Vehicle display control device
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Patents
- Current Assignee / Owner
- TOYOTA JIDOSHA KK
- Filing Date
- 2023-10-04
- Publication Date
- 2026-08-04
AI Technical Summary
【0007】 以上説明したように、本発明に係る車両用表示制御装置は、運転支援制御が非作動状態から作動状態に切り替わったことを表示部を見た乗員に認識させ易い、という優れた効果を有する。
Smart Images
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Abstract
Description
Technical Field
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[0001] The present invention relates to a display control device for a vehicle.
Background Art
[0002] The following Patent Document 1 discloses a display control device for a vehicle that displays an image representing a vehicle (the host vehicle) and an image representing the surrounding situation of the vehicle on a display unit while changing the display mode of these images.
Prior Art Document
Patent Document
[0003]
Patent Document 1
Summary of the Invention
Problems to be Solved by the Invention
[0004] The above Patent Document 1 has room for improvement with regard to making the vehicle occupants recognize that the driving support control has actually started to operate.
[0005] In consideration of the above facts, an object of the present invention is to obtain a display control device for a vehicle that makes it easy for the occupants who see the display unit to recognize that the driving support control has switched from the non-operating state to the operating state.
Means for Solving the Problems
[0006] The display control device for a vehicle according to the first aspect is provided in a vehicle capable of executing driving support control, and includes a display unit capable of displaying a vehicle image representing the vehicle, a support control determination unit capable of determining whether or not a switching condition for switching the driving support control from the non-operating state to the operating state is satisfied, and a display control unit that controls the display unit to display the vehicle image while changing the display mode of the vehicle image when the support control determination unit determines that the switching condition is satisfied.
Effects of the Invention
[0007] As described above, the vehicle display control device according to the present invention has the excellent effect of making it easy for occupants to recognize that the driver assistance control has switched from a non-operating state to an operating state by looking at the display unit. [Brief explanation of the drawing]
[0008] [Figure 1] This is a schematic plan view of a vehicle equipped with a vehicle display control device according to an embodiment. [Figure 2] This figure shows the interior of the vehicle shown in Figure 1. [Figure 3] Figure 2 is a functional block diagram of the ECU. [Figure 4] This is a schematic side view showing the positional relationship between the vehicle and the virtual viewpoint. [Figure 5] This diagram shows a display unit that displays a vehicle image representing a vehicle traveling on the road and a road image representing the road when the blind spot monitor control is switched to the activated state. [Figure 6] This diagram shows the display unit when the blind spot monitor control is activated. [Figure 7] This figure shows the display unit when the blind spot monitor control is activated and an approaching vehicle warning image is displayed. [Figure 8] This diagram shows the display unit that shows vehicle images and road images representing vehicles stopped on the road when the safe disembarkation assist control is activated. [Figure 9] This diagram shows the display unit when the safe disembarkation assist control is activated. [Figure 10] This diagram shows the display unit when the safe disembarkation assist control is activated and an approaching object warning image is displayed. [Figure 11] This diagram shows the display unit that displays a vehicle image representing a vehicle located in the parking lot when the parking time notification control is activated. [Figure 12] This diagram shows the display unit when the parking alert control is activated. [Figure 13] This diagram shows the display unit when the parking alert control is activated and the surrounding object alert image is displayed. [Figure 14] This is a flowchart illustrating the processes executed by the CPU of the ECU. [Modes for carrying out the invention]
[0009] Hereinafter, embodiments of the vehicle display control device according to the present invention will be described with reference to the attached drawings.
[0010] The vehicle 10 shown in Figure 1 comprises a vehicle body 11 and four doors 12A, 12B, 12C, and 12D that open and close four openings formed on the side of the vehicle body 11. Each door 12A, 12B, 12C, and 12D is rotatable relative to the vehicle body 11 between a closed position (position indicated by the solid line in Figure 1) that closes the corresponding opening and an open position (position indicated by the dashed line in Figure 1) that opens the opening. Furthermore, each door 12A, 12B, 12C, and 12D is provided with a door locking device having an electric actuator. Each door locking device can be switched by the driving force of the electric actuator between a latched state (locked state) that holds the door 12A, 12B, 12C, and 12D in the closed position and an unlatched state (unlocked state) that allows the door 12A, 12B, 12C, and 12D to rotate between the closed and open positions.
[0011] Furthermore, an inside handle 14 is provided on the inner surface of each door 12A, 12B, 12C, and 12D. When the inside handle 14 is rotated while the locking knob (not shown) on door 12A, 12B, 12C, and 12D is in the unlocked position, the latched doors 12A, 12B, 12C, and 12D become unlatched.
[0012] Furthermore, on the vehicle body 11, four opening / closing determination switches 15 are provided to determine whether each of the doors 12A, 12B, 12C, and 12D is in the latched state or the unlatched state. Each opening / closing determination switch 15 outputs an unlatched signal when the corresponding door 12A, 12B, 12C, or 12D changes from the latched state to the unlatched state.
