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

Abstract

To ensure that a driver can understand a reason why attention is not being drawn by being able to know whether or not predetermined conditions that call an alert when a vehicle is approaching a demarcation line.SOLUTION: A vehicle display control device includes: a detection unit for detecting a demarcation line in a target lane on which a vehicle is driven; and a control unit for displaying a demarcation line image representing the demarcation line by changing a display mode between a case in which predetermined conditions to alert a user when the vehicle is approaching the demarcation line is met and a case in which the predetermined conditions are not met.SELECTED DRAWING: Figure 3

Description

Technical Field

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

Background Art

[0002] Patent Document 1 discloses a lane change support device. This lane change support device is configured to be capable of executing lane change support control for controlling the steering angle of the vehicle so as to support lane change of the vehicle, and includes an operation unit, a display unit, and a control unit that controls an image displayed on the display unit. When the operation duration becomes equal to or longer than a first duration threshold time, the control unit displays a first image on the display unit. Further, when the operation duration becomes equal to or longer than a second duration threshold time that is longer than the first duration threshold time, the control unit switches the first image to a second image.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the lane change support device described in Patent Document 1, it is impossible to grasp whether or not a predetermined condition for alerting attention when the vehicle approaches a lane line is satisfied. Therefore, when attention is not alerted, there is a problem that it is impossible to grasp whether the reason is that the predetermined condition is not satisfied or that the vehicle is not approaching the lane line.

[0005] The present disclosure has been made in consideration of the above facts, and an object thereof is to provide a vehicle display control device, a vehicle display control method, and a vehicle display control program that can grasp the reason why attention is not alerted by grasping whether or not a predetermined condition is satisfied.

Means for Solving the Problems

[0006] A vehicle display control device according to the first embodiment includes a detection unit that detects lane markings in a target lane on which a vehicle is traveling, and a control unit that changes the display mode depending on whether predetermined conditions for alerting the vehicle when it is approaching the lane markings are met or not, and displays a lane marking image representing the lane markings.

[0007] In the vehicle display control device according to the first embodiment, the detection unit detects lane markings in the target lane on which the vehicle is traveling, and the control unit changes the display mode to display a lane marking image representing the lane markings depending on whether predetermined conditions for alerting the vehicle when it is approaching the lane markings are met or not. According to the vehicle display control device according to the first embodiment, by being able to determine whether or not predetermined conditions are met, it is possible to determine the reason why an alert is not issued.

[0008] In the vehicle display control device according to the second embodiment, the control unit displays the lane line image with emphasis compared to when the predetermined conditions are not met, when the predetermined conditions are met.

[0009] In the second embodiment of the vehicle display control device, the vehicle can be made to take care not to approach the lane markings.

[0010] A vehicle display control device according to the third embodiment further comprises an acquisition unit for acquiring the speed of the vehicle, in addition to the vehicle display control device according to the first or second embodiment, and the control unit changes the display mode to display the lane marking image depending on whether the speed of the vehicle is above a predetermined speed or below the predetermined speed.

[0011] In the third embodiment of the vehicle display control device, a warning is issued when the vehicle's speed is above a predetermined speed and the vehicle is approaching a lane marking, thereby protecting the safety of pedestrians.

[0012] The fourth embodiment of the vehicle display control device is a vehicle display control device according to any one of the first to third embodiments, wherein the control unit displays the warning image to alert when the predetermined conditions are met and the vehicle is approaching the lane markings.

[0013] In the fourth embodiment of the vehicle display control device, it is possible to intuitively recognize that caution is required because the vehicle is approaching a lane marking.

[0014] A vehicle display control device according to the fifth embodiment further comprises an acquisition unit for acquiring the distance between the vehicle and the lane markings, and the control unit displays the alert image in a display mode changed according to the distance between the vehicle and the lane markings.

[0015] The vehicle display control device according to the fifth embodiment can recognize the degree of distance between the vehicle and the lane markings.

[0016] The vehicle display control method according to the sixth embodiment involves a computer performing a process to detect lane markings in a target lane on which a vehicle is traveling, and to change the display mode to display a lane marking image representing the lane markings depending on whether predetermined conditions for alerting the vehicle when it is approaching the lane markings are met or not.

[0017] According to the vehicle display control method of the sixth embodiment, it is possible to determine whether or not predetermined conditions are met, thereby making it possible to understand the reason why attention is not being drawn.

