In-vehicle display device, method, and program

Abstract

To prevent an occupant from feeling annoyed about a display.SOLUTION: A meter display (MET) 58 and a head-up display (HUD) 56 are provided in a cabin of an own vehicle so as to be capable of being viewed by an occupant. An acquisition section acquires information on surrounding targets present around the own vehicle. In images of the surrounding targets on which the information has been acquired by the acquisition section, a control section causes a lane in which the own vehicle is traveling to be displayed on the MET 58, together with an image showing the own vehicle. When the own vehicle is traveling on a curve, the control section causes the lane to be displayed while being bent on the HUD 56. On the MET 58, the control section causes the lane to be displayed as a straight line around the image showing the own vehicle and to be displayed while being bent in front of the image showing the own vehicle.SELECTED DRAWING: Figure 6

Description

Technical Field

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

Background Art

[0002] Patent Document 1 describes a technique of superimposing an image imitating another vehicle recognized as an object on an image imitating the road on which the host vehicle exists and displaying the image on a display unit, and emphasizing and displaying an image imitating a vehicle that affects the behavior of the host vehicle.

Prior Art Document

Patent Document

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Patent Document 1 does not describe the display when the road on which the host vehicle is traveling is curved. In order for the passenger to recognize that the image displayed on the display unit is an image imitating the actual scene, when the road on which the host vehicle is traveling is curved, it is preferable to display the lane to be displayed on the display unit bent in accordance with the road. However, when displaying an image showing the host vehicle on the display unit, although it is less uncomfortable for the passenger to display the image showing the host vehicle in a state facing the front (up) (straight-ahead state), bending only the lane in that state may give the passenger a sense of discomfort.

[0005] The present disclosure has been made in consideration of the above facts, and an object is to obtain an in-vehicle display device, an in-vehicle display method, and an in-vehicle display program that can suppress giving a sense of discomfort to a passenger when bending a lane in a display unit that displays an image showing the host vehicle.

Means for Solving the Problems

[0006] The in-vehicle display device according to the first embodiment includes: a first display unit provided inside the vehicle's cabin and visible to the occupants; a second display unit provided inside the vehicle's cabin and visible to the occupants; an acquisition unit for acquiring information about surrounding objects present around the vehicle; and a control unit that, from the images of surrounding objects whose information has been acquired by the acquisition unit, displays the lane in which the vehicle is traveling along the first display unit together with an image of the vehicle, and when the vehicle is traveling on a curve, displays the lane as curved in the second display unit, displays it as a straight line around the image of the vehicle in the first display unit, and displays it as curved in front of the image of the vehicle. In-vehicle display devices including...

[0007] In the first embodiment, when the vehicle is traveling on a curve, the lane in which the vehicle is traveling, which is displayed along with an image of the vehicle, is curved in the second display unit, and in the first display unit The area around the image representing the vehicle is displayed as a straight line, while the front of the image representing the vehicle is curved. This makes it possible to minimize the feeling of discomfort to the occupants, even when the image representing the vehicle is displayed in a straight line, when the lane lines are curved in the display unit that shows the image representing the vehicle.

[0008] In a second embodiment, in the first embodiment, the first display unit is the meter display of the vehicle, and the second display unit is the head-up display of the vehicle.

[0009] According to the second embodiment, when the occupants of the vehicle look outward, they can see a display on the second display unit (HUD: Head-Up Display) in which images of surrounding targets other than the first preceding vehicle are suppressed. Therefore, it is possible to quickly recognize information about surrounding targets while reducing inconvenience.

[0010] A third embodiment is the first or second embodiment wherein the first display unit has a larger display area than the second display unit, and the second display unit has a display area below the foreground when an occupant of the vehicle is looking outwards.

[0011] According to the third embodiment, the size of the display areas of the first display unit and the second display unit can be effectively utilized to allow the occupant to recognize information regarding surrounding targets.