[0013] As shown in FIG. 2, a turn signal lever 17 is rotatably supported on a steering column provided on an instrument panel 16 of the vehicle 10. When the turn signal lever 17 rotates from the initial position to the upper first lighting position, a turn signal 11L (see FIG. 1) provided on the left side of the front portion of the vehicle body 11 lights up. When the turn signal lever 17 rotates from the initial position to the lower second lighting position, a turn signal 11R (see FIG. 1) provided on the right side of the front portion of the vehicle body 11 lights up.
[0014] Furthermore, as shown in FIG. 2, a display unit 18 is provided on the instrument panel 16. As will be described later, the display unit 18 can display various images.
[0015] Furthermore, as shown in FIG. 1, a plurality of radar sensors 19 and a plurality of clearance sonars 20 are provided at the rear portion of the vehicle 10. The radar sensor 19 uses radio waves in the millimeter wave band (hereinafter, "millimeter waves") to determine the position of a target and the relative speed of the target with respect to the vehicle 10. Specifically, the radar sensor 19 emits millimeter waves obliquely rearward of the vehicle 10 and receives the millimeter waves (reflected waves) reflected by a target, which is a three-dimensional object existing within the emission range of the millimeter waves. The radar sensor 19 transmits millimeter wave transmission / reception data to an ECU (Electronic Control Unit) 21. The clearance sonar 20 is, for example, an ultrasonic sensor, and determines the distance from the clearance sonar 20 (vehicle 10) to the target based on the time until the ultrasonic waves emitted by itself are reflected by the target (three-dimensional object) and received. The determination distance of the clearance sonar 20 is, for example, about several cm to 100 cm.
[0016] As shown in Figure 2, the ECU 21 consists of a CPU (Central Processing Unit: processor) 22, ROM (Read Only Memory) 23, RAM (Random Access Memory) 24, storage 25, communication interface 26, and input / output interface 27. The CPU 22, ROM 23, RAM 24, storage 25, communication interface 26, and input / output interface 27 are connected to each other via a bus 28 so that they can communicate with one another. The ECU 21 can obtain date and time information from a timer (not shown).
[0017] The CPU 22 is a central processing unit that executes various programs and controls various components. Specifically, the CPU 22 reads programs from the ROM 23 or storage 25 and executes them using the RAM 24 as a working area. The CPU 22 controls each component and performs various calculations (information processing) according to the programs recorded in the ROM 23 or storage 25.
[0018] ROM23 stores various programs and data. This data includes, for example, 3D (three-dimension) modeling data that forms the basis of image data representing vehicle images 30A, 30B, 30C, 30D, 30E, road images 31A, 31B, 31C, 31D, 31E, approaching vehicle images 32B, 32C, and parked vehicle images 33D, 33E shown in Figures 5 to 13. The 3D modeling data includes, for example, 3D modeling data of vehicle 10, 3D modeling data of approaching vehicles (following vehicles) described later, 3D modeling data of parked vehicles described later, and 3D modeling data of road 100 described later. Each 3D modeling data is placed in a 3D virtual space. When the position of the virtual viewpoint described later changes, the shape of the target represented by each 3D modeling data as seen from the virtual viewpoint changes.
[0019] Vehicle images 30A, 30B, 30C, 30D, 30E and road images 31A, 31B, 31C, 31D, 31E are displayed on the display unit 18, for example, when vehicle 10 is traveling on road 100 shown in Figure 2.
[0020] The vehicle image 30A shown in Figure 5 is an image based on the 3D modeling data of the vehicle 10 placed in the 3D virtual space as viewed from the virtual viewpoint PA in Figure 4, and is generated by the display control unit 222, which will be described later. The road image 31A shown in Figure 5 is an image based on the 3D modeling data of the road 100 placed in the 3D virtual space as viewed from the virtual viewpoint PA, when the display control unit 222 recognizes the road 100 based on the detection results of multiple radar sensors 19F and multiple clearance sonars 20F installed on the front of the vehicle 10, and is generated by the display control unit 222.
[0021] The vehicle image 30B and road image 31B shown in Figure 6 are images generated by the display control unit 222 in the same manner as the vehicle image 30A and road image 31A, and are images based on 3D modeling data as seen from the virtual viewpoint PB in Figure 4, where the 3D modeling data of the vehicle 10 and the 3D modeling data of the road 100 are viewed. If the road 100 has two lanes, the road image 31B includes lane image 31B-1 and lane image 31B-2, as shown in Figure 6.
