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

Abstract

To provide a display device for vehicle, a display system for vehicle, a display method for vehicle and a program which allow a driver to properly recognize obstacles even when there are many obstacles.SOLUTION: A display device for vehicle acquires information about multiple obstacles in the vicinity of a vehicle by an obstacle information acquisition part. A mark display part superimposes and displays a prescribed individual mark M1 which urges attention to the obstacles individually on a display area in a cabin. In addition, when the number of obstacles exceeds a prescribed value, the mark display part superimposes and displays a prescribed group mark M3 that urges attention to the obstacles on the multiple obstacles. In addition, the mark display part displays the group mark M3 when the multiple obstacles are in close proximity to the vehicle even in a case where the number of obstacles is less than a prescribed value.SELECTED DRAWING: Figure 6

Description

[Technical Field]

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

[0002] Patent Document 1 discloses a technology for displaying a virtual image superimposed on the driver's field of vision using a head-up display device. In this technology, when the visibility of an obstacle from the driver's perspective is high, a frame-shaped display image is displayed, and when the visibility of the obstacle is low, a display image simulating the obstacle is displayed at the position of the obstacle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2009-248721 Summary of the Invention [Problem to be solved by the invention]

[0004] However, if there are many obstacles and display images (marks) for all of the obstacles, it may become difficult for the driver to see the obstacles.

[0005] An object of the present invention is to provide a vehicle display device, a vehicle display system, a vehicle display method, and a program that enable a driver to properly recognize obstacles even when there are many obstacles. [Means for solving the problem]

[0006] The vehicle display device according to claim 1 includes an obstacle information acquisition unit that acquires information about a plurality of obstacles around the vehicle, and a display area in the vehicle interior that displays the obstacles. Note Urge Sumaand a mark display unit that displays a group mark superimposed on the obstacles when the number of the obstacles is equal to or greater than a predetermined value, and the mark display unit superimposes a group mark that calls attention to the plurality of obstacles, and even when the number of the obstacles is less than the predetermined value, From the driver's perspective A plurality of said obstacles At least part of In this case, the group mark will be displayed.

[0007] In the vehicle display device according to claim 1, the obstacle information acquisition unit acquires information about a plurality of obstacles around the vehicle. The mark display unit is arranged in a display area in the vehicle interior. Nima Furthermore, if the number of obstacles is equal to or greater than a predetermined value, the mark display unit displays a group mark in a superimposed manner. 。

[0008] Also, if the number of obstacles is greater than or equal to a predetermined value flock mark of By displaying the group marks, it is possible to prevent the driver from having difficulty seeing the obstacles even when there are many obstacles. Furthermore, the mark display unit displays a group mark when multiple obstacles are close to the vehicle, even when the number of obstacles is less than a predetermined value. This allows the occupants to recognize obstacles close to the vehicle at a glance. Note that the term "superimposed display" as used herein is not limited to a configuration in which a superimposed display is performed on an obstacle visible through the windshield glass, but broadly includes a configuration in which a superimposed display is performed on an image of an obstacle displayed on a display inside the vehicle cabin, etc.

[0009] The vehicle display device according to claim 2 is the same as claim 1, wherein the mark display unit displays the group mark when the boundaries between the obstacles cannot be recognized even if the number of the obstacles is less than a predetermined value.

[0010] In the vehicle display device according to claim 2, by displaying a group mark when the boundaries between obstacles cannot be recognized, it is possible to prevent the display of marks from being bothersome when the obstacles are close to each other.

[0011] The vehicle display device according to claim 3 is the display device according to claim 1 or 2, wherein when the condition for displaying the group mark is satisfied, the display device displays the group mark for the obstacle walking or running toward the vehicle as follows: A predetermined number of times to draw attention to each of the obstacles Display individual marks.

[0012] In the vehicle display device according to claim 3, by displaying individual marks for obstacles that are close to the vehicle, even when there are a large number of obstacles, the driver can be made aware of obstacles that require more attention.

[0013] A vehicle display system according to claim 4 includes the vehicle display device according to any one of claims 1 to 3, and a mark display unit provided in a vehicle interior. Before Kigunma Ku and a display unit having the display area on which the image is displayed.

