Display control device and display control program

Abstract

To provide a display control device etc. capable of causing a driver to implement smooth passing.SOLUTION: An HCU is functioned as a display control device which is used in a self vehicle Am and assists passing with an opposite vehicle Ao on the narrow road by display. In a case where the self vehicle Am travels on the narrow road, the HCU grasps information on the opposite vehicle Ao subjected to the passing. In a case where the opposite vehicle Ao is grasped, a sideways movement assist superposed picture VP3 assisting outward sideways movement on the narrow road is displayed while being superposed on a foreground of the self vehicle Am by an HUD 23. Further, after the sideways movement assist superposed picture VP3 is displayed, a lateral dead angle video MD4 obtained by superposing a passing assist image RP4 assisting the passing on a camera picture CP capturing a road surface around the self vehicle Am is displayed on a meter display 21.SELECTED DRAWING: Figure 9

Description

[Technical Field]

[0001] The disclosure of this specification relates to a display control device and a display control program for use in a vehicle. [Background technology]

[0002] Patent Document 1 describes a driving assistance device that determines whether passing assistance is necessary when two vehicles are traveling on a narrow road with almost no room to pass each other. If the driving assistance device determines that assistance is necessary, it controls the display to show an image captured by a side camera that captures the area around the tire on the passenger side, which is in the driver's blind spot. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-149204 Summary of the Invention [Problem to be solved by the invention]

[0004] In order to smoothly pass other vehicles on narrow roads, it is important to move the vehicle outward at an early stage and create a situation in advance where the vehicles can pass each other. However, while the driving assistance device in Patent Document 1 provides assistance when passing an oncoming vehicle, it does not provide assistance in creating a situation in advance where the vehicles can pass each other. As a result, there is a risk that the vehicle will not be able to pass other vehicles smoothly.

[0005] The present disclosure aims to provide a display control device and a display control program that enable a driver to smoothly pass other vehicles. [Means for solving the problem]

[0006] In order to achieve the above object, one disclosed aspect is a display control device that is used in a vehicle and that provides support for passing an oncoming vehicle (Ao) on a narrow road by displaying information, and includes a display control unit (77) that controls display by screen displays (21, 22) and a head-up display (23), and an external environment information grasping unit (72) that grasps information about an oncoming vehicle that is a target for passing when a host vehicle (Am) is traveling on a narrow road, The external information grasping unit grasps the situation of the outer road edge (ER) on the narrow road, The display control unit, when an oncoming vehicle is detected, displays a first support image (VP3) that supports the driver in moving outward on a narrow road, superimposed on the foreground of the vehicle by the head-up display, and after the first support image is displayed, displays on the screen display an external image (MD4, MD14) that is obtained by superimposing a second support image (RP4) that supports the driver in passing the oncoming vehicle on a captured image (CP) that shows the road surface around the vehicle. If the road edge is in a complicated state, the superimposed display of the first support image is stopped. It is a display control device. Another disclosed aspect is a display control device used in a vehicle that provides support for passing an oncoming vehicle (Ao) on a narrow road by displaying information, the display control unit (77) controlling display by screen displays (21, 22) and a head-up display (23), and an external environment information grasping unit (72) grasping information about an oncoming vehicle that is a target for passing when a host vehicle (Am) is traveling on a narrow road, and the display control unit is configured to implement a first support function that, when an oncoming vehicle is grasped, assists the host vehicle to move toward the outside of the narrow road. The display control device superimposes a support image (VP3) on the foreground of the vehicle using a head-up display, and after displaying the first support image, displays on a screen display an external image (MD4, MD14) consisting of a captured image (CP) showing the road surface around the vehicle and a second support image (RP4) that assists in passing, and superimposes the first support image including at least an oncoming vehicle guide line (TGL) that indicates the position of the inner outer edge of the oncoming vehicle, and stops displaying the oncoming vehicle guide line if the behavior of the oncoming vehicle is unstable. Another disclosed aspect is a display control device used in a vehicle that provides support for passing an oncoming vehicle (Ao) on a narrow road by displaying information, and includes a display control unit (77) that controls display by screen displays (21, 22) and a head-up display (23), and an external environment information grasping unit (72) that grasps information about an oncoming vehicle that is a target for passing when a host vehicle (Am) is traveling on a narrow road. When an oncoming vehicle is grasped, the display control unit displays a first support image ( The display control device superimposes a second support image (RP4) for assisting in passing on a captured image (CP) showing the road surface around the vehicle on a head-up display, and displays an external image (MD4, MD14) on a screen display, which is obtained by superimposing a second support image (RP4) for assisting in passing on a captured image (CP) showing the road surface around the vehicle, and notifies the driver of the appearance of an oncoming vehicle based on the recognition of the oncoming vehicle, and displays a passing notification image (HD2) containing less information than the first support image on the head-up display before the first support image. Another disclosed aspect is a display control device used in a vehicle that provides support for passing an oncoming vehicle (Ao) on a narrow road by displaying information, the display control device including a display control unit (77) that controls display by screen displays (21, 22) and a head-up display (23), and an external environment information grasping unit (72) that grasps information about an oncoming vehicle that is a target for passing when a host vehicle (Am) is traveling on a narrow road, and the display control unit is configured to provide a first assistance signal that assists the host vehicle in pulling over to the outside of the narrow road when an oncoming vehicle is grasped. The display control device superimposes an image (VP3) on the foreground of the vehicle using a head-up display, and after displaying the first support image, displays on a screen display an external image (MD4, MD14) consisting of a captured image (CP) showing the road surface around the vehicle and a second support image (RP4) that assists in passing, and stops the superimposed display of the first support image in at least one of the following cases: when a preceding vehicle larger than the vehicle is traveling on a narrow road, and when the inter-vehicle distance from the vehicle to the preceding vehicle is less than a following threshold. Another disclosed aspect is a display control device used in a vehicle that provides display assistance in passing an oncoming vehicle (Ao) on a narrow road, and includes a display control unit (77) that controls display by screen displays (21, 22) and a head-up display (23), and an external world information grasping unit (72) that grasps information about oncoming vehicles that may be passed when the vehicle (Am) is traveling on a narrow road. When an oncoming vehicle is grasped, the display control unit superimposes a first support image (VP3) that assists the vehicle in moving to the outside of the narrow road on the foreground of the vehicle by the head-up display, and after displaying the first support image, displays on the screen display an external world image (MD4, MD14) that is formed by superimposing a second support image (RP4) that assists the vehicle in passing on a captured image (CP) showing the road surface around the vehicle, and when the oncoming vehicle approaches the vehicle at a speed exceeding an approach threshold, the display control device stops the superimposed display of the first support image. Another disclosed aspect is a display control device used in a vehicle that provides support for passing an oncoming vehicle (Ao) on a narrow road by displaying the image, the display control unit (77) controlling the display by screen displays (21, 22) and a head-up display (23), and an external world information grasping unit (72) grasping information about an oncoming vehicle that is a target for passing when a host vehicle (Am) is traveling on a narrow road, and the display control unit, when an oncoming vehicle is grasped, displays a first support image (VP3) on the head-up display that supports the host vehicle in pulling over to the outside of the narrow road. (i) is superimposed on the foreground of the vehicle, and after the first support image is displayed, an external image (MD4, MD14) consisting of a captured image (CP) showing the road surface around the vehicle and a second support image (RP4) that supports passing is superimposed on the captured image (CP), and in a narrow road mode that starts based on entering a narrow road, a narrow road driving image (HD1) showing that the vehicle is driving on a narrow road is displayed on the head-up display, and the display control device changes the expression to erase the narrow road driving image between an interruption scene where the road width of the narrow road temporarily widens and an end scene where the narrow road ends. Another disclosed aspect is a display control device used in a vehicle that provides support for passing an oncoming vehicle (Ao) on a narrow road by displaying information, the display control device including a display control unit (77) that controls display by screen displays (21, 22) and a head-up display (23), and an external world information grasping unit (72) that grasps information about an oncoming vehicle that is a target for passing when a host vehicle (Am) is traveling on a narrow road. When an oncoming vehicle is grasped, the display control unit displays a first support image (V) that supports the host vehicle in pulling over to the outside of the narrow road. P3) is superimposed on the foreground of the vehicle by the head-up display, and after the first support image is displayed, an external image (MD4, MD14) is displayed on the screen display device, which is formed by superimposing a second support image (RP4) that supports passing on an image (CP) showing the road surface around the vehicle, and when the vehicle is in a position where it can pass an oncoming vehicle, the display control device switches the content of the external image to a rear image (MD5) which is formed by superimposing a trajectory image (RP5) that shows the movement trajectory of the vehicle on an image showing the rear of the vehicle. Another disclosed aspect is a display control device used in a vehicle that provides support for passing an oncoming vehicle (Ao) on a narrow road by displaying information, and includes a display control unit (77) that controls display by screen displays (21, 22) and a head-up display (23), an external world information grasping unit (72) that grasps information about an oncoming vehicle that is a target for passing when a host vehicle (Am) is traveling on a narrow road, and a driver state grasping unit (73) that grasps the state of the driver of the host vehicle, and when an oncoming vehicle is grasped, the display control unit The display control device is configured to superimpose a first support image (VP3) that assists in pulling over onto the foreground of the vehicle by the head-up display, and after the first support image is displayed, to display on the screen display an external image (MD4, MD14) that is formed by superimposing a second support image (RP4) that assists in passing onto a captured image (CP) that shows the road surface around the vehicle, and when the driver's drowsiness or fatigue is detected by the driver state grasping unit, to display on the head-up display a stop guidance image (IhS) that guides the driver to stop before the pulling over is completed.

[0007] Another disclosed aspect is a display control program used in a vehicle that provides support for passing an oncoming vehicle (Ao) on a narrow road by displaying a message, and when a host vehicle (Am) is traveling on a narrow road, the program: The situation of the outer road edge (ER) on narrow roads, Information on oncoming vehicles that may be passing and When an oncoming vehicle is detected, a first support image (VP3) for supporting the driver in pulling over to the outside of the narrow road is displayed superimposed on the foreground of the vehicle by the head-up display (23) (S22). If the road edge is in a complicated state, the superimposed display of the first support image is stopped. a display control program that causes at least one processing unit (11) to execute a process including: after displaying the first support image, displaying on the screen display (21, 22) an outside image (MD4, MD14) in which a second support image (RP4) that supports passing is superimposed on a captured image (CP) showing the road surface around the vehicle (S24). It is said that. Another disclosed aspect is a display control program used in a vehicle that provides support for passing an oncoming vehicle (Ao) on a narrow road by displaying information, and when a host vehicle (Am) travels on a narrow road, the program grasps information about the oncoming vehicle that is a target for passing (S19), and when the oncoming vehicle is grasped, displays a first support image (VP3) on a head-up display (23) that includes at least an oncoming vehicle guide line (TGL) indicating the position of the outer edge of the oncoming vehicle on the inside, and that supports the driver in pulling over to the outside of the narrow road. and superimposing the second support image (RP4) on the image foreground of the vehicle (S22), and after the first support image is displayed, displaying on the screen display devices (21, 22) an outside world image (MD4, MD14) formed by superimposing the second support image (RP4) for assisting the vehicle in passing on the captured image (CP) showing the road surface around the vehicle (S24). In the process of superimposing and displaying the first support image, the display control program stops displaying the oncoming vehicle guide lines if the behavior of the oncoming vehicle is unstable. Another disclosed aspect is a display control program used in a vehicle that provides support for passing an oncoming vehicle (Ao) on a narrow road by displaying information, and when a host vehicle (Am) is traveling on a narrow road, the program grasps information about the oncoming vehicle that is a target for passing (S19), and when the oncoming vehicle is identified, a first support image (VP3) that supports the host vehicle in pulling over to the outside of the narrow road is superimposed on the foreground of the host vehicle by a head-up display (23) (S22), and based on the recognition of the oncoming vehicle, the program displays a first support image (VP3) in a manner that indicates the appearance of the oncoming vehicle. and displaying a passing notification image (HD2) that notifies the driver of the fact that the vehicle is passing and that has less information than the first support image on the head-up display before the first support image (S20), and after the first support image is displayed, displaying on the screen display devices (21, 22) an outside world image (MD4, MD14) that is obtained by superimposing a second support image (RP4) that supports passing on a captured image (CP) that shows the road surface around the vehicle (S24). Another disclosed aspect is a display control program used in a vehicle that provides support for passing an oncoming vehicle (Ao) on a narrow road by displaying information, and when a host vehicle (Am) is traveling on a narrow road, the program obtains information about the oncoming vehicle that is a target for passing (S19), and when the oncoming vehicle is identified, a first support image (VP3) that supports the host vehicle in moving outward from the narrow road is displayed superimposed on the foreground of the host vehicle by a head-up display (23) (S22), and after the first support image is displayed, The display control program causes at least one processing unit (11) to execute processing including displaying on a screen display (21, 22) an external image (MD4, MD14) obtained by superimposing a second support image (RP4) that assists in passing on a captured image (CP) showing both surrounding road surfaces (S24), and ceasing the superimposed display of the first support image in at least one of the cases where a preceding vehicle larger than the own vehicle is traveling on a narrow road and where the inter-vehicle distance from the own vehicle to the preceding vehicle is less than a following threshold. Another disclosed aspect is a display control program used in a vehicle that provides support for passing an oncoming vehicle (Ao) on a narrow road by displaying information, wherein the display control program causes at least one processing unit (11) to execute processing including the following: when a host vehicle (Am) is traveling on a narrow road, the program grasps information about the oncoming vehicle that is to be passed (S19); when the oncoming vehicle is identified, the program superimposes a first support image (VP3) that supports the host vehicle in moving to the outside of the narrow road on the foreground of the host vehicle by the head-up display (23) (S22); after the first support image is displayed, the program causes an external image (MD4, MD14) that is obtained by superimposing a second support image (RP4) that supports the host vehicle in passing on a captured image (CP) showing the road surface around the host vehicle on the screen display (21, 22) (S24); and when the oncoming vehicle approaches the host vehicle at a speed exceeding an approach threshold, the program stops the superimposed display of the first support image. Another disclosed aspect is a display control program used in a vehicle that provides support for passing an oncoming vehicle (Ao) on a narrow road by displaying the image. In a narrow road mode that starts based on the vehicle entering the narrow road, a narrow road driving image (HD1) showing that the vehicle is traveling on a narrow road is displayed on a head-up display (23) (S12). When a host vehicle (Am) travels on the narrow road, the program identifies information about an oncoming vehicle that may be a target for passing (S19). When an oncoming vehicle is identified, the program displays a first support image ( The display control program causes at least one processing unit (11) to execute processing including superimposing the first support image (VP3) on the foreground of the vehicle by the head-up display (S22), and after displaying the first support image, displaying on the screen display devices (21, 22) an outside world image (MD4, MD14) formed by superimposing a second support image (RP4) for assisting in passing on a captured image (CP) showing the road surface around the vehicle (S24), and changing the expression to erase the narrow road driving image between an interruption scene where the road width of the narrow road temporarily widens and an end scene where the narrow road ends. Another disclosed aspect is a display control program used in a vehicle that provides support for passing an oncoming vehicle (Ao) on a narrow road by displaying information, and when a host vehicle (Am) is traveling on a narrow road, the program obtains information about the oncoming vehicle that is a target for passing (S19), and when the oncoming vehicle is identified, a first support image (VP3) that supports the host vehicle in moving outward from the narrow road is displayed superimposed on the foreground of the host vehicle by a head-up display (23) (S22), and after the first support image is displayed, the road surface around the host vehicle is displayed. The display control program causes at least one processing unit (11) to execute processing including: displaying on the screen displays (21, 22) an external image (MD4, MD14) obtained by superimposing a second support image (RP4) that assists in passing on the captured image (CP) that shows the vehicle; and, when the vehicle is in a state where it can pass an oncoming vehicle, switching the content of the external image to a rear image (MD5) obtained by superimposing a trajectory image (RP5) that shows the movement trajectory of the vehicle on a captured image showing the rear of the vehicle (S26). Another disclosed aspect is a display control program used in a vehicle that provides support for passing an oncoming vehicle (Ao) on a narrow road by displaying information, and when a host vehicle (Am) is traveling on a narrow road, the program grasps information about the oncoming vehicle that is a target for passing (S19), and when the oncoming vehicle is identified, a first support image (VP3) that supports the host vehicle in moving outward from the narrow road is displayed superimposed on the foreground of the host vehicle by a head-up display (23) (S22), and after the first support image is displayed, the program displays a road surface around the host vehicle. and displaying on the screen displays (21, 22) (S24) an external image (MD4, MD14) in which a second support image (RP4) for assisting in passing is superimposed on a captured image (CP) showing the subject vehicle, and, when drowsiness or fatigue of the driver of the subject vehicle is detected by grasping the driver's state, displaying on the head-up display a stop guidance image (IhS) for guiding the driver to stop before the subject vehicle has completed pulling over to the side of the vehicle.

