Indication device

Abstract

To provide a display device which enables a driver to easily recognize that automatic driving control of a predetermined support level is not actually being executed.SOLUTION: A display device 100 generates a state image based on a detection result of an external field sensor of a vehicle; acquires map information and recognizes an acquisition state of the map information; sets a display mode of the state image based on the acquisition state of the map information; and displays the state image in the display mode on a display unit of a vehicle. The acquisition state includes: a first case in which the map information has been acquired and automatic driving control of a predetermined support level is executable; a second case in which the map information has been acquired and the automatic driving control with the predetermined support level is not feasible; and a third case where the map information is not temporarily available. The display device 100 sets the display mode so that the first, second, and third cases are different from one another.SELECTED DRAWING: Figure 6

Description

Technical Field

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[0001] The present invention relates to a display device.

Background Art

[0002] Conventionally, there is known a display control device that displays, on a display unit provided in the vehicle interior, surrounding objects existing in the own lane in which the vehicle is traveling during automatic driving (for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In a vehicle configured to be capable of executing automatic driving control, depending on the acquisition status of map information corresponding to automatic driving control at a predetermined assistance level, for example, automatic driving control at an assistance level lower than the predetermined assistance level may actually be executed. In such a case, if an image for presenting to the driver of the vehicle is displayed on the display unit of the vehicle in the same display mode as when the automatic driving control at the predetermined assistance level is being executed, there is a possibility that the driver may have difficulty recognizing the assistance level of the automatic driving control actually being executed.

Means for Solving the Problems

[0005] [[ID=4l]] One aspect of the present invention is a display device provided in a vehicle configured to acquire map information capable of executing a predetermined level of automated driving control and to execute a predetermined level of automated driving control based on the map information, comprising: an image generation unit that generates a situational image corresponding to the current situation of the vehicle and its surroundings for presentation to the vehicle's driver based on detection results from the vehicle's external sensors; a map information acquisition unit that acquires map information and recognizes the acquisition status of the map information; a display mode setting unit that sets the display mode of the situational image based on the acquisition status of the map information; and a display control unit that displays the situational image on the vehicle's display unit in the display mode, wherein the acquisition status includes a first case in which map information has been acquired and a predetermined level of automated driving control is executable; a second case in which map information has been acquired but a predetermined level of automated driving control is not executable; and a third case in which map information is temporarily unavailable, and the display mode setting unit sets the display mode so that it is different from that of the first, second, and third cases.

[0006] According to a display device according to one aspect of the present invention, in the third case where map information is temporarily unavailable, the display mode of the situational image is set to be different from the first case where map information has been acquired and a predetermined level of automated driving control is possible, and from the second case where map information has been acquired but a predetermined level of automated driving control is not possible. Therefore, by recognizing the situational image displayed in the display mode for the third case, the driver can more easily recognize that a predetermined level of automated driving control is not actually being performed.

[0007] In one embodiment, the situational image includes an image representing a lane marking along the lane the vehicle is traveling in, and the display mode setting unit may set the display mode such that the length of the image representing the lane marking in the third case is shorter than the length of the images representing the lane marking in the first and second cases. In this case, the extent to which the images representing the pair of lane markings extend in the direction of the vehicle's movement is small, making it easier for the driver to recognize that a predetermined level of automated driving control is not actually being performed.

[0008] In one embodiment, the situation image is an overhead view image showing the vehicle from the rear, and the display mode setting unit may set the display mode such that the angle from which the vehicle is viewed in the third case is different from the angle from which the vehicle is viewed in the first and second cases. In this case, by recognizing the overhead view image in the third case, which shows the vehicle from the rear at an angle different from that of the first and second cases, the driver can more easily recognize that a predetermined level of automated driving control is not actually being performed. [Effects of the Invention]

[0009] According to the present invention, it becomes easier for the driver to recognize that a predetermined level of automated driving control is not actually being performed. [Brief explanation of the drawing]

[0010] [Figure 1] This is a block diagram showing a vehicle equipped with a display device according to an embodiment. [Figure 2] (a) is a diagram showing the first example of displaying the situational image. (b) is a diagram showing the second example of displaying the situational image. [Figure 3] (a) is a diagram showing a third example of the display of the situational image. (b) is a diagram showing a fourth example of the display of the situational image. [Figure 4] (a) is a diagram showing a fifth example of the display of the situational image. (b) is a diagram showing a sixth example of the display of the situational image. [Figure 5] (a) is a diagram showing the seventh example of displaying the situational image. (b) is a diagram showing the eighth example of displaying the situational image. [Figure 6] This flowchart shows an example of processing by the display control ECU of a display device. [Modes for carrying out the invention]

[0011] Embodiments of the present invention will be described below with reference to the drawings. In the following description, the same or equivalent elements will be denoted by the same reference numerals, and redundant descriptions will be omitted.