[0014] In the vehicle display system according to claim 4, a display area in the vehicle interior is displayed by a mark display unit of the vehicle display device. flock Mar Ku This allows the driver to grasp information about obstacles by looking at the display area.

[0015] The vehicle display method according to claim 5 comprises: By computer, Obtain information about multiple obstacles around the vehicle, The obstacle Calling attention to Suma a group mark is displayed in a display area in the vehicle interior, and when the number of the obstacles is equal to or greater than a predetermined value, a group mark is displayed in the display area to call attention to the plurality of obstacles, and even when the number of the obstacles is less than the predetermined value, From the driver's perspective A plurality of said obstacles At least part of In this case, the group mark is displayed in the display area.

[0016] The program according to claim 10 acquires information about a plurality of obstacles around a vehicle, The obstacle Calling attention to pcsa group mark for warning the driver of a plurality of obstacles is displayed in the display area of ​​the vehicle interior when the number of the obstacles is equal to or greater than a predetermined value, and a group mark for warning the driver of a plurality of obstacles is displayed in the display area when the number of the obstacles is less than the predetermined value; From the driver's perspective A plurality of said obstacles At least part of In this case, the computer is caused to execute a process of displaying the group mark in the display area. [Effects of the Invention]

[0017] As described above, the vehicle display device, vehicle display system, vehicle display method, and program according to the present invention allow the driver to properly recognize obstacles. [Brief explanation of the drawings]

[0018] [Figure 1] 1 is a schematic diagram of a front portion of a vehicle interior of a vehicle to which a vehicular display system according to an embodiment is applied, viewed from the rear side of the vehicle. [Figure 2] 1 is a block diagram showing a hardware configuration of a vehicle display device according to an embodiment; [Figure 3] 1 is a block diagram showing a functional configuration of a vehicle display device according to an embodiment; [Figure 4] 10A and 10B are diagrams showing an example of a display area in the embodiment, in which individual marks are displayed. [Figure 5] 10A and 10B are diagrams showing an example of a display area in the embodiment, in which a group mark is displayed. [Figure 6] 10 is a flowchart illustrating an example of the flow of a display process according to an embodiment. [Figure 7] FIG. 10 is a diagram showing a display example of a vehicle display device according to a first modified example; [Figure 8] 10A and 10B are diagrams illustrating an example of a display on a vehicle display device according to a second modified example. DETAILED DESCRIPTION OF THE INVENTION

[0019] A vehicular display system 10 according to an embodiment will be described with reference to the drawings. The arrow UP in Fig. 1 indicates the upper side in the vertical direction of the vehicle, and the arrow RH indicates the right side in the width direction of the vehicle. The vertical and left-right directions in the following description refer to the up and down directions in the vertical direction of the vehicle and the left and right directions in the width direction of the vehicle, respectively.

[0020] 1, an instrument panel 14 is provided in the front portion of the cabin of a vehicle 12. The instrument panel 14 extends in the vehicle width direction, and a steering wheel 16 is provided on the right side of the instrument panel 14. That is, in this embodiment, as an example, the vehicle is a right-hand drive vehicle in which the steering wheel 16 is provided on the right side, and the driver's seat is located on the right side of the vehicle.

[0021] A windshield glass 18 is provided at the front end of the instrument panel 14. The windshield glass 18 extends in the vertical direction and the width direction of the vehicle, and separates the interior of the vehicle from the exterior of the vehicle.

[0022] The right end of the windshield glass 18 is fixed to a front pillar 20 on the right side of the vehicle. The front pillar 20 extends in the vertical direction of the vehicle, and the windshield glass 18 is fixed to the inner end of the front pillar 20 in the vehicle width direction. In addition, the front ends of front side windows 22 are fixed to the outer end of the front pillar 20 in the vehicle width direction. The left end of the windshield glass 18 is fixed to a front pillar on the left side of the vehicle (not shown).

[0023] Here, a first display unit 24 having an image display area V1 is provided on the instrument panel 14. The first display unit 24 is configured as a meter display provided in front of the driver's seat on the vehicle right side of the instrument panel 14. The first display unit 24 is connected to various meter devices mounted on the vehicle 12, and is provided in a position within the driver's field of view when the driver is looking forward.