[0012] The in-vehicle display method according to the fourth embodiment involves acquiring information about surrounding landmarks present around the vehicle, displaying the lane in which the vehicle is traveling along with an image of the vehicle on a first display unit located inside the vehicle's cabin and visible to the occupants, and, when the vehicle is traveling on a curve, displaying the lane curved on a second display unit located inside the vehicle's cabin and visible to the occupants, and on the first display unit, displaying the lane as a straight line around the image of the vehicle and curved in front of the image of the vehicle, with the computer performing the following processing.

[0013] According to the fourth embodiment, similar to the first embodiment, when the display unit that displays an image of the vehicle displays curved lane lines, it is possible to suppress causing discomfort to the occupants.

[0014] The in-vehicle display program according to the fifth embodiment causes the computer to acquire information about surrounding objects present around the vehicle, and to display the lane in which the vehicle is traveling, along with an image of the vehicle, on a first display unit located inside the vehicle's cabin and visible to the occupants, from among the images of the surrounding objects from which the information has been acquired. Furthermore, if the vehicle is traveling on a curve, the lane is displayed curved on a second display unit located inside the vehicle's cabin and visible to the occupants, and on the first display unit, it is displayed as a straight line around the image of the vehicle, and curved on the front side of the image of the vehicle.

[0015] According to the fifth aspect, similar to the first aspect, in the display unit that displays an image showing the host vehicle, when the lane is displayed in a curved manner, it is possible to suppress giving a sense of discomfort to the occupant.

Effect of the Invention

[0016] The present disclosure has an effect that, in the display unit that displays an image showing the host vehicle, when the lane is displayed in a curved manner, it is possible to suppress giving a sense of discomfort to the occupant.

Brief Description of the Drawings

[0017] [Figure 1] It is a block diagram showing a schematic configuration of an in-vehicle system according to an embodiment. [Figure 2] It is a functional block diagram of a display control ECU. [Figure 3] It is an image diagram showing an example of a display range of a HUD. [Figure 4] It is a flowchart showing a display control process. [Figure 5A] It is an image diagram showing an example of a first-person one-lane display image displayed on a HUD. [Figure 5B] It is an image diagram showing an example of a third-person multi-lane display image displayed on a MET. [Figure 6] It is an image diagram showing an example of a display on a HUD and a MET according to an embodiment. [Figure 7] It is an image diagram showing an example of a display on a HUD and a MET according to an embodiment. <00-00088> [Figure 8] It is an image diagram showing an example of a display on a HUD and a MET according to an embodiment. [Figure 9] It is an image diagram showing an example of a display on a HUD and a MET according to an embodiment. [Figure 10] It is an image diagram showing an example of a display on a HUD and a MET according to a comparative example. [Figure 11] It is an image diagram showing an example of a display on a HUD and a MET according to a comparative example. [Modes for carrying out the invention]

[0018] Hereinafter, an example of an embodiment of this disclosure will be described in detail with reference to the drawings. The in-vehicle system 10 shown in Figure 1 is equipped with a communication bus 12, to which a group of surrounding situation acquisition devices 14, a group of vehicle driving state detection sensors 26, an automatic driving ECU (Electronic Control Unit) 34, and a display control ECU 42 are connected. Note that Figure 1 shows only a part of the in-vehicle system 10. In the following, the vehicle on which the in-vehicle system 10 is installed will be referred to as "the vehicle."

[0019] The surrounding environment acquisition device group 14 includes a GPS (Global Positioning System) device 16, an in-vehicle communication device 18, a navigation system 20, a radar device 22, and a camera 24, as devices that acquire information indicating the conditions of the surrounding environment of the vehicle.

[0020] The GPS device 16 determines the position of its own vehicle by receiving GPS signals from multiple GPS satellites. The accuracy of positioning improves as the number of receivable GPS signals increases. The in-vehicle communication device 18 is a communication device that performs at least one of vehicle-to-vehicle communication with other vehicles and vehicle-to-infrastructure communication with roadside units. The navigation system 20 includes a map information storage unit 20A that stores map information, and performs processing such as displaying the position of its own vehicle on a map and guiding the vehicle to a destination based on the position information obtained from the GPS device 16 and the map information stored in the map information storage unit 20A.