[0012] Figure 1 is a block diagram showing a vehicle equipped with a display device according to an embodiment. As shown in Figure 1, the display device 100 is mounted on a vehicle 1 capable of performing a predetermined level of automated driving control. The vehicle 1 is, for example, a passenger car.

[0013] [Configuration of the autonomous driving system] Vehicle 1 is equipped with an autonomous driving system 2. Autonomous driving system 2 is a system that performs autonomous driving control of vehicle 1. Autonomous driving control is a vehicle control system that allows vehicle 1 to automatically travel along the road it is traveling on, without the need for a driver to operate the vehicle.

[0014] The autonomous driving system 2 includes an autonomous driving ECU (Electronic Control Unit) 20, external sensors 21, a map database 22, internal sensors 23, a GPS (Global Positioning System) receiver 24, and actuators 25.

[0015] The Autonomous Driving ECU20 is an electronic control unit comprising a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), and a CAN (Controller Area Network) communication circuit. The Autonomous Driving ECU20 controls the hardware based on signals output by the CPU and realizes the functions of the Autonomous Driving ECU20 described later. As a more specific example of its operation, the Autonomous Driving ECU20 operates the CAN communication circuit to input and output data, stores the input data in RAM, loads the program stored in ROM into RAM, and executes the program loaded into RAM.

[0016] The external sensor 21 includes at least one of a camera or a radar sensor. The camera is an imaging device that images the surrounding environment of the vehicle 1. The camera is provided, for example, on the back side of the windshield of the vehicle 1 and images the front of the vehicle. The radar sensor is a detection device that detects objects around the vehicle 1 using radio waves (e.g., millimeter waves) or light. The radar sensor includes, for example, a radar (millimeter wave radar) or a lidar [LiDAR: Light Detection and Ranging]. The external sensor 21 transmits detection information regarding objects around the vehicle 1 to the automatic driving ECU 20.

[0017] The map database 22 is a database that stores map information. The map database 22 is formed, for example, in a recording device such as an HDD [Hard Disk Drive] mounted on the vehicle 1. The map information stored in the map database 22 includes, for example, road position information, road shape information (e.g., curvature information), intersection and branch point position information, etc.

[0018] The map information stored in the map database 22 is a so-called navigation map and, for example, can execute automatic driving control at level 2.0. The map information stored in the map database 22 does not have, for example, the accuracy sufficient to perform automatic driving control at level 2.9. The map information capable of performing automatic driving control at level 2.9 is so-called high-precision map information that includes information with higher accuracy regarding the position and shape of roads than that of a navigation map. In the following description, the map information capable of performing automatic driving control at level 2.9 may be simply referred to as "high-precision map information".

[0019] The automatic driving system 2 is a system capable of performing automatic driving control at a predetermined support level when the map information used includes a high-precision map. The automatic driving system 2 can automatically switch, for example, to perform automatic driving control at a predetermined support level or to perform automatic driving control below a predetermined support level according to whether the map information includes a high-precision map.

[0020] The specified assistance level may be, for example, level 2.9. The level 2.9 automatic driving control is an aspect of the level 2 automatic driving control, and means an automatic driving control that can exhibit high-precision controllability at a set vehicle speed higher than the assistance level that is not level 2.9 (hereinafter referred to as level 2.0) and high disturbance resistance, etc.

[0021] The internal sensor 23 is an in-vehicle sensor that detects the running state of the vehicle 1. The internal sensor 23 may include a vehicle speed sensor, an acceleration sensor, and a yaw rate sensor. Known sensors can be used as the vehicle speed sensor, the acceleration sensor, and the yaw rate sensor. The internal sensor 23 transmits detection information regarding the running state of the vehicle 1 to the automatic driving ECU 20.

[0022] The GPS receiver 24 measures the position of the vehicle 1 (for example, the latitude and longitude of the vehicle 1) by receiving signals from three or more GPS satellites. The GPS receiver 24 transmits the measured position information of the vehicle 1 to the automatic driving ECU 20.

[0023] The actuator 25 is a device used for the running control of the vehicle 1 and operates according to a control signal from the automatic driving ECU 20. The actuator 25 includes at least a drive actuator, a brake actuator, and a steering actuator. The drive actuator is provided, for example, on an engine or a motor as a power source and controls the driving force of the vehicle 1. The brake actuator is provided, for example, in a hydraulic brake system and controls the braking force applied to the wheels of the vehicle 1. The steering actuator is, for example, an assist motor of an electric power steering system and controls the steering torque of the vehicle 1.