[0024] The instrument panel 14 is provided with a second display unit 25 having an image display area V2. The second display unit 25 is configured by a center display disposed in the center of the instrument panel 14 in the vehicle width direction.

[0025] The windshield glass 18 is provided with a third display unit 26 having an image display area V3. The third display unit 26 is set above the first display unit 24 and is configured as a projection surface onto which an image is projected by a head-up display device 44 (see FIG. 2 ). Specifically, the head-up display device 44 is provided on the vehicle front side of the instrument panel 14, and an image is projected from the head-up display device 44 onto the third display unit 26 of the windshield glass 18. In other words, the third display unit 26 is configured as part of the windshield glass 18 that serves as the projection surface for the head-up display device 44.

[0026] Here, the vehicle 12 is provided with a vehicle display device 28 that constitutes the vehicle display system 10. The vehicle display device 28 of this embodiment is, for example, an ECU (Electronic Control Unit) that performs various controls.

[0027] (Hardware configuration of the vehicle display device 28) 2, the vehicle display device 28 includes a CPU (Central Processing Unit: processor) 30, a ROM (Read Only Memory) 32, a RAM (Random Access Memory) 34, a storage 36, a communication interface (communication I / F) 38, and an input / output interface (input / output I / F) 40. Each component is connected to each other via an internal bus 42 so as to be able to communicate with each other.

[0028] The CPU 30 is a central processing unit that executes various programs and controls each part. That is, the CPU 30 reads programs from the ROM 32 or storage 36 and executes the programs using the RAM 34 as a work area. The CPU 30 also controls the above-mentioned components and performs various arithmetic processing in accordance with the programs recorded in the ROM 32 or storage 36.

[0029] The ROM 32 stores various programs and various data. The RAM 34 temporarily stores programs or data as a working area. The storage 36 is configured by an HDD (Hard Disk Drive) or an SSD (Solid State Drive), and is a non-temporary recording medium that stores various programs including an operating system and various data. In this embodiment, the ROM 32 or the storage 36 stores a display program for performing display processing, etc. Furthermore, various input / output devices are connected to the input / output interface 38.

[0030] The input / output interface 38 is connected to the first display unit 24, the second display unit 25, a head-up display device 44, and sensors 46. In addition, the head-up display device 44 projects an image onto the third display unit 26.

[0031] The sensors 46 include a plurality of sensors selected from various types of sensors such as a camera, radar, LIDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging), and a GPS (global positioning system) sensor. The camera captures images of the surroundings of the vehicle 12. The camera in this embodiment is configured to include at least a front camera that captures images of the area ahead of the vehicle.

[0032] The radar uses radio waves to detect the distance and direction to objects around the vehicle 12. The lidar uses laser light to detect the distance and direction to objects around the vehicle 12. The GPS sensor detects the current position of the vehicle 12. In addition, the sensors 46 include a sensor that detects the line of sight of the occupant.

[0033] (Functional configuration of the vehicle display device 28) The vehicle display device 28 uses the above hardware resources to realize various functions. The functional configuration realized by the vehicle display device 28 will be described with reference to FIG.

[0034] 3, the vehicle display device 28 is configured to include, as functional components, an obstacle information acquisition unit 52, a display mark determination unit 54, a mark display unit 56, and a display destination setting unit 58. Each functional component is realized by the CPU 30 reading and executing a program stored in the ROM 32 or the storage 36.

[0035] The obstacle information acquisition unit 52 acquires information about a plurality of obstacles around the vehicle. Specifically, the obstacle information acquisition unit 52 acquires information about obstacles detected by the sensors 46. For example, the obstacle information acquisition unit 52 acquires image data of the area in front of the vehicle captured by a front camera. The obstacle information acquisition unit 52 also acquires data about the positions of obstacles detected by radar, lidar, etc.

[0036] The display mark determination unit 54 determines whether or not a mark should be displayed based on the obstacle data acquired by the obstacle information acquisition unit 52, and if a mark should be displayed, determines whether to display an individual mark that calls attention to an individual obstacle or a group mark that calls attention to multiple obstacles. Details of the individual marks and group marks will be described later.