[0021] The radar system 22 includes multiple radar systems with different detection ranges, and detects objects such as pedestrians and other vehicles in the vicinity of the vehicle as point cloud information, and acquires the relative position and relative speed of the detected objects and the vehicle. The radar system 22 also incorporates a processing unit that processes the detection results of surrounding objects. Based on the relative position and relative speed changes of individual objects included in the most recent multiple detection results, this processing unit excludes noise and roadside objects such as guardrails from the monitoring target, and tracks and monitors specific objects such as pedestrians and other vehicles as surrounding targets. The radar system 22 then outputs information such as the relative position and relative speed of each surrounding target. The camera 24 captures images of the area around the vehicle with multiple cameras and outputs the captured images.

[0022] Furthermore, the vehicle driving state detection sensor group 26 includes, as multiple sensors for acquiring the vehicle's driving state, a steering angle sensor 28 for detecting the vehicle's steering angle, a vehicle speed sensor 30 for detecting the vehicle's driving speed, and an acceleration sensor 32 for detecting the acceleration applied to the vehicle.

[0023] The autonomous driving ECU 34 is connected to a throttle ACT (Actuator) 36, which changes the throttle opening of the vehicle, and a brake ACT 38, which changes the braking force generated by the vehicle's braking system. The autonomous driving ECU 34 is also connected to a steering ACT 40, which changes the amount of steering by the vehicle's steering system.

[0024] The autonomous driving ECU 34 includes a CPU (Central Processing Unit), memory such as ROM (Read Only Memory) and RAM (Random Access Memory), non-volatile storage such as an HDD (Hard Disk Drive) and SSD (Solid State Drive), and a communication I / F (Interface). The memory stores the autonomous driving software. When the autonomous driving mode is selected, the autonomous driving ECU 34 performs autonomous driving processing, which allows the vehicle to move automatically without driver input from the vehicle's occupants, by having the CPU execute the autonomous driving software. The autonomous driving processing involves determining the situation of the vehicle and its surroundings based on information obtained from the surrounding situation acquisition device group 14 and the vehicle driving state detection sensor group 26, and controlling the throttle ACT 36, brake ACT 38, and steering ACT 40.

[0025] More specifically, the autonomous driving ECU 34 acquires information about surrounding objects and other objects present around the vehicle from the surrounding situation acquisition device group 14, including the radar device 22. Based on the information acquired regarding the vehicle and its surroundings, it determines whether or not an event has occurred during the vehicle's operation. Examples of such events include lane merging, lane changes, passing through intersections, and a preceding vehicle cutting in. The presence or absence of an event and its type are output to the display control ECU 42 as surrounding situation information.

[0026] Furthermore, the autonomous driving ECU 34 evaluates the importance of each surrounding object present around its own vehicle, based on the relative position and relative speed of the surrounding objects represented by information acquired from the radar device 22 and the like, to determine the magnitude of the impact that the presence of each surrounding object has on autonomous driving. For example, if there are no events, the autonomous driving ECU 34 sets the importance of each surrounding object so that the importance of the surrounding object increases as the distance between the vehicle and the surrounding object decreases. Also, if there is a first preceding vehicle traveling ahead in the lane in which the vehicle is traveling, the importance of the first preceding vehicle is set to the maximum.

[0027] Furthermore, for example, if a second preceding vehicle traveling in a lane other than the one the vehicle is currently traveling in changes lanes into the lane the vehicle is currently traveling in, the automated driving ECU 34 sets the importance of the second preceding vehicle higher than the importance of other surrounding objects. In addition, for other objects, the importance of the surrounding objects is set so that their importance increases as the distance between the vehicle and the surrounding objects decreases.

