Display system, display method, and computer program

Abstract

To enable a vehicle whose speed will be reduced to be easily identified on a display device, when a plurality of other vehicles existing around an own vehicle are displayed on the display device.SOLUTION: An automatic driving system 1 comprises: a vehicle detection device 2 that detects other vehicles existing around an own vehicle 20; a display device 7 that displays, as vehicle icons, the other vehicles detected by the vehicle detection device; a display control part 15 that controls contents displayed by the display device; a vehicle control part 16 that controls autonomous running of the own vehicle; and a target vehicle setting part 17 that sets a vehicle whose speed will be reduced out of the other vehicles detected by the vehicle detection device. The vehicle control part controls acceleration / deceleration of the own vehicle so that the own vehicle does not approach the vehicle whose speed will be reduced. When displaying the plurality of other vehicles detected by the vehicle detection device, on the display device, the display control part displays the vehicle icon of the vehicle whose speed will be reduced, in a display mode which is different from a display mode for the vehicle icons of the other vehicles.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present invention relates to Display system, display method, and computer program .

Background Art

[0002] Conventionally, in order to provide a driver of a self-driving vehicle with information about the surroundings, it is known to display other vehicles detected by a vehicle detection device mounted on the vehicle on a display device inside the vehicle. In the driving control device described in Patent Document 1, when a plurality of other vehicles existing around the host vehicle are detected, these plurality of other vehicles are displayed on the display device.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, when the self-driving of the vehicle is carried out, the self-driving of the vehicle is controlled so as to avoid a collision with the detected surrounding other vehicles. In particular, other vehicles that obstruct the smooth running of the vehicle are set as deceleration target vehicles, and the acceleration and deceleration of the vehicle are controlled so that the vehicle does not approach the deceleration target vehicles.

[0005] Therefore, the control of the vehicle changes according to the presence or absence of the deceleration target vehicle. For this reason, it is desirable that a supervisor of the self-driving such as the driver of the vehicle can quickly grasp the setting status of the deceleration target vehicle. However, when a plurality of other vehicles are displayed on the display device, it is difficult to identify the deceleration target vehicle from among the plurality of other vehicles.

[0006] In view of the above problems, an object of the present invention is to facilitate the identification of a deceleration target vehicle on a display device when a plurality of other vehicles existing around the host vehicle are displayed on the display device. [Means for solving the problem]

[0007] The gist of this disclosure is as follows:

[0008] (1) An autonomous driving system comprising: a vehicle detection device for detecting other vehicles present around the vehicle itself; a display device for displaying other vehicles detected by the vehicle detection device as vehicle icons; a display control unit for controlling the display content of the display device; a vehicle control unit for controlling the autonomous driving of the vehicle itself; and a target vehicle setting unit for setting a vehicle to be decelerated from among the other vehicles detected by the vehicle detection device, wherein the vehicle control unit controls the acceleration and deceleration of the vehicle itself so as not to approach the vehicle to be decelerated, and the display control unit displays the vehicle icon of the vehicle to be decelerated in a different display manner from the vehicle icons of the remaining other vehicles when displaying a plurality of other vehicles detected by the vehicle detection device on the display device.

[0009] (2) The automatic driving system according to (1) above, wherein the display control unit, when the vehicle to be decelerated is located in a lane adjacent to the own vehicle and a preceding vehicle is detected in the driving lane of the own vehicle, displays the vehicle icon of the vehicle to be decelerated in a different display manner from the vehicle icons of the remaining other vehicles if the distance between the own vehicle and the vehicle to be decelerated is shorter than the distance between the own vehicle and the preceding vehicle.

[0010] (3) The automatic driving system according to (1) or (2) above, wherein the display control unit displays the vehicle icon of the vehicle to be decelerated in a different display manner from the vehicle icons of the remaining other vehicles when the vehicle to be decelerated is located in a lane adjacent to the own vehicle and no preceding vehicle is detected in the driving lane of the own vehicle, and the distance between the own vehicle and the vehicle to be decelerated is shorter than a predetermined distance.

[0011] (4) The automatic driving system according to any one of (1) to (3) above, wherein the display control unit displays the vehicle icon of the vehicle to be decelerated in such a way that the vehicle to be decelerated is most emphasized among a plurality of other vehicles displayed on the display device.

[0012] (5) The automatic driving system according to any one of (1) to (4) above, wherein the display control unit displays a vehicle icon for the vehicle to be decelerated so as to emphasize the vehicle to be decelerated when the vehicle to be decelerated is in a lane adjacent to the vehicle itself, compared to when the vehicle to be decelerated is in the lane in which the vehicle itself is traveling.

[0013] (6) The automatic driving system according to any one of (1) to (5) above, wherein the display control unit displays the vehicle icon of the first preceding vehicle that is located in front of the vehicle in the vehicle's driving lane and is closest to the vehicle in a different display manner from the vehicle icons of the remaining other vehicles.

[0014] (7) The automatic driving system according to (6) above, wherein the display control unit displays the vehicle icon of the first preceding vehicle in a different display manner from the vehicle icons of the remaining other vehicles when the distance between the first preceding vehicle and the own vehicle is shorter than a predetermined distance.

[0015] (8) The automatic driving system according to (6) or (7) above, wherein the display control unit displays a vehicle icon for the first preceding vehicle such that the first preceding vehicle is emphasized more than other vehicles other than the vehicle to be decelerated.

[0016] (9) The automatic driving system according to any one of (6) to (8) above, wherein when the vehicle control unit is performing a lane change of the vehicle itself, the display control unit displays, instead of the first preceding vehicle, the vehicle icon of another vehicle located in front of the vehicle after the lane change and closest to the vehicle itself, in a different display manner from the vehicle icons of the remaining other vehicles.

[0017] (10) The automatic driving system according to any one of (1) to (5) above, wherein the display control unit changes the display mode of the vehicle icon of the other vehicle when the other vehicle displayed on the display device is set as the vehicle to be decelerated.

[0018] (11) When the other vehicle that exists in the adjacent lane of the host vehicle and is displayed on the display device is set as the deceleration target vehicle, the display control unit changes the display mode of the vehicle icon of the other vehicle. The automatic driving system according to any one of (1) to (9) above.

[0019] (12) A vehicle control method including a vehicle detection device that detects other vehicles, and a display device that displays the other vehicles detected by the vehicle detection device as vehicle icons, the method including setting a deceleration target vehicle from among the other vehicles detected by the vehicle detection device, controlling the acceleration and deceleration of the vehicle so that the vehicle does not approach the deceleration target vehicle, and when displaying a plurality of other vehicles detected by the vehicle detection device on the display device, displaying the vehicle icon of the deceleration target vehicle in a display mode different from the vehicle icons of the remaining other vehicles.

Advantages of the Invention

[0020] According to the present invention, even when a plurality of other vehicles existing around the host vehicle are displayed on the display device, it becomes easy to identify the deceleration target vehicle on the display device.