[0037] In the present embodiment, as an example, the display mark determination unit 54 displays a mark when the obstacle is of a specific type and the distance between the obstacle and the vehicle 12 is closer than a predetermined distance. For example, the display mark determination unit 54 may determine to display a mark when the obstacle is a pedestrian or a motorcycle. In addition, in the present embodiment, as an example, the display mark determination unit 54 determines whether or not to display a mark only for obstacles ahead of the vehicle.

[0038] Here, the display mark determination unit 54 determines that a group mark should be displayed if the number of obstacles is equal to or greater than a predetermined value based on the information acquired by the obstacle information acquisition unit 52. For example, the display mark determination unit 54 may determine that a group mark should be displayed if the number of obstacles in each of three equal areas obtained by dividing the display area is five or more.

[0039] Furthermore, the display mark determination unit 54 is configured to determine that a group mark should be displayed when multiple obstacles are close to each other, even if the number of obstacles is less than a predetermined value. For example, if the obstacles in front of the vehicle appear to overlap from the driver's perspective, the display mark determination unit 54 determines that a group mark should be displayed. That is, if the boundaries between obstacles cannot be recognized in the image analysis of image data captured by the front camera, the obstacles in front of the vehicle appear to overlap from the driver's perspective, and so the display mark is determined to be displayed.

[0040] On the other hand, the display mark determination unit 54 determines that an individual mark should be displayed for an obstacle when the distance between the vehicle 12 and the obstacle detected using radar, lidar, etc. is equal to or less than a predetermined value. The display mark determination unit 54 also determines that an individual mark should be displayed for an obstacle that is walking or running toward the vehicle 12. That is, the display mark determination unit 54 calculates the relative speed between the vehicle 12 and the obstacle from the speed of the vehicle 12 and the distance to the obstacle, and if this relative speed indicates that the obstacle is approaching the vehicle 12, the display mark determination unit 54 determines that an individual mark should be displayed.

[0041] The mark display unit 56 displays the display mark determined by the display mark determination unit 54. That is, the mark display unit 56 displays a predetermined individual mark for an obstacle determined by the display mark determination unit 54 to display an individual mark. Also, the mark display unit 56 displays a predetermined group mark for an obstacle determined by the display mark determination unit 54 to display a group mark.

[0042] Furthermore, as an example in this embodiment, when the mark display unit 56 displays the individual marks and the group marks in the display area V3 (see FIG. 1 ) of the third display unit 26, the mark display unit 56 changes the display mode of the marks based on the driver's line of sight position so that the marks are superimposed on obstacles outside the vehicle. For example, the driver's line of sight position, such as eye height, is detected by an interior camera constituting the sensors 46. Then, the mark display unit 56 adjusts the display positions of the individual marks and the group marks so that the positions of the obstacles and the individual marks and the group marks do not deviate when the display area V3 is viewed from the detected eye position of the driver. Furthermore, the mark display unit 56 appropriately changes the shapes of the individual marks and the group marks so that a natural three-dimensional image is displayed as seen by the driver.

[0043] The display destination setting unit 58 sets the display destination for displaying the individual mark and the group mark. Specifically, in Fig. 1, the display destination setting unit 58 sets the display destination for displaying the individual mark and the group mark from among the first display unit 24 and the second display unit 25 provided on the instrument panel 14 and the third display unit 26 provided on the windshield glass 18.

[0044] The display destination setting unit 58 may set the display destination for displaying the individual mark and the group mark, for example, by an operation of the driver. Furthermore, the display destination setting unit 58 may automatically change the display destination of the mark depending on the driving conditions of the vehicle 12, for example, by displaying the mark on the first display unit 24 or the second display unit 25 when the vehicle 12 is driving on a motorway, and displaying the mark on the third display unit 26 when the vehicle 12 is driving in an urban area or the like.

[0045] (Display example) Next, a display example displayed in the display region V3 of the third display unit 26 will be described with reference to FIGS.