[0028] Furthermore, for example, if an event occurs in which the vehicle changes lanes from the first lane it is currently traveling in to a second lane other than the first lane, the autonomous driving ECU 34 evaluates the importance of the first preceding vehicle traveling in the first lane and the second preceding vehicle traveling in the second lane as higher than the importance of other surrounding objects. In addition, for other objects, the importance is set so that the importance of the surrounding objects increases as the distance between the vehicle and the surrounding objects decreases. Information representing the importance of each individual surrounding object is output to the display control ECU 42 as surrounding object information, along with information representing the relative position and relative speed of each individual surrounding object.

[0029] In this embodiment, the level of autonomous driving performed by the autonomous driving ECU 34 is Level 2 or Level 3. In Level 2 or Level 3 autonomous driving, the occupants are required to monitor the autonomous driving performed by the autonomous driving ECU 34 and intervene as necessary, for example, in case of deviation from the controllable range, or improper operation due to false detection, failure, or malfunction of sensors.

[0030] The display control ECU 42 includes a CPU 44, memory 46 such as ROM or RAM, a non-volatile storage unit 48 such as an HDD or SSD, and a communication interface 50. The CPU 44, memory 46, storage unit 48, and communication interface 50 are interconnected via an internal bus 52 to enable communication with each other. The storage unit 48 stores a display control program 54. The display control ECU 42 functions as an acquisition unit 53 and a control unit 55 as shown in Figure 2, when the display control program 54 is read from the storage unit 48 and loaded into memory 46, and then executed by the CPU 44, performing the display control processing described later. The display control program 54 is an example of an in-vehicle display program.

[0031] The display control ECU 42 is connected to a head-up display (hereinafter referred to as HUD) 56 and a meter display 58 (hereinafter referred to as MET). In this embodiment, the HUD 56 is a small HUD that displays a portion of the forward field of view of the vehicle's occupants through reflection from the windshield glass, etc. (forming an image in the lower foreground), as indicated by the reference numeral 60 in Figure 3. The MET 58 is a display provided on the instrument panel of the vehicle. The display control ECU 42 controls the display of information on the HUD 56 and the MET 58. Preferably, the display area of ​​the MET 58 is larger than the display area of ​​the HUD 56.

[0032] More specifically, the acquisition unit 53 acquires information about surrounding objects present around the vehicle. The control unit 55 suppresses the display on the HUD 56 of images of surrounding objects other than the first preceding vehicle traveling ahead in the lane in which the vehicle is currently traveling, from among the images of surrounding objects whose information has been acquired by the acquisition unit 53. Note that MET 58 is an example of a first display unit, and HUD 56 is an example of a second display unit.

[0033] Next, the operation of this embodiment will be explained. The display control ECU 42 performs the display control processing shown in Figure 4 while the vehicle's ignition is on. In step 100 of the display control processing, the acquisition unit 53 acquires lane information recognized by the automatic driving ECU 34 from the automatic driving ECU 34. The lane information includes information about the vehicle's own lane (such as whether it is a straight or curved lane) and information about adjacent lanes to the left and right of the vehicle's own lane (such as whether there are adjacent lanes). The control unit 55 then generates a first-person single-lane image, as an example shown in Figure 5A, as an image including road width lines 62 that simulate lane boundaries, based on the lane information acquired by the acquisition unit 53 from the automatic driving ECU 34, and displays the generated first-person single-lane image on the HUD 56.

[0034] The first-person single-lane image is an image that closely resembles what an occupant sees looking forward through the vehicle's windshield, and the lanes adjacent to the occupant's lane are excluded from the display. The first-person single-lane image displays the occupant's lane as large as possible, while omitting information that is not important for monitoring driving, thereby minimizing distractions.

[0035] In the next step 102, the control unit 55 generates a third-person multi-lane image, as shown in Figure 5B for example, as an image including road width lines 62 that simulate lane boundaries, based on the lane information acquired by the acquisition unit 53 from the autonomous driving ECU 34. The control unit 55 then displays the generated third-person multi-lane image on the MET 58.