[0024] The automatic driving ECU 20 is configured to be able to recognize the vehicle position, which is the position of the vehicle 1 on the map, the surrounding environment of the vehicle 1, and the running state of the vehicle 1. The automatic driving ECU 20 here can use the vehicle position, the surrounding environment, and the running state acquired by the vehicle information acquisition unit 11 of the display control ECU 10 described later (details will be described later).

[0025] The autonomous driving ECU 20 is configured to acquire map information. Here, the autonomous driving ECU 20 can use the map information acquired by the map information acquisition unit 12 of the display control ECU 10 (details will be described later).

[0026] The autonomous driving ECU 20 generates a driving plan for vehicle 1 based on the destination, map information, vehicle position, external environment, and driving conditions (vehicle speed, yaw rate, etc.). The destination may be one set by the occupants, including the driver, or it may be a destination proposed by the autonomous driving system 2.

[0027] The driving plan includes the trajectory of vehicle 1. The trajectory of vehicle 1 is the future driving path that vehicle 1 will take in the context of automated driving control. The automated driving ECU 20 calculates the target route (lane-by-lane path) for vehicle 1 to the destination based on the destination, the current position of vehicle 1 on the map, and the map information.

[0028] The autonomous driving ECU 20 calculates a speed pattern (speed plan) for vehicle 1 to travel along its path. The autonomous driving ECU 20 calculates the speed pattern for vehicle 1 based on the allowable speed of the autonomous driving control set by the occupant, the set speed included in the map information (e.g., the legal maximum speed), the location information of stop lines, traffic lights, etc. included in the map information, and the external environment such as preceding vehicles and pedestrians. The autonomous driving ECU 20 may also calculate the speed pattern for vehicle 1 according to the level of assistance of the autonomous driving control that can be performed, based on the acquired map information. By calculating the path and speed pattern of vehicle 1, the autonomous driving ECU 20 generates a driving plan that includes the path and speed pattern of vehicle 1.

[0029] The autonomous driving ECU 20 performs autonomous driving control of vehicle 1 based on the generated driving plan. The autonomous driving ECU 20 performs autonomous driving control by controlling the vehicle speed and steering angle of vehicle 1 by transmitting control signals to the actuator 25.

[0030] [Display device configuration] Next, the configuration of the display device 100 according to this embodiment will be described. The display device 100 displays images related to the automatic driving control of the automatic driving system 2 on the display device (display unit) 16 of the vehicle 1 in a display mode corresponding to the support level of the automatic driving control.

[0031] The display device 100 consists of a display control ECU 10 mounted on the vehicle 1, a display device 16, and a communication unit 17. The display control ECU 10 is an electronic control unit having a CPU, ROM, RAM, CAN communication circuit, etc. The display control ECU 10 controls the display device 16. The display control ECU 10 may also be an electronic control unit built into the display device 16. The display control ECU 10 may also be a part of the automatic driving ECU 20.

[0032] The display device 16 is mounted on the vehicle 1 and displays images to the driver. The images are displayed in a predetermined display area of ​​the display device 16. The display device 16 is controlled by the display control ECU 10 and displays images in the display area. The display device 16 uses a display that allows the size, shape, brightness, color, etc., of the graphic to be changed.

[0033] As an example of the display device 16, a head-up display (HUD) is used. The head-up display projects an image onto the display surface of the front windshield (the reflective surface on the inside of the front windshield) from a projection unit installed in the instrument panel of the vehicle 1. As the display device 16, a liquid crystal display (so-called multi-information display (MID)) that includes a speedometer and is installed in front of the driver on the instrument panel, or a liquid crystal display of a navigation system may be used.

[0034] The communication unit 17 is an interface for the display device 100 to communicate wirelessly with an external server or the like. The communication unit 17 may use wireless communication of a communication standard such as LTE (Long Term Evolution).

[0035] The functions of the display control ECU 10 will be described below. As shown in Figure 1, the display control ECU 10 has the following functional configuration: a vehicle information acquisition unit 11, a map information acquisition unit 12, an image generation unit 13, a display mode setting unit 14, and a display control unit 15. The functions of the display control ECU 10 may also be implemented using an electronic control unit built into the display device 16. The functions of the display control ECU 10 may also be implemented using a part of the autonomous driving ECU 20.

