Vehicle display control device, method, and program

Abstract

To enhance visibility of display information even if displaying information on a small-size display unit which does not widely cover the front visual field of an occupant.SOLUTION: A display control ECU displays, on a HUD 56, road width lines 62 which simulate border lines of a traffic lane on which an own vehicle is traveling and at the same time displays markers 66 and a belt-like path line 68 including the markers 66 in positions corresponding to future positions of the own vehicle on the HUD 56 and on a head-up display, displaying them in a form which can discriminate the markers 66 from the path line 68 by coloring the path line 68. In addition, the display control ECU displays the road width lines 62, the markers 66 and the path line 68 on a meter display 58 and at the same time displays the path line 68 in color different from the markers 66 and the road width lines 62.SELECTED DRAWING: Figure 5

Description

Technical Field

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

Background Art

[0002] Patent Document 1 discloses a technique for detecting a traveling state of a vehicle, calculating a predicted traveling trajectory of a future vehicle based on the detected traveling state, and displaying the calculated predicted traveling trajectory on a head-up display device. In this technique, a point group is arranged at predetermined intervals on a curve indicating the predicted traveling trajectory of the center of gravity of the vehicle, and a frame having a width substantially the same as the width of the vehicle is arranged while aligning the center of gravity with each of the points in the point group, and the arrangement is displayed as a bird's-eye view.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The technique described in Patent Document 1 is premised on displaying information on a superimposed (AR: Augmented Reality) head-up display that entirely covers the forward field of view of the front-seat occupant of a vehicle. However, it is extremely difficult to construct an optical system for realizing such a large head-up display, and it is not realistic at present. On the other hand, when applying the technique described in Patent Document 1 to information display on a small display unit such as a small head-up display having a part of the occupant's forward field of view as a display range or a display on an instrument panel, the visibility of the information to be displayed on the display unit decreases. In addition, it becomes difficult to intuitively grasp that the information displayed on the display unit corresponds to the actual foreground that the driver is viewing, and there is room for improvement.

[0005] The present invention has been made in consideration of the above facts, and aims to provide a vehicle display control device, a vehicle display control method, and a vehicle display control program that can improve the visibility of displayed information even when information is displayed on a small display unit that does not cover a wide area of ​​the occupant's forward field of vision. [Means for solving the problem]

[0006] The first embodiment of the vehicle display control device is a vehicle display control device that displays road width lines simulating the boundary lines of the lane in which the vehicle is traveling on a display device, and displays a marker and a strip-shaped track line encompassing the marker at a position corresponding to the future position of the vehicle on the display device, characterized in that the track line and the marker are displayed in a manner that allows them to be distinguished by coloring the track line.

[0007] In the first embodiment, the display device displays the track width lines, markers, and track lines encompassing the markers, and the track lines are colored to distinguish them from the markers. This improves the visibility of the displayed information even when the information is displayed on a small display device that does not cover a wide area of ​​the occupant's forward field of view.

[0008] The second embodiment is characterized in that, in the first embodiment, the track lines are displayed in a different color from the markers and the track width lines.

[0009] In the second embodiment, the track lines are displayed in a different color from the markers and track width lines. This improves the visibility of the displayed information even when the information is displayed on a small display device that does not cover a wide area of ​​the occupant's forward field of view.

[0010] A vehicle display control method according to a third embodiment is a vehicle display control method in which a computer performs a process including displaying road width lines that simulate the boundary lines of the lane in which the vehicle is traveling on a display device, and displaying a marker and a strip-shaped track line encompassing the marker at a position corresponding to the future position of the vehicle on the display device, characterized in that the track line and the marker are displayed in a manner that can be distinguished by coloring the track line.

[0011] In the third embodiment, similar to the first embodiment, the visibility of the displayed information can be improved even when the information is displayed on a small display device that does not cover a wide area of ​​the occupant's forward field of vision.

[0012] A fourth aspect is characterized in that, in the third aspect, the track lines are displayed in a different color from the markers and the track width lines.

[0013] In the fourth embodiment, similar to the second embodiment, the visibility of the displayed information can be improved even when the information is displayed on a small display device that does not cover a wide area of ​​the occupant's forward field of vision.

[0014] A vehicle display control program according to the fifth embodiment is a vehicle display control program that causes a computer to perform a process including displaying road width lines simulating the boundary lines of the lane in which the vehicle is traveling on a display device, and displaying a marker and a strip-shaped track line encompassing the marker at a position corresponding to the future position of the vehicle on the display device, characterized in that the track line and the marker are displayed in a manner that allows them to be distinguished by coloring the track line.

[0015] In the fifth embodiment, similar to the first embodiment, the visibility of the displayed information can be improved even when the information is displayed on a small display device that does not cover a wide area of ​​the occupant's forward field of vision.

[0016] The sixth aspect is characterized in that, in the fifth aspect, the track lines are displayed in a different color from the markers and the track width lines.

[0017] In the sixth aspect, similar to the second aspect, even when information is displayed on a small display device that does not widely cover the forward field of view of the occupant, the visibility of the displayed information can be improved.

Advantages of the Invention

[0018] The present invention has an effect that even when information is displayed on a small display unit that does not widely cover the forward field of view of the occupant, the visibility of the displayed information can be improved.