Brief Description of the Drawings

[0021] [Figure 1] FIG. 1 is a diagram schematically showing the configuration of an automatic driving system according to a first embodiment of the present invention. [Figure 2] FIG. 2 is a diagram schematically showing a part of the configuration of a vehicle equipped with the automatic driving system according to the first embodiment of the present invention. [Figure 3] FIG. 3 is a functional block diagram of the ECU in FIG. 1. [Figure 4] FIG. 4 is a diagram showing an example of an image displayed on the display device. [Figure 5] FIG. 5 is a flowchart showing a control routine for other vehicle display processing in the first embodiment. [Figure 6] FIG. 6 is a flowchart showing a control routine for other vehicle display processing in the second embodiment. [Figure 7A] FIG. 7A is a flowchart showing a control routine for other vehicle display processing in the third embodiment. [Figure 7B] FIG. 7B is a flowchart showing a control routine for other vehicle display processing in the third embodiment. [Figure 8] FIG. 8 is a flowchart showing a control routine for other vehicle display processing in the fourth embodiment. [Figure 9] FIG. 9 is a flowchart showing a control routine for other vehicle display processing in the fifth embodiment. [Figure 10] FIG. 10 is a flowchart showing a control routine for other vehicle display processing in the sixth embodiment. MODE FOR CARRYING OUT THE INVENTION

[0022] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the following description, the same reference numerals are assigned to the same components.

[0023] <First Embodiment> First, the first embodiment of the present invention will be described with reference to FIGS. 1 to 5.

[0024] <Configuration of the Autonomous Driving System> FIG. 1 is a diagram schematically showing the configuration of an autonomous driving system 1 according to the first embodiment of the present invention. The autonomous driving system 1 is mounted on a vehicle and performs autonomous driving of the vehicle. In the autonomous driving of the vehicle, part or all of the acceleration, steering, and braking of the vehicle are automatically executed. That is, the vehicle on which the autonomous driving system 1 is mounted is a so-called autonomous driving vehicle.

[0025] As shown in Figure 1, the autonomous driving system 1 comprises a vehicle detection device 2, a GNSS receiver 3, a map database 4, a navigation device 5, an actuator 6, a display device 7, and an electronic control unit (ECU) 10. The vehicle detection device 2, GNSS receiver 3, map database 4, navigation device 5, actuator 6, and display device 7 are installed in the vehicle and are connected to the ECU 10 via an in-vehicle network compliant with standards such as CAN (Controller Area Network).

[0026] The vehicle detection device 2 detects other vehicles present around the vehicle (the vehicle itself). Specifically, the vehicle detection device 2 detects the presence or absence of other vehicles around the vehicle, the distance from the vehicle to the other vehicle, and the relative speed between the vehicle and the other vehicle. The output of the vehicle detection device 2 is transmitted to the ECU 10. In this embodiment, the vehicle detection device 2 consists of an external camera, a LiDAR (Laser Imaging Detection And Ranging), a millimeter-wave radar or ultrasonic sensor (sonar), or any combination thereof.

[0027] Figure 2 is a schematic diagram showing a part of the configuration of a vehicle 20 equipped with an autonomous driving system 1 according to the first embodiment of the present invention. As shown in Figure 2, the vehicle 20 is equipped with an external camera 21, a lidar 22, a millimeter-wave radar 23, and an ultrasonic sensor (sonar) 24.

[0028] The external camera 21 captures images of the area around the vehicle 20 and generates an image of the area around the vehicle 20. In this embodiment, the external camera 21 is positioned in front of the vehicle 20 (for example, behind the rearview mirror inside the vehicle, on the front bumper, etc.) to capture images of the area in front of the vehicle 20. The external camera 21 may also be a stereo camera capable of measuring distance.

[0029] The lidar 22 irradiates laser light around the vehicle 20 and receives the reflected laser light. This allows the lidar 22 to detect the presence or absence of objects around the vehicle 20, the distance from the vehicle 20 to the objects, and the relative velocity between the vehicle 20 and the objects. In this embodiment, the lidar 22 is mounted on the upper part of the vehicle 20, specifically on the roof of the vehicle 20.

[0030] The millimeter-wave radar 23 emits millimeter waves around the vehicle 20 and receives reflected millimeter waves. In this way, the millimeter-wave radar 23 can detect the presence or absence of objects around the vehicle 20, the distance from the vehicle 20 to the object, and the relative speed between the vehicle 20 and the object. In this embodiment, the millimeter-wave radar 23 is installed at the front and rear of the vehicle 20 (for example, the front bumper and rear bumper of the vehicle 20).

[0031] The ultrasonic sensor 24 emits ultrasonic waves around the vehicle 20 and receives the reflected ultrasonic waves. In this way, the ultrasonic sensor 24 can detect the presence or absence of objects around the vehicle 20, the distance from the vehicle 20 to the objects, and the relative speed between the vehicle 20 and the objects. In this embodiment, the ultrasonic sensor 24 is installed on both sides of the vehicle 20 (for example, on the left and right front fenders of the vehicle 20).

[0032] The positions and number of the external camera 21, lidar 22, millimeter-wave radar 23, and ultrasonic sensor 24 are not limited to those described above. Furthermore, some of these may be omitted.

[0033] The GNSS receiver 3 acquires multiple positioning satellites and receives radio waves transmitted from them. Based on the difference between the transmission time and reception time of the radio waves, the GNSS receiver 3 calculates the distance to the positioning satellites and detects the current position of the vehicle 20 (for example, the latitude and longitude of the vehicle 20) based on the distance to the positioning satellites and the position (orbital information) of the positioning satellites. The output of the GNSS receiver 3 is transmitted to the ECU 10. Note that GNSS (Global Navigation Satellite System) is a general term for satellite positioning systems such as the US GPS, Russia's GLONASS, Europe's Galileo, Japan's QZSS, China's BeiDou, and India's IRNSS. Therefore, the GNSS receiver 3 includes a GPS receiver.

[0034] Map database 4 stores map information. The map information stored in map database 4 is updated using communication with the outside of the vehicle 20, SLAM (Simultaneous Localization and Mapping) technology, etc. ECU 10 retrieves map information from map database 4.

[0035] The navigation device 5 sets the driving route for the vehicle 20 to the destination based on the current position of the vehicle 20 detected by the GNSS receiver 3, map information from the map database 4, and input from the driver. The driving route set by the navigation device 5 is transmitted to the ECU 10. The GNSS receiver 3 and the map database 4 may be integrated into the navigation device 5.

[0036] The actuator 6 operates the vehicle 20. For example, the actuator 6 includes a drive unit (at least one of an engine and a motor) for accelerating the vehicle 20, a brake actuator for braking the vehicle 20, a steering motor for steering the vehicle 20, and so on. The ECU 10 controls the actuator 6 for autonomous driving of the vehicle 20.