[0036] The vehicle information acquisition unit 11 acquires the vehicle position, which is the location of the vehicle 1 on the map, based on the location information and map information of the GPS receiver 24. The vehicle information acquisition unit 11 may also recognize the vehicle position using SLAM (Simultaneous Localization and Mapping) technology.

[0037] The vehicle information acquisition unit 11 acquires the external environment around the vehicle 1 based on the detection results of the external sensor 21. The external environment includes the position of objects relative to the vehicle 1, the relative velocity of objects relative to the vehicle 1, and the direction of movement of objects relative to the vehicle 1. The external environment may also include lane markings and road shape recognized by lane marking recognition processing based on the detection results of the external sensor 21.

[0038] The vehicle information acquisition unit 11 recognizes the current situation around vehicle 1 based on the external environment surrounding vehicle 1. The current situation around vehicle 1 refers to the current situation around vehicle 1 for display on the display device 16. The current situation around vehicle 1 includes, for example, the position of vehicle 1 in the lane it is currently traveling in when viewed from above from behind vehicle 1, and the current positions of other vehicles and other objects around vehicle 1.

[0039] The vehicle information acquisition unit 11 recognizes the driving state of vehicle 1 based on the detection results of the internal sensor 23. The driving state includes, for example, the vehicle speed of vehicle 1, the acceleration of vehicle 1, and the yaw rate of vehicle 1.

[0040] The map information acquisition unit 12 acquires map information to be used for autonomous driving control. The map information acquisition unit 12 acquires map information (high-precision map information) capable of executing Level 2.9 autonomous driving control from an external server via the communication unit 17. The map information acquisition unit 12 may also acquire map information capable of executing Level 2.0 autonomous driving control from the map database 22.

[0041] The map information acquisition unit 12 recognizes the status of map information acquisition. The map information acquisition unit 12 recognizes the acquisition status of high-precision map information acquired from an external server via the communication unit 17. Specifically, the acquisition status includes, for example, a first case in which high-precision map information has been acquired and a predetermined level of automated driving control is executable; a second case in which high-precision map information has been acquired but a predetermined level of automated driving control is not executable; and a third case in which high-precision map information is temporarily unavailable.

[0042] "High-precision map information has been acquired" corresponds to a state in which the map information acquisition unit 12 has been able to acquire high-precision map information from an external server via the communication unit 17 and is able to use it. "High-precision map information is temporarily unavailable" corresponds to a state in which the map information acquisition unit 12 has been unable to acquire some or all of the high-precision map information from the external server via the communication unit 17, for example, due to incomplete download of high-precision map information or a temporary deterioration in communication quality.

[0043] "High-precision map information has been acquired and a predetermined level of automated driving control is executable" means a state in which high-precision map information has been acquired and all the conditions for executing a predetermined level of automated driving control are met. "High-precision map information has been acquired and a predetermined level of automated driving control is not executable" means a state in which high-precision map information has been acquired and some or all of the conditions for executing a predetermined level of automated driving control are not met. These conditions include, for example, whether or not the vehicle position can be determined by self-position estimation for automated driving control of vehicle 1 due to a failure of the external sensor 21, and other causes that may cause the state in which a predetermined level of automated driving control is not executable to last longer than in the third case.

[0044] The image generation unit 13 generates a situational image based on the detection results of the vehicle's external sensor 21. The situational image is an image to be presented to the driver of the vehicle 1 and corresponds to the current situation of the vehicle 1 and its surroundings. The situational image may include, for example, an image representing the lane markings along the lane in which the vehicle 1 is traveling. The situational image may also be an overhead image showing the vehicle from a rearward perspective.

[0045] Figure 2(a) shows a first example of the display of a situational image. In Figure 2(a), an example of a situational image during Level 2.9 automated driving control is displayed on the display device 16. The first example in Figure 2(a) corresponds to a first embodiment in the first case where high-precision map information has been acquired and an automated driving control of a predetermined level of assistance is possible.

[0046] As an example, in the situational image of Figure 2(a), an image representing a pair of lane markings 40 and a shoulder 32 along the lane 31 in which vehicle 1 is traveling is displayed on the display device 16 along the direction of travel of vehicle 1. In lane 31 in which vehicle 1 is traveling, a preceding vehicle 33 is depicted in front of vehicle 1 in the direction of travel. In the adjacent lanes 34 and 35 to lane 31 in which vehicle 1 is traveling, other vehicles 36 and 37 are depicted diagonally in front of vehicle 1 in the direction of travel. In the situational image of Figure 2(a), in order to indicate that Level 2.9 automatic driving control is being executed, the image representing the pair of lane markings 40 is displayed on the display device 16 as a solid line of a first thickness and first length, with a first brightness, at a first overhead angle. The first overhead angle is the angle from which vehicle 1 is viewed in the first and second cases.