[0022] The vehicle image 30C and road image 31C shown in Figure 7 are images generated by the display control unit 222 in the same manner as the vehicle image 30A and road image 31A, and are images based on 3D modeling data when viewed from the virtual viewpoint PC in Figure 4, showing the 3D modeling data of the vehicle 10 and the 3D modeling data of the road 100. The road image 31C in Figure 7 includes lane image 31C-1 and lane image 31C-2. The approaching vehicle image 32B in Figure 6 is an image based on 3D modeling data when the display control unit 222 recognizes an approaching vehicle (following vehicle) that is traveling in an adjacent lane adjacent to the lane in which the vehicle 10 is traveling and is located behind the vehicle 10, based on the detection results of the radar sensor 19 and clearance sonar 20, and is generated by the display control unit 222 when viewed from the virtual viewpoint PB, showing the 3D modeling data of the approaching vehicle placed in the 3D virtual space. The approaching vehicle image 32C in Figure 7 is an image of the approaching vehicle as seen from the virtual viewpoint PC.
[0023] As shown in Figure 4, virtual viewpoints PA, PB, and PC are located on a single virtual straight line L1. Furthermore, the field of view angle θA shown in Figure 4 is the field of view when viewing vehicle 10 from virtual viewpoint PA. The field of view angle θB is the field of view when viewing vehicle 10 from virtual viewpoint PB, and the field of view angle θC is the field of view when viewing vehicle 10 from virtual viewpoint PC. The distance from virtual viewpoint PB to vehicle 10 is longer than the distance from virtual viewpoint PA to vehicle 10, and the distance from virtual viewpoint PC to vehicle 10 is longer than the distance from virtual viewpoint PB to vehicle 10. Furthermore, the field of view angles θA, θB, and θC are the same. Therefore, as is clear from Figures 5 to 7, the vehicle image 30B in Figure 6 is smaller than the vehicle image 30A in Figure 5, and the vehicle image 30C in Figure 7 is smaller than the vehicle image 30B. Similarly, the approaching vehicle image 32C in Figure 7 is smaller than the approaching vehicle image 32B in Figure 6.
[0024] The vehicle image 30A and road image 31A shown in Figure 8 are images generated in the same manner as the vehicle image 30A and road image 31A in Figure 5, and represent the vehicle 10 and road 100 as seen from the virtual viewpoint PA in Figure 4, where the vehicle 10 is stopped on the road 100. The vehicle image 30D and road image 31D shown in Figure 9 are images generated by the display control unit 222 in the same manner as the vehicle image 30A and road image 31A, and are images based on the 3D modeling data of the vehicle 10 and the road 100 as seen from the virtual viewpoint PD in Figure 4. The vehicle image 30E and road image 31E shown in Figure 10 are images generated by the display control unit 222 in the same manner as the vehicle image 30A and road image 31A, and are images based on the 3D modeling data of the vehicle 10 and the road 100 as seen from the virtual viewpoint PE in Figure 4. As shown in Figure 4, the virtual viewpoints PA, PD, and PE are located on a curve CL that forms a roughly circular arc. That is, the distance from virtual viewpoint PA to vehicle 10, the distance from virtual viewpoint PD to vehicle 10, and the distance from virtual viewpoint PE to vehicle 10 are approximately the same. As shown in Figure 4, virtual viewpoint PD is located in front of and above virtual viewpoint PA, and virtual viewpoint PE is located in front of virtual viewpoint PD. Virtual viewpoint PE is located directly above the center of vehicle 10 in the longitudinal direction. Furthermore, the field of view angle θD when viewing vehicle 10 from virtual viewpoint PD and the field of view angle θE when viewing vehicle 10 from virtual viewpoint PE are the same as the field of view angles θA, θB, and θC. Therefore, as is clear from Figures 8 to 10, the shape of vehicle image 30A in Figure 8, the shape of vehicle image 30D in Figure 9, and the shape of vehicle image 30E in Figure 10 are different from each other. Similarly, the shape of road image 31A in Figure 8, the shape of road image 31D in Figure 9, and the shape of road image 31E in Figure 10 are different from each other.
[0025] The vehicle image 30A shown in Figure 11 is an image generated in the same manner as the vehicle image 30A in Figure 5, and represents the vehicle 10 as seen from the virtual viewpoint PA while it is moving slowly in the parking lot. The vehicle image 30D shown in Figure 12 is an image generated in the same manner as the vehicle image 30A in Figure 5, and represents the vehicle 10 as seen from the virtual viewpoint PD while it is moving slowly in the parking lot. The vehicle image 30E shown in Figure 13 is an image generated in the same manner as the vehicle image 30A in Figure 5, and represents the vehicle 10 as seen from the virtual viewpoint PE while it is moving slowly in the parking lot. The parked vehicle image 33D shown in Figure 12 is an image based on 3D modeling data of the parked vehicle placed in the 3D virtual space as seen from the virtual viewpoint PD when the display control unit 222 recognizes a parked vehicle located diagonally behind the vehicle 10 and parked in the parking lot, based on the detection results of the radar sensor 19 and the clearance sonar 20. It is generated by the display control unit 222. The parked vehicle image 33E shown in Figure 13 is an image of the parked vehicle as seen from a virtual viewpoint PE.