[0036] The third-person multi-lane image is an image that displays the vehicle's own lane and the lanes adjacent to it on both sides, as if viewed from above and behind the vehicle. By excluding non-existent lanes from display, it generally displays up to three lanes. However, it is not limited to a maximum of three lanes for the sake of clarity in transitional situations such as junctions and merges. In the third-person multi-lane image, the vehicle is displayed as icon 64. The third-person multi-lane image can display situations such as when changing lanes and delaying the lane change due to the approach of another vehicle from the right or left rear until the other vehicle has passed.

[0037] In the first-person single-lane image and the third-person multi-lane image, road width lines 62, which simulate lane boundaries, are displayed, so that the occupants understand that the first-person single-lane image and the third-person multi-lane image are road schematic diagrams that are scaled down to be similar to the actual scenery. In addition, in the first-person single-lane image and the third-person multi-lane image, markers 66 are displayed at positions corresponding to the future position of the vehicle, and the arrangement of the markers 66 corresponds to the vehicle's position according to its movement. The vehicle moves forward towards its position (appearing as moving downwards on display). This allows the occupant to intuitively understand that the first-person single-lane image and the third-person multi-lane image correspond to the actual foreground. Furthermore, in the first-person single-lane image and the third-person multi-lane image, a strip-shaped track line 68 encompassing the arrangement of markers 66 is displayed. In the first-person single-lane image and the third-person multi-lane image, the direction in which the strip-shaped track line 68 extends indicates the direction of travel of the vehicle, allowing the occupant to intuitively understand the vehicle's position.

[0038] In the next step 104, the acquisition unit 53 acquires surrounding object information from the autonomous driving ECU 34, which represents the relative position, relative speed, importance, etc., of individual surrounding objects. Surrounding object information is an example of information about surrounding objects. In step 106, the acquisition unit 53 also acquires surrounding situation information from the autonomous driving ECU 34, which represents the presence or absence of an event and its type. In step 108, the control unit 55 determines whether or not an event has occurred in the operation of its own vehicle, based on the surrounding situation information acquired by the acquisition unit 53 from the autonomous driving ECU 34.

[0039] If no events are occurring during the operation of the vehicle (steady state), the determination in step 108 is negated and the process proceeds to step 110. In step 110, the control unit 55 determines, based on the surrounding object information, whether or not there is a first preceding vehicle traveling ahead of the vehicle in the lane in which the vehicle is traveling. If there is a first preceding vehicle traveling ahead of the vehicle in the lane in which the vehicle is traveling, the control unit 55 superimposes only the first preceding vehicle 70 onto the first-person single-lane image displayed on the HUD 56, as shown in Figures 6 and 7 as an example.

[0040] If, in a situation where there are surrounding objects other than the first preceding vehicle around the vehicle, all surrounding objects are displayed on the HUD 56, the display on the HUD 56 becomes bothersome to the occupant, as shown in Figure 10 for example. In contrast, in this embodiment, as shown in Figures 6 and 7, only the first preceding vehicle 70 among the surrounding objects present around the vehicle is displayed on the HUD 56, thereby suppressing the occupant's perception of the HUD 56's display as bothersome.

[0041] Furthermore, in step 112, the control unit 55 superimposes the first preceding vehicle 70 onto the third-person multi-lane image displayed on the MET 58, as shown in Figures 6 and 7, for example, and also superimposes other surrounding landmarks 72, toning them down in stages according to their importance. Examples of toning down include making the display color lighter, displaying it in a dark color (e.g., gray), or reducing the sharpness of the display to blur it. After processing in step 112, the process returns to step 104.

[0042] If, in a situation where there are surrounding objects other than the first preceding vehicle around the vehicle, all surrounding objects are displayed on the MET58 in their normal display mode, the display on the MET58 will become bothersome to the occupants, as shown in Figures 10 and 11. In contrast, in this embodiment, as shown in Figures 6 and 7, surrounding objects 72 other than the first preceding vehicle 70 that are present around the vehicle are displayed in a toned-down manner according to their importance, thereby suppressing the occupants from finding the display on the MET58 bothersome. Furthermore, the importance of each surrounding object other than the first preceding vehicle present around the vehicle can be recognized by the occupants.

