Vehicle display device, display method, and program

Abstract

To provide a vehicle display device, a display method, and a program that can intuitively convey the danger of lane deviation to passengers.SOLUTION: A vehicle display device 10 displays a predetermined image on the projection surface of a head-up display device 44 that shows the foreground of a vehicle 12. The vehicle display device 10 recognizes a travel lane in which the vehicle 12 travels and a position of the vehicle relative to the travel lane, and thereby determines whether the vehicle 12 is likely to deviate from the travel lane. When it is determined that there is a possibility of deviating from the travel lane, the vehicle display device 10 displays an image of a three-dimensional object located along the travel lane in a display area. This allows the vehicle display device to give a visual effect to an occupant that the vehicle is stepping on a three-dimensional object, thereby intuitively communicating the danger of lane deviation.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] Patent Document 1 listed below discloses a vehicle display device (head-up display device) that displays a warning image indicating the direction in which the vehicle will deviate when there is a possibility that the vehicle will deviate from the lane in which it is traveling. This vehicle display device displays planar images of a pair of boundary lines that indicate the boundaries of the traveling lane on the road. The images of the pair of boundary lines highlight the image of the boundary line on the departure direction side by utilizing differences in color, brightness, thickness, etc., thereby clearly indicating the direction in which the vehicle will deviate. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2018-140646 Summary of the Invention [Problem to be solved by the invention]

[0004] By the way, there are some methods to warn drivers about lane departure. Concave Shape groove are set up in a strip shape This creates an uneven surface. Rumble strips are known to be used in roads that have been damaged by rumble. uneven surface This is considered effective in preventing lane departure accidents because the vibrations and sounds generated when the vehicle travels on the lane make the driver intuitively aware of the risk of lane departure. Therefore, it is desirable for a vehicle display device that warns of lane departure to also make the driver intuitively aware of the risk of lane departure. However, simply indicating the direction of departure using a planar image showing the lane boundary lines, as in Patent Document 1, makes it difficult to make the driver intuitively aware of the risk of lane departure.

[0005] The present disclosure has been made in consideration of the above points, and aims to provide a vehicle display device, display method, and program that can intuitively notify occupants of the risk of lane departure. [Means for solving the problem]

[0006] A vehicle display device according to a first aspect of the present disclosure is a vehicle display device that displays a predetermined image in a display area showing the view in front of the vehicle, and includes: a lane recognition unit that recognizes the lane in which the vehicle is traveling; a vehicle position recognition unit that recognizes the position of the vehicle relative to the lane in which the vehicle is traveling; a lane departure judgment unit that determines whether or not the vehicle is likely to deviate from the lane in which the vehicle is traveling based on the recognized lane in which the vehicle is traveling and the position of the vehicle; and a display instruction unit that, when it is determined that the vehicle is likely to deviate from the lane in which the vehicle is traveling, displays an image of a three-dimensional object positioned along the lane in the display area.

[0007] According to a first aspect, a vehicle display device displays a predetermined image in a display area showing the view in front of the vehicle. The vehicle display device recognizes the lane in which the vehicle is traveling and the vehicle's position relative to the lane, and determines whether or not the vehicle is likely to deviate from the lane based on this. If the vehicle display device determines that there is a possibility of the vehicle deviating from the lane, it displays an image of a three-dimensional object positioned along the lane in the display area. This allows the vehicle display device to give the occupant the visual effect of the vehicle running over the three-dimensional object, thereby intuitively conveying the risk of lane departure.

[0008] In a vehicle display device according to a second aspect of the present disclosure, in the configuration described in the first aspect, the lane departure judgment unit judges that there is a possibility that the vehicle will deviate from the driving lane when the distance between the vehicle and a boundary line in the road width direction of the driving lane becomes equal to or less than a predetermined threshold.

[0009] According to the vehicle display device of the second aspect, when the vehicle approaches a boundary line in the road width direction of the driving lane, it is determined that there is a possibility that the vehicle will deviate from the driving lane and an image of a three-dimensional object is displayed in the display area. This makes it possible to make the occupants aware of the risk of lane departure when the vehicle is in a driving state where there is a high possibility that the vehicle will deviate from the driving lane.

[0010] A vehicle display device according to a third aspect of the present disclosure has the configuration described in the first aspect, and further includes a traveling direction recognition unit that recognizes the traveling direction of the vehicle, and the lane departure judgment unit judges that there is a possibility that the vehicle will deviate from the traveling lane when the angle formed between the vehicle and a boundary line in the road width direction of the traveling lane becomes equal to or greater than a predetermined threshold.

[0011] According to the vehicle display device of the third aspect, when the angle between the vehicle and a boundary line in the road width direction of the driving lane becomes equal to or greater than a predetermined threshold, it is determined that there is a possibility that the vehicle will deviate from the driving lane, and an image of a three-dimensional object is displayed in the display area. This makes it possible to make the occupants aware of the risk of lane departure while traveling on a route where there is a high possibility that the vehicle will deviate from the driving lane, such as when the vehicle enters a driving lane with a sharp curve.