[0026] Furthermore, ROM23 stores the approaching vehicle notification image (notification image) 35 shown in Figure 7, the approaching object notification image (notification image) 36 shown in Figure 10, and the surrounding object notification image (notification image) 37 shown in Figure 13. The approaching vehicle notification image 35, the approaching object notification image 36, and the surrounding object notification image 37 will be described later. In the following description, vehicle images 30A, 30B, 30C, 30D, 30E, road images 31A, 31B, 31C, 31D, 31E, approaching vehicle images 32B, 32C, parked vehicle images 33D, 33E, approaching vehicle notification image 35, approaching object notification image 36, and surrounding object notification image 37 may be referred to as "driving assistance related images".
[0027] RAM24 temporarily stores programs or data as a working area. Storage25 consists of a storage device such as an HDD (Hard Disk Drive) or SSD (Solid State Drive) and stores various programs and data.Communication I / F26 is an interface that can communicate with devices located outside the vehicle 10.For example, communication I / F26 can wirelessly communicate with an external server (not shown).Communication I / F26 uses communication standards such as CAN (Controller Area Network), Bluetooth (registered trademark), and Wi-Fi (registered trademark).Furthermore, communication I / F26 can communicate with an ECU other than the ECU21 installed in the vehicle 10 via an external bus.
[0028] As shown in Figure 3, the ECU 21 has a functional configuration consisting of a driver assistance control unit (assistance control determination unit) 221 and a display control unit 222. The driver assistance control unit 221 and the display control unit 222 are realized when the CPU 22 of the ECU 21 reads and executes a program stored in the ROM 23.
[0029] When the driver assistance control device 16a (see Figure 2) provided on the instrument panel 16 is in the ON state, the driver assistance control unit 221 uses the sensor group and actuator group (not shown) provided on the vehicle 10 to cause the vehicle 10 to perform driver assistance control at any driving level defined by the SAE (Society of Automotive Engineers). Furthermore, when the driver assistance control device 16a is in the ON state, the occupants of the vehicle 10 can select the driving level and the driver assistance control to be performed by operating the driver assistance control device 16a. The driver assistance control in this embodiment includes, for example, blind spot monitor control (hereinafter referred to as BSM control), safe exit assist control (hereinafter referred to as SEA control), and parking notification control. The sensor group provided on the vehicle 10 includes radar sensors 19, 19F and clearance sonars 20, 20F. The actuator group provided on the vehicle 10 includes, for example, an electric motor which is a drive source.
[0030] When the driver assistance control device 16a is ON, the radar sensor 19 detects that the distance between vehicle 10 and a vehicle located behind vehicle 10 (hereinafter referred to as an approaching vehicle) is less than or equal to a first predetermined distance, and the turn signal lever 17 is operated in the direction indicating the position of this adjacent lane, the driver assistance control unit 221 determines that the first switching condition (switching condition) for switching the BSM control from a non-operating state to an operating state has been met. In other words, if the distance between vehicle 10 and the approaching vehicle is greater than the first predetermined distance, or if the turn signal lever 17 is not operated in the direction indicating the position of the adjacent lane, the driver assistance control unit 221 determines that the first switching condition has not been met, and the BSM control becomes non-operating. When the BSM control becomes operating, a lamp (not shown) provided on the door mirror of vehicle 10 lights up. There is a time difference between the first time point at which the driver assistance control unit 221 determines that the first switching condition has been met, and the second time point at which the BSM control actually switches from a non-operating state to an operating state.
[0031] When the driver assistance control device 16a is in the ON state, the driver assistance control unit 221 determines that the second switching condition (switching condition) for switching the SEA control from a non-operating state to an operating state has been met when the vehicle speed of the vehicle 10 is less than or equal to the first predetermined speed, the radar sensor 19 detects that an object located behind the vehicle 10 (hereinafter referred to as an approaching object) is approaching the vehicle 10, and any of the open / close determination switches 15 outputs an unlatching signal. In other words, if the vehicle speed of the vehicle 10 is higher than the first predetermined speed, if the radar sensor 19 does not detect that an approaching object is approaching the vehicle 10, or if none of the open / close determination switches 15 output an unlatching signal, the driver assistance control unit 221 determines that the second switching condition has not been met, and the SEA control becomes non-operating. When the SEA control becomes operating, the speaker (not shown) of the vehicle 10 generates a first notification sound. There is a time difference between the first time point at which the driver assistance control unit 221 determines that the second switching condition has been met, and the second time point at which the SEA control actually switches from a non-operating state to an operating state.