[0008] In these aspects, when an oncoming vehicle to be passed is detected, a first support image that supports the driver in moving outward on the narrow road is superimposed on the foreground of the vehicle by the head-up display. Therefore, the driver can use the first support image to prepare in advance for passing the oncoming vehicle without taking their eyes off the road. Furthermore, by shifting their gaze to the external world image displayed on the screen display, the driver can start passing the oncoming vehicle while checking the actual image around their vehicle and using the second support image that supports passing. As described above, by providing support through displays in stages, it is possible for the driver to pass smoothly.

[0009] It should be noted that the reference numbers in parentheses in the above and claims merely indicate an example of the correspondence with the specific configurations in the embodiments described below, and do not limit the technical scope in any way. Furthermore, claims not explicitly stated in the claims may be combined together if no particular problems arise in the combination. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a diagram illustrating an overall view of an in-vehicle network including an HCU according to an embodiment of the present disclosure. [Figure 2] FIG. 2 is a block diagram showing an example of a functional unit constructed in an HCU together with related configurations. [Figure 3] 10A and 10B are diagrams illustrating an example of a transition display when switching from a normal mode display to a narrow road mode display. [Figure 4]10A and 10B are diagrams showing examples of animations displayed by the HUD when starting and ending narrow road mode. [Figure 5] FIG. 10 is a diagram showing details of a superimposed guide display used for narrow road driving support. [Figure 6] FIG. 10 is a diagram showing details of a non-overlapping guide display used for narrow road driving support. [Figure 7] FIG. 10 is a diagram showing details of a width-shifting support image displayed as a non-overlapping guide. [Figure 8] FIG. 12 is a diagram showing the details of a series of narrow road driving support displays together with FIGS. 9 to 11. [Figure 9] FIG. 12 is a diagram showing the details of a series of narrow road driving assistance displays in conjunction with FIGS. 8, 10, and 11. [Figure 10] FIG. 12 is a diagram showing the details of a series of narrow road driving support displays in conjunction with FIGS. 8, 9 and 11. [Figure 11] FIG. 11 is a diagram showing the details of a series of narrow road driving support displays together with FIGS. 8 to 10. [Figure 12] 10A and 10B are diagrams for explaining details of a process for adjusting the superimposition position of a road edge guide line. [Figure 13] FIG. 10 is a diagram for explaining details of a process for determining the complexity of a road edge. [Figure 14] FIG. 10 is a diagram showing the details of the HUD display when the logical end is in a complex situation, compared with the normal display. [Figure 15] FIG. 10 is a diagram showing details of the display by the HUD when the behavior of an oncoming vehicle is unstable. [Figure 16] FIG. 10 is a diagram showing details of the HUD display when the speed of an oncoming vehicle is high, in comparison with the normal display. [Figure 17] 10A and 10B are diagrams showing details of the notification display for completing the approach, which is changed depending on the size of the oncoming vehicle when the speed of the oncoming vehicle is high. [Figure 18] 10A and 10B are diagrams showing an example of animations displayed when the narrow road mode is temporarily canceled and resumed. [Figure 19] FIG. 10 is a diagram showing an example of an animation displayed when the narrow road mode is canceled due to the vehicle speed exceeding the limit. [Figure 20] FIG. 10 is a diagram showing an example of an animation displayed when the narrow road mode is canceled due to bad weather. [Figure 21] FIG. 10 is a diagram showing details of narrow road assistance display by the HUD when driver drowsiness or fatigue is detected. [Figure 22] FIG. 10 is a diagram showing an example of a curve driving support display performed on a curve without a center line. [Figure 23] 25 is a diagram showing details of the display control process for realizing the narrow road assistance display, together with FIG. 24. FIG. [Figure 24] FIG. 24 is a diagram showing details of the display control process for realizing the narrow road assistance display, together with FIG. 23. [Figure 25] FIG. 10 is a diagram showing details of a surrounding monitoring image displayed in Modification 1. DETAILED DESCRIPTION OF THE INVENTION

[0011] 1 and 2, an HCU (Human Machine Interface Control Unit) 100 according to an embodiment of the present disclosure is an interface control device used in a vehicle (hereinafter, referred to as a host vehicle Am). The HCU 100 constitutes an HMI (Human Machine Interface) system 10 of the host vehicle Am together with a plurality of input / output devices. The HMI system 10 has an input interface function that accepts operations by an occupant such as a driver of the host vehicle Am, and an output interface function that presents information to the driver.

[0012] The HCU 100 is communicatively connected to a communication bus 99 of an in-vehicle network 1 mounted on the host vehicle Am. The HCU 100 is one of a plurality of nodes provided in the in-vehicle network 1. A driver monitor 29, a surroundings monitoring sensor 30, a locator 35, a cruise control ECU (Electronic Control Unit) 40, a body ECU 43, an autonomous driving ECU 50, and the like are connected to the communication bus 99 of the in-vehicle network 1. These nodes connected to the communication bus 99 can communicate with each other. Specific nodes among these devices and ECUs, etc., may be electrically connected directly to each other and be able to communicate without going through the communication bus 99.

[0013] The driver monitor 29 includes a near-infrared light source, a near-infrared camera, and a control unit for controlling them. The driver monitor 29 is installed, for example, on the top surface of the steering column or the top surface of the instrument panel, with the near-infrared camera facing the headrest of the driver's seat. The driver monitor 29 uses the near-infrared camera to capture an image of the driver's head illuminated with near-infrared light from the near-infrared light source. The image captured by the near-infrared camera is analyzed by the control unit. The control unit extracts information such as the position and line of sight of the driver from the captured image, and provides the extracted driver status information (hereinafter referred to as driver status information) to the HCU 100, etc., via the communication bus 99.

[0014] The perimeter monitoring sensor 30 is an autonomous sensor that monitors the environment surrounding the host vehicle Am. The perimeter monitoring sensor 30 includes, for example, a front camera unit 31, a millimeter-wave radar 32, a surround camera system 33, and a sonar 34. The perimeter monitoring sensor 30 may further include other types of sensors, such as a lidar. The perimeter monitoring sensor 30 is capable of detecting moving objects and stationary objects within a detection range around the host vehicle. The perimeter monitoring sensor 30 provides detection information of objects around the host vehicle to the autonomous driving ECU 50, etc.

[0015] The periphery monitoring sensor 30 sequentially provides the HCU 100 with video data consisting of captured images (hereinafter referred to as camera images CP, see FIGS. 5 to 7) taken by the surround camera system 33. The surround camera system 33 has a front camera, a rear camera, a left-side camera, and a right-side camera, and is capable of capturing images of the road surface all around the host vehicle Am. Each camera captures images of the exterior of the host vehicle Am, which is in the driver's blind spot, and the road surface around the host vehicle.

[0016] Locator 35 includes a GNSS (Global Navigation Satellite System) receiver, an inertial sensor, etc. Locator 35 sequentially determines the position and traveling direction of vehicle Am by combining positioning signals received from multiple positioning satellites by the GNSS receiver, measurement results from the inertial sensor, and vehicle speed information output to communication bus 99. Locator 35 sequentially outputs position information and direction information of vehicle Am based on the positioning results to communication bus 99 as locator information.

[0017] Locator 35 further includes a map database (hereinafter referred to as map DB) 36 that stores map data. Map DB 36 is primarily composed of a large-capacity storage medium that stores a large amount of 3D map data and 2D map data. The 3D map data is a so-called HD (High Definition) map, and includes road information necessary for autonomous driving. Locator 35 may be able to update the 3D map data and 2D map data to the latest information through external communication via an on-board communication device. Locator 35 reads map data around the current location from map DB 36 and provides it to the autonomous driving ECU 50, HCU 100, etc., along with locator information.

[0018] The cruise control ECU 40 is an electronic control device that mainly includes a microcontroller. The cruise control ECU 40 has at least the functions of a brake control ECU, a drive control ECU, and a steering control ECU. The cruise control ECU 40 continuously controls the braking force of each wheel, the output control of the on-board power source, and the steering angle based on operation commands based on the driver's driving operation or control commands from the automatic driving ECU 50. In addition, the cruise control ECU 40 sequentially outputs vehicle status information indicating the current state of the host vehicle Am, such as vehicle speed information indicating the driving speed and steering angle information indicating the steering angle (or actual steering angle), to the communication bus 99.

[0019] The body ECU 43 is an electronic control device that mainly includes a microcontroller. The body ECU 43 has a function of controlling the lighting devices, doors, seats, mirrors, etc. mounted on the host vehicle Am. The body ECU 43 is electrically connected to, for example, a mirror retraction mechanism 44. The mirror retraction mechanism 44 is configured to automatically retract and unfold the left and right door mirrors of the host vehicle Am. The body ECU 43 outputs a control signal to the mirror retraction mechanism 44 to cause the mirror retraction mechanism 44 to retract and unfold each door mirror.

[0020] The autonomous driving ECU 50 enables advanced driving assistance or partial autonomous driving at approximately Level 2, according to the autonomous driving levels defined by the Society of Automotive Engineers of America. The autonomous driving performed by the autonomous driving ECU 50 is eyes-on autonomous driving, which requires the driver to visually monitor the area around the vehicle. The autonomous driving ECU 50 executes driving assistance functions such as ACC (Adaptive Cruise Control), LTC (Lane Trace Control), and LCA (Lane Change Assist). The autonomous driving ECU 50 may also be capable of eyes-off autonomous driving, which does not require the driver to monitor the area around the vehicle, in other words, autonomous driving at Level 3 or higher.

[0021] The autonomous driving ECU 50 is a computer that mainly includes a control circuit equipped with a processing unit, RAM, a storage unit, an input / output interface, and a bus connecting these, etc. The autonomous driving ECU 50 has an environment recognition unit 61 as a functional unit for realizing a driving assistance function or an autonomous driving function.

[0022] The environment recognition unit 61 recognizes the driving environment of the host vehicle Am by combining the locator information and map data acquired from the locator 35 with the detection information acquired from the perimeter monitoring sensor 30. The environment recognition unit 61 grasps the road environment on which the host vehicle Am is traveling based on the locator information and map data. Furthermore, the environment recognition unit 61 grasps the relative positions and relative speeds of static or dynamic targets around the host vehicle Am, such as other vehicles traveling around the host vehicle Am, based on the detection information. The environment recognition unit 61 provides the HCU 100 with road information related to the road environment and target information related to targets around the host vehicle.

[0023] Next, the multiple display devices, audio device 24, haptic feedback device 25, operation device 26, and HCU 100 included in HMI system 10 will be described in detail in turn.

[0024] In the following description, the longitudinal direction and left-right direction are defined based on the host vehicle Am being stationary on a horizontal plane. Specifically, the longitudinal direction is defined along the longitudinal direction of the host vehicle Am, and the front is the direction of travel of the host vehicle Am, which is the depth direction as seen from the driver. The left-right direction is defined along the width direction of the host vehicle Am. Furthermore, the up-down direction is defined along the vertical direction of the horizontal plane that defines the longitudinal direction and left-right directions.

[0025] The multiple display devices include a meter display 21, a center display (hereinafter referred to as CID) 22, and a head-up display (hereinafter referred to as HUD) 23. The multiple display devices may further include displays of an electronic mirror system. The meter display 21, CID 22, and HUD 23 present information to the driver's vision.

[0026] The meter display 21 and the CID 22 are screen displays mainly composed of, for example, a liquid crystal display or an OLED (Organic Light Emitting Diode) display. The meter display 21 and the CID 22 display various images as real images on the display screen based on control signals and video data acquired from the HCU 100. The meter display 21 is installed, for example, in front of the driver's seat. The CID 22 is installed, for example, above the center cluster. The CID 22 has a touch panel function and detects, for example, touch operations and swipe operations on the display screen by the driver or the like.

[0027] Based on the control signal and video data acquired from the HCU 100, the HUD 23 projects the light of the image formed in front of the driver onto a projection area defined on the windshield or the like. The light of the image reflected by the windshield into the interior of the vehicle is perceived by the driver sitting in the driver's seat. In this way, the HUD 23 displays a virtual image in the space ahead of the projection area. The driver visually recognizes the virtual image within the field of view displayed by the HUD 23 superimposed on the foreground of the host vehicle Am.

[0028] The HUD 23 displays superimposed content and non-superimposed content as virtual images. The superimposed content is an AR display object used for augmented reality (AR) display. The display position of the superimposed content is associated with a specific superimposed object in the foreground, such as the road surface, a vehicle ahead, a pedestrian, or a road sign. The superimposed content is movable as seen by the driver, as if fixed relative to the superimposed object. On the other hand, the non-superimposed content is a non-AR display object that is superimposed and displayed in the foreground, excluding the superimposed content. The non-superimposed content is displayed as if fixed relative to a vehicle component such as the windshield, without tracking a specific superimposed object.

[0029] The audio device 24 has multiple speakers installed in the vehicle cabin surrounding the driver's seat, and reproduces alarm sounds, voice messages, etc. through the speakers into the vehicle cabin. The haptic feedback device 25 is provided on the steering wheel, etc. The haptic feedback device 25 presents information to the driver gripping the steering wheel through the tactile sense by operating an actuator that generates vibrations.

[0030] The operation device 26 is an input unit that accepts user operations by the driver, etc. For example, user operations related to activation and deactivation of driving assistance functions, user operations related to display content, etc. are input to the operation device 26. The operation device 26 includes a steering switch provided on the spokes of the steering wheel, an operation lever provided on the steering column, and a voice input device that recognizes what the driver is saying.

[0031] The HCU 100 is an information presentation device that comprehensively controls information presentation using multiple display devices, an audio device 24, and a haptic feedback device 25. The HCU 100 is a computer that mainly includes a processing unit 11, a RAM 12, a storage unit 13, an input / output interface 14, and a control circuit equipped with a bus connecting these. The processing unit 11 accesses the RAM 12 to execute various processes for presentation control processing. The RAM 12 may be configured to include a video RAM for generating video data. The storage unit 13 is configured to include a non-volatile storage medium. Various programs (such as a display control program) executed by the processing unit 11 are stored in the storage unit 13. The HCU 100 configures multiple functional units by having the processing unit 11 execute the programs stored in the storage unit 13. The HCU 100 is configured with functional units such as an information acquisition unit 71, a video processing unit 74, a command output unit 75, and a presentation control unit 77.

[0032] The information acquisition unit 71 is connected to the communication bus 99 so as to be able to communicate information. The information acquisition unit 71 acquires information output by each ECU to the communication bus 99. The information acquisition unit 71 has an external world information grasping unit 72 and a driver state grasping unit 73 as sub-functional units for processing the information acquired from the communication bus 99.