[0046] 4, the display area V3 shows the view ahead of the vehicle through the windshield glass 18. For ease of explanation, only the view seen in the display area V3 is shown, but in reality, the view ahead of the vehicle is not separated by the boundary of the third display section 26.

[0047] In the display area V3, an individual mark M1 and a vehicle speed mark M2 are displayed by the head-up display device 44. The individual mark M1 is displayed superimposed on the feet of a pedestrian P as an obstacle, and in this embodiment, the individual mark M1 is displayed in a substantially circular shape, for example. The individual mark M1 is set to change color depending on the distance from the vehicle 12. For example, if the pedestrian P is farther away from the vehicle 12 than a predetermined distance, the individual mark M1 is displayed in green, and if the pedestrian P is located within the predetermined distance from the vehicle 12, the individual mark M1 is displayed in red. In this way, the individual mark M1 is used to alert the driver to individual obstacles.

[0048] The vehicle speed mark M2 displays the current speed of the vehicle 12 detected by a vehicle speed sensor (not shown).

[0049] On the other hand, in Fig. 5, a group mark M3 is superimposed instead of the individual mark M1. The group mark M1 is displayed in a substantially straight line extending in the fore-and-aft direction of the vehicle at a position closer to the vehicle 12 than the multiple pedestrians P. Also, in Fig. 5, since multiple pedestrians P are present on both the right and left sides of the traveling direction of the vehicle 12, group marks M3 are displayed on both the left and right sides, and are extended in the fore-and-aft direction of the vehicle from the feet of the pedestrian P closest to the vehicle 12 along the road surface.

[0050] The right group mark M3 is displayed superimposed at a position slightly offset toward the vehicle (left side) from the feet of the pedestrian P, and is displayed so as to flow from the rear side of the vehicle to the front side of the vehicle. In addition, the left group mark M3 is displayed superimposed at a position slightly offset toward the vehicle (right and left side) from the feet of the pedestrian P, and is displayed so as to flow from the rear side of the vehicle to the front side of the vehicle. In other words, by displaying the left and right group marks M3 superimposed, the driver is made aware that there are multiple obstacles outside the left and right group marks M3. In this way, the group mark M3 is intended to alert the driver to multiple obstacles.

[0051] (action) Next, the operation of this embodiment will be described.

[0052] (Display processing) An example of a display process for displaying at least one of the individual mark M1 and the group mark M3 on the third display unit 26, which is the projection screen of the head-up display device 44, will be described with reference to the flowchart shown in Fig. 6. This display process is executed by the CPU 30 reading a display program from the ROM 32 or storage 36, expanding it into the RAM 34, and executing it. The display process is also executed repeatedly at predetermined time intervals.

[0053] In step S102, the CPU 30 acquires information about the obstacle. Specifically, the CPU 30 acquires information about the position, type, and moving direction of the obstacle detected by the sensors 46 using the function of the obstacle information acquisition unit 52.

[0054] In step S104, the CPU 30 determines whether the number of obstacles is equal to or greater than a predetermined value. In the present embodiment, as an example, if the number of obstacles in the areas obtained by dividing the display area V3 into three equal parts is equal to or greater than the predetermined value, the CPU 30 makes a positive determination in step S104 and proceeds to processing in step S108. The processing in step S108 will be described later.

[0055] If the number of obstacles in the area obtained by dividing the display area V3 into three equal parts is less than a predetermined value, the CPU 30 makes a negative determination in step S104 and proceeds to processing in step S106. The CPU 30 determines whether or not an obstacle is approaching in step S106. In the present embodiment, as an example, if a part of an obstacle ahead of the vehicle appears to overlap, the CPU 30 determines that an obstacle is approaching, and proceeds to processing in step S108.

[0056] If the CPU 30 determines in step S106 that the obstacles are not partially overlapping, the CPU 30 proceeds to the process of step S114 and displays the individual mark M1. Specifically, the CPU 30 uses the function of the mark display unit 56 to display the individual mark M1 superimposed on the obstacle in the display area V3 (see FIG. 4). The CPU 30 also ends the display process without displaying the group mark M3.