[0032] When the driver assistance control device 16a is in the ON state, and the vehicle 10 is traveling at a speed faster than 0 km / h but slower than the second predetermined speed, and the clearance sonar 20 detects that the distance between the vehicle 10 and the surrounding targets (hereinafter referred to as surrounding targets) is less than or equal to the second predetermined distance, the driver assistance control unit 221 determines that the third switching condition (switching condition) for switching the parking notification control from a non-operating state to an operating state has been met. In other words, if the vehicle 10 is stopped, if the vehicle 10 is traveling at a speed greater than or equal to the second predetermined speed, and if the clearance sonar 20 has not detected that the distance between the vehicle 10 and the surrounding targets is less than or equal to the second predetermined distance, the driver assistance control unit 221 determines that the third switching condition has not been met, and the parking notification control remains in an inactive state. When the parking notification control becomes active, the speaker generates the second notification sound. There is a time difference between the first time point at which the driver assistance control unit 221 determines that the third switching condition has been met, and the second time point at which the parking notification control actually switches from a non-operating state to an operating state.
[0033] As described above, the display control unit 222 generates images based on 3D modeling data. Furthermore, the display control unit 222 causes the display unit 18 to display various images. For example, when the navigation system installed in the vehicle 10 is operating, the display control unit 222 displays a map image (not shown) on the display unit 18. In addition, the display control unit 222 can display an image representing the vehicle speed of the vehicle 10 on the display unit 18.
[0034] Furthermore, the display control unit 222 switches the type of image to be displayed on the display unit 18 depending on whether the switching conditions (first switching condition, second switching condition, third switching condition) are met.
[0035] When the driver assistance control unit 221 determines that the driver assistance control is inactive, the display control unit 222 sets the display unit 18 to normal mode. In other words, when the driver assistance control unit 221 determines that the switching conditions are not met, the display control unit 222 sets the display unit 18 to normal mode. When set to normal mode, the display control unit 222 can, for example, display a map image on the display unit 18 or display an image representing the vehicle speed of the vehicle 10 on the display unit 18.
[0036] When the driver assistance control unit 221 determines that the switching conditions have been met, the display control unit 222 sets the display unit 18 to driver assistance mode. When set to driver assistance mode, the display control unit 222 displays vehicle images 30A, 30B, 30C, 30D, and 30E on the display unit 18 as shown in Figures 5 to 13. As described above, there is a time difference between the first time and the second time. Therefore, the display control unit 222 can switch the display unit 18 from normal mode to driver assistance mode after the second time, switch the display unit 18 from normal mode to driver assistance mode before the second time, and switch the display unit 18 from normal mode to driver assistance mode at the same time as the second time.
[0037] For example, when the first switching condition related to BSM control is determined to be met while a map image is displayed on the display unit 18 in normal mode, the display control unit 222 switches the display unit 18 to the driving assistance mode. That is, the display control unit 222 erases the map image from the display unit 18 and switches the display unit 18 to the state shown in Figure 5. Furthermore, the display control unit 222 switches the display unit 18 to the state shown in Figure 6, and then to the state shown in Figure 7. In reality, the display unit 18 continuously switches from the state in Figure 5 to the state in Figure 6, passing through states that display numerous vehicle images representing vehicles 10 as seen from numerous virtual viewpoints located on a virtual straight line L1, numerous road images representing roads 100, and approaching vehicle images representing approaching vehicles. Furthermore, the display unit 18 continuously switches from the state in Figure 6 to the state in Figure 7, passing through states that display various vehicle images, road images, and approaching vehicle images. As a result, the vehicle images 30A, 30B, and 30C displayed on the display unit 18 gradually and continuously decrease in size over time. Furthermore, the display positions of the vehicle images 30A, 30B, and 30C in the display unit 18 gradually move forward.
[0038] Furthermore, when the display unit 18 reaches the state shown in Figure 7, the display control unit 222 causes the display unit 18 to display the approaching vehicle notification image 35. The approaching vehicle notification image 35 is a fan-shaped image located between the vehicle image 30C and the approaching vehicle image 32C. Furthermore, the approaching vehicle notification image 35 gradually expands continuously from the vehicle image 30C towards the approaching vehicle image 32C. That is, the approaching vehicle notification image 35 begins to expand from point A and extends to the area B shown by the dashed line. Further, the approaching vehicle notification image 35 expands to the area C shown by the dashed line, and then becomes a fan shape shown by the solid line.
[0039] When the radar sensor 19 no longer detects that the distance between vehicle 10 and an approaching vehicle is less than or equal to the first predetermined distance, it is determined that the first switching condition is not met, and the BSM control switches to a non-operating state. Therefore, the display control unit 222 switches the display unit 18 to normal mode.