[0012] A vehicle display device according to a fourth aspect of the present disclosure has a configuration described in any one of the first to third aspects, wherein the display instruction unit displays an image of the three-dimensional object in the display area before the vehicle departs from the driving lane.

[0013] According to the fourth aspect, an image of a three-dimensional object can be displayed in the display area before the vehicle departs from the driving lane, making the driver aware of the risk of lane departure, thereby effectively preventing lane departure accidents caused by the vehicle.

[0014] A vehicle display device according to a fifth aspect of the present disclosure has a configuration described in any one of the first to fourth aspects, wherein the display instruction unit displays an image of the three-dimensional object in the display area so that the image moves from the back side of the display area to the front side along the driving lane.

[0015] Vehicle display device according to a fifth aspect to According to this, the image of the three-dimensional object is displayed as if it is moving along the driving lane from the back to the front of the display area, so the occupant can feel a sense of realism as if the three-dimensional object placed on the driving route is approaching the vehicle. As a result, the vehicle display device can more effectively give the occupant the visual effect of the vehicle running over the three-dimensional object.

[0016] A vehicle display device according to a sixth aspect of the present disclosure has a configuration described in any one of the first to fifth aspects, wherein the display instruction unit displays an image of the three-dimensional object in the display area in a vibrating manner.

[0017] Vehicle display device according to a sixth aspect to According to this, since an image of a vibrating three-dimensional object is displayed in the display area, the occupant can feel a sense of realism as if the vehicle is vibrating when stepping on the three-dimensional object. As a result, the vehicle display device can more effectively give the occupant the visual effect of the vehicle stepping on the three-dimensional object.

[0018] A vehicle display device according to a seventh aspect of the present disclosure has the configuration described in the sixth aspect, and the display instruction unit changes at least one of the vibration period and amplitude of the image of the three-dimensional object depending on the distance between the vehicle and a boundary line in the road width direction of the driving lane, and displays the image in the display area.

[0019] According to the seventh aspect, the vibration period or amplitude of the image of the three-dimensional object can be changed depending on the distance between the vehicle and the boundary line in the road width direction of the driving lane, so the intensity of the visual effect given to the occupant can be adjusted depending on the possibility of lane departure. For example, by shortening the vibration period or increasing the amplitude of the image of the three-dimensional object as the distance between the vehicle and the boundary line of the driving lane becomes closer, the visual effect given to the occupant that the vehicle feels as if it has run over the three-dimensional object can be enhanced. This allows the vehicular display device to allow the occupant to intuitively recognize the degree of risk of lane departure.

[0020] A vehicle display device according to an eighth aspect of the present disclosure is configured as described in any one of the first to seventh aspects, wherein the display area is a projection surface projected by a head-up display device in front of the vehicle from the driver's seat, and the display instruction unit displays an image of the three-dimensional object in the display area along the driving lane in front of the vehicle that is visible through the display area.

[0021] According to an eighth aspect, a display area showing the view ahead of the vehicle is a projection surface projected by a head-up display device in front of the driver's seat. The image of the three-dimensional portion is displayed along the driving lane visible through the display area. In this way, the vehicle display device displays the three-dimensional object so as to blend with the view ahead from the driver's seat, allowing the occupant in the driver's seat to recognize the risk of lane departure without significantly moving their line of sight.

[0022] A display method according to a ninth aspect of the present disclosure is a display method for displaying a predetermined image in a display area showing the view in front of a vehicle, which recognizes the lane in which the vehicle is traveling, recognizes the position of the vehicle relative to the lane, and determines whether or not the vehicle is likely to deviate from the lane based on the recognized lane and the position of the vehicle, and if it is determined that the vehicle is likely to deviate from the lane, displays an image of a three-dimensional object positioned along the lane in the display area.

[0023] According to the display method of the ninth aspect, as described above, it is possible to intuitively notify the occupant of the risk of lane departure.

[0024] A program according to a tenth aspect of the present disclosure is a program for displaying a predetermined image in a display area showing the view in front of the vehicle, and causes a computer to recognize the lane in which the vehicle is traveling, recognize the position of the vehicle relative to the lane, determine whether or not the vehicle is likely to deviate from the lane based on the recognized lane and the position of the vehicle, and, if it is determined that the vehicle is likely to deviate from the lane, display an image of a three-dimensional object positioned along the lane in the display area.