[0037] The display device 7 has a display that shows digital information such as characters and images, and presents various information to the driver of the vehicle 20. The display device 7 is installed inside the vehicle 20 so that it can be seen by the driver of the vehicle 20. The display device 7 is a Human Machine Interface (HMI) composed of at least one of the following: a touchscreen, a head-up display, a digital meter panel, etc. The display device 7 may also include a speaker that generates sound such as voice, operation buttons for the driver to perform input operations, a microphone that receives voice information from the driver, etc.

[0038] The ECU 10 performs various vehicle controls. As shown in Figure 1, the ECU 10 includes a communication interface 11, a memory 12, and a processor 13. The communication interface 11 and the memory 12 are connected to the processor 13 via signal lines. In this embodiment, one ECU 10 is provided, but multiple ECUs may be provided for each function.

[0039] The communication interface 11 has an interface circuit for connecting the ECU 10 to the in-vehicle network. The ECU 10 is connected to the vehicle detection device 2, GNSS receiver 3, map database 4, navigation device 5, actuator 6, and display device 7 via the communication interface 11.

[0040] Memory 12 includes, for example, volatile semiconductor memory and non-volatile semiconductor memory. Memory 12 stores programs, data, etc., used when various processes are executed by the processor 13.

[0041] The processor 13 has one or more CPUs (Central Processing Units) and their peripheral circuits. The processor 13 may also have additional arithmetic circuits such as a logic unit or a numerical unit.

[0042] Figure 3 is a functional block diagram of the ECU 10 in Figure 1. In this embodiment, the ECU 10 includes a display control unit 15, a vehicle control unit 16, and a target vehicle setting unit 17. The display control unit 15, the vehicle control unit 16, and the target vehicle setting unit 17 are functional modules realized by the execution of a program stored in the memory 12 of the ECU 10 by the processor 13 of the ECU 10.

[0043] The display control unit 15 controls the display content of the display device 7. In this embodiment, the display device 7 displays the vehicle 20 and other vehicles around it, along with the vehicle's lane and adjacent lanes. Other vehicles around the vehicle 20 are detected by the vehicle detection device 2. The shape of the vehicle 20's lane and the shape and number of adjacent lanes are determined from map information stored in the map database 4. That is, the display control unit 15 obtains map information corresponding to the current position of the vehicle 20, which has been determined based on the output of the GNSS receiver 3, etc., from the map database 4. The vehicle 20's lane and adjacent lanes may also be detected by the vehicle detection device 2.

[0044] Figure 4 shows an example of an image displayed on the display device 7. As shown in Figure 4, the display device 7 displays vehicle 20 (the user's own vehicle) and other vehicles 30 as vehicle icons. The size and shape of the vehicle icons are predetermined.

[0045] As shown in Figure 4, the display device 7 displays an image of the vehicle 20 from a position higher than the vehicle 20, located behind the vehicle 20. If multiple other vehicles are present in the vicinity of the vehicle 20, the display control unit 15 displays the multiple other vehicles detected by the vehicle detection device 2 on the display device 7. By viewing this display, the driver of the vehicle 20 can understand the detection status of other vehicles 30 around the vehicle 20, and thereby confirm the autonomous driving status of the vehicle 20.

[0046] The vehicle control unit 16 controls the autonomous driving of the vehicle 20 using the actuator 6 when the vehicle 20 is in autonomous driving mode. For example, the vehicle control unit 16 controls the steering and acceleration / deceleration of the vehicle 20 using the actuator 6 to enable the vehicle 20 to change lanes autonomously.

[0047] The target vehicle setting unit 17 sets the vehicle to be decelerated from among the other vehicles detected by the vehicle detection device 2. In this specification, the vehicle to be decelerated refers to another vehicle whose behavior limits the speed of vehicle 20 (the vehicle itself).

[0048] First, the target vehicle setting unit 17 sets the preceding vehicle in the driving lane of vehicle 20 and other vehicles in the adjacent lane that appear likely to enter the driving lane ahead of vehicle 20 as candidates for deceleration. At this time, the determination of whether or not the other vehicle in the adjacent lane is likely to enter the driving lane ahead of vehicle 20 is made, for example, based on the lateral speed of the other vehicle. In this case, for example, if the lateral speed of the other vehicle approaching the driving lane of vehicle 20 is above a predetermined value, it is determined that the other vehicle in the adjacent lane is likely to enter the driving lane ahead of vehicle 20. Also, if an obstacle (fallen object, broken-down vehicle, construction site, etc.) is detected in front of the other vehicle in the adjacent lane based on the output of the vehicle detection device 2, it is determined that the other vehicle in the adjacent lane is likely to enter the driving lane ahead of vehicle 20. Furthermore, if the adjacent lane disappears due to a reduction in the number of lanes and the driving lane of vehicle 20 becomes a merging lane, it is determined that the other vehicle in the adjacent lane is likely to enter the driving lane ahead of vehicle 20.

[0049] Next, the target vehicle setting unit 17 sets a vehicle to be decelerated from among the candidates for deceleration based on predetermined conditions. For example, the target vehicle setting unit 17 uses a map or the like to determine whether a candidate for deceleration meets the requirements for a vehicle to be decelerated, based on the distance between vehicle 20 and the candidate for deceleration and the relative speed between vehicle 20 and the candidate for deceleration. Furthermore, if the lane in which vehicle 20 is traveling becomes a lane to be merged, the target vehicle setting unit 17 uses a requirement that the distance between vehicle 20 and the candidate for deceleration on the adjacent lane at a predetermined point before merging is greater than or equal to a predetermined distance to determine whether the candidate for deceleration on the adjacent lane meets the requirements for a vehicle to be decelerated. If multiple candidates for deceleration meet the requirements for a vehicle to be decelerated, the candidate for deceleration that has the greatest speed limit on vehicle 20 (e.g., the deceleration rate of vehicle 20) is set as the vehicle to be decelerated. On the other hand, if there are no other vehicles that meet the requirements for a vehicle to be decelerated, no vehicle to be decelerated is set.

[0050] When the vehicle to be decelerated is set by the target vehicle setting unit 17, the vehicle control unit 16 controls the acceleration and deceleration of vehicle 20 so that vehicle 20 does not approach the vehicle to be decelerated. Specifically, the vehicle control unit 16 decelerates vehicle 20 or suppresses the acceleration of vehicle 20 to the target vehicle speed so that vehicle 20 does not approach the vehicle to be decelerated.

[0051] Therefore, the control of vehicle 20 changes depending on whether or not there is a vehicle to be decelerated. For this reason, it is desirable that an autonomous driving monitor, such as the driver of vehicle 20, be able to quickly grasp the setting status of the vehicle to be decelerated. However, when multiple other vehicles around vehicle 20 are displayed on the display device 7, it is difficult to identify the vehicle to be decelerated from among the multiple other vehicles.