[0033] The external environment information grasping unit 72 acquires locator information and map data provided by the locator 35, road information and target object information provided by the environment recognition unit 61, and vehicle status information provided by the cruise control ECU 40. The target object information includes position information of the lane markings and road edges ER of the road on which the vehicle is traveling. Based on the acquired various types of information, the external environment information grasping unit 72 grasps the condition of the road on which the vehicle Am is traveling, the condition of targets around the vehicle, and the traveling state of the vehicle Am.

[0034] The external environment information grasping unit 72 determines whether the host vehicle Am is entering or exiting a narrow road in connection with narrow road driving assistance, which will be described later. A narrow road is a narrow street without a center line and only slightly wider than the width of two vehicles. On a narrow road, it becomes difficult to pass an oncoming vehicle Ao (see FIG. 5, etc.). The external environment information grasping unit 72 determines whether a road on which the host vehicle is traveling or a road on which the host vehicle is scheduled to travel is narrow, using at least one of map data provided by the locator 35 and detection information from the front camera unit 31. The external environment information grasping unit 72 grasps the width of the road ahead of the host vehicle, and determines that the road is a narrow road if the road width is smaller (narrower) than a narrow road threshold. The narrow road threshold may be changed according to the size (vehicle width) of the host vehicle Am. For example, the larger the size of the host vehicle Am, the larger the narrow road threshold is set. In addition, the user of the host vehicle Am may be able to adjust the narrow road threshold, for example, between "wide," "medium," and "narrow."

[0035] When the host vehicle Am is traveling on a narrow road, the external environment information grasping unit 72 grasps the types and relative positions of targets present in front of the host vehicle, specifically, static objects such as utility poles and road signs, and the types, relative positions, and relative speeds of dynamic targets such as pedestrians, cyclists, and oncoming vehicles Ao. When the host vehicle Am is traveling on a narrow road, the external environment information grasping unit 72 grasps information about oncoming vehicles Ao that the host vehicle Am may pass.

[0036] The external environment information grasping unit 72 grasps the situation of the road edge ER on the outside of the narrow road. The outside direction is the direction opposite to the oncoming vehicle Ao that the vehicle is passing in the width direction. Specifically, if vehicles drive on the left side of the road, the outside direction is the left side of the vehicle Am, and if vehicles drive on the right side of the road, the outside direction is the right side of the vehicle Am. The external environment information grasping unit 72 counts the number and types of obstacles present within a predetermined distance (e.g., about 100 m) ahead of the vehicle Am, regarding targets present near the road edge ER on the outside of the vehicle Am (see FIG. 5, etc.) as obstacles. If the number of obstacles present on the road edge side of the vehicle Am is a predetermined number (e.g., five) or more, or if the number of types of obstacles is a predetermined number (e.g., three) or more, the external environment information grasping unit 72 determines that the road edge ER is in a complex situation (see FIG. 13). The external environment information grasping unit 72 may determine that the road edge ER is in a complicated state when the number of obstacles is equal to or greater than a predetermined number and the number of types of obstacles is equal to or greater than a predetermined number.

[0037] The driver state grasping unit 73 grasps the state of the driver based on the driver status information acquired from the driver monitor 29. The driver state grasping unit 73 grasps the drowsiness and fatigue of the driver. Based on the direction of the driver's line of sight, the driver state grasping unit 73 determines whether the line of sight is directed toward a display device such as the meter display 21, CID 22, or HUD 23.

[0038] When displaying an image of the surroundings of the vehicle on the meter display 21 or CID 22, the image processing unit 74 requests the surround camera system 33 to provide image data. The image processing unit 74 acquires image data output by each camera of the surround camera system 33 and performs image processing for displaying the image on the meter display 21 or CID 22. As an example, the image processing unit 74 combines the image data from each camera to generate a virtual viewpoint image (top-view image TPV, see FIG. 10 ) of a view down on the road surface around the vehicle Am from directly above the vehicle Am. The image processing unit 74 provides the image data from each camera and the virtual viewpoint image to the presentation control unit 77. Note that at least a portion of the image processing functions implemented in the image processing unit 74 may be provided in the control unit of the surround camera system 33. In this configuration, the image processing unit 74 can acquire the virtual viewpoint image generated by the surround camera system 33.

[0039] The command output unit 75 outputs a command signal to an in-vehicle device not included in the HMI system 10, thereby enabling the in-vehicle device to operate in conjunction with the information presentation. The command output unit 75 transmits a command signal requesting the storage and deployment of the side mirrors of the host vehicle Am to the body ECU 43. Based on the command signal received from the command output unit 75, the body ECU 43 cooperates with the mirror storage mechanism 44 to perform the operation of folding the door mirrors and the operation of returning the folded door mirrors.

[0040] The presentation control unit 77 comprehensively provides information to the driver using the audio device 24, the haptic feedback device 25, and each display device, etc. The presentation control unit 77 enables the presentation of information according to the driving state of the vehicle Am and the driving environment around the vehicle, based on information acquired by the information acquisition unit 71. The presentation control unit 77 controls the reproduction of a notification sound by the audio device 24 and the implementation of steering vibration by the haptic feedback device 25. The presentation control unit 77 controls the display by each display device by generating control signals and video data that are output sequentially to each display device.

[0041] The HCU 100 described above provides step-by-step support for passing an oncoming vehicle Ao (see FIG. 5, etc.) on a narrow road, from before the vehicle passes the oncoming vehicle Ao to after the vehicle passes the oncoming vehicle Ao, by using displays on the meter display 21 and the HUD 23. Details of such displays related to narrow road driving support will be described based on FIGS. 3 to 22 and with reference to FIGS. 1 and 2. Note that instead of or together with the meter display 21, the CID 22 may provide screen displays related to narrow road driving support.

[0042] The presentation control unit 77 switches the display mode of the HMI system 10 from the normal mode to the narrow road mode based on the fact that the external environment information grasping unit 72 has grasped that the host vehicle Am is entering a narrow road. The presentation control unit 77 continues the narrow road mode until the host vehicle Am exits the narrow road. The presentation control unit 77 switches the display mode from the narrow road mode to the normal mode based on the fact that the external environment information grasping unit 72 has grasped that the host vehicle Am is exiting the narrow road.

[0043] <Display transition when switching display modes (screen display)> The display in normal mode shown in FIG. 3 (hereinafter referred to as normal mode display MDN) is the screen display of the meter display 21 when, for example, the host vehicle Am is traveling on a main road or the like. The normal mode display MDN includes a digital speedometer SM, a road background ImB, a host vehicle icon ImA, and a other vehicle icon ImC. The digital speedometer SM indicates the current traveling speed of the host vehicle Am as a numerical value based on vehicle speed information. The digital speedometer SM continues to display even when the display mode is changed.

[0044] The road background ImB displays the shape of the road on which the vehicle is traveling, the number of lanes, etc., based on map data, etc. The host vehicle icon ImA is an icon that resembles the appearance of the host vehicle Am and notifies the status of the host vehicle Am. The host vehicle icon ImA is displayed approximately in the center of the road background ImB, in a location on the road background ImB that corresponds to the host vehicle's lane. The other vehicle icon ImC is an icon that indicates other vehicles (vehicles traveling parallel to the host vehicle) around the host vehicle that are traveling in the same direction as the host vehicle Am. The other vehicle icons ImC are arranged around the host vehicle icon ImA so that the actual positional relationship between the host vehicle Am and the other vehicles is reproduced on the display based on the relative position information of the other vehicles.

[0045] When the normal mode is switched to the narrow road mode, the presentation control unit 77 transitions the screen display of the meter display 21 from the normal mode display MDN to the narrow road mode display MD1 (see FIG. 8). At this time, the presentation control unit 77 inserts the transition display MDT between the normal mode display MDN and the narrow road mode display MD1. In the transition display MDT, the other vehicle icon ImC is hidden, and the road background ImB is changed to a pair of lane line icons ImL. Then, the viewpoint position of the bird's-eye view display consisting of the host vehicle icon ImA and the pair of lane line icons ImL moves upward around the host vehicle icon ImA, approaching the host vehicle icon ImA. After completing this zooming onto the host vehicle icon ImA, the presentation control unit 77 starts drawing an obstacle icon ImO indicating an obstacle around the host vehicle Am and a host vehicle width icon ImG indicating the vehicle width of the host vehicle Am (see FIG. 8). This completes the transition from the normal mode display MDN to the narrow road mode display MD1 via the transition display MDT. When switching from the narrow road mode display MD1 to the normal mode display MDN, a transition display MDT is performed, which is the opposite of the transition described above, and moves the viewpoint position of the bird's-eye view display downward while moving it away from the host vehicle icon ImA.

[0046] <Display transition when switching display modes (virtual image display)> The host vehicle width guide display HD1 shown in FIG. 4 is a virtual image display that indicates that the host vehicle is traveling on a narrow road in the narrow road mode that is started when the vehicle enters a narrow road. The host vehicle width guide display HD1 includes a pair of host vehicle width guide lines SGLh, SGLm. The host vehicle width guide lines SGLh, SGLm are drawn as dashed lines. The host vehicle width guide lines SGLh, SGLm are superimposed content that indicates the vehicle width of the host vehicle Am, in other words, the position of the outer edge of the host vehicle Am in the width direction. The left host vehicle width guide line SGLh is superimposed on the road surface ahead, which is an extension of the left outer edge of the body of the host vehicle Am. The right host vehicle width guide line SGLm is superimposed on the road surface ahead, which is an extension of the right outer edge of the body of the host vehicle Am. The host vehicle width guide lines SGLh, SGLm provide guidance on the future position of the host vehicle Am.

[0047] When the vehicle width guide display HD1 starts in response to the start of the narrow road mode (see the left diagram in FIG. 4), the presentation control unit 77 fades the vehicle width guide lines SGLh, SGLm into the field of view by moving them downward. As a result, the vehicle width guide lines SGLh, SGLm appear to the driver as if they are approaching the vehicle Am from the front and are positioned on the road surface ahead.

[0048] On the other hand, when the vehicle width guide display HD1 ends with the end of the narrow road mode (see the right diagram in FIG. 4), the presentation control unit 77 fades out the vehicle width guide lines SGLh, SGLm by moving them downward. As a result, from the driver's perspective, the vehicle width guide lines SGLh, SGLm move backward of the vehicle Am and go out of the frame.

[0049] <Closing-over support display (superimposed display)> The superimposed guide display HD3 shown in Fig. 5 is a virtual image display that supports the driver in pulling over to the side of the host vehicle Am. In the superimposed guide display HD3, a pulling over support superimposed image VP3 is superimposed on the road surface ahead of the host vehicle. The pulling over support superimposed image VP3 includes a pair of host vehicle width guide lines SGLh, SGLm similar to the host vehicle width guide display HD1 (see Fig. 4), as well as road edge guide lines EGL and oncoming vehicle guide lines TGL.

[0050] The road edge guide line EGL is a superimposed content that emphasizes the road edge ER on the outer side (left side) of the narrow road. The road edge guide line EGL is superimposed on the position of the road edge ER of the narrow road or on a position inside the narrow road from the road edge ER based on the detection information of the road edge ER grasped by the external information grasping unit 72 (see FIG. 12).

[0051] The oncoming vehicle guide line TGL is a superimposed content that indicates the position of an oncoming vehicle Ao that has appeared on a narrow road. The oncoming vehicle guide line TGL is superimposed on the road surface ahead, on an extension of the outer edge of the inside (right side) of the oncoming vehicle Ao toward the own vehicle, based on the detection information of the oncoming vehicle Ao grasped by the external environment information grasping unit 72.

[0052] The driver can move the host vehicle Am closer to the road edge ER with high accuracy by performing a steering operation to position the host vehicle width guide lines SGLh, SGLm between the road edge guide line EGL and the oncoming vehicle guide line TGL. Specifically, the driver moves the host vehicle Am so that the left host vehicle width guide line SGLh approaches the road edge guide line EGL, while moving the right host vehicle width guide line SGLm as far to the left of the oncoming vehicle guide line TGL as possible. As a result, the host vehicle Am can smoothly pass the oncoming vehicle Ao.

[0053] <Closing support display (non-overlapping display)> 6 and 7 is a virtual image display that supports the driver in pulling over to the side of the vehicle Am, similar to the superimposed guide display HD3 (see FIG. 5). In the non-superimposed guide display HD4, a pulling over support icon image VP4 is displayed as non-superimposed content by the HUD 23. The pulling over support icon image VP4 includes the vehicle icon IhA, a movement target frame IhT, and a remaining distance meter IhM.

[0054] The host vehicle icon IhA, like the host vehicle icon ImA (see FIG. 3) displayed on the screen, is an icon that resembles the appearance of the host vehicle Am and notifies the state of the host vehicle Am. The movement target frame IhT is a frame-shaped image portion that is placed to the side of the host vehicle icon IhA. The movement target frame IhT is placed in the direction of movement when pulling over relative to the host vehicle icon IhA. The remaining distance meter IhM is displayed, for example, above the movement target frame IhT. The remaining distance meter IhM is an image portion that numerically indicates the amount of movement in the width direction that is required to pass the oncoming vehicle Ao as a distance to avoid.

[0055] The driver can move the host vehicle Am to the road edge ER with high accuracy by performing a steering operation to position the host vehicle icon IhA within the movement target frame IhT (see FIG. 7). Specifically, the driver moves the host vehicle Am until the host vehicle icon IhA is positioned in the center of the movement target frame IhT and the value of the remaining distance meter IhM reaches zero. The movement target frame IhT notifies the driver that the movement to the road edge is complete by illuminating the inside of the frame in blue, for example. As a result, the host vehicle Am is able to smoothly pass the oncoming vehicle Ao.

[0056] Next, a series of display transitions that support passing on narrow roads using the vehicle width guide display HD1, superimposed guide display HD3, non-superimposed guide display HD4, etc., explained so far will be described in detail with reference to FIGS.

[0057] [Scene 1. Entering a narrow road] At the timing when the narrow road mode is started (hereinafter referred to as timing T1), the presentation control unit 77 displays the vehicle width guide display HD1 and the narrow road mode display MD1 on the HUD 23 and the meter display 21 (see the left column in FIG. 8). The vehicle width guide display HD1 indicates the positions of both the left and right edges of the vehicle Am on the road surface ahead by superimposing the vehicle width guide lines SGLh, SGLm (see also FIG. 4).

[0058] The narrow road mode display MD1 includes an obstacle icon ImO and a pair of vehicle width icons ImG in addition to a digital speedometer SM, a pair of lane marking icons ImL, and a vehicle icon ImA. The obstacle icon ImO indicates an obstacle present on the narrow road. The obstacle icon ImO is arranged around the vehicle icon ImA so that the actual positional relationship between the vehicle Am and the obstacle is reproduced on the display based on the relative position information of the obstacle. The vehicle width icon ImG is arranged above the vehicle icon ImA. The vehicle width icon ImG, combined with the lane marking icon ImL and the obstacle icon ImO, clearly indicates to the driver that there is sufficient widthwise clearance between the vehicle Am and the obstacle or road edge ER.

[0059] The vehicle width guide display HD1 and narrow road mode display MD1 clearly show the driver where the left and right outer edges of the vehicle Am are located on the narrow road using the vehicle width guide lines SGLh, SGLm and the vehicle width icon ImG. These displays guide the vehicle Am to an appropriate position so that it is ready for an oncoming vehicle Ao (see FIG. 9) to appear at any time. As a result, the vehicle Am is prevented from traveling too close to the center of the narrow road.