[0025] According to the program of the tenth aspect, as described above, it is possible to intuitively notify the occupant of the risk of lane departure. [Effects of the Invention]

[0026] According to the present disclosure, it is possible to intuitively inform occupants of the risk of lane departure. [Brief explanation of the drawings]

[0027] [Figure 1] 1 is a schematic diagram of a front part of a vehicle interior of a vehicle to which a vehicle display device according to an embodiment of the present invention 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 of the present invention; [Figure 3] 1 is a block diagram showing a functional configuration of a vehicle display device according to an embodiment of the present invention; [Figure 4] This is a plan view showing a vehicle in motion, where (A) shows the distance between the vehicle and the boundary line of the lane in the road width direction, and (B) shows the angle between the boundary line of the lane and the vehicle's direction of travel. [Figure 5] 10A and 10B are diagrams illustrating a display example of a display area according to the present embodiment. [Figure 6] 10 is a flowchart showing an example of the flow of a display process in the present embodiment. [Figure 7] FIG. 10 is a diagram showing an example of a method for displaying an image of a single three-dimensional object in a display area. [Figure 8] 10A and 10B are diagrams illustrating an example of a method for displaying images of a plurality of three-dimensional objects in a display area. [Figure 9] 9 is a partial enlarged view showing an example of a display method for an image of a three-dimensional object displayed in an area P shown in FIG. 8. FIG. [Figure 10] FIG. 10 is a schematic diagram showing a vehicle display device according to a modified example of the present embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0028] A vehicle 12 to which a vehicle display device 10 according to the embodiment is applied will be described with reference to the drawings. The vehicle 12 according to the embodiment is configured to be switchable between automatic driving and manual driving, as an example. Automatic driving is a driving mode of the vehicle in which some or all of the operations of the accelerator, brake, turn signal, steering, etc. are performed automatically. Manual driving is a driving mode of the vehicle in which the driver performs all driving operations (operations of the accelerator, brake, turn signal, steering, etc.). As shown in FIG. 1, an instrument panel 14 is provided at the front of the cabin of the vehicle 12.

[0029] 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.

[0030] A windshield glass 18 is provided at the front end of the instrument panel 14. The windshield glass 18 is located on the vehicle front side of the driver's seat, extends in the vertical and lateral directions of the vehicle, and separates the interior and exterior of the vehicle compartment.

[0031] 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).

[0032] Here, the instrument panel 14 is provided with a first display unit 24 having a display area for a predetermined image. The first display unit 24 is configured as a meter display provided in front of the driver's seat on the right side of the instrument panel 14 as viewed in the vehicle width direction. The meter display constitutes part of a meter display device (not shown) that is connected to various meter devices mounted on the vehicle 12. The first display unit 24 is provided in a position that is within the field of view of the driver when the driver is looking forward toward the vehicle.

[0033] The instrument panel 14 is provided with a second display unit 25 having a display area for a predetermined image. The second display unit 25 is configured as a display provided in the center of the instrument panel 14 in the vehicle width direction, on the vehicle front side of the driver's seat.

[0034] The windshield glass 18 is provided with a third display unit 26 having a display area for a predetermined image. The third display unit 26 is set above the vehicle relative to 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 further forward in the vehicle than the instrument panel 14, and an image is projected from this 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 the windshield glass 18 that serves as the projection surface for the head-up display device 44.

[0035] (Hardware configuration of the vehicle display device 10) The vehicle 12 is provided with an ECU (Electronic Control Unit) 28 as a control unit. Fig. 2 is a block diagram showing the hardware configuration of the vehicle display device 10. As shown in Fig. 2, the ECU 28 of the vehicle display device 10 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 38, and an input / output interface 40. Each component is connected to each other via a bus 42 so as to be able to communicate with each other.

[0036] 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 controls each of the above components and performs various arithmetic processing in accordance with the programs recorded in the ROM 32 or storage 36.

[0037] 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 with an HDD (Hard Disk Drive) or an SSD (Solid State Drive) and stores various programs including an operating system and various data. In this embodiment, the ROM 32 or the storage 36 stores programs for performing display processing, various data, and the like.

[0038] The communication interface 38 is an interface for the vehicle display device 10 to communicate with a server and other devices (not shown), and uses standards such as Ethernet (registered trademark), LTE, FDDI, and Wi-Fi (registered trademark).

[0039] A head-up display device 44 that projects predetermined images on the first display unit 24, the second display unit 25, and the third display unit 26, and an actuator 46 are connected to the input / output interface 40. The actuator 46 is configured to include a steering actuator, an accelerator actuator, and a brake actuator. The steering actuator steers the vehicle 12. The accelerator actuator accelerates the vehicle 12. The brake actuator controls the brakes to decelerate the vehicle 12. The input / output interface 40 is also connected to a camera (not shown) that captures images of the periphery of the vehicle 12, sensors for causing the vehicle 12 to travel automatically, a GPS device, and the like.

[0040] (Functional configuration of the vehicle display device 10) The above hardware resources are used to realize various functions of the vehicle display device 10. The functional configuration realized by the vehicle display device 10 will be described with reference to FIG.