[0018] The vehicle display control program according to the seventh embodiment causes a computer to perform a process that detects lane markings in the target lane on which the vehicle is traveling, and changes the display mode to display a lane marking image representing the lane markings depending on whether predetermined conditions for alerting the vehicle when it is approaching the lane markings are met or not.

[0019] According to the vehicle display control program according to the seventh aspect, by being able to grasp whether or not a predetermined condition is satisfied, it is possible to grasp the reason why attention is not called.

Effect of the Invention

[0020] According to the present disclosure, by being able to grasp whether or not a predetermined condition is satisfied, it is possible to grasp the reason why attention is not called.

Brief Description of the Drawings

[0021] [Figure 1] It is a block diagram showing an example of the hardware configuration of a vehicle according to an embodiment. [Figure 2] It is a block diagram showing an example of the configuration of the ROM in the display control device according to the embodiment. [Figure 3] It is a block diagram showing an example of the functional configuration of the CPU in the display control device according to the embodiment. [Figure 4] It is a schematic diagram for explaining an example of the distance between a vehicle according to an embodiment and a dividing line. [Figure 5] It is a flowchart showing an example of the flow of vehicle display control processing according to the embodiment. [Figure 6] It is a schematic diagram showing an example of a solid line screen according to the embodiment. [Figure 7] It is a schematic diagram showing an example of a dotted line screen according to the embodiment. [Figure 8] It is a schematic diagram showing an example of an emphasized display screen according to the embodiment. [Figure 9] It is a schematic diagram showing an example of a normal display screen according to the embodiment.

Mode for Carrying Out the Invention

[0022] Hereinafter, the vehicle 12 according to the present embodiment will be described using the drawings.

[0023] As shown in Figure 1, the vehicle 12 is equipped with a display control device 20, an ECU (Electronic Control Unit) 22, a monitor 32, and a camera 36, ​​all of which are vehicle display control devices.

[0024] Examples of ECU22 include the engine ECU that controls engine output, the body ECU that controls various parts of the body, and the ADAS-ECU that provides overall control of ADAS (Advanced driver-assistance systems).

[0025] For example, the engine ECU acquires information such as the vehicle's speed and engine RPM in order to control the engine.

[0026] The display control device 20 is comprised of a CPU (Central Processing Unit) 20A, ROM (Read Only Memory) 20B, RAM (Random Access Memory) 20C, an in-vehicle communication interface (I / F) 20E, and an input / output interface (I / F) 20F. The CPU 20A, ROM 20B, RAM 20C, in-vehicle communication interface 20E, and input / output interface 20F are interconnected via an internal bus 20G to enable communication with each other. The CPU 20A is an example of a processor.

[0027] The CPU20A is the central processing unit, which executes various programs and controls various components. Specifically, the CPU20A reads programs from the ROM20B and executes them using the RAM20C as its working area.

[0028] ROM20B stores various programs and data. As shown in Figure 2, in this embodiment, ROM20B stores the processing program 100. The processing program 100 may also be stored in storage such as an HDD (Hard Disk Drive) or SSD (Solid State Drive).

[0029] The processing program 100, which functions as a vehicle display control program, is a program for performing the vehicle display control processing described later.

[0030] Returning to Figure 1, RAM20C temporarily stores programs or data as a working area.

[0031] The in-vehicle communication interface (I / F20E) is an interface for connecting to the ECU22. This interface uses the CAN (Controller Area Network) protocol for communication. The in-vehicle communication interface (I / F20E) is connected to the ECU22 via the external bus (20H).

[0032] The input / output interface 20F is an interface for communicating with the monitor 32 and the camera 36. The camera 36 may also be connected to the display control device 20 via an ECU 22 such as an ADAS-ECU.

[0033] Monitor 32 is a liquid crystal monitor installed on the meter panel or instrument panel, etc.

[0034] Camera 36 is an imaging device having an optical axis oriented in the direction of travel of the vehicle 12. Camera 36 may be installed inside the vehicle 12 or outside the vehicle 12.

[0035] As shown in Figure 3, in the display control device 20 according to this embodiment, the CPU 20A functions as a detection unit 200, an acquisition unit 210, and a control unit 220 by executing the processing program 100.