[0060] In addition, when the host vehicle width icon ImG comes into contact with the lane line icon ImL or the obstacle icon ImO, vibration feedback is provided by the activation of the haptic feedback device 25. Therefore, even if the driver is not gazing at the narrow road mode display MD1 (meter display 21), the driver can recognize that the host vehicle Am is moving too far outward from the narrow road and can appropriately correct the running position of the host vehicle Am.

[0061] Furthermore, the driver state grasping unit 73 determines whether the driver's line of sight is directed toward the field of view of the HUD 23 (the road surface ahead) at each of timings T1 to T7 when the presentation control unit 77 switches the display. If the driver's line of sight is outside the field of view of the HUD 23, the presentation control unit 77 causes the audio device 24 to play a soft notification sound in accordance with the timing of switching the display. As a result, the driver is able to grasp the approach of the oncoming vehicle Ao and is more likely to notice updates to the displayed information.

[0062] [Scene 2. Oncoming vehicle appears] The external environment information grasping unit 72 grasps the appearance of an oncoming vehicle Ao that needs to be avoided based on detection information from the front camera unit 31 or the millimeter wave radar 32. When the external environment information grasping unit 72 detects the oncoming vehicle Ao, it determines the timing when the distance from the host vehicle Am to the oncoming vehicle Ao becomes about 100 m or the timing when the TTC (Time-To-Collision) becomes about 5 seconds (hereinafter referred to as timing T2). The TTC is the time until the distance from the host vehicle Am to the oncoming vehicle Ao becomes zero.

[0063] The presentation control unit 77 switches the display of the HUD 23 and the meter display 21 based on the determination by the external environment information grasping unit 72 that timing T2 has arrived (see the right column in FIG. 8). The presentation control unit 77 switches the display of the HUD 23 from the vehicle width guide display HD1 to the passing notification display HD2. The presentation control unit 77 switches the display of the meter display 21 from the narrow road mode display MD1 to the oncoming vehicle appearance display MD2.

[0064] The passing notification display HD2 is superimposed content that is displayed based on the recognition of an oncoming vehicle Ao, and notifies the driver of the appearance of the oncoming vehicle Ao. The passing notification display HD2 displays less information than the superimposed guide display HD3 (the overlay image VP3 for supporting moving over). In the passing notification display HD2, the vehicle width guide line SGLm on the inside (right side) closer to the oncoming vehicle Ao is displayed in a flashing manner.

[0065] The oncoming vehicle appearance display MD2 additionally displays an oncoming vehicle icon ImT and an oncoming vehicle warning ImW in addition to the host vehicle icon ImA, host vehicle width icon ImG, lane marking icon ImL, and obstacle icon ImO. The oncoming vehicle icon ImT is an icon that resembles the external shape of an oncoming vehicle Ao. The oncoming vehicle warning ImW includes an icon containing an exclamation mark and a strip-shaped image portion that extends along the lane marking icon ImL. The oncoming vehicle warning ImW is drawn in a color that indicates a warning, such as yellow. The oncoming vehicle warning ImW is displayed partially overlapping the host vehicle icon ImA and the host vehicle width icon ImG on the oncoming vehicle side (right side).

[0066] The above-described passing notification display HD2 and oncoming vehicle appearance display MD2 notify the driver of the appearance of an oncoming vehicle Ao that requires the driver to move outward (to the left). The passing notification display HD2 and oncoming vehicle appearance display MD2 present a limited amount of information, notifying only whether or not avoidance is necessary. In other words, the passing notification display HD2 and oncoming vehicle appearance display MD2 do not convey the degree of avoidance required, the amount of movement, etc. The passing notification display HD2 and oncoming vehicle appearance display MD2 subtly make the driver aware of the risk of the oncoming vehicle Ao and encourage the driver to take early preparation action.

[0067] [Scene 3. Oncoming vehicle approaching] The external world information grasping unit 72 determines the timing when the distance from the host vehicle Am to the oncoming vehicle Ao becomes approximately 60 m or the TTC becomes approximately 3 seconds (hereinafter referred to as timing T3) based on the detection information from the front camera unit 31, the millimeter wave radar 32, etc. The presentation control unit 77 switches the displays of the HUD 23 and the meter display 21 based on the determination by the external world information grasping unit 72 that timing T3 has arrived (see the left column in FIG. 9). The presentation control unit 77 switches the display of the HUD 23 from the passing notification display HD2 to the superimposed guide display HD3 (see also FIG. 5). The presentation control unit 77 switches the display of the meter display 21 from the oncoming vehicle appearance display MD2 to the approaching vehicle guide display MD3.

[0068] The superimposed guide display HD3 is a display that supports the driver in pulling over to the outside of a narrow road when an oncoming vehicle Ao is detected by superimposing the above-mentioned support superimposed image VP3 on the road surface ahead of the vehicle. The pulling over support superimposed image VP3 includes at least the vehicle width guide lines SGLh, SGLm, road edge guide lines EGL, and oncoming vehicle guide lines TGL.

[0069] In the approaching vehicle guide display MD3, in addition to the host vehicle icon ImA, host vehicle width icon ImG, lane line icon ImL, obstacle icon ImO, oncoming vehicle icon ImT, and oncoming vehicle warning ImW, an approaching vehicle guidance image ImY is additionally displayed. The approaching vehicle guidance image ImY is a strip-shaped image portion extending along the lane line icon ImL outward (to the left) of the host vehicle icon ImA. The approaching vehicle guidance image ImY is displayed superimposed on the obstacle icon ImO. The approaching vehicle guidance image ImY is drawn in a color different from that of the oncoming vehicle warning ImW and in the same or similar color (e.g., green) as the host vehicle width guide lines SGLh.

[0070] The superimposed guide display HD3 and the approaching vehicle guide display MD3 additionally display information about the vicinity of the host vehicle as the oncoming vehicle Ao approaches. Specifically, the superimposed guide display HD3 and the approaching vehicle guide display MD3 display the position of the road edge ER and the predicted position where the oncoming vehicle Ao will pass. These displays allow the driver to grasp a rough guide for avoidance, such as how far the driver can avoid the oncoming vehicle and how far they should avoid it. As a result, the driver can smoothly start the initial movement to move outward and move the host vehicle Am to the left at an earlier stage.

[0071] [Scene 4. Oncoming vehicle] The external environment information grasping unit 72 determines the timing when the distance from the host vehicle Am to the oncoming vehicle Ao becomes approximately 20 m or the TTC becomes approximately 1 second (hereinafter referred to as timing T4) based on detection information from the front camera unit 31, the millimeter wave radar 32, etc. The external environment information grasping unit 72 may determine timing T4 based on detection information from the surround camera system 33, the sonar 34, etc. Furthermore, the external environment information grasping unit 72 may determine timing T4 based on a decrease in speed of the host vehicle Am (for example, when the traveling speed is 20 km / h or less).

[0072] The presentation control unit 77 switches the display of the HUD 23 and the meter display 21 based on the determination by the external world information grasping unit 72 that timing T4 has arrived (see the right column in FIG. 9). The presentation control unit 77 switches the display of the HUD 23 from the superimposed guide display HD3 to the non-superimposed guide display HD4 (see also FIGS. 6 and 7). The presentation control unit 77 switches the display of the meter display 21 from the sideways guide display MD3 to the side blind spot image MD4.

[0073] The non-superimposed guide display HD4 is a display including the above-mentioned closing-over support icon image VP4. The closing-over support icon image VP4 is a non-superimposed content displayed in place of the closing-over support superimposed image VP3, and supports closing over and passing by using the host vehicle icon IhA indicating the host vehicle Am.

[0074] The side blind spot image MD4 is an external image obtained by superimposing a passing support image RP4, which assists in passing an oncoming vehicle Ao, on a camera image CP when passing an oncoming vehicle Ao. The camera image CP is an image captured by a left-side camera. The camera image CP captures the left-side road surface, including the road edge ER, of the road surface around the host vehicle Am. The camera image CP also captures the area around the left front wheel of the host vehicle Am.

[0075] The passing support image RP4 is an image that includes at least a road edge highlighting line EEL. The road edge highlighting line EEL is superimposed on the road edge ER captured in the camera image CP. The road edge highlighting line EEL indicates the position of the road edge ER, which is the target for approaching the left front wheel. The road edge highlighting line EEL is drawn in the same or a similar color (e.g., green) as the side-passing guidance image ImY and the road edge guide line EGL, and emphasizes the road edge ER in the camera image CP. By emphasizing the road edge ER with the road edge highlighting line EEL, the passing support image RP4 assists the vehicle in pulling up to the road edge ER and thereby passing an oncoming vehicle Ao.

[0076] The non-superimposed guide display HD4 and side blind spot image MD4 can accurately and specifically (numerically) show the driver the remaining distance to avoid the vehicle near the roadside edge ER at the end of the approach, using the remaining distance meter IhM and the camera image CP. This allows the driver to smoothly and accurately approach the roadside edge ER.

[0077] Here, the displays before timing T4 are intended to create a state in which the vehicle can pass the other vehicle smoothly at an earlier stage. During this period, the vehicle Am is still traveling at a high speed. Therefore, in order to keep the driver's eyes on the road ahead and to make it easier to grasp the overall position rather than details, emphasis is placed on support provided by the virtual image display on the HUD 23.

[0078] On the other hand, the displays from timing T4 onwards are for a situation where the vehicle is passing an oncoming vehicle Ao at a low speed. Therefore, it is acceptable for the driver to drive at their own pace while taking their eyes off the road. For this reason, detailed information to ensure that the vehicle does not collide with the oncoming vehicle Ao is presented on the screen of the meter display 21, etc. In other words, the displays from timing T4 onwards focus on letting the driver know how close the vehicle can be, how close it should be, and whether it has been properly closed.

[0079] [Scene 5. Completed] The external environment information grasping unit 72 determines the timing (hereinafter, timing T5) when the pulling over of the host vehicle Am is completed. The external environment information grasping unit 72 determines the timing T5 as the timing when the traveling speed of the host vehicle Am becomes equal to or less than a predetermined speed (for example, 10 km / h) or the timing when the steering angle returns to approximately 0 degrees. The external environment information grasping unit 72 may determine the timing T5 as the timing when the outer edge of the host vehicle Am has come sufficiently close to the road edge ER and is approximately parallel to the road edge ER, based on the positional relationship between the outer edge of the outward direction (left side) of the host vehicle Am and the road edge ER. Furthermore, the external environment information grasping unit 72 may determine the timing T5 as the timing when a widthwise clearance is secured and the outer edges are approximately parallel to each other, based on the positional relationship between the inner outer edges of the host vehicle Am and the oncoming vehicle Ao.

[0080] The presentation control unit 77 switches the display of the HUD 23 and the meter display 21 based on the determination by the external world information grasping unit 72 that timing T5 has arrived (see the left column in FIG. 10). The presentation control unit 77 switches the display of the HUD 23 from the non-superimposed guide display HD4 to the moving-over completion notification display HD5 (see also the bottom row in FIG. 7). The presentation control unit 77 switches the display of the meter display 21 from the side blind spot image MD4 to the rearward image MD5.

[0081] The moving-over completion notification display HD5 is a display including the host vehicle icon IhA and the movement target frame IhT. The moving-over completion notification display HD5 indicates that the remaining movement distance required for passing has reached zero by changing the color of the movement target frame IhT.

[0082] The rear image MD5 is an external image formed by superimposing a trajectory image RP5 on a camera image CP. The camera image CP is an image captured by a rear camera, and is an image capturing the area behind the host vehicle Am. The camera image CP captures the road surface behind the host vehicle Am, among the road surfaces surrounding the host vehicle Am. The trajectory image RP5 is a strip-shaped image portion showing the movement trajectory (travel trajectory) of the host vehicle Am. The trajectory image RP5 is drawn in a display color such as light red. The trajectory image RP5 makes it easy to check whether the host vehicle Am is positioned parallel to the road edge ER.

[0083] The above-mentioned side-by-side notification display HD5 and rear image MD5 are displayed when the host vehicle Am is in a position where it can pass the oncoming vehicle Ao, and notify the driver that the side-by is complete. As a result, the driver can be confident that he or she has been able to avoid the oncoming vehicle Ao by the amount necessary, without worrying about whether he or she still needs to avoid the oncoming vehicle Ao. This can prevent the host vehicle Am from side-bying too much.

[0084] In addition, the presentation control unit 77 performs vibration feedback by operating the haptic feedback device 25 based on the determination by the external environment information grasping unit 72 that timing T5 has arrived. This vibration feedback, like the approaching completion notification display HD5 and the rear image MD5, can notify the driver that the oncoming vehicle Ao has been pulled over to a position where it can be sufficiently avoided.

[0085] [Scene 6. Passing each other begins] The external world information grasping unit 72 determines the timing when the distance from the host vehicle Am to the oncoming vehicle Ao becomes 0 m, in other words, the timing when the TTC becomes 0 seconds (hereinafter referred to as timing T6), based on detection information from the surround camera system 33, the sonar 34, or the like. The presentation control unit 77 switches the displays of the HUD 23 and the meter display 21 based on the determination by the external world information grasping unit 72 that timing T6 has arrived (see the right column in FIG. 10 and the left column in FIG. 11). The presentation control unit 77 switches the display of the HUD 23 from the moving-up completion notification display HD5 to the passing situation display HD6. The presentation control unit 77 switches the display of the meter display 21 from the rear image MD5 to the forward blind spot image MD6.

[0086] In addition to the host vehicle icon IhA and the movement target frame IhT, the passing situation display HD6 additionally displays a passing progress bar IhP. The passing progress bar IhP is drawn based on the relative position information of the oncoming vehicle Ao grasped by the external world information grasping unit 72. The passing progress bar IhP extends downward along the movement target frame IhT as the passing with the oncoming vehicle Ao progresses (see the left column in FIG. 11). The passing progress bar IhP continuously shows the driver the positional relationship between the host vehicle Am and the oncoming vehicle Ao.

[0087] The forward blind spot image MD6 is an external image that includes the above-mentioned top-view image TPV and a camera image CP captured by the front camera of the surround camera system 33. The camera image CP captures the road surface in front of the host vehicle Am, which is in the driver's blind spot, among the road surfaces around the host vehicle Am. Vehicle width highlighting lines SELh, SELm and oncoming vehicle highlighting lines TEL are superimposed on the camera image CP.

[0088] The host vehicle width highlighting lines SELh, SELm are L-shaped line images that indicate the position of the outer edge in the width direction of the host vehicle Am (vehicle width) and the position of the front end of the host vehicle Am. The host vehicle width highlighting lines SELh, SELm are drawn in a color different from that of the oncoming vehicle highlighting lines TEL and in the same or similar color (e.g., green) as the road edge highlighting lines EEL and the sideways guidance image ImY.

[0089] The oncoming vehicle highlighting line TEL is an L-shaped line image drawn in a warning color such as red. Immediately after the start of passing, the oncoming vehicle highlighting line TEL indicating the outer edge and the front end of the oncoming vehicle Ao on the vehicle's side (inside) is displayed (see the right column in FIG. 10). Furthermore, immediately before the end of passing, the oncoming vehicle highlighting line TEL indicating the outer edge and the rear end of the oncoming vehicle Ao on the vehicle's side (inside) is displayed (see the left column in FIG. 11).

[0090] The passing situation display HD6 and the forward blind spot image MD6 described above can alleviate the driver's anxiety about contact with the oncoming vehicle Ao by showing the passing situation of the oncoming vehicle Ao. Furthermore, the forward blind spot image MD6 shows an image of the outside world in the blind spot ahead of the host vehicle Am, thereby indicating that a sufficient distance is maintained between the oncoming vehicle Ao and the host vehicle Am, further reducing the driver's anxiety about contact.

