information of the vehicle control and the position on the map are stored in association with each other; A trial result calculation unit that calculates a trial result related to the operation of the vehicle control according to the trial setting values when the vehicle is virtually driven along the trial route based on the trial setting values related to the vehicle control and the trial route; An image generation unit that generates a trial image for causing the vehicle occupant to recognize in advance the attention - calling information among the statistical information based on the statistical information on the trial route and the trial result, and A display control unit that displays the trial image on the display unit of the vehicle. A display program that causes the computer to function as these units.

Images