[0040] Furthermore, when the second switching condition related to SEA control is determined to be met while a map image is displayed on the display unit 18 in normal mode, the display control unit 222 switches the display unit 18 to the driving support mode. That is, the display control unit 222 erases the map image from the display unit 18 and switches the display unit 18 to the state shown in Figure 8. The display control unit 222 then switches the display unit 18 to the state shown in Figure 9, and then to the state shown in Figure 10. Even when SEA control is activated, the display unit 18 continuously switches from the state in Figure 8 to the state in Figure 10, passing through states that display various vehicle and road images. As a result, the shapes of the vehicle images 30A, 30D, and 30E displayed on the display unit 18 change continuously over time. Furthermore, the display positions of the vehicle images 30A, 30D, and 30E on the display unit 18 gradually move forward.
[0041] Furthermore, when the display unit 18 reaches the state shown in Figure 10, the display control unit 222 causes the display unit 18 to display the approaching object notification image 36. For example, if the radar sensor 19 detects that an approaching object located to the left and behind the vehicle 10 is approaching the vehicle 10, the approaching object notification image 36 is displayed in the area to the left of the road image 31E and behind the vehicle image 30E. On the other hand, if the radar sensor 19 detects that an approaching object located to the right and behind the vehicle 10 is approaching the vehicle 10, the approaching object notification image 36 is displayed in the area to the right of the road image 31E and behind the vehicle image 30E. The approaching object notification image 36 includes a first image 36-1, a second image 36-2, and a third image 36-3. Furthermore, the display control unit 222 first displays only the first image 36-1 on the display unit 18, then displays the first image 36-1 and the second image 36-2 on the display unit 18, and finally displays the first image 36-1, the second image 36-2, and the third image 36-3 on the display unit 18. As a result, the approaching object notification image 36 expands continuously from rear to front.
[0042] When the radar sensor 19 no longer detects that an approaching target is approaching the vehicle 10, it is determined that the second switching condition is not met, and the SEA control switches to a non-operating state. Therefore, the display control unit 222 switches the display unit 18 to normal mode.
[0043] Furthermore, when the display unit 18 is in normal mode and a map image is displayed, and it is determined that the third switching condition related to parking alert control is met, the display control unit 222 switches the display unit 18 to the driver assistance mode. That is, the display control unit 222 erases the map image from the display unit 18 and switches the display unit 18 to the state shown in Figure 11. The display control unit 222 then switches the display unit 18 to the state shown in Figure 12, and then to the state shown in Figure 13. Even when parking alert control is activated, the display unit 18 continuously switches from the state shown in Figure 11 to the state shown in Figure 12, passing through states that display various vehicle images. Furthermore, the display unit 18 continuously switches from the state shown in Figure 12 to the state shown in Figure 13, passing through states that display various vehicle images and parked vehicle images. Furthermore, the display positions of the vehicle images 30A, 30D, and 30E on the display unit 18 gradually move forward.
[0044] Furthermore, when the display unit 18 reaches the state shown in Figure 13, the display control unit 222 causes the display unit 18 to display the surrounding object notification image 37. For example, if the clearance sonar 20 detects that a parked vehicle (surrounding object) is located to the right and behind the vehicle 10, the surrounding object notification image 37 is displayed in the area between the vehicle image 30E and the parked vehicle image 33E. The surrounding object notification image 37 has a first image 37-1, a second image 37-2, and a third image 37-3. Furthermore, the display control unit 222 first displays only the first image 37-1 on the display unit 18, then displays the first image 37-1 and the second image 37-2 on the display unit 18, and finally displays the first image 37-1, the second image 37-2, and the third image 37-3 on the display unit 18. As a result, the surrounding object notification image 37 expands continuously from the vehicle image 30E side toward the parked vehicle image 33E side.
[0045] If the vehicle speed of vehicle 10 becomes 0 km / h, or if the clearance sonar 20 no longer detects that the distance between vehicle 10 and surrounding targets is less than or equal to the second predetermined distance, it is determined that the third switching condition is not met, and the parking notification control switches to a non-operating state. Therefore, the display control unit 222 switches the display unit 18 to normal mode.
[0046] In the configuration described above, the display unit 18 and the ECU 21 are components of the vehicle display control device 40.
[0047] Next, we will explain the processes executed by the CPU 22 of the ECU 21. The CPU 22 repeatedly executes the processes shown in the flowchart in Figure 14 at predetermined intervals.
[0048] In step S10 (the word "step" will be omitted hereafter), the CPU 22 determines whether the switching condition has been met.
[0049] If the CPU determines "Yes" in S10, the CPU 22 proceeds to S11 and sets the display unit 18 to the driver assistance mode.
[0050] When the processing in S11 is completed, the CPU 22 proceeds to S12 and continuously changes the image displayed on the display unit 18. For example, if BSM control is activated, the display unit 18 continuously changes from the state shown in Figure 5 to the state shown in Figure 7.
[0051] When the processing in S12 is completed, the CPU 22 proceeds to S13 and displays a notification image on the display unit 18. For example, if BSM control is activated, the display unit 18 displays the approaching vehicle notification image 35 shown in Figure 7.
[0052] When the processing in S13 is complete, the CPU22 proceeds to S14 and determines whether or not the switching conditions have been met.