[0091] In addition, the command output unit 75 determines whether or not the side mirrors need to be folded after time T5 when the host vehicle Am is in a position to pass the oncoming vehicle Ao and before time T6 when the host vehicle Am and the oncoming vehicle Ao begin to pass each other. The command output unit 75 determines that the side mirrors need to be folded if the gap available for passing the oncoming vehicle Ao is small. In this case, the command output unit 75 cooperates with the body ECU 43 and the mirror folding mechanism 44 to initiate a folding operation to automatically fold the side mirrors at time T6 when the front end of the oncoming vehicle Ao reaches the front end of the host vehicle Am. The command output unit 75 may fold both side mirrors or only the side mirror on the oncoming vehicle side (right side). Furthermore, in a scene where an obstacle such as a utility pole is present on the outside (left side) of a narrow road, the command output unit 75 may fold only the side mirror on the outside of the narrow road. When the side mirrors are folded, the presentation control unit 77 reflects the folding of the door mirrors in the host vehicle image in the top-view image TPV. The timing at which the door mirrors start folding may be changed as appropriate as long as it is after time T5 and before the oncoming vehicle Ao reaches the position of the door mirrors of the host vehicle Am.

[0092] [Scene 7. After the end of the meeting] The external environment information grasping unit 72 determines the timing (hereinafter, timing T7) when the rear end of the oncoming vehicle Ao passes the rear end of the host vehicle Am based on detection information from the surround camera system 33, the sonar 34, or the like. Based on the determination by the external environment information grasping unit 72 that timing T7 has arrived, the presentation control unit 77 switches the displays on the HUD 23 and the meter display 21 to the host vehicle width guide display HD1 and the narrow road mode display MD1, respectively (see the right column in FIG. 11). Furthermore, if the dry mirrors are retracted, the command output unit 75 starts the operation of opening the side mirrors in cooperation with the body ECU 43 and the mirror retracting mechanism 44 based on the determination that timing T7 has arrived.

[0093] The presentation control unit 77 ends the narrow road mode at the timing when the external environment information grasping unit 72 determines that the vehicle is exiting the narrow road (hereinafter, timing T8), and switches the display mode to the normal mode. Based on the switch to the normal mode, the presentation control unit 77 ends the display by the HUD 23. Furthermore, the presentation control unit 77 transitions the display on the meter display 21 from the narrow road mode display MD1 to the normal mode display MDN (see FIG. 3).

[0094] <Adjusting the superimposition position according to roadside conditions> The presentation control unit 77 changes the superimposition position of the road edge guide line EGL, which indicates the position of the road edge ER, on the pulling-over support superimposed image VP3 (see FIG. 5), depending on the condition of the road edge ER grasped by the external world information grasping unit 72 (see FIG. 12). Normally, the presentation control unit 77 superimposes the road edge guide line EGL at a position 0.5 m from the road edge ER grasped by the external world information grasping unit 72 (see FIG. 12A).

[0095] On the other hand, when an alley CR intersecting with the narrow road is connected to a road edge ER, the presentation control unit 77 superimposes the road edge guide line EGL at a position 0.5 m behind the alley CR from the road edge ER (see FIG. 12B). In this case, the driver can pass the oncoming vehicle Ao while keeping at least a part of the vehicle Am within the alley CR by following the guidance of the road edge guide line EGL.

[0096] The external environment information grasping unit 72 grasps whether an alley CR connected to a road edge ER is a one-way street based on map data, etc. If the alley CR is a one-way street, the presentation control unit 77 superimposes a road edge guide line EGL at a position 0 m from the road edge ER, regardless of the travel direction permitted for the alley CR (see FIGS. 12C and 12D).

[0097] The external environment information grasping unit 72 grasps whether or not there is another vehicle (hereinafter, "entering vehicle Ac") about to enter the narrow road from the alley CR. If the entering vehicle Ac is grasped, the risk of the entering vehicle Ac jumping out is taken into consideration. In this case, the presentation control unit 77 superimposes the road edge guide line EGL at a position 0.75 m from the front end of the entering vehicle Ac (see FIG. 12E).

[0098] The external environment information grasping unit 72 grasps a large number of other vehicles (hereinafter referred to as parked vehicles Ap) parked on the narrow road. When there are a large number of parked vehicles Ap, the risk of pedestrians or the like jumping out from between the parked vehicles Ap is taken into consideration. The presentation control unit 77 superimposes a road edge guide line EGL at a position 0.75 m from the side edge of the group of parked vehicles Ap lined up along the road edge ER (see FIG. 12F).

[0099] <Display changes according to the complexity of road edges> As described above, the external world information grasping unit 72 grasps the state of the road edge ER of the narrow road and determines whether the road edge ER is in a complicated state depending on the number and type of obstacles present on the narrow road (see FIG. 13). If the road edge ER is in a complicated state, the presentation control unit 77 stops the superimposed display of the driving-side support superimposed image VP3. The presentation control unit 77 displays an alternative support image VPS using non-superimposed content instead of the driving-side support superimposed image VP3 using superimposed content (see FIG. 14).

[0100] More specifically, when the road edge ER is not in a complicated state, the presentation control unit 77 switches from the passing notification display HD2 to the superimposed guide display HD3 at timing T3, thereby causing the HUD 23 to display the pulling-over support superimposed image VP3. On the other hand, when the road edge ER is in a complicated state, the presentation control unit 77 switches from the passing notification display HD2 to the non-superimposed guide display HD4 at timing T3, causing the HUD 23 to display the alternative support image VPS.

[0101] The alternative support image VPS includes the same vehicle icon IhA and movement target frame IhT as the side-by-side support icon image VP4. On the other hand, the alternative support image VPS omits the remaining distance meter IhM. The non-superimposed guide display HD4 including the alternative support image VPS continues to be displayed until timing T5, just like the normal non-superimposed guide display HD4.

[0102] In such a complex road edge ER situation, the position of the road edge ER ascertained by the external information grasping unit 72 may change frequently. Therefore, when the road edge guide lines EGL are displayed, the superimposed position of the road edge guide lines EGL becomes unstable. Similarly, when the remaining distance meter IhM is displayed, the numerical value indicating the remaining travel distance becomes unstable. To avoid such display fluctuations, the presentation control unit 77 omits the cancellation of the side-moving support superimposed image VP3 and displays an alternative support image VPS, which is the side-moving support icon image VP4 without the remaining distance meter IhM, from timing T3. As a result, it is possible to appropriately assist the driver in side-moving at timings T3 to T5 while preventing the virtual image display from becoming difficult to use.

[0103] <Display changes according to the behavior of oncoming vehicles> When the external environment information grasping unit 72 grasps the oncoming vehicle Ao, it further grasps the behavior of the oncoming vehicle Ao. The external environment information grasping unit 72 determines whether the behavior of the oncoming vehicle Ao is unstable. When the oncoming vehicle Ao is swaying from side to side or is traveling toward the center despite the absence of an obstacle, the external environment information grasping unit 72 determines that the behavior of the oncoming vehicle Ao is unstable.

[0104] When the external information grasping unit 72 determines that the behavior of the oncoming vehicle Ao is unstable, the presentation control unit 77 omits display of the oncoming vehicle guide lines TGL (see FIG. 5) included in the moving-up support superimposed image VP3. Only the host vehicle width guide lines SGLh, SGLm and the road edge guide lines EGL are displayed in the moving-up support superimposed image VP3 (see FIG. 15). The presentation control unit 77 continues to flash the host vehicle width guide lines SGLm after timing T4 to alert the driver to the approach of the oncoming vehicle Ao.

[0105] In the above-described situation where the behavior of the oncoming vehicle Ao is unstable, if the oncoming vehicle guide lines TGL are displayed, the superimposed position of the oncoming vehicle guide lines TGL will become unstable. To avoid such fluttering of the display, the presentation control unit 77 stops displaying the oncoming vehicle guide lines TGL and only guides the host vehicle Am to move toward the outside (left side) of the narrow road. As a result, it is possible to appropriately support the driver's operation to move closer to the side of the narrow road at timings T3 to T5 while preventing the virtual image display from becoming difficult to use.

[0106] <Display changes according to the speed of oncoming vehicles> When the external environment information grasping unit 72 grasps the oncoming vehicle Ao, it further grasps the traveling speed of the oncoming vehicle Ao. The external environment information grasping unit 72 grasps the relative speed of the oncoming vehicle Ao and determines whether or not the relative speed is equal to or greater than a predetermined speed (hereinafter, referred to as the approach threshold). Note that the external environment information grasping unit 72 may grasp the absolute speed of the oncoming vehicle Ao and determine whether or not the absolute speed is equal to or greater than a predetermined speed.

[0107] When the oncoming vehicle Ao approaches the host vehicle Am at a relative speed exceeding the approach threshold, the presentation control unit 77 stops the superimposed display of the closing-over support superimposed image VP3. The presentation control unit 77 does not switch the display to the passing notification display HD2 at timing T2 or to the superimposed guide display HD3 at timing T3. The presentation control unit 77 starts the non-superimposed guide display HD4 using the alternative support image VPS at timing T2, and continues displaying the non-superimposed guide display HD4 until timing T5 (see FIG. 16). The alternative support image VPS is substantially the same image as the closing-over support icon image VP4, and includes the host vehicle icon IhA, the movement target frame IhT, and the remaining distance meter IhM.

[0108] In the above situation where the oncoming vehicle Ao is approaching at high speed, the overhang support superimposed image VP3 is switched to the overhang support icon image VP4 in a very short time, which may be bothersome to the driver. Therefore, the presentation control unit 77 skips the overlay guide display HD3 that provides support for the initial overhang. Furthermore, the presentation control unit 77 advances the overhang support using the non-overlay guide display HD4 to urge the driver to complete overhanging early.

[0109] Furthermore, when the relative speed of the oncoming vehicle Ao is equal to or greater than the approach threshold, the external environment information grasping unit 72 grasps the size of the oncoming vehicle Ao. When the oncoming vehicle Ao approaches the host vehicle Am at a speed exceeding the approach threshold, the presentation control unit 77 changes the content of the side approaching completion notification display HD5 in accordance with the size of the oncoming vehicle Ao (see FIG. 17).

[0110] Specifically, when the oncoming vehicle Ao is a vehicle smaller than the host vehicle Am (for example, a light vehicle), the presentation control unit 77 notifies the completion of the approaching vehicle by changing the color of the movement target frame IhT as usual (see FIG. 17A). On the other hand, when the oncoming vehicle Ao is the same model as the host vehicle Am, the presentation control unit 77 provides support for approaching the host vehicle Am one more step by continuing to display the host vehicle icon IhA, the movement target frame IhT, and the remaining distance meter IhM (see FIG. 17B).

[0111] Furthermore, if the oncoming vehicle Ao is a vehicle (for example, a truck) larger than the host vehicle Am, the presentation control unit 77 also displays a stop icon IhS (see FIG. 17C). The stop icon IhS is displayed superimposed on the host vehicle icon IhA displayed in the center of the movement target frame IhT. The stop icon IhS is an icon including an exclamation mark, and is drawn in a color that calls attention, such as yellow. By additionally displaying the stop icon IhS, the presentation control unit 77 urges the driver to stop the host vehicle Am.

[0112] <Display changes when there is a vehicle ahead> When traveling on a narrow road, the external environment information grasping unit 72 grasps the presence of a preceding vehicle. When a preceding vehicle is present, the external environment information grasping unit 72 grasps the size of the preceding vehicle and determines whether the preceding vehicle is larger than the host vehicle Am. Furthermore, the external environment information grasping unit 72 grasps the inter-vehicle distance from the host vehicle Am to the preceding vehicle and determines whether the inter-vehicle distance is equal to or greater than a predetermined distance (hereinafter referred to as a following threshold).

[0113] If the preceding vehicle is a larger vehicle (e.g., a truck) than the host vehicle Am, then if the preceding vehicle is able to pass, the host vehicle Am should also be able to pass. Therefore, when the preceding vehicle is a large vehicle, the presentation control unit 77 suppresses the support provided by the display on the HUD 23 compared to when there is no preceding vehicle. Specifically, the presentation control unit 77 stops displaying the host vehicle width guide display HD1, the passing notification display HD2, and the superimposed guide display HD3.

[0114] Furthermore, even if the preceding vehicle is smaller than the host vehicle Am (for example, a light vehicle), if the inter-vehicle distance to the preceding vehicle is short, the host vehicle Am can often pass after the preceding vehicle. Therefore, the presentation control unit 77 similarly stops displaying the host vehicle width guide display HD1, the passing notification display HD2, and the superimposed guide display HD3 when the inter-vehicle distance to the preceding vehicle is less than the following threshold.

[0115] In the above-described scenarios, the presentation control unit 77 can prevent the driver's visibility of the preceding vehicle from being obstructed by virtual images by halting each display. In addition, the presentation control unit 77 starts displaying the non-superimposed guide display HD4 after timing T4. In this way, by providing support after the final stage of the approach, the driver can receive support from the display when passing other vehicles.

[0116] <Cancellation of narrow road mode midway> The external information grasping unit 72 grasps the temporary widening of the road width of the narrow road (see FIG. 18). When the temporary widening of the road width of the narrow road is grasped, the presentation control unit 77 cancels the narrow road mode. When the narrow road mode is canceled, the presentation control unit 77 ends the vehicle width guide display HD1 by the HUD 23. At this time, the presentation control unit 77 implements a display different from that when the narrow road mode is ended (see the right diagram in FIG. 4). That is, the presentation control unit 77 changes the expression for erasing the vehicle width guide display HD1 between an interruption scene where the road width of the narrow road temporarily widens and an end scene where the narrow road ends. Note that even if the narrow road mode is canceled, the presentation control unit 77 causes the meter display 21 to continue displaying in the narrow road mode.

[0117] The presentation control unit 77 fades out the vehicle width guide lines SGLh, SGLm on the vehicle width guide display HD1 to the left and right outer sides in accordance with the cancellation of the narrow road mode. As a result, the vehicle width guide display HD1 disappears as it spreads outward (see the left diagram in FIG. 18). Furthermore, the presentation control unit 77 fades in the vehicle width guide lines SGLh, SGLm from the left and right outer sides in accordance with the resumption of the narrow road mode. As a result, the vehicle width guide display HD1 resumes displaying an animation that evokes the narrowing of the road width.

[0118] When the narrow road mode is canceled for a reason other than the widening of the road while the vehicle is traveling on a narrow road, the presentation control unit 77 changes the expression for erasing the vehicle width guide display HD1 according to the reason for the cancellation. As an example, the presentation control unit 77 cancels the narrow road mode when the speed of the vehicle Am traveling on the narrow road exceeds a predetermined upper speed limit. In this case, the presentation control unit 77 moves the vehicle width guide lines SGLh, SGLm backward so that they flow and fade out of the angle of view (see FIG. 19). At this time, the presentation control unit 77 makes the dashed line patterns of the vehicle width guide lines SGLh, SGLm flow in the opposite direction (upward) to the direction of movement, creating an unnatural-looking animation. Furthermore, the presentation control unit 77 displays an icon on the meter display 21 to alert the driver to speeding.

[0119] As another example, the presentation control unit 77 cancels the narrow road mode when it is difficult for the perimeter monitoring sensor 30 to detect targets due to poor visibility caused by bad weather or the like, in other words, when the reliability of the detection information cannot be ensured. In this case, the presentation control unit 77 makes the vehicle width guide lines SGLh, SGLm flash several times and then hide them (see FIG. 20).

[0120] <Display changes according to the driver's status> The HCU 100 cooperates with the driver monitor 29, and when drowsiness or fatigue of the driver is detected, the HCU 100 urges the driver to stop the host vehicle Am without requesting the driver to move closer to the other vehicle severely. The driver state grasping unit 73 detects the driver's drowsiness and fatigue based on the driver status information acquired from the driver monitor 29. When drowsiness or fatigue of the driver is detected by the driver state grasping unit 73, the presentation control unit 77 stops the moving closer support using the superimposed guide display HD3 (see FIG. 9 ).