[0041] 3, the vehicular display device 10 includes, as functional components, a communication unit 50, an acquisition unit 51, an operation plan setting unit 52, an automatic driving control unit 54, a lane recognition unit 56, a vehicle position recognition unit 58, a lane departure determination unit 60, an image generation unit 62, and a display instruction unit 64. Each functional component is realized by the CPU 30 reading and executing a program stored in the ROM 32 or the storage 36.

[0042] The communication unit 50 transmits and receives data to and from an external server and other devices via the communication interface 38. For example, the communication unit 50 transmits and receives map data stored in a server, traffic conditions, and other data. The communication unit 50 may also be configured to perform vehicle-to-vehicle communication with surrounding vehicles.

[0043] The acquisition unit 51 acquires surrounding information about the driving environment of the vehicle 12 from an external sensor (not shown) via the input / output interface 40. The external sensor includes at least one of a camera that captures an image of a predetermined range around the vehicle 12, a millimeter-wave radar that transmits a search wave within the predetermined range, and a lidar (Light Detection and Ranging / Laser Imaging Detection and Ranging) that scans the predetermined range. In addition, the "surrounding information" includes, for example, the width of the lane 70 (see FIGS. 4, 5, etc.) in which the vehicle 12 is traveling, other vehicles traveling near the vehicle 12, obstacles, etc.

[0044] The operation plan setting unit 52 sets an operation plan for the vehicle 12. Specifically, the destination is input by the occupant, and an operation plan from the current location to the destination is set.

[0045] The automatic driving control unit 54 controls switching between manual driving and automatic driving of the vehicle 12. Furthermore, when the driving mode of the vehicle 12 is switched to automatic driving, the automatic driving control unit 54 causes the vehicle 12 to automatically drive in accordance with a set operation plan while taking into consideration the position information and environmental information around the vehicle 12. Specifically, the automatic driving control unit 54 controls the actuator 46 to cause the vehicle 12 to travel automatically.

[0046] The lane recognition unit 56 has a function of recognizing the lane in which the vehicle is traveling. Specifically, the lane recognition unit 56 recognizes the lane by analyzing white lines painted on the road surface based on an image captured by a camera capturing an image ahead of the vehicle 12. Recognizing the lane includes recognizing the shape of the lane and the width of the lane. The lane recognition unit 56 may also recognize the lane in which the vehicle 12 is traveling based on vehicle position information acquired by a GPS device and high-precision map information.

[0047] The vehicle position recognition unit 58 has a function of recognizing the position of the vehicle relative to the driving lane. Specifically, the vehicle position recognition unit 58 estimates the position of the vehicle 12 relative to the driving lane based on an image captured by a camera that captures an image ahead of the vehicle 12. Estimating the position of the vehicle 12 includes estimating the position of the vehicle 12 relative to a boundary line (e.g., a white line) in the road width direction of the driving lane, and estimating the traveling direction of the vehicle 12. Note that the vehicle position recognition unit 58 may recognize the position and traveling direction of the vehicle 12 relative to the driving lane based on vehicle position information acquired by a GPS device and high-precision map information.

[0048] The lane departure determination unit 60 determines whether or not there is a possibility that the vehicle will deviate from the driving lane, based on the driving lane and the vehicle position recognized by the lane recognition unit 56 and the vehicle position recognition unit 58. Specifically, as shown in FIG. 4(A), when a distance D1 between the vehicle 12 and a boundary line in the road width direction of the driving lane 70 is equal to or less than a predetermined threshold, the lane departure determination unit 60 determines that there is a possibility that the vehicle 12 will deviate from the driving lane 70. FIG. 4(A) shows the distance D1 between the vehicle 12 and a white line L1 indicating the boundary line on the left side in the road width direction of the driving lane 70. Note that while FIG. 4(A) only illustrates the distance D1 between the vehicle 12 and the white line L1 on the left side of the vehicle 12, the lane departure determination unit 60 can similarly determine this based on the distance between the vehicle 12 and a white line L2 on the right side of the vehicle 12.

[0049] 4(B), the lane departure determination unit 60 may determine that there is a possibility that the vehicle 12 will deviate from the driving lane 70 when the angle θ1 formed between a boundary line in the road width direction of the driving lane 70 and the traveling direction of the vehicle is equal to or greater than a predetermined threshold. In FIG. 4(B), the traveling direction of the vehicle 12 (the direction of the center line of the vehicle) is indicated by a straight line C, and a tangent direction of a white line L1 located on the left side in the road width direction with respect to a reference position O of the vehicle 12 is indicated by a straight line T. The reference position O of the vehicle 12 is, for example, the center position of the vehicle 12. In the present embodiment, as an example, the angle θ1 formed by the straight line C and the straight line T is set to the angle θ1 formed between the boundary line in the road width direction of the driving lane 70 and the traveling direction of the vehicle.