[0052] Therefore, in this embodiment, when the display control unit 15 displays multiple other vehicles detected by the vehicle detection device 2 on the display device 7, it displays the vehicle icon of the vehicle to be decelerated in a different display manner from the vehicle icons of the remaining other vehicles. This makes it easy to identify the vehicle to be decelerated on the display device 7, even when multiple other vehicles present around the vehicle are displayed on the display device 7.

[0053] Specifically, the display control unit 15 displays the vehicle icon of the vehicle to be decelerated in the first display mode, and displays the vehicle icons of the remaining other vehicles in the default display mode. Therefore, when another vehicle displayed on the display device 7 is set as the vehicle to be decelerated, the display control unit 15 changes the display mode of the vehicle icon of the other vehicle set as the vehicle to be decelerated from the default display mode to the first display mode. The first display mode and the default display mode differ from each other in terms of, for example, transparency, brightness, color (hue), color lightness, color saturation, etc.

[0054] In particular, in this embodiment, the display control unit 15 displays the vehicle icon of the vehicle to be decelerated so that it is most emphasized among multiple other vehicles displayed on the display device 7. This makes it easier to visually identify the vehicle to be decelerated on the display device 7. In this case, for example, the first display mode is set to a color different from the background color of the display device 7, and the default display mode is set to the same color as the background color of the display device 7. Specifically, the first display mode is set to amber or white, and the default display mode is set to light blue when the background color is blue (for example, when the driver is not required to hold the steering wheel), and to light gray when the background color is gray (for example, when the driver is required to hold the steering wheel). The transparency of the first display mode may be lower than the transparency of the default display mode, or the brightness of the first display mode may be higher than the brightness of the default display mode. In addition, the first display mode and the default display mode may be set to the same color, and the saturation of the color of the first display mode may be higher than the saturation of the color of the default display mode.

[0055] Furthermore, in this embodiment, the display control unit 15 displays its own vehicle (vehicle 20) on the display device 7 along with other vehicles. At this time, the display control unit 15 displays the vehicle icon of its own vehicle in a different display manner from all the other vehicle icons displayed on the display device 7. This makes it easy to distinguish the own vehicle from other vehicles on the display device 7. For example, the vehicle icon of the own vehicle is displayed in black on the display device 7.

[0056] <Other vehicle display processing> The control described above will now be explained using the flowchart in Figure 5. Figure 5 is a flowchart of the control routine for displaying other vehicles in the first embodiment. This control routine is repeatedly executed by the ECU 10 at predetermined execution intervals. The predetermined execution interval is, for example, the interval at which the detection result of other vehicles by the vehicle detection device 2 is updated.

[0057] First, in step S101, the display control unit 15 determines whether or not there are other vehicles that should be displayed on the display device 7. The other vehicles to be displayed on the display device 7 are selected from among the other vehicles detected by the vehicle detection device 2. For example, other vehicles that are located in front of the vehicle in the vehicle's lane or an adjacent lane and whose relative distance from the vehicle is less than or equal to a predetermined distance are selected as vehicles to be displayed on the display device 7. In addition, other vehicles located near the rear of the vehicle may also be selected as vehicles to be displayed on the display device 7.

[0058] If it is determined in step S101 that there are no other vehicles to be displayed on the display device 7, this control routine terminates. On the other hand, if it is determined in step S101 that there are other vehicles to be displayed on the display device 7, this control routine proceeds to step S102.

[0059] In step S102, the display control unit 15 determines whether the vehicle to be decelerated is included among the other vehicles to be displayed on the display device 7. In other words, the display control unit 15 determines whether one of the other vehicles to be displayed on the display device 7 is set as the vehicle to be decelerated. If it is determined that the vehicle to be decelerated is included, the control routine proceeds to step S103.

[0060] In step S103, the display control unit 15 displays the vehicle icon of the vehicle to be decelerated on the display device 7 in the first display mode. At this time, if the vehicle to be decelerated is located in the driving lane of the own vehicle, the vehicle icon of the vehicle to be decelerated is displayed on the driving lane, and if the vehicle to be decelerated is located in an adjacent lane to the own vehicle, the vehicle icon of the vehicle to be decelerated is displayed on the adjacent lane. In addition, if another vehicle that was displayed on the display device 7 is set as the vehicle to be decelerated, the display mode of the vehicle icon of this other vehicle is changed from the default display mode to the first display mode.

[0061] Next, in step S104, the display control unit 15 determines whether there are any other vehicles other than the vehicle to be decelerated that should be displayed on the display device 7. If it is determined that there are no other vehicles remaining, this control routine terminates. On the other hand, if it is determined that there are other vehicles remaining, this control routine proceeds to step S105.

[0062] In step S105, the display control unit 15 displays the vehicle icons of other vehicles that are not yet displayed on the display device 7, in this case the vehicle icons of the remaining vehicles other than the vehicle to be decelerated, in the default display mode on the display device 7. After step S105, this control routine ends.

[0063] On the other hand, if it is determined in step S102 that there are no vehicles to be decelerated, this control routine skips steps S103 and S104 and proceeds to step S105. In step S105, the display control unit 15 displays the vehicle icons of any other vehicles that are not yet displayed on the display device 7, in this case all other vehicle icons that should be displayed on the display device 7, in the default display mode. After step S105, this control routine terminates.

[0064] <Second Embodiment> The automated driving system according to the second embodiment is basically the same as the automated driving system according to the first embodiment in terms of configuration and control, except for the points described below. For this reason, the second embodiment of the present invention will be described below focusing on the parts that differ from the first embodiment.

[0065] Typically, an autonomous driving monitor, such as a driver, tends to focus their attention on vehicles in their own lane rather than on vehicles in adjacent lanes. Taking this into consideration, in the second embodiment, the display control unit 15 displays the vehicle icon of the vehicle to be decelerated in a way that emphasizes it more when the vehicle to be decelerated is in an adjacent lane compared to when the vehicle to be decelerated is in the vehicle's own lane. This allows the autonomous driving monitor to be prompted to pay attention to the vehicle to be decelerated when it appears in an adjacent lane, even if they are focusing their attention on vehicles in their own lane.

[0066] Specifically, the display control unit 15 displays vehicle icons of vehicles subject to deceleration in adjacent lanes in a first display mode, vehicle icons of vehicles subject to deceleration in the vehicle's own lane in a second display mode, and vehicle icons of the remaining other vehicles in a default display mode. The first display mode, the second display mode, and the default display mode differ from each other in terms of, for example, transparency, brightness, color (hue), color lightness, color saturation, etc.