[0121] More specifically, the presentation control unit 77 starts the non-superimposed guide display HD4 at timing T3, and causes the HUD 23 to display the alternative support image VPS (see FIG. 21). The alternative support image VPS includes the host vehicle icon IhA, which is substantially the same as the pulling-over support icon image VP4 (see FIG. 9), the movement target frame IhT, and the remaining distance meter IhM, and supports the driver in pulling over to the side of the vehicle Am.

[0122] The external world information grasping unit 72 provisionally determines that the pulling-over is complete at timing T5 when the driver has pulled over a predetermined distance of the host vehicle Am. The timing T5 when the driver's drowsiness or fatigue is grasped by the driver state grasping unit 73 is a timing before the pulling-over is completed. The presentation control unit 77 switches the display of the HUD 23 from the non-superimposed guide display HD4 to the pulling-over completion notification display HD5 at timing T5 based on the provisional determination of the pulling-over completion. In this case, a stop icon IhS is displayed on the pulling-over completion notification display HD5. The stop icon IhS is displayed superimposed on the host vehicle icon IhA to guide the host vehicle Am to stop. The pulling-over completion notification display HD5 including the stop icon IhS can urge the driver to prioritize stopping over further pulling-over.

[0123] <Driving assistance display when driving on curves> The HCU 100 performs driving assistance using the host vehicle width guide display HD1 not only in narrow road driving scenes but also in scenes where the vehicle is driving around a curve with good visibility (see FIG. 22). When there is a curve section ahead of the host vehicle Am, the external environment information grasping unit 72 grasps whether there is a center line and whether there is an oncoming vehicle Ao traveling beyond the curve section. The external environment information grasping unit 72 grasps whether there is a center line based on, for example, map data or detection information from the front camera unit 31. The external environment information grasping unit 72 determines whether there is an oncoming vehicle Ao based on detection information from the front camera unit 31 or the millimeter-wave radar 32. Furthermore, the external environment information grasping unit 72 grasps the distance to the start point of the curve where the straight section transitions to the curve section based on the map data and locator information.

[0124] When the external environment information grasping unit 72 grasps that there is no center line in the curve section and that an oncoming vehicle Ao is present, the presentation control unit 77 causes the HUD 23 to display a host vehicle width guide display HD1 including host vehicle width guide lines SGLh, SGLm. The presentation control unit 77 starts displaying the host vehicle width guide display HD1 when the host vehicle Am approaches a position that is a predetermined distance (for example, 50 m) from the start of the curve. The host vehicle width guide display HD1 assists the host vehicle Am in moving to the left in advance, allowing the host vehicle Am to smoothly pass an oncoming vehicle Ao in the curve section. The host vehicle width guide display HD1 may be ended when the host vehicle Am enters the curve.

[0125] <Display control processing for narrow road driving assistance> Next, details of the display control process for realizing the narrow road driving assistance described above will be described based on Fig. 23 and Fig. 24, and with reference to Fig. 1, Fig. 2, Fig. 8 to Fig. 11. The display control process is started by the HCU 100 when the host vehicle Am starts traveling, for example. The display control process is continuously performed by the HCU 100 until the host vehicle Am finishes traveling.

[0126] In S11 of the display control process, the external world information grasping unit 72 determines whether the vehicle has entered a narrow road. If it is not determined that the vehicle has entered a narrow road (S11: NO), the external world information grasping unit 72 repeats the determination of whether the vehicle has entered a narrow road. On the other hand, if it is determined that the vehicle has entered a narrow road (S11: YES), the presentation control unit 77 starts the narrow road mode in S12. This starts the host vehicle width guide display HD1 and the narrow road mode display MD1 (see timing T1 in FIG. 8).

[0127] In S13, the presentation control unit 77 determines whether or not it is necessary to cancel the narrow road mode. If it is necessary to cancel the narrow road mode (S13: YES), the presentation control unit 77 displays an animation for when the mode is canceled in S14 (see FIGS. 18 to 20). In this case, the presentation control unit 77 determines whether or not it is necessary to resume the narrow road mode in S15. If it is necessary to resume the narrow road mode, the presentation control unit 77 displays an animation for when the mode is resumed in S16 (see the right diagram in FIG. 18).

[0128] If the narrow road mode continues (S13: NO), the presentation control unit 77 determines in S17 whether or not to end the narrow road mode. If the narrow road mode is to be ended (S17: YES), the presentation control unit 77 switches from the narrow road mode to the normal mode in S18 (see timing T8 in FIG. 11). This ends the host vehicle width guide display HD1 and starts the normal mode display MDN. In this case, the control flow returns to S11.

[0129] If the narrow road mode is not ended (S17: NO), the external environment information grasping unit 72 grasps information about the oncoming vehicle Ao that is a passing target in S19 and determines whether or not an oncoming vehicle Ao that needs to be avoided has appeared. If the oncoming vehicle Ao has not been grasped (S19: NO), the control flow returns to S13. On the other hand, if the oncoming vehicle Ao has been grasped (S19: YES), the presentation control unit 77 starts the passing notification display HD2 and the oncoming vehicle appearance display MD2 in S20 (see timing T2 in FIG. 8).

[0130] In S21, the external environment information grasping unit 72 determines that an oncoming vehicle Ao is approaching. When it is determined that an oncoming vehicle Ao is approaching (S21: YES), the presentation control unit 77 starts the superimposed guide display HD3 and the moving-in guide display MD3 in S22 (see timing T3 in FIG. 9 ). In S22, a moving-in support superimposed image VP3 that supports moving outward onto the narrow road is displayed as a virtual image by the HUD 23.

[0131] In S23, the external world information grasping unit 72 determines whether the oncoming vehicle Ao is approaching the host vehicle Am to the immediate vicinity. If it is determined that the oncoming vehicle Ao is approaching the host vehicle Am to the immediate vicinity (S23: YES), the presentation control unit 77 starts a non-superimposed guide display HD4 as a support display just before passing in S24 (see timing T4 in FIG. 9 ). Furthermore, the presentation control unit 77 starts displaying a side blind spot image MD4 on the meter display 21. As a result, an external world image formed by superimposing a passing support image RP4 that supports passing on a camera image CP showing the road surface around the host vehicle Am is displayed on the meter display 21.

[0132] In S25, the external world information grasping unit 72 determines whether or not the approaching vehicle Ao has been completed. When the host vehicle Am is in a state where it can pass the oncoming vehicle Ao and it is determined that the approaching vehicle Ao has been completed (S25: YES), the presentation control unit 77 starts a approaching vehicle completion notification display HD5 in S26 (see timing T5 in FIG. 10). Furthermore, the presentation control unit 77 switches the content of the external world image on the meter display 21 to a rear image MD5 obtained by superimposing a trajectory image RP5 showing the movement trajectory of the host vehicle Am on a camera image CP showing the area behind the host vehicle Am.

[0133] In S27, the external environment information grasping unit 72 determines whether the vehicle has started to pass an oncoming vehicle Ao. When it is determined that the vehicle has started to pass an oncoming vehicle Ao (S27: YES), the presentation control unit 77 starts the passing situation display HD6 in S28 (see timing T6 in FIG. 10). Furthermore, the presentation control unit 77 switches the content of the external environment image on the meter display 21 to the forward blind spot image MD6.

[0134] In S29, the external environment information grasping unit 72 determines whether the vehicle has passed the oncoming vehicle Ao. If the vehicle has passed the oncoming vehicle Ao (S29: YES), the presentation control unit 77 ends the passing situation display HD6 and the front blind spot image MD6 in S30 and starts the host vehicle width guide display HD1 and the narrow road mode display MD1 (see timing T7 in FIG. 11). In this case, the control flow returns to S13.

[0135] <Summary of the embodiment> In the present embodiment described so far, when an oncoming vehicle Ao that is a target for passing is identified, a moving-over support superimposed image VP3 that supports moving toward the outside of the narrow road is superimposed on the foreground of the host vehicle Am by the HUD 23. Therefore, the driver can use the moving-over support superimposed image VP3 to prepare in advance for passing the oncoming vehicle Ao without taking their eyes off the road. Furthermore, by shifting their gaze to the side blind spot image MD4 displayed on the meter display 21, the driver can start passing the oncoming vehicle Ao while checking the actual image of the surroundings of the host vehicle and using the moving-over support image RP4. As described above, by providing support through displays in stages, the driver can smoothly pass the oncoming vehicle Ao.

[0136] Additionally, in this embodiment, a pulling-over support superimposed image VP3 including at least the host vehicle width guide lines SGLh, SGLm indicating the positions of the outer edges of the host vehicle Am in the width direction is superimposed and displayed. Therefore, the driver can smoothly start the initial movement of pulling over to the outside (left side) using the host vehicle width guide lines SGLh, SGLm as a guide.

[0137] In this embodiment, the external environment information grasping unit 72 grasps the status of the road edge ER on the outer side of the narrow road. Then, a pulling-over support superimposed image VP3 including road edge guide lines EGL indicating the position of the road edge ER together with the host vehicle width guide lines SGLh, SGLm is superimposed and displayed. Furthermore, the superimposed position of the road edge guide lines EGL is changed according to the status of the road edge ER (see FIG. 12). By adjusting the position of the road edge guide lines EGL in this way, the driver can pull over the host vehicle Am to an appropriate position by performing a steering operation to bring the host vehicle width guide lines SGLh closer to the road edge guide lines EGL.

[0138] Furthermore, in this embodiment, a passing support image RP4 including at least a road edge highlighting line EEL indicating the position of the road edge ER is superimposed on the camera image CP. This allows the driver to accurately move the vehicle Am close to the road edge ER while checking the road edge highlighting line EEL in the camera image CP. As a result, passing an oncoming vehicle Ao can be performed smoothly.

[0139] Additionally, in this embodiment, when the road edge ER is in a complex condition, the superimposed display of the pulling-over support superimposed image VP3 is stopped (see FIG. 14). Therefore, it is less likely that the superimposed position of the road edge guide line EGL will change frequently due to the influence of the complex road edge ER, preventing the driver from pulling over to the side of the road.

[0140] In this embodiment, a pulling-over support superimposed image VP3 including at least oncoming vehicle guide lines TGL indicating the position of the inner outer edge of the oncoming vehicle Ao is superimposed and displayed. However, if the behavior of the oncoming vehicle Ao is unstable, the display of the oncoming vehicle guide lines TGL is stopped (see FIG. 15). Therefore, a situation where the superimposed position of the oncoming vehicle guide lines TGL changes frequently due to the influence of an unstable oncoming vehicle Ao and prevents the driver from pulling over to the side of the road is unlikely to occur.

[0141] Furthermore, in this embodiment, based on the recognition of the oncoming vehicle Ao, the passing notification display HD2 is displayed by the HUD 23 before the closing-over support superimposed image VP3 (see the right column in FIG. 8). The passing notification display HD2 notifies the driver of the appearance of the oncoming vehicle Ao and is an image with less information than the closing-over support superimposed image VP3. Such a passing notification display HD2 can subtly make the driver aware of the risk of the oncoming vehicle Ao and prompt the driver to take preparatory action for closing over at an early stage. As a result, the driver can smoothly start closing over using the closing-over support superimposed image VP3.

[0142] Additionally, in this embodiment, when a preceding vehicle larger than the host vehicle Am is traveling on a narrow road, or when the inter-vehicle distance from the host vehicle Am to the preceding vehicle is less than the following threshold, the superimposed display of the closing-over support superimposed image VP3 is stopped. As a result, in a scene where the host vehicle Am can pass the preceding vehicle by following it, a situation in which the driver's visibility is obstructed by the closing-over support superimposed image VP3 displayed superimposed on the preceding vehicle is unlikely to occur.

[0143] In this embodiment, when the oncoming vehicle Ao approaches the host vehicle Am at a speed exceeding the approach threshold, the superimposed display of the moving-over support superimposed image VP3 is stopped (see FIG. 16). Therefore, it is possible to avoid a situation in which the display period of the moving-over support superimposed image VP3 is not sufficiently secured.

[0144] Furthermore, in this embodiment, when an oncoming vehicle Ao approaches the host vehicle Am at a speed exceeding the approach threshold, an alternative support image VPS that supports the host vehicle Am is superimposed by the HUD 23 at timing T2 (see FIG. 16 ), which is earlier than the timing of the overlay image VP3 for overtaking the vehicle Ao. By displaying the alternative support image VPS in this manner, it is possible to prompt the driver to start overtaking the host vehicle Am at an earlier timing than usual. As a result, even in a scene where the oncoming vehicle Ao is rapidly approaching, the driver can prepare in advance for the vehicle Ao to pass the oncoming vehicle Ao.

[0145] Additionally, in this embodiment, when an oncoming vehicle Ao approaches the host vehicle Am at a speed exceeding the approach threshold, the content of the oncoming vehicle approach completion notification display HD5, which notifies the host vehicle Am that the oncoming vehicle Ao has been pulled over, is changed according to the size of the oncoming vehicle Ao. As a result, the passing assistance continues even when the host vehicle Am would normally be able to avoid the oncoming vehicle Ao. As a result, the driver can pass the oncoming vehicle Ao with peace of mind.

[0146] In this embodiment, in the narrow road mode that is initiated upon entering a narrow road, the HUD 23 displays a vehicle width guide display HD1 indicating that the vehicle is traveling on a narrow road. The manner in which the vehicle width guide display HD1 is removed changes between an interruption scene in which the road width of the narrow road temporarily widens and an end scene in which the narrow road ends (see FIGS. 4 and 18). As described above, the driver can grasp whether the narrow road is scheduled to resume from the animation in which the vehicle width guide display HD1 is removed. Therefore, the driver can appropriately select an action such as moving the vehicle Am to a location where the road width temporarily widens and passing an oncoming vehicle Ao.

[0147] Furthermore, in this embodiment, if the narrow road mode is canceled while driving on a narrow road, the expression for erasing the vehicle width guide display HD1 is changed depending on the reason for the cancellation. Therefore, the driver can understand the reason for the cancellation of the narrow road mode from the manner in which the vehicle width guide display HD1 is erased. As a result, the driver can appropriately select an action to deal with the reason for the cancellation.

[0148] Additionally, in this embodiment, in conjunction with the display of the side blind spot image MD4 by the meter display 21, a moving-up support icon image VP4 is displayed in place of the moving-up support superimposed image VP3. The moving-up support icon image VP4 is an image that uses the host vehicle icon IhA indicating the host vehicle Am to provide moving-up support. As described above, even after the location where the passing will occur is outside the field of view of the HUD 23, the moving-up support icon image VP4 continues to provide moving-up support. Therefore, in conjunction with the display of the side blind spot image MD4, the driver can move the host vehicle Am to the road edge ER with high accuracy.

[0149] In this embodiment, when the host vehicle Am is in a position where it can pass the oncoming vehicle Ao, the display on the meter display 21 is switched from the side blind spot image MD4 to the rear image MD5. The rear image MD5 is an external image in which a trajectory image RP5 showing the movement trajectory of the host vehicle Am is superimposed on a camera image CP showing the area behind the host vehicle Am. The display of the rear image MD5 allows the driver to confirm that the host vehicle Am is oriented parallel to the road edge ER based on the trajectory image RP5.

[0150] Furthermore, in this embodiment, when the host vehicle Am starts to pass the oncoming vehicle Ao, the content of the external image on the meter display 21 is switched to the forward blind spot image MD6 including the camera image CP showing the blind spot ahead of the host vehicle Am. As a result, the driver can check the progress of the passing while checking the actual image in real time. As a result, the driver can pass the oncoming vehicle Ao with peace of mind.