[0036] The detection unit 200 has the function of detecting lane markings W in the target lane on which the vehicle 12 is traveling. In this embodiment, the detection unit 200 detects lane markings W by utilizing the difference in brightness in the image data (hereinafter simply referred to as "image data") of the scenery in front of the vehicle 12 captured by the camera 36. Generally, since roads are paved with asphalt, the road is displayed in the image data in a relatively low brightness color (for example, black). On the other hand, since lane markings W are drawn on the road with a higher brightness than the road, the lane markings W are displayed in the image data in a relatively high brightness color (for example, white or yellow).

[0037] Specifically, the detection unit 200 scans the entire image data of one frame in the left-right direction at predetermined intervals and determines for each pixel whether the contrast, which is a change in brightness, is greater than a predetermined threshold. The detection unit 200 then extracts the pixels in the image data of that frame where the contrast is greater than the predetermined threshold as edge points. The detection unit 200 then detects the boundary lines W by connecting all the extracted edge points with lines.

[0038] The method by which the detection unit 200 detects the demarcation line W is not limited to the method described above. For example, the detection unit 200 may detect the demarcation line W by extracting pixel portions in the image data where the brightness is above a predetermined threshold and connecting these pixel portions with lines.

[0039] Furthermore, the detection unit 200 detects whether or not the operation of the vehicle 12 has ended. Specifically, the detection unit 200 detects whether or not the operation of the vehicle 12 has ended via a sensor that detects the rotation state of the ignition key.

[0040] The acquisition unit 210 has the function of acquiring the speed of the vehicle 12. Specifically, the acquisition unit 210 acquires the speed of the vehicle 12 from the engine ECU.

[0041] Furthermore, the acquisition unit 210 has a function to acquire the distance between the vehicle 12 and the lane marking W. As shown in Figure 4, in this embodiment, the acquisition unit 210 performs image processing on the image data to acquire the distance between the center point P of the front end of the vehicle 12 and the intersection point Q where the lane marking W intersects with a parallel line L that extends from the center point P and is parallel to the direction of travel of the vehicle 12. However, it is not limited to this example. For example, the acquisition unit 210 may acquire the distance between the vehicle 12 and the lane marking W as the shorter of the distance between the center point P and the point closest to the center point P among the lane marking WL that is to the left in the direction of travel of the vehicle 12, and the distance between the center point P and the point closest to the center point P among the lane marking WR that is to the right in the direction of travel of the vehicle 12.

[0042] The control unit 220 has a function to change the display mode and display a lane line image D representing the lane line W depending on whether predetermined conditions for alerting the vehicle 12 when it is approaching the lane line W are met or not.

[0043] In this embodiment, a predetermined condition is applied in which the speed of the vehicle 12 is equal to or greater than a predetermined speed. In other words, the control unit 220 has a function to change the display mode and display the lane marking image D depending on whether the speed of the vehicle 12 is equal to or greater than a predetermined speed or whether the speed of the vehicle 12 is less than a predetermined speed. In this embodiment, the predetermined speed is a speed predetermined by the driver of the vehicle 12 or the manufacturer of the vehicle 12 (for example, 40 km / h). However, this is not the only example. For example, the control unit 220 may change the display mode and display the lane marking image D depending on whether it detects a pedestrian walking on a sidewalk adjacent to the target lane from the image data or whether it does not detect such a pedestrian.

[0044] Furthermore, in this embodiment, the control unit 220 has a function to display the lane line image D with emphasis when predetermined conditions are met, compared to when the predetermined conditions are not met. Specifically, the control unit 220 displays the lane line image D as a solid line on the monitor 32 when the predetermined conditions are met, and displays the lane line image D as a dotted line on the monitor 32 when the predetermined conditions are not met.

[0045] However, this is not the only example. For example, the control unit 220 may, when certain conditions are met, display the lane marking image D on the monitor 32 in a color that is further away from the background color compared to when the conditions are not met. For example, if white is used as the background color to indicate the color of the road, the control unit 220 may display the lane marking image D in black when certain conditions are met, and in gray when certain conditions are not met. Alternatively, when the lane marking image D is displayed in white, the control unit 220 may use black as the background color to indicate the color of the road when certain conditions are met, and in gray when certain conditions are not met.

[0046] Furthermore, the control unit 220 may display the lane line image D on the monitor 32 in a darker color or larger size compared to when the predetermined conditions are not met, if the predetermined conditions are met. In addition, the control unit 220 may display the lane line image D on the monitor 32 with greater emphasis compared to when the predetermined conditions are met, if the predetermined conditions are not met.