[0057] On the other hand, if the determination in step S104 or step S106 is affirmative, the CPU 30 proceeds to the process of step S108, where it determines whether or not there is an obstacle running or walking toward the vehicle 12. If there is an obstacle running or walking toward the vehicle 12, the CPU 30 proceeds to the process of step S110.

[0058] In step S110, the CPU 30 displays the individual mark M1 and the group mark M3. Specifically, the CPU 30 uses the function of the mark display unit 56 to superimpose the group mark M3 on a plurality of obstacles in the display area V3 (see FIG. 5). The CPU 30 also displays the individual mark M1 on obstacles that are running or walking toward the vehicle 12. Therefore, in step S110, the individual mark M1 and the group mark M3 are displayed together in the display area V3.

[0059] If it is determined in step S108 that there are no obstacles running or walking toward the vehicle 12, the CPU 30 proceeds to the process of step S112 and displays a group mark. Specifically, the CPU 30 uses the function of the mark display unit 56 to superimpose and display an individual mark M1 on the obstacle in the display area V3 (see FIG. 5). Furthermore, the CPU 30 ends the display process without displaying the individual mark M1.

[0060] As described above, in the vehicular display system 10 and the vehicular display device 28 according to this embodiment, the mark display unit 56 displays at least one of the predetermined individual mark M1 and the predetermined group mark M3 for a plurality of obstacles in the display area inside the vehicle cabin, superimposed on the obstacles, thereby urging the driver to pay attention to obstacles around the vehicle.

[0061] In addition, in this embodiment, by switching between displaying the individual mark M1 and the group mark M3 depending on obstacle information such as the type and number of obstacles, it is possible to prevent the driver from having difficulty seeing the obstacles even when there are many obstacles.

[0062] Furthermore, in this embodiment, the group mark M3 is displayed when the number of obstacles is equal to or greater than a predetermined value, allowing the driver to quickly recognize that there are a large number of obstacles. Also, by displaying the group mark M3 for multiple obstacles that are close to each other, the driver can recognize the multiple obstacles that are close to each other as a group of obstacles. In particular, in this embodiment, the group mark M3 is displayed in a flowing manner, allowing the driver to focus their attention on the obstacles.

[0063] Furthermore, in this embodiment, by displaying individual marks M1 for obstacles that are close to the vehicle, even when there are a large number of obstacles, the driver can be made aware of obstacles that require more attention.

[0064] In addition, by displaying individual marks M1 for obstacles such as pedestrians walking towards the vehicle 12 and bicycles traveling towards the vehicle, the driver can be made aware of obstacles that require more attention, even if the obstacles are far away from the vehicle 12.

[0065] Furthermore, in this embodiment, by displaying the individual mark M1 and the group mark M3 in the display area V3 of the third display unit 26 projected by the head-up display device 44, the driver can recognize information about obstacles while driving without changing his or her line of sight.

[0066] In the above embodiment, the group marks M3 are displayed so as to flow from the rear side of the vehicle to the front side of the vehicle as shown in Fig. 5, but this is not limiting. For example, the group marks M4 of a first modified example shown in Fig. 7 may be used.

[0067] (First Modification) 7, the group mark M4 is a long strip-shaped mark extending in the front-rear direction of the vehicle. The group mark M4 is displayed superimposed on the road surface and is displayed in a predetermined color.

[0068] Here, similar to the group mark M3 in the above embodiment, the group mark M4 is set based on the pedestrian P closest to the vehicle 12 and extends from the feet of this pedestrian P along the road surface in the front-to-rear direction of the vehicle.

[0069] In this way, in this modified example, the group mark M4 is displayed in a long band shape, so that the driver can easily recognize the area where the group mark M4 is displayed as a no-travel area. As in the above embodiment, if there is a pedestrian P approaching the vehicle 12 closer to the group mark M4, an individual mark M1 is displayed on the pedestrian P to alert the driver.

[0070] (Second Modification) As a second modified example, an example of a case where display is performed in the display region V2 of the second display unit 25 will be described with reference to FIG.

[0071] 8, in this modification, the display area V2 of the second display unit 25 is divided into an upper and lower area. A navigation system screen is displayed below the display area V2. The navigation system screen displays, for example, the current position of the vehicle 12 and the roads around the vehicle.