[0047] Figure 2(b) shows a second example of the display of a situational image. In Figure 2(b), similar to Figure 2(a), another example of a situational image during Level 2.9 automated driving control is displayed on the display device 16. The second example in Figure 2(b) corresponds to the first embodiment in the first case, where high-precision map information has been acquired and a predetermined level of automated driving control is possible. In the situational image of Figure 2(b), the brightness of the pair of lane lines 40 is increased to a second brightness, which is higher than the first brightness, compared to Figure 2(a). In other words, the image generation unit 13 can generate a situational image as shown in Figure 2(a) or Figure 2(b) as a situational image when the map information acquisition status is the first case, so as to increase the visual stimulus of the pair of lane lines 40 to the driver of the vehicle 1.

[0048] The display mode setting unit 14 sets the display mode of the situation image based on the acquisition status of map information. The display mode setting unit 14 sets the display mode so that it is different for the first case, the second case, and the third case.

[0049] As a specific example, the display mode setting unit 14 may set the display mode such that the second thickness of the lane markings in the second case is thinner than the first thickness of the lane markings in the first case. Figure 3(a) shows a third example of the display of the situation image. The third example in Figure 3(a) corresponds to the second mode in the second case, where high-precision map information has been acquired and a predetermined level of automated driving control is not possible. In the situation image of Figure 3(a), an image representing a pair of lane markings 41 is displayed on the display device 16 as a solid line of the second thickness. The second thickness of the pair of lane markings 41 is thinner than the first thickness of the pair of lane markings 40 in Figure 2(a). The length of the pair of lane markings 41 is the same as the first length of the pair of lane markings 40 in Figure 2(a). By displaying the image representing the pair of lane markings 41 as a solid line of the second thickness on the display device 16, the visual stimulus of the pair of lane markings 41 to the driver of vehicle 1 is reduced compared to the visual stimulus of the pair of lane markings 40. This makes it easier for the driver of vehicle 1 to recognize that Level 2.0 autonomous driving control is in operation, due to a reason that may cause the state in which a predetermined level of autonomous driving control is not possible to be performed to last longer than in the third case.

[0050] The display mode setting unit 14 may set the display mode so that the lane lines in the second case are dashed, unlike the solid lane lines in the first case. Figure 3(b) shows a fourth example of the display of the situation image. The fourth example in Figure 3(b) corresponds to the second mode in the second case, where high-precision map information has been acquired and a predetermined level of automated driving control is not possible. In the situation image of Figure 3(b), the image representing the pair of lane lines 42 is displayed on the display device 16 as a dashed line. The thickness and length of the pair of lane lines 42 are the same as the first thickness and first length of the pair of lane lines 40 in Figure 2(a). By displaying the image representing the pair of lane lines 42 as a dashed line, the visual stimulus of the pair of lane lines 42 to the driver of vehicle 1 is smaller than the visual stimulus of the pair of lane lines 40. This makes it easier for the driver of vehicle 1 to recognize that level 2.0 automated driving control is being performed due to a cause that may last longer than in the third case.

[0051] The display mode setting unit 14 may set the display mode so that, unlike the solid line lane markings in the first case, only the outline of the lane markings is displayed or they are semi-transparent in the second case. Figure 4(a) shows a fifth example of the display of the situation image. The fifth example in Figure 4(a) corresponds to the second mode in the second case, where high-precision map information has been acquired and a predetermined level of automated driving control is not possible. In the situation image of Figure 4(a), the outlines of the images representing a pair of lane markings are displayed on the display device 16 as dashed lines 43. Alternatively, the images representing a pair of lane markings may be displayed on the display device 16 semi-transparently in the area enclosed by the dashed lines 43. The thickness and length of the area enclosed by the dashed lines 43 are the same as the first thickness and first length of the pair of lane markings 40 in Figure 2(a). By displaying a pair of dashed lines 43 or a semi-transparent pair of lane markings, the visual stimulus of the pair of lane markings to the driver of vehicle 1 is reduced even further than the visual stimulus of the pair of lane markings 40. This makes it easier for the driver of vehicle 1 to recognize that Level 2.0 autonomous driving control is in operation due to causes that may take longer than in the third case.