[0047] Furthermore, the control unit 220 displays a warning image H to alert the vehicle when predetermined conditions are met and the vehicle 12 is approaching the lane marking W. Specifically, the control unit 220 displays the warning image H on the monitor 32 when predetermined conditions are met and the distance between the vehicle 12 and the lane marking W is less than or equal to the approach distance. In this embodiment, the approach distance is a distance predetermined by the driver of the vehicle 12 or the manufacturer of the vehicle 12, etc. However, it is not limited to this example. The approach distance may be a distance predetermined for each type of vehicle 12, with the distance being smaller the wider the vehicle 12, etc.

[0048] The control unit 220 may also provide a warning in a manner other than displaying the warning image H when the predetermined conditions are met and the vehicle 12 is approaching the lane marking W. For example, the control unit 220 may provide a warning by voice via a speaker when the predetermined conditions are met and the vehicle 12 is approaching the lane marking W.

[0049] In this embodiment, the control unit 220 has a function to change the display mode of the warning image H according to the distance between the vehicle 12 and the lane marking W. In this embodiment, the control unit 220 emphasizes the display of the warning image H as the distance between the vehicle 12 and the lane marking W decreases. Specifically, when the distance between the vehicle 12 and the lane marking W is less than or equal to the warning distance, the control unit 220 displays the warning image H larger than when the distance between the vehicle 12 and the lane marking W is greater than the warning distance. The warning distance is a distance smaller than the approach distance. In this embodiment, the warning distance is a distance predetermined by the driver of the vehicle 12 or the manufacturer of the vehicle 12, etc. However, it is not limited to this example. The warning distance may be a distance predetermined for each type of vehicle 12, where the distance decreases as the width of the vehicle 12 increases, etc.

[0050] For example, the control unit 220 may display the warning image H in a darker color as the distance between the vehicle 12 and the lane marking W decreases, or it may display it in a color that is further away from the background color. Also, the warning image H may be emphasized as the distance between the vehicle 12 and the lane marking W increases.

[0051] (Control flow) The flow of the vehicle display control processing performed in the display control device 20 according to this embodiment will be explained with reference to Figure 5. The vehicle display control processing is realized by the CPU 20A functioning as a detection unit 200, an acquisition unit 210, and a control unit 220. The vehicle display control processing corresponds to the processing performed by the CPU 20A as a computer according to the vehicle display control method according to this embodiment.

[0052] In step S100 of Figure 5, the CPU 20A detects the lane markings W in the target lane on which the vehicle 12 is traveling. Specifically, the CPU 20A detects the lane markings W by utilizing the difference in brightness in the image data.

[0053] In step S101, the CPU 20A obtains the speed of the vehicle 12. Specifically, the CPU 20A obtains the speed of the vehicle 12 from the engine ECU.

[0054] In step S102, the CPU 20A determines whether the speed of the vehicle 12 is equal to or greater than a predetermined speed. If the speed of the vehicle 12 is equal to or greater than the predetermined speed (step S102: YES), the CPU 20A proceeds to step S103. On the other hand, if the speed of the vehicle 12 is less than the predetermined speed (step S102: NO), the CPU 20A proceeds to step S104.

[0055] In step S103, the CPU 20A displays a solid line screen on the monitor 32 according to a predetermined format. Then, the process proceeds to step S105.

[0056] As shown in Figure 6, the solid line screen displays the lane line image D, which is shown as a solid line, and the vehicle image C, which represents vehicle 12.

[0057] In step S104, the CPU 20A displays a dotted line screen on the monitor 32 according to a predetermined format. Then, the process proceeds to step S110.

[0058] As shown in Figure 7, the dotted line screen displays the lane line image D, which is represented by a dotted line, and the vehicle image C.

[0059] In step S105, the CPU 20A obtains the distance between the vehicle 12 and the lane marking W. Specifically, the CPU 20A performs image processing on the image data to obtain the distance between the center point P and the intersection point Q of the front end of the vehicle 12.

[0060] In step S106, the CPU 20A determines whether the vehicle 12 is approaching the lane marking W. Specifically, the CPU 20A determines whether the distance between the vehicle 12 and the lane marking W is less than or equal to the approach distance. If the vehicle 12 is approaching the lane marking W (step S106: YES), the CPU 20A proceeds to step S107. On the other hand, if the vehicle 12 is not approaching the lane marking W (step S106: NO), the CPU 20A proceeds to step S110.