[0151] Additionally, in this embodiment, the driver's state of the host vehicle Am is grasped by the driver state grasping unit 73. Then, when the driver's drowsiness or fatigue is detected by the driver state grasping unit 73, the stop icon IhS instructing the host vehicle Am to stop is displayed by the HUD 23 before the host vehicle Am completes pulling over to the side of the road. As described above, severe pulling over guidance in a state where the driver is drowsy or fatigued is stopped. In this way, by encouraging the driver to stop without forcing the driver to do anything, it becomes possible to smoothly pass another vehicle even when the driver's state is not good.

[0152] In this embodiment, the command output unit 75 starts folding the side mirrors of the host vehicle Am after the host vehicle Am is in a position where it can pass the oncoming vehicle Ao. Because the side mirrors are not folded until the host vehicle Am is in a position where it can pass the oncoming vehicle Ao, the driver can use the side mirrors to check the state of the vehicle moving closer to the vehicle. Furthermore, folding the side mirrors allows the host vehicle Am to smoothly pass the oncoming vehicle Ao.

[0153] In the above embodiment, the meter display 21 and CID 22 correspond to a "screen display device," the command output unit 75 corresponds to a "mirror retraction unit," the presentation control unit 77 corresponds to a "display control unit," and the HCU 100 corresponds to a "display control device." Also, the camera image CP corresponds to a "captured image," the host vehicle width guide display HD1 corresponds to a "narrow road driving image," the passing notification display HD2 corresponds to a "passing notification image," and the pulling-over completion notification display HD5 corresponds to a "completion notification image." Furthermore, the stop icon IhS corresponds to a "stop guidance image," the side blind spot image MD4 corresponds to an "external world image," and the pulling-over support image RP4 corresponds to a "second support image." And the pulling-over support superimposed image VP3 corresponds to a "first support image," and the pulling-over support icon image VP4 corresponds to an "icon support image."

[0154] (Other embodiments) Although one embodiment of the present disclosure has been described above, the present disclosure should not be construed as being limited to the above embodiment, and can be applied to various embodiments and combinations within the scope that does not deviate from the gist of the present disclosure.

[0155] In the first modification of the above embodiment, at time T4 when the oncoming vehicle Ao is close, a surroundings monitoring image MD14 shown in FIG. 25 is displayed on the meter display 21 instead of the side blind spot image MD4. The surroundings monitoring image MD14 has substantially the same display content as the forward blind spot image MD6 of the above embodiment, and is an external image including a top-view image TPV and a camera image CP captured by the front camera of the surround camera system 33. The passing assistance image RP4 superimposed on the camera image CP includes host vehicle width highlighting lines SELh, SELm that indicate the position of the outer edge of the host vehicle Am in the width direction. The host vehicle width highlighting lines SELh, SELm are drawn in the same or a similar color (e.g., green) as the host vehicle width guide lines SGLh, SGLm. The surroundings monitoring image MD14 continues to be displayed on the meter display 21 until time T7 when the passing is completed.

[0156] In this first modification, the vehicle width highlighting lines SELh, SELm, which have the same function as the vehicle width guide lines SGLh, SGLm (see FIG. 5 ) displayed by the HUD 23, are also displayed on the meter display 21. Therefore, even if the driver shifts his or her gaze from the front to the screen of the meter display 21 when transitioning from a situation where a vehicle is preparing to pass another vehicle in advance to a situation where the vehicle actually passes another vehicle, the driver can easily understand the displayed content. As a result, the step-by-step display support enables the driver to smoothly pass another vehicle.

[0157] In addition, in the surroundings monitoring video MD14 of Variation 1, a passing support image RP4 that further includes image portions corresponding to oncoming vehicle highlight lines TEL and road edge highlight lines EEL may be superimposed on the camera image CP. Furthermore, such a passing support image RP4 may be superimposed on the top-view image TPV.

[0158] In a second variation of the above embodiment, a HUD 23 with a narrower angle of view than the above embodiment is used, and AR display is not performed. In this second variation, at timing T3, the pulling-over support using a non-superimposed guide display is started. In this case, non-superimposed content that is substantially the same as the pulling-over support icon image VP4 is displayed by the HUD 23 as a "first support image" from timing T3.

[0159] In the above embodiment, the digital speedometer SM is displayed on the meter display 21, and the remaining distance meter IhM is displayed on the HUD 23 (see the right column in FIG. 9). When two numbers are displayed simultaneously in this way, there is a risk of confusing the driver. Therefore, in Modification 3 of the above embodiment, the presentation control unit 77 changes the appearance of the digital speedometer SM in narrow road mode. Specifically, in normal mode, the presentation control unit 77 displays numbers indicating the vehicle speed on the digital speedometer SM. On the other hand, in narrow road mode, the presentation control unit 77 switches the digital speedometer SM to an image of a speedometer that displays needles. As a result, even if a number is displayed on the remaining distance meter IhM, the driver is less likely to be confused.

[0160] The processing unit 11 provided in the HCU 100 of the above embodiment is hardware for arithmetic processing coupled with a RAM. The processing unit 11 includes at least one arithmetic core such as a CPU (Central Processing Unit) and a GPU (Graphics Processing Unit). The processing unit 11 may further include, for example, an FPGA (Field-Programmable Gate Array) and an IP core with other dedicated functions.

[0161] The storage unit 13 includes a non-transitory tangible storage medium. Such a storage medium is not limited to being provided on a circuit board, but may be provided in the form of a memory card or the like, inserted into a slot, and electrically connected to the control circuit of the HCU 100. Furthermore, the storage medium may be an optical disk, a hard disk drive, or the like, from which a program is copied or distributed to the storage unit 13.

[0162] In the above embodiment, each function provided by the HCU 100 may be implemented in the control circuit of each display device. In such a configuration, the display device corresponds to a "display control device." Furthermore, each function provided by the HCU 100 can be provided by software and hardware that executes the software, software alone, hardware alone, or a combination of these. Furthermore, when such functions are provided by electronic circuits as hardware, each function can also be provided by digital circuits including multiple logic circuits or analog circuits.

[0163] Vehicles equipped with the above-described display system are not limited to ordinary private passenger cars, but may also be rental cars, manned taxis, ride-sharing vehicles, freight vehicles, buses, etc. Furthermore, vehicles equipped with the display system may be right-hand drive vehicles or left-hand drive vehicles. Furthermore, the traffic environment in which the vehicle travels may be one based on left-hand traffic or one based on right-hand traffic. The display control according to the present disclosure may be optimized as appropriate according to the road traffic laws of each country and region, as well as the position of the vehicle's steering wheel.

[0164] The controller and methods described herein may be implemented by a special-purpose computer comprising a processor programmed to perform one or more functions embodied in a computer program. Alternatively, the apparatus and methods described herein may be implemented by special-purpose hardware logic circuitry. Alternatively, the apparatus and methods described herein may be implemented by one or more special-purpose computers comprising a processor executing a computer program in combination with one or more hardware logic circuits. Furthermore, the computer program may be stored as instructions executed by a computer on a computer-readable non-transitory storage medium.

[0165] (Disclosure of technical ideas) This specification discloses multiple technical ideas described in the following multiple clauses. Some clauses may be written in a multiple dependent form, with the subsequent clause referring to the preceding clause as an alternative. Furthermore, some clauses may be written in a multiple dependent form, referring to another multiple dependent clause. These multiple dependent clauses define multiple technical ideas.

[0166] (Technical thought 1) A display control device used in a vehicle that displays information to assist a driver in passing an oncoming vehicle (Ao) on a narrow road, a display control unit (77) that controls the display on the screen display devices (21, 22) and the head-up display (23); an external environment information grasping unit (72) that grasps information about the oncoming vehicle that is a target for passing when the host vehicle (As) is traveling on the narrow road, The display control unit When the oncoming vehicle is detected, a first support image (VP3) that supports the driver in pulling over to the outside of the narrow road is superimposed on a foreground of the vehicle by the head-up display; After the first support image is displayed, a display control device displays on the screen display an external image (MD4, MD14) in a scene where the vehicle is passing the oncoming vehicle, the external image (MD4, MD14) being formed by superimposing a second support image (RP4) that supports the passing on a captured image (CP) showing the road surface around the vehicle. (Technical thought 2) The display control device according to Technical Idea 1, wherein the display control unit superimposes and displays the first support image including at least vehicle width guide lines (SGLh, SGLm) indicating the position of the outer edge of the vehicle in the width direction. (Technical Thought 3) The display control device described in Technical Idea 2 superimposes the second support image, which includes at least vehicle width emphasis lines (SELh, SELm) indicating the position of the outer edge of the vehicle in the width direction, on the captured image. (Technical Thought 4) The external environment information grasping unit grasps the situation of the road edge (ER) in the outward direction of the narrow road, The display control unit superimposing and displaying the first support image including road edge guide lines (EGL) indicating the positions of the road edges together with the vehicle width guide lines; The display control device according to Technical Idea 2 or 3, wherein the superimposed position of the road edge guide line is changed depending on the condition of the road edge. (Technical Thought 5) The display control device according to Technical Idea 4, wherein the display control unit superimposes the second support image, which includes at least a road edge emphasis line (EEL) indicating the position of the road edge, on the captured image. (Technical Thought 6) The external environment information grasping unit grasps the situation of the road edge (ER) in the outward direction of the narrow road, The display control device according to any one of Technical Ideas 1 to 5, wherein the display control unit stops superimposing and displaying the first support image when the roadside is in a complicated state. (Technical Thought 7) The display control unit superimposing and displaying the first support image including at least an oncoming vehicle guide line (TGL) indicating the position of the outer edge of the oncoming vehicle in the inner direction; 7. The display control device according to any one of Technical Ideas 1 to 6, wherein the display of the oncoming vehicle guide lines is stopped when the behavior of the oncoming vehicle is unstable. (Technical Thought 8) The display control device is described in any one of technical ideas 1 to 7, wherein the display control unit notifies the driver of the appearance of the oncoming vehicle based on the recognition of the oncoming vehicle and displays a passing notification image (HD2) having less information than the first support image on the head-up display before the first support image. (Technical Thought 9) The display control device is described in any one of technical ideas 1 to 8, wherein the display control unit stops superimposing the first support image when at least one of a preceding vehicle larger than the host vehicle is traveling on the narrow road and a distance between the host vehicle and the preceding vehicle is less than a following threshold. (Technical Thought 10) The display control device according to any one of Technical Ideas 1 to 9, wherein the display control unit stops superimposing and displaying the first support image when the oncoming vehicle approaches the vehicle at a speed exceeding an approach threshold. (Technical Thought 11) The display control device described in Technical Idea 10, in which the display control unit superimposes an alternative support image (VPS) that assists in moving closer to the vehicle's side on the head-up display earlier than the first support image when the oncoming vehicle approaches the vehicle at a speed that exceeds the approach threshold. (Technical Thought 12) The display control device described in Technical Idea 10 or 11, wherein the display control unit changes the content of a completion notification image (HD5) notifying the completion of the approaching vehicle when the oncoming vehicle approaches the vehicle at a speed exceeding the approach threshold, depending on the size of the oncoming vehicle. (Technical Thought 13) The display control unit In a narrow road mode that is started based on the vehicle entering the narrow road, a narrow road driving image (HD1) showing that the vehicle is driving on the narrow road is displayed on the head-up display; A display control device described in any one of technical ideas 1 to 12, which changes the expression of erasing the narrow road driving image between an interruption scene in which the road width of the narrow road temporarily widens and an end scene in which the narrow road ends. (Technical Thought 14) The display control device according to technical idea 13, wherein when the narrow road mode is canceled while driving on the narrow road, the display control unit changes the expression to erase the narrow road driving image depending on the reason for the cancellation. (Technical Thought 15) The display control device is a display control device described in any one of technical ideas 1 to 14, in which, in conjunction with the display of the external world image by the screen display, the display control unit displays an icon support image (VP4) that supports pulling over using a vehicle icon (IhA) that represents the vehicle, instead of the first support image. (Technical Thought 16) The display control device described in any one of Technical Ideas 1 to 15, wherein when the vehicle is in a position where it can pass the oncoming vehicle, the display control unit switches the content of the external world image to a rear image (MD5) formed by superimposing a trajectory image (RP5) showing the movement trajectory of the vehicle on the captured image showing the rear of the vehicle. (Technical Thought 17) The display control device is a display control device described in any one of technical ideas 1 to 16, in which the display control unit switches the content of the external image to a forward blind spot image (MD6) including the captured image showing the blind spot range in front of the vehicle based on the start of the vehicle and the oncoming vehicle passing each other. (Technical Thought 18) The vehicle further includes a driver state ascertaining unit (73) for ascertaining the state of the driver of the vehicle, The display control device is a display control device described in any one of Technical Ideas 1 to 17, wherein, when the driver's drowsiness or fatigue is detected by the driver state grasping unit, a stop guidance image (IhS) that guides the driver to stop before the driver completes pulling over to the side of the vehicle is displayed on the head-up display. (Technical Thought 19) A display control device as described in any one of technical ideas 1 to 18, further comprising a mirror storage unit (75) that starts storing the side mirrors of the vehicle after the vehicle is in a position where it can pass the oncoming vehicle. [Explanation of symbols]

[0167] 11 processing unit, 21 meter display (screen display device), 22 CID (screen display device), 23 HUD (head-up display), 72 external information grasping unit, 73 driver state grasping unit, 75 command output unit (mirror folding unit), 77 presentation control unit (display control unit), 100 HCU (display control device), Am host vehicle, Ao oncoming vehicle, CP camera image (captured image), EEL road edge highlight line, EGL road edge guide line, ER road edge, HD1 host vehicle width guide display (narrow road driving image), HD2 passing notification display (passing notification image), HD5 side approach completion notification display (completion notification image), IhA host vehicle icon, IhS stop icon (stop guidance image), MD4 side blind spot image (external world image), MD14 surrounding monitoring image (external world image), MD5 rear image, MD6 front blind spot image, RP4 Passing support image (second support image), RP5 trajectory image, SELh,SELm vehicle width emphasis lines, SGLh,SGLm vehicle width guide lines, TGL oncoming vehicle guide lines, VP3 side-passing support superimposed image (first support image), VP4 side-passing support icon image (icon support image), VPS alternative support image

Claims

1. A display control device used in a vehicle that provides support for passing an oncoming vehicle (Ao) on a narrow road by displaying information, a display control unit (77) that controls the display by the screen display devices (21, 22) and the head-up display (23); an external environment information grasping unit (72) that grasps information about the oncoming vehicle that is a target for passing when the host vehicle (Am) is traveling on the narrow road; The external environment information grasping unit grasps the situation of an outer road edge (ER) in the narrow road, The display control unit When the oncoming vehicle is detected, a first support image (VP3) that supports the driver in moving toward the outside of the narrow road is superimposed and displayed on the head-up display on a front view of the vehicle; After the first support image is displayed, an external image (MD4, MD14) is displayed on the screen display device, the external image (MD4, MD14) being obtained by superimposing a second support image (RP4) that supports passing on a captured image (CP) showing a road surface around the vehicle; A display control device that stops superimposing and displaying the first support image when the roadside is in a complicated state.