[0052] The display mode setting unit 14 may, for example, set the display mode such that the length of the image representing the pair of lane lines 44 in the third case is shorter than the length of the images representing the pair of lane lines 40, 41, and 42 in the first and second cases. Figure 4(b) shows a sixth example of the display of the situation image. The sixth example in Figure 4(b) corresponds to the third mode in the third case where high-precision map information is temporarily unavailable. In the situation image of Figure 4(b), the image representing the pair of lane lines 44 is displayed on the display device 16 as a solid line of second length. The second length of the pair of lane lines 44 is shorter than the first length of the pair of lane lines 40, 41, and 42 in Figures 2(a) to 3(b). The thickness of the pair of lane lines 44 may be the same as the first thickness of the pair of lane lines 40 and 42 in Figures 2(a) and 3(b), or it may be thinner. By displaying the image representing the pair of lane lines 44 as a solid line of second length, the extent to which it extends in the direction of travel of the vehicle 1 is perceived as small. The visual stimulus of the pair of lane markings 44 to the driver of vehicle 1 is smaller than the visual stimulus of the pair of lane markings 40, 41, and 42. This makes it easier for the driver of vehicle 1 to recognize that Level 2.0 autonomous driving control is being performed when Level 2.9 autonomous driving control is temporarily unavailable.

[0053] The display mode setting unit 14 may set the display mode such that the second overhead viewing angle for viewing the vehicle 1 in the third case is different from the first overhead viewing angle for viewing the vehicle 1 in the first and second cases. The second overhead viewing angle is the angle for viewing the vehicle 1 in the third case.

[0054] Figure 5(a) shows a seventh example of the display of the situational image. The seventh example in Figure 5(a) corresponds to the third embodiment in the third case where high-precision map information is temporarily unavailable. The second overhead view angle in the situational image of Figure 5(a) is an overhead view angle that looks down on vehicle 1 from a higher position compared to the first overhead view angle in the situational images of Figures 2(a) to 4(a). In the situational image of Figure 5(a), the area around vehicle 1 that is drawn is narrower compared to the situational image of Figure 2(a). When the situational image of Figure 5(a) is displayed at this second overhead view angle, the extent to which the pair of lane lines 45 extend in the direction of travel of vehicle 1 is perceived to be smaller compared to the situational images of Figures 2(a) to 4(a). The visual stimulus of the pair of lane lines 45 to the driver of vehicle 1 is smaller than the visual stimulus of the pair of lane lines 40, 41, 42. This makes it easier for the driver of vehicle 1 to recognize that Level 2.0 autonomous driving control is being performed because Level 2.9 autonomous driving control is temporarily unavailable.

[0055] The display mode setting unit 14 may set the display mode such that, in the third case, the second overhead viewing angle for viewing the vehicle 1 is different from the first overhead viewing angle for viewing the vehicle 1 in the first and second cases, and the length of the image representing the pair of lane lines 46 in the third case is shorter than the length of the images representing the pair of lane lines 40, 41, 42, and 45 in the first and second cases. Figure 5(b) shows an eighth example of the display of the situation image. The eighth example in Figure 5(b) corresponds to the third mode in the third case, where high-precision map information is temporarily unavailable. The eighth example in Figure 5(b) corresponds to a display example that combines the sixth example in Figure 4(b) and the seventh example in Figure 5(a). The second overhead viewing angle in the situation image of Figure 5(b) is an overhead viewing angle that looks down on the vehicle 1 from higher up compared to the first overhead viewing angle in the situation images of Figures 2(a) to 4(a). In the situational image of Figure 5(b), an image representing a pair of lane markings 46 is displayed on the display device 16 as a solid line of a fourth length. The fourth length of the pair of lane markings 46 is shorter than the third length of the pair of lane markings 45 in Figure 5(a). The thickness of the pair of lane markings 46 may be the same as the thickness of the pair of lane markings 45 in Figure 5(a), or it may be thinner. In the situational image of Figure 5(b), compared to the situational image of Figure 2(a), the area around the vehicle 1 that is drawn is narrower, and furthermore, because the image representing the pair of lane markings 46 is displayed with a fourth length, the extent to which it extends in the direction of travel of the vehicle 1 is perceived as smaller. Therefore, the visual stimulus of the pair of lane markings 46 to the driver of the vehicle 1 is smaller than the visual stimulus of the pair of lane markings 40, 41, 42, and 45. As a result, the driver of the vehicle 1 can more easily recognize that Level 2.0 automatic driving control is being executed because Level 2.9 automatic driving control is temporarily unavailable.

[0056] The display control unit 15 controls the display on the display device 16. The display control unit 15 displays the situation image on the display device 16 of the vehicle 1 in the set display mode.