[0043] Furthermore, if an event occurs during the operation of the vehicle, the determination in step 108 is affirmed and the system proceeds to step 114. In step 114, the control unit 55 determines whether the event occurring during the operation of the vehicle is an event in which a second preceding vehicle, traveling in a lane other than the lane in which the vehicle is currently traveling, changes lanes (cuts in) into the lane in which the vehicle is currently traveling.

[0044] If the determination in step 114 is affirmative, the system proceeds to step 116. In step 116, the control unit 55 highlights the second preceding vehicle 74 on the HUD 56 based on the importance level set for the second preceding vehicle, as shown in Figure 8 as an example. Examples of highlighting include displaying it in a specific display color (e.g., amber), surrounding it with a border, or making it flash. This helps to alert the occupants and make it easier for them to recognize when the second preceding vehicle 74 changes lanes into the lane the vehicle is traveling in, a so-called "cut-in" event. In addition, since no surrounding landmarks other than the second preceding vehicle 74 are displayed on the HUD 56, it is possible to prevent the occupants from finding the HUD 56 display bothersome.

[0045] In the next step 118, the control unit 55, as shown in Figure 8 as an example, highlights the second preceding vehicle 74 on the MET 58 in the third-person multi-lane image displayed on the MET 58, and displays other surrounding landmarks in a toned-down manner according to their importance. As an example, Figure 8 shows a situation where there are no surrounding landmarks other than the second preceding vehicle 74 around the vehicle. This attracts the attention of the occupants, makes it easier for them to recognize the cut-in, and prevents the occupants from finding the MET 58 display bothersome. After processing in step 118, the process returns to step 104.

[0046] Furthermore, if the determination in step 114 is denied, the process proceeds to step 120. In step 120, the control unit 55 determines whether the event occurring during the driving of the vehicle is an event in which the vehicle changes lanes from the lane in which it is currently traveling to a lane other than the lane in which it is currently traveling.

[0047] If the determination in step 120 is affirmative, the process proceeds to step 122. In step 122, the control unit 55 superimposes on the HUD 56 a first preceding vehicle 76 traveling ahead in the lane the vehicle is currently traveling in, and a second preceding vehicle 78 traveling ahead in a lane other than the one the vehicle is currently traveling in, as shown in Figure 9 as an example. This makes it easier for the occupant, who is looking at the HUD 56, to recognize the presence of the first preceding vehicle 76 and the second preceding vehicle 78 involved in the lane change when the vehicle changes lanes from the lane it is currently traveling in to a lane other than the one it is currently traveling in. In addition, since no surrounding landmarks other than the first preceding vehicle 76 and the second preceding vehicle 78 are displayed on the HUD 56, it is possible to prevent the occupant from finding the display of the HUD 56 bothersome.

[0048] Furthermore, in step 124, the control unit 55 superimposes the first preceding vehicle 76 and the second preceding vehicle 78 onto the MET 58, as shown in Figure 9 as an example, and also superimposes other surrounding targets with their brightness reduced according to their importance. As an example, Figure 9 shows a situation where there are no surrounding targets other than the first preceding vehicle 76 and the second preceding vehicle 78 around the vehicle. After processing in step 124, the process returns to step 104.

[0049] This makes it easier for occupants who see the MET58 to recognize the presence of the first preceding vehicle 76 and the second preceding vehicle 78 involved in the lane change when the vehicle changes lanes from the lane it is currently traveling in to a different lane. It also helps to reduce the likelihood of occupants finding the MET58 display bothersome.