[0061] In step S107, the CPU 20A determines whether the distance between the vehicle 12 and the lane marking W is less than or equal to the warning distance. If the distance between the vehicle 12 and the lane marking W is less than or equal to the warning distance (step S107: YES), the CPU 20A proceeds to step S108. On the other hand, if the distance between the vehicle 12 and the lane marking W is greater than the warning distance (step S107: NO), the CPU 20A proceeds to step S109.

[0062] In step S108, the CPU 20A displays a highlighting screen on the monitor 32 according to a predetermined format. Then, the process proceeds to step S110.

[0063] As shown in Figure 8, the highlighting screen displays a solid lane marking image D, a semicircular warning image H, and a vehicle image C. The warning image H is displayed adjacent to the lane marking image D on the side that vehicle 12 is approaching. Specifically, if vehicle 12 is approaching the lane marking WL on the left side in the direction of travel, the warning image H is displayed adjacent to the left lane marking image D. On the other hand, if vehicle 12 is approaching the lane marking WR on the right side in the direction of travel, the warning image H is displayed adjacent to the right lane marking image D. In addition, the vehicle image C is displayed at a position away from the center in the width direction of the target lane, proportional to the distance between vehicle 12 and lane marking W.

[0064] In step S109, the CPU 20A displays a normal display screen on the monitor 32 according to a predetermined format. Then, the process proceeds to step S110.

[0065] As shown in Figure 9, the normal display screen shows a lane marking image D displayed as a solid line, a warning image H, and a vehicle image C. Similar to the highlighting screen, the warning image H displayed on the normal display screen is displayed adjacent to the lane marking image D on the side where vehicle 12 is approaching. Also, the warning image H displayed on the normal display screen is smaller than the warning image H displayed on the highlighting screen. Furthermore, the vehicle image C displayed on the normal display screen is displayed closer to the center position in the width direction of the target lane compared to the vehicle image C displayed on the highlighting screen.

[0066] The shape of the alert image H does not have to be semicircular. For example, the alert image H may be rectangular, circular, or a series of star-shaped or round shapes. Also, in the examples shown in Figures 8 and 9, the alert image H is filled with the same color regardless of its distance from the boundary line image D. However, this is not the only example. For example, the alert image H may be lighter in color as it moves away from the boundary line image D, or it may be darker as it moves away from the boundary line image D. Also, the alert image H does not have to be filled with color.

[0067] In step S110, the CPU 20A determines whether the operation of the vehicle 12 has ended. Specifically, the CPU 20A determines whether the operation of the vehicle 12 has ended via a sensor that detects the rotation state of the ignition key. If the operation of the vehicle 12 has ended (step S110: YES), the CPU 20A terminates the vehicle display control processing. On the other hand, if the operation of the vehicle 12 has not ended (step S110: NO), the CPU 20A returns to step S100.

[0068] [Summary of Embodiments] As described above, the display control device 20 according to this embodiment makes it possible to determine whether or not predetermined conditions are met, thereby making it possible to understand the reason why attention is not being drawn.

[0069] Furthermore, in the control unit 220 according to this embodiment, when predetermined conditions are met, the lane line image D is displayed with greater emphasis compared to when the predetermined conditions are not met. This helps to ensure that the vehicle does not approach the lane line W.

[0070] Furthermore, the acquisition unit 210 according to this embodiment acquires the speed of the vehicle 12. In addition, the control unit 220 according to this embodiment changes the display mode and displays the lane marking image D depending on whether the speed of the vehicle 12 is above a predetermined speed or below a predetermined speed. As a result, if the speed of the vehicle 12 is above a predetermined speed and the vehicle 12 is approaching the lane marking W, a warning is issued, thereby protecting the safety of pedestrians.

[0071] Furthermore, in this embodiment, the control unit 220 displays a warning image H when predetermined conditions are met and the vehicle 12 is approaching the lane marking W. This allows the user to intuitively recognize that caution is required because the vehicle 12 is approaching the lane marking W.

[0072] Furthermore, the acquisition unit 210 according to this embodiment acquires the distance between the vehicle 12 and the lane marking W. In addition, the control unit 220 according to this embodiment displays the alert image H in a display mode that is changed according to the distance between the vehicle 12 and the lane marking W. This makes it possible to recognize the degree of the distance between the vehicle 12 and the lane marking W.