2. A display control device used in a vehicle that provides support for passing an oncoming vehicle (Ao) on a narrow road by displaying information, a display control unit (77) that controls the display by the screen display devices (21, 22) and the head-up display (23); an external environment information grasping unit (72) that grasps information about the oncoming vehicle that is a target for passing when the host vehicle (Am) is traveling on the narrow road; The display control unit When the oncoming vehicle is detected, a first support image (VP3) that supports the driver in moving toward the outside of the narrow road is superimposed and displayed on the head-up display on a front view of the vehicle; After the first support image is displayed, an external image (MD4, MD14) is displayed on the screen display device, the external image (MD4, MD14) being obtained by superimposing a second support image (RP4) that supports passing on a captured image (CP) showing a road surface around the vehicle; superimposing and displaying the first support image including at least an oncoming vehicle guide line (TGL) indicating the position of the outer edge of the oncoming vehicle in the inner direction; a display control device that stops displaying the oncoming vehicle guide lines when the behavior of the oncoming vehicle is unstable;

3. A display control device used in a vehicle that provides support for passing an oncoming vehicle (Ao) on a narrow road by displaying information, a display control unit (77) that controls the display by the screen display devices (21, 22) and the head-up display (23); an external environment information grasping unit (72) that grasps information about the oncoming vehicle that is a target for passing when the host vehicle (Am) is traveling on the narrow road; The display control unit When the oncoming vehicle is detected, a first support image (VP3) that supports the driver in moving toward the outside of the narrow road is superimposed and displayed on the head-up display on a front view of the vehicle; After the first support image is displayed, an external image (MD4, MD14) is displayed on the screen display device, the external image (MD4, MD14) being obtained by superimposing a second support image (RP4) that supports passing on a captured image (CP) showing a road surface around the vehicle; A display control device that notifies the driver of the appearance of an oncoming vehicle based on the recognition of the oncoming vehicle and displays a passing notification image (HD2) with less information than the first support image on the head-up display before the first support image.

4. A display control device used in a vehicle that provides support for passing an oncoming vehicle (Ao) on a narrow road by displaying information, a display control unit (77) that controls the display by the screen display devices (21, 22) and the head-up display (23); an external environment information grasping unit (72) that grasps information about the oncoming vehicle that is a target for passing when the host vehicle (Am) is traveling on the narrow road; The display control unit When the oncoming vehicle is detected, a first support image (VP3) that supports the driver in moving toward the outside of the narrow road is superimposed and displayed on the head-up display on a front view of the vehicle; After the first support image is displayed, an external image (MD4, MD14) is displayed on the screen display device, the external image (MD4, MD14) being obtained by superimposing a second support image (RP4) that supports passing on a captured image (CP) showing a road surface around the vehicle; A display control device that stops the superimposed display of the first support image when at least one of the following occurs: a preceding vehicle larger than the subject vehicle is traveling on the narrow road, and the inter-vehicle distance from the subject vehicle to the preceding vehicle is less than a following threshold.

5. A display control device used in a vehicle that provides support for passing an oncoming vehicle (Ao) on a narrow road by displaying information, a display control unit (77) that controls the display by the screen display devices (21, 22) and the head-up display (23); an external environment information grasping unit (72) that grasps information about the oncoming vehicle that is a target for passing when the host vehicle (Am) is traveling on the narrow road; The display control unit When the oncoming vehicle is detected, a first support image (VP3) that supports the driver in moving toward the outside of the narrow road is superimposed and displayed on the head-up display on a front view of the vehicle; After the first support image is displayed, an external image (MD4, MD14) is displayed on the screen display device, the external image (MD4, MD14) being obtained by superimposing a second support image (RP4) that supports passing on a captured image (CP) showing a road surface around the vehicle; A display control device that stops superimposing and displaying the first support image when the oncoming vehicle approaches the host vehicle at a speed exceeding an approach threshold.

6. 6. The display control device according to claim 5, wherein when the oncoming vehicle approaches the vehicle at a speed exceeding the approach threshold, the display control unit superimposes an alternative support image (VPS) that assists in moving closer to the vehicle on the head-up display earlier than the first support image.

7. The display control device according to claim 5, wherein the display control unit changes the content of a completion notification image (HD5) notifying the completion of the approaching vehicle when the oncoming vehicle approaches the vehicle at a speed exceeding the approach threshold, depending on the size of the oncoming vehicle.

8. A display control device used in a vehicle that provides support for passing an oncoming vehicle (Ao) on a narrow road by displaying information, a display control unit (77) that controls the display by the screen display devices (21, 22) and the head-up display (23); an external environment information grasping unit (72) that grasps information about the oncoming vehicle that is a target for passing when the host vehicle (Am) is traveling on the narrow road; The display control unit When the oncoming vehicle is detected, a first support image (VP3) that supports the driver in moving toward the outside of the narrow road is superimposed and displayed on the head-up display on a front view of the vehicle; After the first support image is displayed, an external image (MD4, MD14) is displayed on the screen display device, the external image (MD4, MD14) being obtained by superimposing a second support image (RP4) that supports passing on a captured image (CP) showing a road surface around the vehicle; In a narrow road mode that is started based on the vehicle entering the narrow road, a narrow road driving image (HD1) showing that the vehicle is driving on the narrow road is displayed on the head-up display; The display control device changes the representation of erasing the narrow road driving image between an interruption scene where the road width of the narrow road temporarily widens and an end scene where the narrow road ends.

9. The display control device according to claim 8 , wherein, when the narrow road mode is canceled while the vehicle is traveling on the narrow road, the display control unit changes the expression for erasing the narrow road traveling image depending on the reason for the cancellation.

10. A display control device used in a vehicle that provides support for passing an oncoming vehicle (Ao) on a narrow road by displaying information, a display control unit (77) that controls the display by the screen display devices (21, 22) and the head-up display (23); an external environment information grasping unit (72) that grasps information about the oncoming vehicle that is a target for passing when the host vehicle (Am) is traveling on the narrow road; The display control unit When the oncoming vehicle is detected, a first support image (VP3) that supports the driver in moving toward the outside of the narrow road is superimposed and displayed on the head-up display on a front view of the vehicle; After the first support image is displayed, an external image (MD4, MD14) is displayed on the screen display device, the external image (MD4, MD14) being obtained by superimposing a second support image (RP4) that supports passing on a captured image (CP) showing a road surface around the vehicle; When the vehicle is in a position where it can pass the oncoming vehicle, the display control device switches the content of the external image to a rear image (MD5) that is created by superimposing a trajectory image (RP5) showing the movement trajectory of the vehicle on the captured image showing the rear of the vehicle.

11. The display control device according to claim 10, wherein the display control unit switches the content of the external image to a forward blind spot image (MD6) including the captured image showing a blind spot range in front of the vehicle based on the start of passing between the vehicle and the oncoming vehicle.

12. A display control device used in a vehicle that provides support for passing an oncoming vehicle (Ao) on a narrow road by displaying information, a display control unit (77) that controls the display by the screen display devices (21, 22) and the head-up display (23); an external environment information grasping unit (72) that grasps information about the oncoming vehicle that is a target for passing when the host vehicle (Am) is traveling on the narrow road; a driver state ascertaining unit (73) for ascertaining the state of the driver of the vehicle; The display control unit When the oncoming vehicle is detected, a first support image (VP3) that supports the driver in moving toward the outside of the narrow road is superimposed and displayed on the head-up display on a front view of the vehicle; After the first support image is displayed, an external image (MD4, MD14) is displayed on the screen display device, the external image (MD4, MD14) being obtained by superimposing a second support image (RP4) that supports passing on a captured image (CP) showing a road surface around the vehicle; When the driver's drowsiness or fatigue is detected by the driver state grasping unit, a stop guidance image (IhS) that guides the driver to stop before the driver completes pulling over to the side of the vehicle is displayed on the head-up display.

13. The display control device according to any one of claims 1 to 12, wherein the display control unit superimposes the first support image including at least a vehicle width guide line (SGLh, SGLm) indicating the position of the outer edge of the vehicle in the width direction.

14. The display control device according to claim 13, wherein the display control unit superimposes the second support image, which includes at least vehicle width highlighting lines (SELh, SELm) indicating the position of the outer edge of the vehicle in the width direction, on the captured image.

15. The external environment information grasping unit grasps the situation of the road edge (ER) in the outward direction of the narrow road, The display control unit superimposing and displaying the first support image including road edge guide lines (EGL) indicating the positions of the road edges together with the vehicle width guide lines; The display control device according to claim 13, wherein the superimposed position of the road edge guide line is changed depending on the condition of the road edge.

16. The display control device according to claim 15 , wherein the display control unit superimposes the second support image, which includes at least a road edge emphasis line (EEL) indicating the position of the road edge, on the captured image.

17. The display control unit, in conjunction with the display of the external image by the screen display, displays an icon support image (VP4) that supports moving toward the side using a vehicle icon (IhA) representing the vehicle instead of the first support image. Display control device according to any one of claims 1 to 12.

18. The display control device according to any one of claims 1 to 12, further comprising a mirror storage unit (75) that starts storing the side mirrors of the vehicle after the vehicle is in a state where it can pass the oncoming vehicle.

19. A display control program used in a vehicle that provides support for passing an oncoming vehicle (Ao) on a narrow road by displaying information, When the vehicle (Am) is traveling on the narrow road, the vehicle grasps the situation of the outer road edge (ER) on the narrow road and information on the oncoming vehicle that is to be passed (S19), When the oncoming vehicle is detected, a first support image (VP3) for supporting the driver in moving outward from the narrow road is displayed superimposed on the foreground of the vehicle by a head-up display (23) (S22). If the roadside is in a complicated state, the superimposed display of the first support image is stopped; After the first support image is displayed, an external image (MD4, MD14) is displayed on the screen display (21, 22) by superimposing a second support image (RP4) for supporting passing on a captured image (CP) showing the road surface around the vehicle (S24). A display control program that causes at least one processing unit (11) to execute processing including the above.

20. A display control program used in a vehicle that provides support for passing an oncoming vehicle (Ao) on a narrow road by displaying information, When the vehicle (Am) is traveling on the narrow road, the vehicle acquires information about the oncoming vehicle that is to be passed (S19), When the oncoming vehicle is detected, a first support image (VP3) including at least an oncoming vehicle guide line (TGL) indicating the position of the inner outer edge of the oncoming vehicle and supporting the driver in pulling over to the outside of the narrow road is superimposed and displayed on a head-up display (23) on the foreground of the vehicle (S22). After the first support image is displayed, an external image (MD4, MD14) is displayed on the screen display (21, 22) by superimposing a second support image (RP4) for supporting passing on a captured image (CP) showing the road surface around the vehicle (S24). causing at least one processing unit (11) to perform a process including In the process of superimposing and displaying the first support image, a display control program stops displaying the oncoming vehicle guide lines when the behavior of the oncoming vehicle is unstable.

21. A display control program used in a vehicle that provides support for passing an oncoming vehicle (Ao) on a narrow road by displaying information, When the vehicle (Am) is traveling on the narrow road, the vehicle acquires information about the oncoming vehicle that is to be passed (S19), When the oncoming vehicle is detected, a first support image (VP3) for supporting the driver in pulling over to the outside of the narrow road is displayed superimposed on the foreground of the vehicle by a head-up display (23) (S22). Based on the recognition of the oncoming vehicle, a passing notification image (HD2) that notifies the driver of the appearance of the oncoming vehicle and has less information than the first support image is displayed on the head-up display before the first support image (S20). After the first support image is displayed, an external image (MD4, MD14) is displayed on the screen display (21, 22) by superimposing a second support image (RP4) for supporting passing on a captured image (CP) showing the road surface around the vehicle (S24). A display control program that causes at least one processing unit (11) to execute processing including the above.

22. A display control program used in a vehicle that provides support for passing an oncoming vehicle (Ao) on a narrow road by displaying information, When the vehicle (Am) is traveling on the narrow road, the vehicle acquires information about the oncoming vehicle that is to be passed (S19), When the oncoming vehicle is detected, a first support image (VP3) for supporting the driver in pulling over to the outside of the narrow road is displayed superimposed on the foreground of the vehicle by a head-up display (23) (S22). After the first support image is displayed, an external image (MD4, MD14) is displayed on the screen display (21, 22) by superimposing a second support image (RP4) for supporting passing on a captured image (CP) showing the road surface around the vehicle (S24). canceling the superimposed display of the first support image at least when a preceding vehicle larger than the host vehicle is traveling on the narrow road and when the inter-vehicle distance from the host vehicle to the preceding vehicle is less than a following threshold. A display control program that causes at least one processing unit (11) to execute processing including the above.

23. A display control program used in a vehicle that provides support for passing an oncoming vehicle (Ao) on a narrow road by displaying information, When the vehicle (Am) is traveling on the narrow road, the vehicle acquires information about the oncoming vehicle that is to be passed (S19), When the oncoming vehicle is detected, a first support image (VP3) for supporting the driver in pulling over to the outside of the narrow road is displayed superimposed on the foreground of the vehicle by a head-up display (23) (S22). After the first support image is displayed, an external image (MD4, MD14) is displayed on the screen display (21, 22) by superimposing a second support image (RP4) for supporting passing on a captured image (CP) showing the road surface around the vehicle (S24). When the oncoming vehicle approaches the host vehicle at a speed exceeding an approach threshold, the superimposed display of the first support image is stopped. A display control program that causes at least one processing unit (11) to execute processing including the above.

24. A display control program used in a vehicle that provides support for passing an oncoming vehicle (Ao) on a narrow road by displaying information, In the narrow road mode that starts based on the entry into the narrow road, a narrow road driving image (HD1) showing that the vehicle is driving on the narrow road is displayed on the head-up display (23) (S12). When the vehicle (Am) is traveling on the narrow road, the vehicle acquires information about the oncoming vehicle that is to be passed (S19), When the oncoming vehicle is detected, a first support image (VP3) for supporting the driver in pulling over to the outside of the narrow road is displayed superimposed on the foreground of the vehicle by the head-up display (S22). After the first support image is displayed, an external image (MD4, MD14) is displayed on the screen display (21, 22) by superimposing a second support image (RP4) for supporting passing on a captured image (CP) showing the road surface around the vehicle (S24). A display control program that causes at least one processing unit (11) to execute a process including changing the representation of erasing the narrow road driving image between an interruption scene in which the road width of the narrow road temporarily widens and an end scene in which the narrow road ends.

25. A display control program used in a vehicle that provides support for passing an oncoming vehicle (Ao) on a narrow road by displaying information, When the vehicle (Am) is traveling on the narrow road, the vehicle acquires information about the oncoming vehicle that is to be passed (S19), When the oncoming vehicle is detected, a first support image (VP3) for supporting the driver in pulling over to the outside of the narrow road is displayed superimposed on the foreground of the vehicle by a head-up display (23) (S22). After the first support image is displayed, an external image (MD4, MD14) is displayed on the screen display (21, 22) by superimposing a second support image (RP4) for supporting passing on a captured image (CP) showing the road surface around the vehicle (S24). When the host vehicle is in a state where it can pass the oncoming vehicle, the content of the external image is switched to a rear image (MD5) obtained by superimposing a trajectory image (RP5) showing the movement trajectory of the host vehicle on the captured image showing the rear of the host vehicle (S26). A display control program that causes at least one processing unit (11) to execute processing including the above.

26. A display control program used in a vehicle that provides support for passing an oncoming vehicle (Ao) on a narrow road by displaying information, When the vehicle (Am) is traveling on the narrow road, the vehicle acquires information about the oncoming vehicle that is to be passed (S19), When the oncoming vehicle is detected, a first support image (VP3) for supporting the driver in pulling over to the outside of the narrow road is displayed superimposed on the foreground of the vehicle by a head-up display (23) (S22). After the first support image is displayed, an external image (MD4, MD14) is displayed on the screen display (21, 22) by superimposing a second support image (RP4) for supporting passing on a captured image (CP) showing the road surface around the vehicle (S24). When drowsiness or fatigue of the driver of the vehicle is detected by grasping the state of the driver of the vehicle, a stop guidance image (IhS) that guides the driver to stop before the driver completes pulling over to the side of the vehicle is displayed on the head-up display. A display control program that causes at least one processing unit (11) to execute processing including the above.

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