[0050] Furthermore, if the determination in step 120 is rejected, the system proceeds to step 126. In step 126, the control unit 55 performs display control processing according to events occurring during the driving of the vehicle (for example, merging lanes, passing through intersections, etc.), and returns to step 104. In this case as well, only the minimum necessary surrounding landmarks are displayed on the HUD 56 according to their importance, thus preventing the occupant from finding the HUD 56 display bothersome.

[0051] As described above, in this embodiment, the first display unit (MET58) is installed inside the vehicle's cabin and is visible to the occupants, and the second display unit (HUD56) is also installed inside the vehicle's cabin and is visible to the occupants. The acquisition unit 53 acquires information about surrounding objects present around the vehicle. The control unit 55 then suppresses the display on the second display unit of images of surrounding objects other than the first preceding vehicle traveling ahead in the lane in which the vehicle is traveling, from among the images of surrounding objects whose information has been acquired by the acquisition unit 53. This prevents the occupants from feeling bothered by the display on the second display unit, even when the display area of ​​the second display unit is limited, like the HUD56, and there are many surrounding objects present around the vehicle.

[0052] Furthermore, in this embodiment, when an event occurs during the driving of the vehicle, the control unit 55 causes the second display unit to display an image of a surrounding object other than the first preceding vehicle, which is set according to the event. By displaying an image of a surrounding object other than the first preceding vehicle in accordance with an event occurring during the driving of the vehicle, it is possible to alert the occupant who is viewing the display on the second display unit.

[0053] Furthermore, in this embodiment, the control unit 55 highlights the second preceding vehicle on the second display unit when an event occurring during the driving of the vehicle is an event in which a second preceding vehicle, traveling in a lane other than the lane in which the vehicle is traveling, changes lanes into the lane in which the vehicle is traveling. This makes it easier for the occupants to recognize when a so-called "cut-in" occurs, where a second preceding vehicle changes lanes into the lane in which the vehicle is traveling.

[0054] Furthermore, in this embodiment, when an event occurring during the driving of the vehicle is an event in which the vehicle changes lanes from the lane it is currently traveling in to a lane other than the lane it is currently traveling in, the control unit 55 displays a first preceding vehicle traveling ahead in the lane it is currently traveling in, and a second preceding vehicle traveling ahead in a lane other than the lane it is currently traveling in, on the second display unit. This makes it easier for the occupants to recognize the presence of the first preceding vehicle and the second preceding vehicle involved in the lane change when the vehicle changes lanes from the lane it is currently traveling in to a lane other than the lane it is currently traveling in.

[0055] Furthermore, in this embodiment, the control unit 55 causes the acquisition unit 53 to acquire images of surrounding targets and display them on the first display unit. This results in different display modes between the first and second display units, and when the first display unit has a relatively large display area, such as the MET 58, the display area of ​​the first display unit can be effectively utilized.

[0056] Furthermore, in this embodiment, the control unit 55 displays images of surrounding landmarks other than the first preceding vehicle traveling ahead in the lane in which the vehicle is currently traveling, on the first display unit in a manner that is less conspicuous than the image of the first preceding vehicle. This makes it possible to prevent the occupants from finding the display on the first display unit bothersome, even when there are many surrounding landmarks around the vehicle.

[0057] Furthermore, in this embodiment, the control unit 55 tones down the display of images of surrounding objects other than the first preceding vehicle, so that the images of surrounding objects are less conspicuous than the images of the first preceding vehicle. As a result, the images of the first preceding vehicle and the images of other surrounding objects are displayed with a clear contrast, allowing the occupants to recognize the degree of influence on their own vehicle while driving.

[0058] Furthermore, in this embodiment, the first display unit is a display (MET58) provided on the instrument panel of the vehicle, and the second display unit is a HUD56 whose display range is a portion of the forward field of view of the vehicle's occupants due to reflection from the windshield glass, etc. The occupants of the vehicle can quickly recognize the contents displayed on the HUD56 without intentionally changing their focus when looking at the area in front of the vehicle. In the display area of ​​the HUD56, the display of images of surrounding objects other than the first preceding vehicle is suppressed, thereby preventing the occupants from feeling annoyed when trying to look at the area in front of the vehicle. In addition, the MET58 can display surrounding objects other than the first preceding vehicle that have been suppressed by the HUD56.