[0053] If the result in S10 is No, or if the result in S14 is Yes, the CPU 22 proceeds to S15 and sets the display unit 18 to normal mode.
[0054] When the result in S14 is determined to be No, or when the processing in S15 is completed, the CPU 22 temporarily terminates the processing of the flowchart in Figure 14.
[0055] As described above, the vehicle display control device 40 of this embodiment displays the vehicle images 30A, 30B, 30C, 30D, 30E, road images 31A, 31B, 31C, 31D, 31E, approaching vehicle images 32B, 32C, and parked vehicle images 33D, 33E on the display unit 18 while continuously changing their display modes. This makes it easier for the occupant to recognize that the driver assistance control has switched from a non-operating state to an operating state when the vehicle display control device 40 displays the vehicle images 30A, 30B, 30C, 30D, 30E, road images 31A, 31B, 31C, 31D, 31E, approaching vehicle images 32B, 32C, and parked vehicle images 33D, 33E when the driver assistance control unit 221 determines that the switching conditions related to the driver assistance control that the vehicle 10 can perform have been met.
[0056] Furthermore, when it is determined that the first switching condition related to BSM control has been met, the vehicle images 30A, 30B, and 30C displayed on the display unit 18 gradually and continuously decrease in size over time. Therefore, occupants looking at the display unit 18 can easily recognize that the BSM control has switched from a non-operating state to an operating state.
[0057] Furthermore, the size of the vehicle images 30A, 30B, and 30C on the display unit 18 gradually decreases, and the display position of the vehicle images 30A, 30B, and 30C on the display unit 18 gradually moves forward. As a result, the lower display area between the rear end of the vehicle images 30A, 30B, and 30C and the lower edge 18BL of the display unit 18 (see Figures 5 to 7) gradually expands. Therefore, when the vehicle images 30B and 30C are displayed on the display unit 18, images located behind the vehicle images 30B and 30C (approaching vehicle images 32B, 32C, approaching vehicle notification image 35) can be displayed in the lower display area. As a result, the vehicle images 30A and 30B can be displayed larger on the display unit 18 compared to the case where a part of the display unit 18 (the lower display area) is always reserved as an area for displaying the approaching vehicle images 32B, 32C and the approaching vehicle notification image 35.
[0058] Furthermore, when it is determined that the switching conditions for the SEA control or parking notification control being inactive have been met, the vehicle images 30A, 30D, and 30E displayed on the display unit 18 are changed over time from images where the virtual viewpoint is located at PA (first viewpoint) behind the vehicle 10 to images where the virtual viewpoint is located at PE (second viewpoint) in front of and above PA. As a result, the shape of the vehicle images 30A, 30D, and 30E displayed on the display unit 18 changes over time. Specifically, vehicle image 30A, which represents the shape of the vehicle 10 when viewed from behind and above, changes to vehicle image 30E, which represents the shape of the vehicle 10 when viewed from directly above. Therefore, occupants looking at the display unit 18 can easily recognize that the SEA control or parking notification control has switched from an inactive state to an active state.
[0059] Furthermore, when it is determined that the switching conditions for SEA control or parking notification control have been met, the display positions of the vehicle images 30A, 30D, and 30E on the display unit 18 gradually move forward. As a result, the lower display area between the rear ends of the vehicle images 30A, 30D, and 30E and the lower edge 18BL of the display unit 18 (see Figures 8 to 13) gradually expands. Therefore, when the vehicle images 30D and 30E are displayed on the display unit 18, images located behind the vehicle images 30D and 30E (parked vehicle images 33D and 33E, approaching object notification image 36, and surrounding object notification image 37) can be displayed in the lower display area. As a result, the vehicle images 30A and 30D can be displayed larger on the display unit 18 compared to the case where a part of the display unit 18 (the lower display area) is always reserved as an area for displaying the parked vehicle images 33D and 33E, the approaching object notification image 36, and the surrounding object notification image 37.
[0060] Furthermore, when the vehicle display control device 40 determines that the switching conditions have been met, it displays notification images (approaching vehicle notification image 35, approaching object notification image 36, surrounding object notification image 37) on the display unit 18 to indicate that the driver assistance control is in operation. Therefore, the vehicle display control device 40 makes it easy for occupants to recognize that the driver assistance control is in operation by looking at the display unit 18.
[0061] Furthermore, when the vehicle display control device 40 determines that the switching conditions have been met, it displays vehicle images 30A, 30B, 30C, 30D, 30E, road images 31A, 31B, 31C, 31D, 31E, approaching vehicle images 32B, 32C, and parked vehicle images 33D, 33E in the center (predetermined position) of the display unit 18. In other words, when the driver assistance control is inactive, these images are not displayed on the display unit 18. Therefore, when the driver assistance control is inactive, the display unit 18 is less likely to cause annoyance to the occupant looking at it compared to when these images are displayed in the center of the display unit 18.