[0057] Here, in Level 2.0 autonomous driving control, the autonomous driving ECU 20 uses the external environment around the vehicle 1 detected by the external sensor 21. On the other hand, in Level 2.9 autonomous driving control, the autonomous driving ECU 20 uses a high-precision map, allowing it to use an external environment farther away from the vehicle 1 than the detection range of the external sensor 21. For example, in Level 2.9 autonomous driving control, even at a higher set vehicle speed than in Level 2.0 autonomous driving control, the vehicle 1 can automatically navigate curves in a way that reduces positional deviations from the control target. Therefore, in Level 2.9 autonomous driving control, the driver can easily avoid preparations such as placing their hands on the steering wheel at the entrance of a curve, compared to Level 2.0 autonomous driving control. In other words, because the display control unit 15 displays the situation image on the vehicle 1's display device 16 in a set display mode, the driver can recognize whether the assistance level of the autonomous driving control being performed is Level 2.9 or Level 2.0, thus making it easier to avoid preparations such as placing their hands on the steering wheel at the entrance of a curve. Furthermore, since the display modes are set to be different for the first, second, and third cases, drivers can more easily recognize whether the state in which Level 2.9 autonomous driving control cannot be performed is temporary or not.

[0058] [Processing of display device 100] Next, an example of the processing of the display device 100 will be explained with reference to the flowchart in Figure 6. Figure 6 is a flowchart of an example of the processing of the display device. The processing shown in Figure 6 is executed, for example, while the vehicle 1 is in motion.

[0059] As shown in Figure 6, in S01, the display control ECU 10 of the display device 100 acquires the vehicle position of vehicle 1 using the vehicle information acquisition unit 11. The vehicle information acquisition unit 11 acquires the vehicle position of vehicle 1, for example, from the measurement results of the GPS receiver 24.

[0060] In S02, the display control ECU 10 uses the map information acquisition unit 12 to acquire map information and recognize the status of map information acquisition. The map information acquisition unit 12 acquires, for example, map information of the area around the vehicle position of vehicle 1 from an external server via the communication unit 17. Based on the map information acquisition results, the map information acquisition unit 12 recognizes which of the following the current map information acquisition statuses applies: for example, case 1 where high-precision map information has been acquired and a predetermined level of automated driving control is executable; case 2 where high-precision map information has been acquired but a predetermined level of automated driving control is not executable; and case 3 where high-precision map information is temporarily unavailable.

[0061] In S03, the display control ECU 10 generates a situational image representing the current situation using the image generation unit 13. Based on the detection results of the vehicle's external sensor 21, the image generation unit 13 generates a situational image corresponding to the current situation of the vehicle 1 and its surroundings for presentation to the driver of the vehicle 1.

[0062] In steps S04 to S08, the display control ECU 10 sets the display mode of the situation image using the display mode setting unit 14. The display mode setting unit 14 sets the display mode of the situation image based on the acquisition status of map information. The display mode setting unit 14 sets the display mode so that it is different for the first case, the second case, and the third case.

[0063] In S04, the display control ECU 10 uses the display mode setting unit 14 to determine whether the map information acquisition status falls under the third case. If the display control ECU 10 determines that the map information acquisition status falls under the third case using the display mode setting unit 14, it proceeds to the process in S08. If the display control ECU 10 determines that the map information acquisition status does not fall under the third case using the display mode setting unit 14, it proceeds to the process in S05.

[0064] In S05, the display control ECU 10 uses the display mode setting unit 14 to determine whether the map information acquisition status falls under the first case. If the display control ECU 10 determines that the map information acquisition status falls under the first case, it proceeds to the process in S06. If the display control ECU 10 determines that the map information acquisition status does not fall under the first case, it proceeds to the process in S07.

[0065] In S06, the display control ECU 10 sets the display mode to the first mode using the display mode setting unit 14. The display mode setting unit 14 sets the display mode of the situation image to the first mode when the acquisition status corresponds to the first case. After that, the display control ECU 10 proceeds to the process in S09.

[0066] In S07, the display control ECU 10 sets the display mode to the second mode using the display mode setting unit 14. The display mode setting unit 14 sets the display mode of the situation image to the second mode when the acquired situation does not fall under either the first or third case. After that, the display control ECU 10 proceeds to the process in S09.

[0067] In S08, the display control ECU 10 sets the display mode to the third mode using the display mode setting unit 14. The display mode setting unit 14 sets the display mode of the situation image to the third mode when the acquisition status corresponds to the third case. After that, the display control ECU 10 proceeds to the process in S09.

[0068] In S09, the display control ECU 10 displays the situation image in the set display mode, as instructed by the display control unit 15. Based on the setting result of the display mode, the display control unit 15 displays the situation image on the vehicle 1's display device 16 in the set display mode. After that, the display control ECU 10 terminates the process shown in Figure 6.