[0059] Furthermore, in this embodiment, the display areas of the first display unit and the second display unit are different in size. By reducing the amount of information displayed in the second display unit (HUD56) compared to the amount of information displayed in the first display unit (MET58), it is possible to reduce the inconvenience to the occupants while providing them with an amount of information appropriate to the display area.

[0060] Note that while Figures 6 to 9 show examples where the surrounding target is a vehicle (four-wheeled vehicle), the examples are not limited to this; the surrounding target could also be a two-wheeled vehicle (such as a bicycle) or a pedestrian.

[0061] Furthermore, although the above description has applied MET58 as the first display unit and HUD56 as the second display unit, the invention is not limited to this. For example, a central monitor located in the center of the vehicle's instrument panel may be used as either the first or second display unit.

[0062] Furthermore, although the above describes an embodiment in which the autonomous driving ECU 34 performs Level 2 or Level 3 autonomous driving, it is not limited to this and may also be applied to embodiments in which Level 4 or Level 5 autonomous driving is performed.

[0063] Furthermore, the above describes a configuration in which a display control program 54, which is an example of an in-vehicle display program according to this disclosure, is pre-stored (installed) in the storage unit 48 of the display control ECU 42. However, the in-vehicle display program according to this disclosure can also be provided in a form recorded on a non-temporary recording medium such as a CD-ROM, DVD-ROM, or memory card. [Explanation of symbols]

[0064] 10 In-vehicle systems 34 Autonomous driving ECU 42 Display Control ECU 53 Acquisition Department 55 Control Unit 56. Head-Up Display (HUD) 58 Meter Display (MET)

Claims

1. A first display unit is provided inside the vehicle's cabin and is visible to the occupants, A second display unit is provided inside the vehicle's interior and is visible to the occupants, An acquisition unit that acquires information about surrounding targets present around the vehicle, A control unit which, among the images of surrounding objects for which the information has been acquired by the acquisition unit, displays the lane in which the vehicle is traveling together with an image of the vehicle on the first display unit, and when the vehicle is traveling on a curve, displays the lane curved on the second display unit, displays it as a straight line around the image of the vehicle on the first display unit, and displays it curved on the front side of the image of the vehicle on the first display unit, In-vehicle display devices including...

2. The in-vehicle display device according to claim 1, wherein the first display unit is the meter display of the vehicle, and the second display unit is the head-up display of the vehicle.

3. The in-vehicle display device according to claim 1 or claim 2, wherein the first display unit has a larger display area than the second display unit, and the second display unit has a display area that is below the foreground when an occupant of the vehicle looks outward from the vehicle.

4. The system acquires information about surrounding targets located around the vehicle. Of the images of surrounding targets from which the aforementioned information has been acquired, the lane in which the vehicle is traveling is displayed together with an image of the vehicle on a first display unit installed inside the vehicle's cabin and visible to the occupants. Furthermore, when the vehicle is traveling on a curve, the lane is displayed curved on a second display unit installed inside the vehicle's cabin and visible to the occupants, while on the first display unit, it is displayed as a straight line around the image of the vehicle, and curved in front of the image of the vehicle. An in-vehicle display method that causes a computer to perform a process that includes the following.

5. On the computer, The system acquires information about surrounding targets located around the vehicle. Of the images of surrounding targets from which the aforementioned information has been acquired, the lane in which the vehicle is traveling is displayed together with an image of the vehicle on a first display unit installed inside the vehicle's cabin and visible to the occupants. Furthermore, when the vehicle is traveling on a curve, the lane is displayed curved on a second display unit installed inside the vehicle's cabin and visible to the occupants, while on the first display unit, it is displayed as a straight line around the image of the vehicle, and curved in front of the image of the vehicle. An in-vehicle display program for executing processes that include the following.

Images