[0050] The angle θ1 between the boundary line in the road width direction of the travel lane 70 and the traveling direction of the vehicle increases as the difference between the tangent direction of the white line L1 and the traveling direction of the vehicle 12 increases. Therefore, for example, when the vehicle 12 approaches a sharp curve in the travel lane, the angle θ1 may be set to be equal to or greater than a predetermined threshold value, and it may be determined that the vehicle 12 is likely to deviate from the travel lane 70.

[0051] Note that Figure 4(B) only shows the angle θ1 between the tangent direction of the white line L1 on the left side of the vehicle 12 and the traveling direction of the vehicle 12, but the lane departure judgment unit 60 can make a similar judgment based on the angle between the tangent direction of the white line L2 on the right side of the vehicle 12 and the traveling direction of the vehicle 12.

[0052] The image generation unit 62 generates an image to be displayed on the third display unit 26, which is the projection screen of the head-up display device 44. The images generated by the image generation unit 62 include, for example, a meter display M (see FIG. 5) that indicates the traveling speed of the vehicle 12, and various images intended to assist manual driving and automatic driving.

[0053] Particularly in this embodiment, when the lane departure determination unit 60 determines that there is a possibility that the vehicle 12 will depart from the driving lane, the image generation unit 62 displays a stereoscopic image B (see FIG. 7) in the display area of ​​the third display unit 26. The stereoscopic image B is, for example, an image of a block-shaped three-dimensional object. As shown in FIG. 8, in this embodiment, a plurality of stereoscopic images B are displayed on the third display unit 26 along the driving lane 70. A method for displaying the stereoscopic image B will be described in detail later.

[0054] The display instruction unit 64 has a function of displaying the image generated by the image generation unit 62 in the display area of ​​the third display unit 26, and a function of deleting the image displayed on the third display unit 26.

[0055] The display instruction unit 64 displays various images in the display area of ​​the third display unit 26 so as to blend in with the foreground of the vehicle 12 as viewed by the occupant in the driver's seat through the third display unit 26 (windshield glass 18), for example. Fig. 5 shows an example of the third display unit 26 as seen by the occupant in the driver's seat. In this figure, the display area of ​​the third display unit 26 displays the meter display M in a position that avoids overlapping with the white lines L1, L2 on the road, taking into consideration the visibility of the occupant in the driver's seat.

[0056] Furthermore, particularly in this embodiment, when the lane departure determination unit 60 determines that there is a possibility that the vehicle 12 will depart from the driving lane, the display instruction unit 64 displays the stereoscopic image B in the display area along the driving lane 70 in front of the vehicle 12 as viewed through the third display unit 26 (windshield glass 18). Therefore, when the stereoscopic image B is displayed on the third display unit 26, it is possible to provide the occupant in the driver's seat who views the third display unit 26 with the visual effect that a block-shaped three-dimensional object is placed near the driving lane 70.

[0057] Furthermore, the display instruction unit 64 deletes the stereoscopic image B from the third display unit 26 when the lane departure judgment unit 60 judges that there is a possibility that the vehicle 12 will deviate from the driving lane, and then judges that there is no possibility that the vehicle will deviate from the driving lane.

[0058] (action) Next, the operation of this embodiment will be described.

[0059] (Display processing) An example of a display process for displaying a stereoscopic image B 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 the storage 36, expanding it in the RAM 34, and executing it.

[0060] 6, the CPU 30 determines whether the vehicle 12 is moving in step S100. If the CPU 30 determines that the vehicle 12 is moving, the process proceeds to step S101. If the CPU 30 determines that the vehicle 12 is not moving in step S100, the CPU 30 ends the display process.

[0061] In step S101, the CPU 30 recognizes the driving lane 70 in which the vehicle 12 is traveling, based on the function of the lane recognition unit 56.

[0062] In step S102, the CPU 30 recognizes the position of the vehicle 12 relative to the driving lane 70 based on the function of the vehicle position recognition unit 58.

[0063] In step S103, the CPU 30 determines, based on the function of the lane departure determination unit 60, whether or not there is a possibility that the vehicle 12 will deviate from the driving lane 70. Specifically, as shown in FIG. 4(A), when the distance D1 between the vehicle 12 and the boundary lines (white lines L1, L2) in the road width direction of the driving lane 70 is equal to or less than a predetermined threshold, it determines that there is a possibility that the vehicle 12 will deviate from the driving lane 70. As an example, the threshold value of the distance D1 is set to a distance at which the vehicle 12 will not cross the white lines L1, L2 of the driving lane 70. This makes it possible to warn the occupants of the risk of lane departure before the vehicle 12 deviates from the driving lane 70 in a step described below.

[0064] 4(B), when the angle θ1 formed between the boundary line (white lines L1, L2) in the travel lane 70 in the road width direction and the traveling direction of the vehicle 12 is equal to or greater than a predetermined threshold, the CPU 30 determines that there is a possibility that the vehicle 12 will deviate from the travel lane 70. Therefore, for example, when the vehicle 12 travels straight on a travel lane 70 that makes a sharp curve, the angle θ1 becomes equal to or greater than a predetermined threshold, and it is determined that there is a possibility that the vehicle 12 will deviate from the travel lane 70.