[0069] As explained above, in the third case where map information is temporarily unavailable, the display mode of the situation image is set to the third mode in the display device 100, which is different from the first mode in the first case where map information has been acquired and a predetermined level of automated driving control is possible, and from the second mode in the second case where map information has been acquired but a predetermined level of automated driving control is not possible. Therefore, by recognizing the situation image displayed in the third mode, the driver can more easily recognize that a predetermined level of automated driving control is not actually being performed.

[0070] In the display device 100, the situational image includes images representing lane markings 40, 41, 42, 44, 45, and 46 along the lane in which the vehicle 1 is traveling. The display mode setting unit 14 sets the display mode such that the length of the image representing lane marking 44 in the third case is shorter than the length of the images representing lane markings 40, 41, and 42 in the first and second cases. The display mode setting unit 14 also sets the display mode such that the length of the image representing lane marking 46 in the third case is shorter than the length of the image representing lane marking 45 in the second case. As a result, the driver can recognize that the extent to which the images representing the pair of lane markings 44 and 46 extend in the direction of travel of the vehicle 1 is small, making it easier for the driver to recognize that a predetermined level of automated driving control is not actually being performed.

[0071] In the display device 100, the situation image is an overhead view image showing the vehicle 1 from the rear, and the display mode setting unit 14 sets the display mode so that the second overhead view angle, which is the angle from which the vehicle 1 is viewed in the third case, is different from the first overhead view angle, which is the angle from which the vehicle 1 is viewed in the first and second cases. As a result, the driver can recognize the overhead view image in the third case, which shows the vehicle 1 from the rear at an angle different from the first overhead view angle in the first and second cases, making it easier for the driver to recognize that a predetermined level of automated driving control is not actually being performed.

[0072] Although embodiments of the present invention have been described above, the present invention is not limited to the embodiments described above.

[0073] In the above embodiment, the display mode setting unit 14 sets the display mode in the third case by shortening the far side of the image representing the lane markings in the direction of travel of the vehicle 1, so that the length of the image representing the lane markings in the third case is shorter than the length of the image representing the lane markings in the first and second cases. However, the embodiment is not limited to this example. The display mode setting unit 14 may also set the display mode in the third case by shortening the near side of the image representing the lane markings in the direction of travel of the vehicle 1, so that the length of the image representing the lane markings in the third case is shorter than the length of the image representing the lane markings in the first and second cases.

[0074] In the above embodiment, Level 2.9 autonomous driving control was given as an example of a predetermined level of autonomous driving control, but the predetermined level of assistance is not limited to this example. The predetermined level of assistance may be higher than Level 2.9. In short, the predetermined level of assistance only needs to be higher than Level 2.0, which uses a navigation map. [Explanation of Symbols]

[0075] 1...Vehicle, 12...Map information acquisition unit, 13...Image generation unit, 14...Display mode setting unit, 14...Display mode setting unit, 15...Display control unit, 16...Display device (display unit), 21...External sensor, 31...Lane, 40, 41, 42, 44, 45, 46...Lane markings, 100...Display device.

Claims

1. A display device provided in a vehicle that acquires map information capable of executing a predetermined level of automated driving control and is configured to execute the predetermined level of automated driving control based on the map information, An image generation unit generates a situational image corresponding to the current situation of the vehicle and its surroundings, to be presented to the driver of the vehicle, based on the detection results of the vehicle's external sensors. A map information acquisition unit that acquires the aforementioned map information and recognizes the status of the acquisition of the aforementioned map information, A display mode setting unit sets the display mode of the situation image based on the acquisition status of the map information, The system includes a display control unit that displays the aforementioned situational image in the aforementioned display mode on the vehicle's display unit, The acquisition status includes a first case in which the map information has been acquired and the predetermined level of automated driving control is executable; a second case in which the map information has been acquired but the predetermined level of automated driving control is not executable; and a third case in which the map information is temporarily unavailable. The display mode setting unit sets the display mode such that it is different from the first, second, and third cases.

2. The aforementioned situational image includes an image representing the lane markings along the lane in which the vehicle is traveling. The display device according to claim 1, wherein the display mode setting unit sets the display mode such that the length of the image representing the demarcation line in the third case is shorter than the length of the image representing the demarcation line in the first case and the second case.

3. The aforementioned situational image is an overhead view showing the vehicle from the rear. The display device according to claim 1 or 2, wherein the display mode setting unit sets the display mode such that the angle from which the vehicle is viewed in the third case is different from the angle from which the vehicle is viewed in the first case and the second case.

Images