[0072] An image of the area ahead of the vehicle is displayed above the display area V2. Specifically, an image captured by a front camera constituting the sensors 46 is displayed in the display area V2. A group mark M3 is also displayed in the display area V2 together with an image of a pedestrian P. Specifically, similar to the above embodiment, a group mark M3 is displayed in a substantially straight line extending in the fore-and-aft direction of the vehicle at a position closer to the vehicle 12 than the multiple pedestrians P. A vehicle speed mark M2 is also displayed in the display area V2.

[0073] In this manner, in this modified example, at least one of the individual mark M1 and the group mark M3 is displayed on the second display unit 25 provided on the instrument panel 14. This reduces the annoyance caused by the individual mark M1 and the group mark M3 when the driver is looking ahead, compared to a configuration in which the marks are superimposed on actual obstacles.

[0074] Although the vehicular display system 10 and the vehicular display device 28 according to the embodiment have been described above, it goes without saying that they can be embodied in various forms without departing from the spirit of the present invention. For example, in the above embodiment, a configuration in which an individual mark and a group mark are displayed on the second display unit 25 and the third display unit 26 has been described, but this is not limited thereto, and an individual mark and a group mark may be displayed on the first display unit 24.

[0075] In the above embodiment, the individual mark M1 is displayed in a substantially circular shape as shown in Fig. 4, but is not limited to this. For example, a mark resembling an arrow may be displayed above the head of the pedestrian P. Furthermore, different individual marks may be displayed for pedestrians and motorcycles.

[0076] Furthermore, in the above embodiment, the group marks M3 and M4 are displayed in a straight line as shown in Figures 5 and 7, but this is not limiting and group marks of other shapes may be used as long as they are recognizable as a group. For example, a group mark that surrounds multiple pedestrians P may be displayed. [Explanation of symbols]

[0077] 10. Vehicle display system 12 vehicles 14 Instrument panel 24 First display section 25 Second display section 26 Third display 28 Vehicle display device 52 Obstacle information acquisition unit 56 Mark display section M1 Individual Mark M3 Group Mark M4 Group Mark V1 display area V2 display area V3 display area

Claims

1. an obstacle information acquisition unit that acquires information about a plurality of obstacles around the vehicle; a mark display unit that displays a mark calling attention to the obstacle superimposed on a display area in the vehicle interior; and The mark display unit superimposes a predetermined group mark to draw attention to the plurality of obstacles when the number of the obstacles is equal to or greater than a predetermined value, and also displays the group mark when at least a portion of the plurality of obstacles overlaps as seen by the driver even when the number of the obstacles is less than the predetermined value.

2. The vehicle display device according to claim 1 , wherein the mark display unit displays the group mark when boundaries between the obstacles cannot be recognized even when the number of the obstacles is less than a predetermined value.

3. 3. The vehicle display device according to claim 1, wherein the mark display unit displays a predetermined individual mark for each of the obstacles walking or running toward the vehicle when a condition for displaying the group mark is satisfied, to call attention to the individual obstacle.

4. The vehicle display device according to any one of claims 1 to 3, a display unit provided in a vehicle interior and including the display area where the group mark is displayed by the mark display unit; A vehicle display system having:

5. By a computer, Obtain information about multiple obstacles around the vehicle, A display method for a vehicle, comprising: displaying a mark in a display area inside the vehicle cabin that calls attention to the obstacle; and, if the number of the obstacles is equal to or greater than a predetermined value, displaying a predetermined group mark in the display area that calls attention to the plurality of obstacles; and, even if the number of the obstacles is less than the predetermined value, displaying the group mark in the display area if at least a portion of the plurality of obstacles overlaps as seen by the driver.

6. Obtain information about multiple obstacles around the vehicle, an individual mark calling attention to the obstacle is displayed in a display area inside the vehicle cabin, and when the number of the obstacles is equal to or greater than a predetermined value, a predetermined group mark calling attention to the plurality of obstacles is displayed in the display area, and even when the number of the obstacles is less than the predetermined value, when at least a portion of the plurality of obstacles overlaps as seen from the driver, the group mark is displayed in the display area. A program that causes a computer to perform a process.

Images