[0067] For example, the first display mode may be set to a chromatic color different from the background color of the display device 7, the second display mode may be set to an achromatic color (white, black, or gray) different from the background color of the display device 7, and the default display mode may be set to the same color as the background color of the display device 7. Specifically, the first display mode may be set to amber, the second display mode to white, and the default display mode may be set to light blue when the background color is blue (for example, when the driver is not required to hold the steering wheel), and to light gray when the background color is gray (for example, when the driver is required to hold the steering wheel). The transparency of the vehicle icon may be lowered or the brightness of the vehicle icon may be higher in the order of default display mode, second display mode, and first display mode. Alternatively, the first display mode, second display mode, and default display mode may be set to the same color, and the saturation of the vehicle icon color may be higher in the order of default display mode, second display mode, and first display mode.

[0068] <Other vehicle display processing> The control described above will be explained in detail below using the flowchart in Figure 6. Figure 6 is a flowchart of the control routine for displaying other vehicles in the second embodiment. This control routine is repeatedly executed by the ECU 10 at predetermined execution intervals. The predetermined execution interval is, for example, the interval at which the detection result of other vehicles by the vehicle detection device 2 is updated.

[0069] First, in step S201, similar to step S101 in Figure 5, the display control unit 15 determines whether or not there are other vehicles that should be displayed on the display device 7. If it is determined that there are no other vehicles that should be displayed on the display device 7, this control routine terminates. On the other hand, if it is determined that there are other vehicles that should be displayed on the display device 7, this control routine proceeds to step S202.

[0070] In step S202, similar to step S102 in Figure 5, the display control unit 15 determines whether the vehicle to be decelerated is included in the other vehicles to be displayed on the display device 7. If it is determined that the vehicle to be decelerated is included, the control routine proceeds to step S203.

[0071] In step S203, the display control unit 15 determines whether the vehicle to be decelerated is located in the lane adjacent to its own vehicle. In other words, the display control unit 15 determines whether another vehicle in the lane adjacent to its own vehicle is set as the vehicle to be decelerated.

[0072] If it is determined in step S203 that the vehicle to be decelerated is located in an adjacent lane, the control routine proceeds to step S204. In step S204, the display control unit 15 displays the vehicle icon of the vehicle to be decelerated in the adjacent lane on the display device 7 in the first display mode. At this time, if another vehicle in the adjacent lane that was displayed on the display device 7 is set as the vehicle to be decelerated, the display mode of this other vehicle is changed from the default display mode to the first display mode.

[0073] On the other hand, if it is determined in step S203 that the vehicle to be decelerated is not located in an adjacent lane, that is, if it is determined that the vehicle to be decelerated is located in the vehicle's own lane, the control routine proceeds to step S205. In step S205, the display control unit 15 displays the vehicle icon of the vehicle to be decelerated in the vehicle's own lane on the display device 7 in a second display mode. At this time, if another vehicle in the vehicle's own lane that was displayed on the display device 7 is set as the vehicle to be decelerated, the display mode of this other vehicle is changed from the default display mode to the second display mode.

[0074] After step S204 or step S205, the control routine proceeds to step S206. In step S206, similar to step S104 in Figure 5, it is determined whether there are any other vehicles other than the vehicle to be decelerated that should be displayed on the display device 7. If it is determined that there are no other vehicles, the control routine terminates. On the other hand, if it is determined that there are other vehicles, the control routine proceeds to step S207.

[0075] In step S207, similar to step S105 in Figure 5, the display control unit 15 displays the vehicle icons of other vehicles that are not yet displayed on the display device 7, in this case the vehicle icons of the remaining vehicles other than the vehicle to be decelerated, in the default display mode on the display device 7. After step S207, this control routine ends.

[0076] On the other hand, if it is determined in step S202 that there are no vehicles to be decelerated, this control routine skips steps S203 to S206 and proceeds to step S207. In step S207, similar to step S105 in Figure 5, the display control unit 15 displays the vehicle icons of any other vehicles that are not yet displayed on the display device 7, in this case all vehicle icons of other vehicles that should be displayed on the display device 7, in the default display mode. After step S207, this control routine terminates.

[0077] <Third Embodiment> The autonomous driving system according to the third embodiment is basically the same as the autonomous driving system according to the first embodiment in terms of configuration and control, except for the points described below. For this reason, the third embodiment of the present invention will be described below focusing on the parts that differ from the first embodiment.

[0078] In driving environments where multiple other vehicles are present near the vehicle, the setting for vehicles to be decelerated often changes frequently. Therefore, if the presence or absence of vehicles to be decelerated is always displayed on the display device 7, the display on the display device 7 becomes cluttered. Furthermore, when another vehicle in an adjacent lane is set as a vehicle to be decelerated, the degree of impact on the vehicle itself varies depending on the presence or absence of a preceding vehicle in the vehicle's lane and the position of the vehicle to be decelerated.

[0079] Therefore, in the third embodiment, when the vehicle to be decelerated is located in an adjacent lane to the vehicle and a preceding vehicle is detected in the vehicle's driving lane, the display control unit 15 displays the vehicle to be decelerated in a different display manner from the vehicle icons of the remaining other vehicles if the distance between the vehicle and the vehicle to be decelerated is shorter than the distance between the vehicle and the preceding vehicle. On the other hand, when the vehicle to be decelerated is located in an adjacent lane to the vehicle and no preceding vehicle is detected in the vehicle's driving lane, the display control unit 15 displays the vehicle to be decelerated in a different display manner from the vehicle icons of the remaining other vehicles if the distance between the vehicle and the vehicle to be decelerated is shorter than a predetermined distance. As a result, attention to the vehicle to be decelerated is drawn when there is a high possibility that the vehicle to be decelerated in an adjacent lane will affect the acceleration and deceleration control of the vehicle, and the display on the display device 7 can be made less cluttered.

[0080] <Other vehicle display processing> The control described above will be explained in detail below using the flowcharts in Figures 7A and 7B. Figures 7A and 7B are flowcharts of the control routine for displaying other vehicles in the third embodiment. This control routine is repeatedly executed by the ECU 10 at predetermined execution intervals. The predetermined execution interval is, for example, the interval at which the detection result of other vehicles by the vehicle detection device 2 is updated.

[0081] First, in step S301, similar to step S101 in Figure 5, the display control unit 15 determines whether or not there are other vehicles that should be displayed on the display device 7. If it is determined that there are no other vehicles that should be displayed on the display device 7, this control routine terminates. On the other hand, if it is determined that there are other vehicles that should be displayed on the display device 7, this control routine proceeds to step S302.

[0082] In step S302, similar to step S102 in Figure 5, the display control unit 15 determines whether the vehicle to be decelerated is included in the other vehicles to be displayed on the display device 7. If it is determined that the vehicle to be decelerated is included, the control routine proceeds to step S303.

[0083] In step S303, the display control unit 15 determines whether the vehicle to be decelerated is located in the lane adjacent to its own vehicle. In other words, the display control unit 15 determines whether another vehicle in the lane adjacent to its own vehicle is set as the vehicle to be decelerated.