[0065] If the CPU 30 determines in step S103 that there is a possibility that the vehicle 12 will deviate from the driving lane 70, the process proceeds to step S104. On the other hand, if the CPU 30 determines that there is no possibility that the vehicle 12 will deviate from the driving lane 70, the process proceeds to step S105.

[0066] In step S104, based on the functions of the image generation unit 62 and the display instruction unit 64, the CPU 30 displays a block-shaped three-dimensional image B in the display area of ​​the third display unit 26 before the vehicle 12 departs from the driving lane 70. This three-dimensional image B is displayed along the driving lane 70 ahead of the vehicle as viewed through the third display unit 26, and therefore can give the occupant in the driver's seat the visual effect that a block-shaped three-dimensional object is placed near the driving lane 70.

[0067] In particular, in this embodiment, a stereoscopic image B is displayed along the boundary line on the driving lane 70 on the side in the direction of lane departure of the vehicle 12. This allows the occupant in the driver's seat to recognize the direction of lane departure without shifting their line of sight from the view in front of the vehicle.

[0068] Here, with reference to FIGS. 7 to 9, examples of display on the third display unit 26 when it is determined that there is a possibility that the vehicle 12 will deviate to the left of the driving lane 70 will be described.

[0069] As shown in Fig. 7, a block-shaped three-dimensional image B is displayed in the display area of ​​the third display unit 26 so as to blend in with the driving lane 70 in the foreground of the vehicle 12. The three-dimensional image B flows from the back to the front of the display area along the white line L1 on the left side of the road width direction. The three-dimensional image B is also enlarged as it moves from the back to the front of the display area. This provides the occupant in the driver's seat with the visual effect that the traveling vehicle 12 is running over an approaching three-dimensional object.

[0070] In this embodiment, as shown in Fig. 8, a plurality of stereoscopic images B moving in the above-described manner are displayed in the display area of ​​the third display unit 26. The plurality of stereoscopic images B each move in a flowing manner from the back side to the front side of the display area, stop moving at the front side of the display area, and are then displayed in a line along the driving lane 70. This allows the occupant in the driver's seat to be informed of the presence of rumble strips along the white line L1 on the departure direction (left direction) of the vehicle 12. Uneven surfaces such as It is possible to give a visual effect as if a

[0071] As shown enlarged in Fig. 9, the stereoscopic image B, which has stopped moving in front of the display area, is displayed so as to vibrate in the vertical direction. This provides a sense of realism to the occupant in the driver's seat who is viewing the third display unit 26, as if the vehicle 12 were vibrating as if it were stepping on a three-dimensional object. At least one of the vibration period and amplitude may be changed depending on the distance D1 between the white lines L1, L2 and the vehicle 12, or the angle θ1 (see Fig. 4) between the white lines L1, L2 and the traveling direction of the vehicle 12. For example, the visual effect provided to the occupant can be enhanced by decreasing the vibration period or increasing the amplitude as the distance D1 between the white lines L1, L2 and the vehicle 12 decreases.

[0072] Although an example in which the stereoscopic image B is vibrated in the vertical direction has been described in FIG. 9, the present invention is not limited to this, and the image may be vibrated in the horizontal direction or in an oblique direction.

[0073] As described above, the vehicular display device 10 according to this embodiment recognizes the lane in which the vehicle 12 is traveling and the position of the vehicle 12 relative to the lane, and determines whether or not there is a possibility that the vehicle 12 will deviate from the lane based on this. Furthermore, when it determines that there is a possibility that the vehicle 12 will deviate from the lane, the vehicular display device 10 displays a stereoscopic image B arranged along the lane in the display area. This allows the vehicular display device 10 to give the occupant a visual effect that makes it appear as if the vehicle 12 is running over a three-dimensional object, thereby intuitively conveying the risk of lane departure.

[0074] 4(A), when the vehicle 12 approaches the white lines L1, L2 that indicate the boundary lines in the road width direction of the driving lane 70, the vehicular display device 10 according to this embodiment determines that there is a possibility that the vehicle 12 will deviate from the driving lane 70. This allows the occupants to be made aware of the risk of lane deviation when the vehicle 12 is in a driving state where there is a high possibility that the vehicle 12 will deviate from the driving lane.

[0075] 4(B), when the angle θ1 formed between the vehicle 12 and the white lines L1, L2 indicating the boundary lines in the road width direction in the driving lane 70 is equal to or greater than a predetermined threshold, the vehicular display device 10 according to this embodiment determines that there is a possibility that the vehicle 12 will deviate from the driving lane 70. This makes it possible to make the occupants aware of the risk of lane deviation while the vehicle 12 is traveling on a route where there is a high possibility that the vehicle 12 will deviate from the driving lane, such as when the vehicle 12 proceeds into a driving lane with a sharp curve.