[0062] Although the vehicle display control devices according to the embodiments have been described above, these can be modified as appropriate without departing from the spirit of the present invention.
[0063] For example, when it is determined that the switching conditions have been met, the display modes of the vehicle images 30A, 30B, 30C, 30D, 30E, road images 31A, 31B, 31C, 31D, 31E, approaching vehicle images 32B, 32C, and parked vehicle images 33D, 33E on the display unit 18 may change intermittently. For example, when it is determined that the first switching conditions related to BSM control have been met, the vehicle image 30A may change directly to the vehicle image 30B without going through other vehicle images, and the vehicle image 30B may change directly to the vehicle image 30C without going through other vehicle images. Alternatively, the vehicle image 30A may change directly to the vehicle image 30C without going through other vehicle images.
[0064] When the display unit 18 is set to normal mode, the display unit 18 may simultaneously display a vehicle image representing the vehicle 10, a road image representing the road on which the vehicle 10 is traveling, and an image separate from the vehicle image and road image. This separate image may include, for example, a map image and an image representing the vehicle speed of the vehicle 10. Furthermore, when the display unit 18 is set to normal mode, this separate image may be displayed in the center (a predetermined position) of the display unit 18, and the vehicle image and road image may be displayed on the sides of the display unit 18. Also, when the display unit 18 is set to driving assistance mode, driving assistance-related images may be displayed in the center of the display unit 18, and the above-mentioned separate image may be displayed on the sides of the display unit 18.
[0065] When it is determined that the switching conditions for SEA control or parking notification control have been met, the size of the field of view may be changed while changing the position of the virtual viewpoint as time progresses.
[0066] ROM23 may store image data representing vehicle images, road images, approaching vehicle images, and parked vehicle images, which are created without relying on 3D modeling data. In this case, ROM23 may store image data representing vehicle images, road images, approaching vehicle images, and parked vehicle images as viewed from multiple virtual viewpoints located between virtual viewpoint PA and virtual viewpoint PE on the curve CL and different from virtual viewpoint PD.
[0067] The vehicle images 30A, 30B, 30C, 30D, 30E, road images 31A, 31B, 31C, 31D, 31E, approaching vehicle images 32B, 32C, and parked vehicle images 33D, 33E displayed on the display unit 18 may be images generated based on image data acquired by multiple cameras mounted on the vehicle 10. [Explanation of symbols]
[0068] 10 vehicles 221 Driving support control unit (support control determination unit) 222 Display Control Unit Vehicle images for models 30A, 30B, 30C, 30D, and 30E. 35 Approaching Vehicle Notification Image (Notification Image) 36. Approaching Object Target Notification Image (Notification Image) 37. Surrounding Object Target Notification Images (Notification Images) 40 Vehicle display control device PA Virtual Viewpoint (First Viewpoint) PE virtual viewpoint (second viewpoint)
Claims
1. A display unit provided in a vehicle capable of performing driver assistance control, which can display driver assistance-related images including a vehicle image representing the vehicle and an image representing a surrounding object, A support control determination unit capable of determining whether or not the switching conditions for switching the aforementioned driving support control from a non-operating state to an operating state have been met, When the support control determination unit determines that the switching conditions are met, the display control unit controls the display unit to display the vehicle image while changing the display mode of the vehicle image, A vehicle display control device comprising: The display control unit, A vehicle display control device that controls the display unit so that the vehicle image on the display unit gradually becomes smaller over time when the switching condition is met, which is established when the distance between the vehicle and the surrounding object is less than or equal to a first predetermined distance.
2. The display control unit, The vehicle display control device according to claim 1, wherein the display unit is controlled to display a notification image indicating that the driver assistance control is in the operating state when the switching condition is met.
3. The display control unit, A vehicle display control device according to claim 1 or claim 2, which controls the display unit so that the display mode of the vehicle image changes continuously.
4. The display control unit, The vehicle display control device according to claim 1 or 2, wherein when the support control determination unit determines that the switching condition has been met, the display unit is controlled to display the vehicle image at a predetermined position on the display unit.
5. A display unit provided in a vehicle capable of performing driver assistance control, which is capable of displaying a vehicle image representing the vehicle, A support control determination unit capable of determining whether or not the switching conditions for switching the aforementioned driving support control from a non-operating state to an operating state have been met, When the support control determination unit determines that the switching conditions are met, the display control unit controls the display unit to display the vehicle image while changing the display mode of the vehicle image, A vehicle display control device comprising: The aforementioned vehicle image is an image representing the vehicle as seen from a predetermined virtual viewpoint, The display control unit, A vehicle display control device that controls the display unit so that, when the switching condition is met, the vehicle image changes over time from an image where the virtual viewpoint is located at a first viewpoint behind the vehicle to an image where the virtual viewpoint is located at a second viewpoint in front of and above the first viewpoint.