[0084] If it is determined in step S303 that the vehicle to be decelerated is not located in an adjacent lane, that is, if it is determined that the vehicle to be decelerated is located in the lane in which the vehicle is traveling, the control routine proceeds to step S304. In step S304, the display control unit 15 displays the vehicle icon of the vehicle to be decelerated in the lane in which the vehicle is traveling on the display device 7 in the first display mode.

[0085] On the other hand, if it is determined in step S303 that the vehicle to be decelerated is located in an adjacent lane, the control routine proceeds to step S305. In step S305, the display control unit 15 determines whether or not a preceding vehicle has been detected in the vehicle's lane by the vehicle detection device 2. If it is determined that a preceding vehicle has been detected in the vehicle's lane, the control routine proceeds to step S306.

[0086] In step S306, the display control unit 15 determines whether the vehicle is closer to the vehicle to be decelerated than the preceding vehicle. That is, the display control unit 15 determines whether the distance between the vehicle and the vehicle to be decelerated is shorter than the distance between the vehicle and the preceding vehicle. As the distance between the two vehicles, for example, the distance between the vehicles in the direction of travel of the vehicle, or the distance between the center coordinates of the two vehicles is used. If there are multiple preceding vehicles in the lane in which the vehicle is traveling, the distance between the vehicle and the preceding vehicle is the distance between the vehicle and the preceding vehicle closest to the vehicle (the first preceding vehicle, described later).

[0087] If, in step S306, it is determined that the vehicle is closer to the vehicle to be decelerated than the preceding vehicle, the control routine proceeds to step S307. In step S307, the display control unit 15 displays the vehicle icon of the vehicle to be decelerated in the adjacent lane on the display device 7 in the first display mode. At this time, if another vehicle in the adjacent lane that was displayed on the display device 7 is set as the vehicle to be decelerated, the display mode of this other vehicle is changed from the default display mode to the first display mode.

[0088] On the other hand, if it is determined in step S306 that the vehicle is not closer to the vehicle to be decelerated than the preceding vehicle, the control routine proceeds to step S308. In step S308, the display control unit 15 displays the vehicle icon of the vehicle to be decelerated in the adjacent lane on the display device 7 in the default display mode.

[0089] Furthermore, if it is determined in step S305 that no preceding vehicle is detected in the vehicle's lane, the control routine proceeds to step S309. In step S309, the display control unit 15 determines whether the distance between the decelerating vehicle and the vehicle is shorter than a predetermined distance. The distance between the two vehicles can be, for example, the distance between the vehicles in the direction of travel of the vehicle, or the distance between the center coordinates of the two vehicles. The predetermined distance is set to, for example, a predetermined fixed value. The predetermined value may be set according to the distance mode set by the driver, etc. (for example, short distance mode, medium distance mode, or long distance mode), the speed of the vehicle, etc.

[0090] If it is determined in step S309 that the distance between the vehicle to be decelerated and the current vehicle is shorter than a predetermined distance, the control routine proceeds to step S310. In step S310, the display control unit 15 displays the vehicle icon of the vehicle to be decelerated in the adjacent lane on the display device 7 in the first display mode. At this time, if another vehicle in the adjacent lane that was displayed on the display device 7 is set as the vehicle to be decelerated, the display mode of this other vehicle is changed from the default display mode to the first display mode.

[0091] On the other hand, if it is determined in step S309 that the distance between the vehicle to be decelerated and the current vehicle is greater than or equal to a predetermined distance, the control routine proceeds to step S311. In step S311, the display control unit 15 displays the vehicle icon of the vehicle to be decelerated in the adjacent lane on the display device 7 in the default display mode.

[0092] After steps S304, S307, S308, S310, or S311, the control routine proceeds to step S312. In step S312, similar to step S104 in Figure 5, it is determined whether there are any other vehicles other than the vehicle to be decelerated that should be displayed on the display device 7. If it is determined that there are no other vehicles, the control routine terminates. On the other hand, if it is determined that there are other vehicles, the control routine proceeds to step S313.

[0093] In step S313, similar to step S105 in Figure 5, the display control unit 15 displays the vehicle icons of other vehicles that are not yet displayed on the display device 7, in this case the vehicle icons of the remaining vehicles other than the vehicle to be decelerated, in the default display mode on the display device 7. After step S313, this control routine ends.

[0094] On the other hand, if it is determined in step S302 that there are no vehicles to be decelerated, this control routine skips steps S303 to S312 and proceeds to step S313. In step S313, similar to step S105 in Figure 5, the display control unit 15 displays the vehicle icons of other vehicles that are not yet displayed among the other vehicles that should be displayed on the display device 7, in this case the vehicle icons of all other vehicles that should be displayed on the display device 7, in the default display mode. After step S313, this control routine terminates.

[0095] <Fourth Embodiment> The automated driving system according to the fourth embodiment is basically the same as the automated driving system according to the first embodiment in terms of configuration and control, except for the points described below. For this reason, the fourth embodiment of the present invention will be described below focusing on the parts that differ from the first embodiment.

[0096] In autonomous driving, a supervisor such as a driver should ideally focus their attention on the preceding vehicle located immediately ahead in their own lane when there is no vehicle to slow down. Therefore, in the fourth embodiment, the display control unit 15 displays the vehicle icon of the first preceding vehicle, which is located in front of the vehicle in its own lane and is closest to the vehicle, in a different display manner from the vehicle icons of the remaining other vehicles. This makes it easy to identify the first preceding vehicle on the display device 7, even when multiple other vehicles present around the vehicle are displayed on the display device 7.

[0097] Specifically, the display control unit 15 displays the vehicle icon of the vehicle to be slowed in the adjacent lane in the first display mode, the vehicle icon of the first preceding vehicle in the second display mode, and the vehicle icons of the remaining other vehicles in the default display mode. Therefore, the display control unit 15 displays the vehicle icon of the first preceding vehicle in the second display mode regardless of whether the first preceding vehicle is a vehicle to be slowed or not. On the other hand, when another vehicle in the adjacent lane displayed on the display device 7 is set as a vehicle to be slowed, the display control unit 15 changes the display mode of the vehicle icon of the other vehicle in the adjacent lane that is set as a vehicle to be slowed from the default display mode to the first display mode. The first display mode, the second display mode, and the default display mode differ from each other in terms of, for example, transparency, brightness, color (hue), color lightness, color saturation, etc.

[0098] In particular, in the fourth embodiment, the display control unit 15 displays the vehicle icon of the first preceding vehicle in such a way that it is emphasized more than other vehicles other than the vehicle to be decelerated. This allows the system to draw attention to the vehicle to be decelerated when one is present, and to draw attention to the first preceding vehicle when one is not present.