[0076] Furthermore, in this embodiment, before the vehicle 12 departs from the driving lane 70, the stereoscopic image B is displayed in the display area of ​​the third display unit 26 to make the occupants aware of the danger. This makes it possible to effectively prevent lane departure accidents caused by the vehicle 12.

[0077] In addition, in this embodiment, the stereoscopic image B is displayed as if it is moving from the back to the front of the display area along the driving lane 70 (white lines L1, L2), so the occupant can feel a sense of realism as if a three-dimensional object placed on the driving route is approaching the vehicle. This allows the vehicular display device 10 to more effectively give the occupant a visual effect that makes it seem as if the vehicle 12 is running over a three-dimensional object.

[0078] In addition, in this embodiment, the vibrating stereoscopic image B is displayed in the display area, so the occupant can feel a sense of presence as if the vehicle is vibrating as it steps on a three-dimensional object. This allows the vehicular display device 10 to more effectively give the occupant a visual effect of the vehicle 12 stepping on a three-dimensional object.

[0079] Furthermore, in this embodiment, the vibration period or amplitude of the stereoscopic image B can be changed according to the distance D1 between the white lines L1, L2 of the driving lane 70 and the vehicle 12, or the angle θ1 between the white lines L1, L2 and the traveling direction of the vehicle 12. This makes it possible to adjust the intensity of the visual effect provided to the occupant according to the possibility of lane departure. For example, by shortening the vibration period of the stereoscopic image B or increasing the amplitude as the distance D1 between the white lines L1, L2 of the driving lane 70 and the vehicle 12 decreases, the visual effect given to the occupant that the vehicle 12 feels as if it has stepped on a three-dimensional object can be enhanced. This allows the vehicular display device 10 to allow the occupant to intuitively recognize the degree of risk of lane departure.

[0080] In this embodiment, the display area of ​​the third display unit 26, which shows the view in front of the vehicle, is the projection surface of a head-up display device 44 provided in front of the driver's seat. The three-dimensional image B is displayed along the driving lane 70 that can be seen through the display area. In this way, the vehicular display device 10 displays a three-dimensional object so as to blend with the view in front of the vehicle from the driver's seat, allowing the occupant in the driver's seat to recognize the risk of lane departure without having to significantly move their line of sight from the view in front of the vehicle.

[0081] [supplementary explanation] In the above embodiment, the display area showing the view ahead of the vehicle is configured on the projection surface of the head-up display device 44. However, the present invention is not limited to this. As in a vehicle display device 100 according to a modified example shown in FIG. 10 , a stereoscopic image B may be displayed in the display area of ​​the second display unit 25, which is a display provided on the instrument panel 14. The second display unit 25 shown in FIG. 10 displays a map image N showing the current location of the vehicle 12 in the lower part of the display area, and a foreground image F showing the view ahead of the vehicle in the upper part of the display area. The foreground image F may be, for example, an image acquired from a camera (not shown) capturing an image ahead of the vehicle 12, or an animated foreground image. The stereoscopic image B is displayed along the lane 70 of the vehicle 12, which is included in the foreground image F. This allows a passenger viewing the second display unit 25 to visually experience the sensation of the vehicle 12 stepping over a three-dimensional object, regardless of their seating position.

[0082] Similarly, the three-dimensional image B may be displayed in the display area of ​​the first display unit 24, which is a meter display provided in front of the driver's seat in the instrument panel 14. Because the first display unit 24 is provided in front of the driver's seat, the occupant in the driver's seat can view the first display unit 24 without having to move their eyes from the foreground of the vehicle, which enhances the visual effect of the vehicle 12 running over a three-dimensional object.

[0083] Furthermore, in the above embodiment, a configuration in which a plurality of stereoscopic images B are displayed in the display area has been described, but the present invention is not limited to this. A configuration in which a single stereoscopic image B is displayed in the display area is also possible. Furthermore, the stereoscopic image B is not limited to a block shape and can be changed to various shapes. For example, it may be a wall-shaped stereoscopic image erected from the boundary line in the road width direction of the travel lane 70.

[0084] In the above embodiment, the three-dimensional image B is displayed in a vibrating manner with its movement stopped at the front side of the display area, but the three-dimensional image displayed at the back side of the display area may also be displayed in a vibrating manner as it moves towards the front.

[0085] In the above embodiment, the stereoscopic image B is displayed along the boundary line (white line L1 in FIG. 7) on the vehicle's departure direction side of the driving lane 70, but the present invention is not limited to this. When it is determined that the vehicle 12 may depart from the driving lane 70, the stereoscopic image B may be displayed along the boundary lines on both sides of the driving lane 70 in the road width direction.