[0073] [remarks] The display control device 20 according to the above embodiment was built into the vehicle 12. However, it is not limited to this example. For example, the display control device 20 may be installed outside the vehicle 12.

[0074] Furthermore, in the above embodiment, the CPU 20A displayed the lane marking image D and the warning image H on the monitor 32 provided in the vehicle 12. However, the system is not limited to this example. For example, the CPU 20A may display the lane marking image D and the warning image H on a display terminal such as a smartphone located outside the vehicle 12.

[0075] Furthermore, in the above embodiment, the size of the alert image H was in two stages. However, this is not the only example. The size of the alert image H may be in three or more stages.

[0076] In addition, the various processes that the CPU 20A reads and executes in the above embodiment may be executed by various processors other than the CPU. Examples of such processors include PLDs (Programmable Logic Devices) such as FPGAs (Field-Programmable Gate Arrays) whose circuit configuration can be changed after manufacturing, and dedicated electrical circuits that are processors with circuit configurations specifically designed to execute specific processes, such as ASICs (Application Specific Integrated Circuits). Furthermore, the above processes may be executed by one of these various processors, or by a combination of two or more processors of the same or different types (for example, multiple FPGAs, and a combination of a CPU and an FPGA). More specifically, the hardware structure of these various processors is an electrical circuit that combines circuit elements such as semiconductor elements.

[0077] Furthermore, in the above embodiment, each program was described as being pre-stored (installed) on a computer-readable non-temporary recording medium. For example, the processing program 100 in the display control device 20 is pre-stored in ROM 20B. However, the program is not limited to this, and each program may be provided in a form recorded on a non-temporary recording medium such as a CD-ROM (Compact Disc Read Only Memory), DVD-ROM (Digital Versatile Disc Read Only Memory), or USB (Universal Serial Bus) memory. Alternatively, the program may be downloaded from an external device via a network.

[0078] The processing flow described in the above embodiment is just one example, and unnecessary steps may be deleted, new steps added, or the processing order rearranged, as long as it does not deviate from the main purpose. [Explanation of Symbols]

[0079] 12 vehicles 20 Display control device (Vehicle display control device) 100 Processing Program (Vehicle Display Control Program) 200 Detection unit 210 Acquisition Department 220 Control Unit W lane markings D. Pavement line image H Arousing Image

Claims

1. A detection unit that detects lane markings in the target lane in which the vehicle is traveling, An acquisition unit that acquires the speed of the aforementioned vehicle, The system includes a control unit that alerts the user when a predetermined condition is met, which includes at least one of the following: the vehicle's speed is above a predetermined value, or a moving object is detected moving on a sidewalk adjacent to the target lane, and the vehicle is approaching the lane marking. The control unit is characterized in that it changes the display mode depending on whether the predetermined conditions are met or not, and displays a lane line image representing the lane line.

2. The vehicle display control device according to claim 1, wherein the control unit displays the lane line image with emphasis compared to when the predetermined conditions are not met, when the predetermined conditions are met.

3. The vehicle display control device according to claim 1, wherein the control unit displays the warning image to alert when the predetermined conditions are met and the vehicle is approaching the lane markings.

4. The acquisition unit acquires the distance between the vehicle and the lane marking, The vehicle display control device according to claim 3, wherein the control unit displays the warning image in a display mode that is changed according to the distance between the vehicle and the lane markings.

5. The system detects lane markings in the target lane where the vehicle is traveling, The speed of the aforementioned vehicle is obtained, A vehicle display control method comprising a computer that performs a process to alert the user when a predetermined condition is met, which includes at least one of the following: the vehicle's speed is above a predetermined value, or a moving object is detected moving on a sidewalk adjacent to the target lane, and the vehicle is approaching the lane marking, The aforementioned warning process includes a vehicle display control method that changes the display mode depending on whether the predetermined conditions are met or not, and displays a lane line image representing the lane line.

6. The system detects lane markings in the target lane where the vehicle is traveling, The speed of the aforementioned vehicle is obtained, A vehicle display control program that causes a computer to execute a process to alert the user when a predetermined condition is met, which includes at least one of the following: the vehicle's speed is above a predetermined value, or a moving object is detected moving on a sidewalk adjacent to the target lane, and the vehicle is approaching the lane marking, The aforementioned warning process includes a vehicle display control program that changes the display mode depending on whether the predetermined conditions are met or not, and displays a lane line image representing the lane line.

Images