[0099] In this case, for example, the first display mode may be set to a chromatic color different from the background color of the display device 7, the second display mode may be set to an achromatic color (white, black, or gray) different from the background color of the display device 7, and the default display mode may be set to the same color as the background color of the display device 7. Specifically, the first display mode may be set to amber, the second display mode to white, and the default display mode may be set to light blue when the background color is blue (for example, when the driver is not required to hold the steering wheel), and to light gray when the background color is gray (for example, when the driver is required to hold the steering wheel). The transparency of the vehicle icon may be lowered or the brightness of the vehicle icon may be higher in the order of default display mode, second display mode, and first display mode. Alternatively, the first display mode, second display mode, and default display mode may be set to the same color, and the saturation of the vehicle icon color may be higher in the order of default display mode, second display mode, and first display mode.

[0100] <Other vehicle display processing> The control described above will be explained in detail below using the flowchart in Figure 8. Figure 8 is a flowchart of the control routine for displaying other vehicles in the fourth embodiment. This control routine is repeatedly executed by the ECU 10 at predetermined execution intervals. The predetermined execution interval is, for example, the interval at which the detection result of other vehicles by the vehicle detection device 2 is updated.

[0101] First, in step S401, similar to step S101 in Figure 5, the display control unit 15 determines whether or not there are other vehicles that should be displayed on the display device 7. If it is determined that there are no other vehicles that should be displayed on the display device 7, this control routine terminates. On the other hand, if it is determined that there are other vehicles that should be displayed on the display device 7, this control routine proceeds to step S402.

[0102] In step S402, the display control unit 15 determines whether the first preceding vehicle is included in the other vehicles to be displayed on the display device 7. If it is determined that the first preceding vehicle is included, the control routine proceeds to step S403.

[0103] In step S403, the display control unit 15 displays the vehicle icon of the first preceding vehicle on the display device 7 in the second display mode. After step S403, the control routine proceeds to step S404. On the other hand, if it is determined in step S402 that the first preceding vehicle is not included, the control routine skips step S403 and proceeds to step S404.

[0104] In step S404, the display control unit 15 determines whether the other vehicles to be displayed on the display device 7 include a vehicle in the adjacent lane that is subject to deceleration. If it is determined that a vehicle in the adjacent lane that is subject to deceleration is included, the control routine proceeds to step S405.

[0105] In step S405, the display control unit 15 displays the vehicle icon of the vehicle to be decelerated in the adjacent lane on the display device 7 in the first display mode. At this time, if another vehicle in the adjacent lane that was displayed on the display device 7 is set as a vehicle to be decelerated, the display mode of this other vehicle is changed from the default display mode to the first display mode. After step S405, this control routine proceeds to step S406. On the other hand, if it is determined in step S404 that there are no vehicles to be decelerated in the adjacent lane, this control routine skips step S405 and proceeds to step S406.

[0106] In step S406, the display control unit 15 determines whether there are any other vehicles to be displayed on the display device 7 other than the first preceding vehicle and the vehicle to be decelerated. If it is determined that there are no other vehicles, this control routine terminates. On the other hand, if it is determined that there are other vehicles, this control routine proceeds to step S407.

[0107] In step S407, the display control unit 15 displays the vehicle icons of other vehicles that are not yet displayed on the display device 7 in the default display mode. After step S407, this control routine ends.

[0108] <Fifth Embodiment> The automated driving system according to the fifth embodiment is basically the same as the automated driving system according to the fourth embodiment in terms of configuration and control, except for the points described below. For this reason, the fifth embodiment of the present invention will be described below focusing on the parts that differ from the fourth embodiment.

[0109] The degree to which the first preceding vehicle influences the own vehicle varies depending on the position of the first preceding vehicle. Therefore, in the fifth embodiment, when the distance between the first preceding vehicle and the own vehicle is shorter than a predetermined distance, the display control unit 15 displays the vehicle icon of the first preceding vehicle in a different display manner from the vehicle icons of the remaining other vehicles. This draws attention to the first preceding vehicle when there is a high possibility that it will affect the acceleration and deceleration control of the own vehicle, thereby reducing the monitoring burden on the autonomous driving supervisor.

[0110] <Other vehicle display processing> The control described above will be explained in detail below using the flowchart in Figure 9. Figure 9 is a flowchart of the control routine for displaying other vehicles in the fifth embodiment. This control routine is repeatedly executed by the ECU 10 at predetermined execution intervals. The predetermined execution interval is, for example, the interval at which the detection result of other vehicles by the vehicle detection device 2 is updated.

[0111] First, in step S501, similar to step S401 in Figure 8, the display control unit 15 determines whether or not there are other vehicles to be displayed on the display device 7. If it is determined that there are no other vehicles to be displayed on the display device 7, this control routine terminates. On the other hand, if it is determined that there are other vehicles to be displayed on the display device 7, this control routine proceeds to step S502.

[0112] In step S502, similar to step S402 in Figure 8, the display control unit 15 determines whether the first preceding vehicle is included in the other vehicles to be displayed on the display device 7. If it is determined that the first preceding vehicle is included, the control routine proceeds to step S503.

[0113] In step S503, the display control unit 15 determines whether the distance between the first preceding vehicle and the own vehicle is shorter than a predetermined distance. The distance between the two vehicles can be, for example, the distance between the vehicles in the direction of travel of the own vehicle, or the distance between the center coordinates of the two vehicles. The predetermined distance is set to, for example, a predetermined fixed value. The predetermined value may be set according to the distance mode set by the driver, etc. (for example, short distance mode, medium distance mode, or long distance mode), the speed of the own vehicle, etc.

[0114] If it is determined in step S503 that the distance between the first preceding vehicle and the current vehicle is shorter than a predetermined distance, the control routine proceeds to step S504. In step S504, the display control unit 15 displays the vehicle icon of the first preceding vehicle on the display device 7 in a second display mode.

[0115] On the other hand, if it is determined in step S503 that the distance between the first preceding vehicle and the current vehicle is greater than or equal to a predetermined distance, the control routine proceeds to step S505. In step S505, the display control unit 15 displays the vehicle icon of the first preceding vehicle on the display device 7 in the default display mode.

[0116] After step S504 or step S505, this control routine proceeds to step S506. On the other hand, if it is determined in step S502 that the first preceding vehicle is not included, this control routine skips steps S503 to S505 and proceeds to step S506. Steps S506 to S509 are the same as steps S404 to S407 in Figure 8, so their explanation is omitted.

[0117] <Sixth Embodiment> The automated driving system according to the sixth embodiment is basically the same as the automated driving system according to the fourth embodiment in terms of configuration and control, except for the points described below. For this reason, the sixth embodiment of the present invention will be described below focusing on the parts that differ from the fourth embodiment.

[0118] The vehicle control unit 16 autonomously performs a lane change when the vehicle reaches a point where a lane change is planned in advance in the driving plan (for example, a lane change for merging), or when the driver instructs a lane change via the operation of the turn signal lever or the like. Once a lane change is initiated, the degree to which other vehicles in the lane after the lane change affect the vehicle increases.