[0086] In the above embodiment, the display processing and lane change display processing executed by the CPU through software (programs) may be executed by various processors other than the CPU. Examples of such processors include programmable logic devices (PLDs) such as field-programmable gate arrays (FPGAs), whose circuit configuration can be changed after manufacture, and dedicated electrical circuits such as application-specific integrated circuits (ASICs), which are processors with circuit configurations specifically designed to execute specific processes. The display processing and lane change display processing may be executed by one of these various processors, or by a combination of two or more processors of the same or different types (e.g., multiple FPGAs, or a combination of a CPU and an FPGA). The hardware structure of these various processors is, more specifically, an electrical circuit that combines circuit elements such as semiconductor devices. In addition, in the above-described embodiments, the programs for the display processing and lane change display processing are described as being pre-stored (installed) in ROM or storage, but the present invention is not limited to this. The programs may be provided in a form recorded on a recording medium such as a CD-ROM (Compact Disk Read Only Memory), a DVD-ROM (Digital Versatile Disk Read Only Memory), or a USB (Universal Serial Bus) memory. The programs may also be downloaded from an external device via a network. [Explanation of symbols]

[0087] 10 Vehicle display device 12 vehicles 14 Instrument panel 24 First display section (display area) 25 Second display section (display area) 26 Third display section (display area, projection surface) 44 Head-up display device 56 Lane recognition unit 58 Vehicle position recognition unit 60 Lane departure judgment unit 64 Display instruction section 70 driving lanes L1, L2 Lane boundary line in the road width direction B. Stereoscopic images (images of three-dimensional objects)

Claims

1. A vehicle display device that displays a predetermined image in a display area showing a view in front of the vehicle, a lane recognition unit that recognizes the lane in which the vehicle is traveling; a vehicle position recognition unit that recognizes the position of the vehicle relative to the driving lane; a lane departure determination unit that determines whether or not there is a possibility that the vehicle will deviate from the traveling lane based on the recognized traveling lane and the vehicle position; a display instruction unit that, when it is determined that there is a possibility that the vehicle will deviate from the driving lane, displays in the display area a plurality of images of block-shaped three-dimensional objects arranged at intervals along the driving lane at positions that avoid overlapping with the white lines of the driving lane; A vehicle display device comprising:

2. 2. The vehicle display device according to claim 1, wherein the lane departure determination unit determines that there is a possibility that the vehicle will deviate from the driving lane when a distance between the vehicle and a boundary line in a road width direction of the driving lane becomes equal to or less than a predetermined threshold.

3. 2. The vehicle display device according to claim 1, wherein the lane departure determination unit determines that there is a possibility that the vehicle will deviate from the driving lane when an angle formed between a boundary line in a road width direction of the driving lane and the vehicle's traveling direction is equal to or greater than a predetermined threshold.

4. The vehicle display device according to claim 1 , wherein the display instruction unit causes the image of the three-dimensional object to be displayed in the display area before the vehicle departs from a driving lane.

5. The vehicle display device according to claim 1 , wherein the display instruction unit displays the image of the three-dimensional object in the display area so as to move along the driving lane from a rear side to a front side of the display area.

6. The vehicle display device according to claim 1 , wherein the display instruction unit displays the image of the three-dimensional object in the display area in a vibrating manner.

7. The display instruction unit changes at least one of a vibration period and an amplitude of the image of the three-dimensional object in accordance with a distance between a boundary line in a road width direction of a driving lane and a vehicle, and displays the image in the display area. The vehicle display device according to claim 6, wherein the display device displays an image.

8. the display area is a projection surface projected by a head-up display device in front of the driver's seat, The vehicle display device according to claim 1 , wherein the display instruction unit causes the image of the three-dimensional object to be displayed in the display area along a driving lane in a foreground of the vehicle that is visible through the display area.

9. A display method in which a computer executes a process to display a predetermined image in a display area showing a view in front of a vehicle, The computer Recognizes the lane in which the vehicle is traveling, Recognizes the vehicle's position relative to the lane, Determine whether or not the vehicle is likely to deviate from its lane based on the recognized lane and the vehicle's position; This display method executes a process of displaying, in the display area, a plurality of images of block-shaped three-dimensional objects arranged at intervals along the driving lane, in positions that avoid overlapping with the white lines of the driving lane, when it is determined that the vehicle may deviate from the driving lane.

10. A program for displaying a predetermined image in a display area showing a view in front of a vehicle, comprising: On the computer, Recognizes the lane in which the vehicle is traveling, Recognizes the vehicle's position relative to the lane, Determine whether or not the vehicle is likely to deviate from its lane based on the recognized lane and the vehicle's position; This program executes a process of displaying, in the display area, a plurality of images of block-shaped three-dimensional objects arranged at intervals along the driving lane, in positions that avoid overlapping with the white lines of the driving lane, when it is determined that there is a possibility that the vehicle will deviate from the driving lane.

Images