[0119] Therefore, in the sixth embodiment, Display control unit 15 When the vehicle control unit 16 is performing a lane change on the vehicle itself, instead of the first preceding vehicle, the vehicle icon of the other vehicle that is located in front of the vehicle in the lane after the lane change and is closest to the vehicle (hereinafter referred to as the "preceding vehicle after the lane change") is displayed in a different manner from the vehicle icons of the remaining other vehicles. This allows the driver to recognize that the other vehicle requiring attention has changed due to the vehicle change.

[0120] <Other vehicle display processing> The control described above will be explained in detail below using the flowchart in Figure 10. Figure 10 is a flowchart of the control routine for displaying other vehicles in the sixth embodiment. This control routine is repeatedly executed by the ECU 10 at predetermined execution intervals. The predetermined execution interval is, for example, the interval at which the detection result of other vehicles by the vehicle detection device 2 is updated.

[0121] First, in step S601, similar to step S401 in Figure 8, the display control unit 15 determines whether or not there are other vehicles that should be displayed on the display device 7. If it is determined that there are no other vehicles that should be displayed on the display device 7, this control routine terminates. On the other hand, if it is determined that there are other vehicles that should be displayed on the display device 7, this control routine proceeds to step S602.

[0122] In step S602, the display control unit 15 determines whether or not a lane change has been performed by the vehicle control unit 16. If it is determined that no lane change has been performed, the control routine proceeds to step S603.

[0123] In step S603, similar to step S402 in Figure 8, the display control unit 15 determines whether the first preceding vehicle is included in the other vehicles to be displayed on the display device 7. If it is determined that the first preceding vehicle is included, the control routine proceeds to step S604.

[0124] In step S604, similar to step S403 in Figure 8, the display control unit 15 displays the vehicle icon of the first preceding vehicle on the display device 7 in the second display mode. After step S604, the control routine proceeds to step S607. On the other hand, if it is determined in step S603 that the first preceding vehicle is not included, the control routine skips step S604 and proceeds to step S607.

[0125] Furthermore, if it is determined in step S602 that a lane change has been performed, this control routine proceeds to step S605. In step S605, the display control unit 15 determines whether the preceding vehicle after the lane change is included in the other vehicles to be displayed on the display device 7. If it is determined that the preceding vehicle after the lane change is included, this control routine proceeds to step S606.

[0126] In step S606, the display control unit 15 displays the preceding vehicle after the lane change on the display device 7 in the second display mode. After step S606, the control routine proceeds to step S607. On the other hand, if it is determined in step S605 that there is no preceding vehicle after the lane change, the control routine skips step S606 and proceeds to step S607.

[0127] Steps S607 to S610 are the same as steps S404 to S407 in Figure 8, so their explanation will be omitted.

[0128] Although preferred embodiments of the present invention have been described above, the present invention is not limited to these embodiments, and various modifications and changes can be made within the scope of the claims. For example, only other vehicles may be displayed on the display device 7, and the own vehicle (vehicle 20) may not be displayed on the display device 7.

[0129] Furthermore, the display device 7 of the autonomous driving system 1 may be located on a server outside the vehicle 20, either in addition to or instead of the vehicle 20, for the operator to remotely monitor the autonomous driving of the vehicle 20. In this case, the output of the vehicle detection device 2, etc., may be transmitted from the vehicle 20 to the server, and the server's processor may function as a display control unit and a target vehicle setting unit. In addition, such a server may be equipped with a steering device, etc., for the operator to remotely control the autonomous driving of the vehicle 20.

[0130] Furthermore, multiple types of vehicle icons may be used to indicate other vehicles. For example, if the other vehicle detected by the vehicle detection device 2 is identified as a passenger car or a truck, then both a passenger car icon and a truck icon may be used to indicate the other vehicle.

[0131] Furthermore, the embodiments described above can be implemented in any combination. For example, when the second and third embodiments are combined, in step S304 of Figure 7A, the display control unit 15 displays the vehicle icons of the vehicles to be decelerated in the vehicle's lane on the display device 7 in the second display mode, similar to step S205 of Figure 6. Also, when the fifth and sixth embodiments are combined, in the control routine of Figure 10, steps S502 to S505 of Figure 9 are executed instead of steps S603 and S604. [Explanation of Symbols]

[0132] 1. Autonomous driving system 2. Vehicle detection device 7 Display device 10. Electronic Control Unit (ECU) 15 Display Control Unit 16. Vehicle Control Unit 17 Target Vehicle Setting Section 20 vehicles

Claims

1. A vehicle detection device that detects other vehicles present around the vehicle, A display device that displays other vehicles detected by the aforementioned vehicle detection device as vehicle icons, A display control unit that controls the display content of the display device and Equipped with, The display control unit displays the vehicle icons of vehicles subject to deceleration in the adjacent lane to the vehicle in a first display mode, and when the vehicle is changing lanes, it displays the vehicle icons of other vehicles located in front of the vehicle and closest to the vehicle in the lane after the lane change in a second display mode, and displays the vehicle icons of the remaining other vehicles in a default display mode.

2. The display control unit displays the vehicle icon of a first preceding vehicle located in front of the vehicle and closest to the vehicle in the vehicle's driving lane in the vehicle's driving lane in the second display mode, and when the vehicle is changing lanes, it displays the vehicle icon of another vehicle located in front of the vehicle and closest to the vehicle in the lane after the lane change in the second display mode instead of the first preceding vehicle, the display control unit, according to claim 1.

3. The display system according to claim 1 or 2, wherein the display mode is transparency, brightness, hue, lightness of color, or saturation of color.

4. The display system according to any one of claims 1 to 3, wherein the default display mode is set to the same color as the background color of the display device.

5. The display system according to claim 4, wherein the background color of the display device is gray.

6. The display system according to any one of claims 1 to 5, wherein a passenger car icon and a truck icon are used as icons to indicate other vehicles.

7. A display method performed by a computer, This includes controlling the display content of a display device that displays other vehicles detected by a vehicle detection device that detects other vehicles present around the vehicle as vehicle icons, Controlling the display content includes a display method that displays the vehicle icon of a vehicle subject to deceleration in an adjacent lane to the vehicle in a first display mode, and when the vehicle is changing lanes, displays the vehicle icon of another vehicle located in front of the vehicle and closest to the vehicle in the lane after the lane change in a second display mode, and displays the vehicle icons of the remaining other vehicles in the default display mode.

8. A computer program that causes a computer to control the display content of a display device that displays other vehicles detected by a vehicle detection device that detects other vehicles present around the vehicle as vehicle icons, A computer program that controls the display content includes displaying the vehicle icon of a vehicle subject to deceleration in an adjacent lane to the own vehicle in a first display mode, and when the own vehicle is changing lanes, displaying the vehicle icon of another vehicle located in front of the own vehicle and closest to the own vehicle in the lane after the lane change in a second display mode, and displaying the vehicle icons of the remaining other vehicles in a default display mode.

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