Brief Description of the Drawings

[0019] [Figure 1] It is a block diagram showing a schematic configuration of an in-vehicle system according to an embodiment. [Figure 2] It is an image diagram showing an example of the display range of the HUD. [Figure 3] It is a flowchart showing display control processing. [Figure 4] It is an image diagram showing an example of a normal image displayed on the HUD and the meter display. [Figure 5] (A) is an image diagram showing an example of a first-person one-lane display image displayed on the HUD, and (B) is an image diagram showing an example of a third-person multi-lane display image displayed on the meter display. [Figure 6] It is an image diagram showing an example of a first-person one-lane display image displayed on the HUD when driving on a straight road. [Figure 7] It is an image diagram showing an example of a first-person one-lane display image displayed on the HUD when approaching a curve in the road. [Figure 8] It is an image diagram showing an example of a first-person one-lane display image displayed on the HUD when the host vehicle changes lanes. [Figure 9] It is an image diagram showing an example of a first-person one-lane display image displayed on the HUD when approaching a road branch. [Figure 10] It is a conceptual diagram for explaining the process of selecting a future position for displaying a marker. [Figure 11] This is an image diagram for explaining the process of changing the display position of an image on the HUD according to the steering angle of the steering wheel. [Figure 12] This is an image diagram for explaining the process of changing the display position of an image on the HUD according to the steering angle of the steering wheel. [Figure 13] This is an image diagram showing an example of a situation where driver intervention is required during automatic driving. [Figure 14] This is an image diagram showing another example of a situation where driver intervention is required during automatic driving.

Mode for Carrying Out the Invention

[0020] Hereinafter, an example of an embodiment of the present invention will be described in detail with reference to the drawings. The in-vehicle system 10 shown in FIG. 1 includes a communication bus 12, and a peripheral situation acquisition device group 14, a vehicle traveling state detection sensor group 26, an automatic driving ECU (Electronic Control Unit) 34, and a display control ECU 42 are respectively connected to the communication bus 12. Note that FIG. 1 shows only a part of the in-vehicle system 10. Also, hereinafter, the vehicle equipped with the in-vehicle system 10 is referred to as the host vehicle.

[0021] The peripheral situation acquisition device group 14 includes a GPS (Global Positioning System) device 16, an in-vehicle communicator 18, a navigation system 20, a radar device 22, a camera 24, etc. as devices for acquiring information indicating the surrounding environment of the host vehicle.

[0022] The GPS device 16 determines the position of its own vehicle by receiving GPS signals from multiple GPS satellites. The accuracy of positioning improves as the number of receivable GPS signals increases. The in-vehicle communication device 18 is a communication device that performs at least one of vehicle-to-vehicle communication with other vehicles and vehicle-to-infrastructure communication with roadside units. The navigation system 20 includes a map information storage unit 20A that stores map information, and performs processing to display the position of its own vehicle on a map and guide the vehicle to a destination based on the position information obtained from the GPS device 16 and the map information stored in the map information storage unit 20A.

[0023] The radar system 22 includes multiple radar systems with different detection ranges, and detects objects such as pedestrians and other vehicles around the vehicle as point cloud information, and acquires the relative position and relative speed of the detected objects and the vehicle. The radar system 22 also incorporates a processing unit that processes the detection results of surrounding objects. Based on changes in the relative position and relative speed of individual objects included in the most recent multiple detection results, this processing unit excludes noise, roadside objects such as guardrails, etc. from the monitoring targets, and tracks and monitors specific objects such as pedestrians and other vehicles as the target objects. The radar system 22 then outputs information such as the relative position and relative speed of each target object. The camera 24 captures images of the area around the vehicle with multiple cameras and outputs the captured images.

[0024] Furthermore, the vehicle driving state detection sensor group 26 includes, as multiple sensors for acquiring the vehicle's driving state, a steering angle sensor 28 for detecting the vehicle's steering angle, a vehicle speed sensor 30 for detecting the vehicle's driving speed, and an acceleration sensor 32 for detecting the acceleration applied to the vehicle.

[0025] The autonomous driving ECU 34 is connected to a throttle ACT 36, which changes the throttle opening of the vehicle, and a brake ACT 38, which changes the braking force generated by the vehicle's braking system. The autonomous driving ECU 34 is also connected to a steering ACT 40, which changes the amount of steering input from the vehicle's steering system.

[0026] The autonomous driving ECU 34 includes a CPU (Central Processing Unit), memory such as ROM (Read Only Memory) and RAM (Random Access Memory), non-volatile storage such as HDD (Hard Disk Drive) and SSD (Solid State Drive), and a communication I / F (Interface). The memory stores the autonomous driving software. When the autonomous driving mode is selected, the autonomous driving ECU 34 performs autonomous driving processing, which allows the vehicle to move automatically without driver input from the vehicle's occupants, by having the CPU execute the autonomous driving software. The autonomous driving processing involves determining the situation of the vehicle and its surroundings based on information obtained from the surrounding situation acquisition device group 14 and the vehicle driving state detection sensor group 26, and controlling the throttle ACT 36, brake ACT 38, and steering ACT 40.

[0027] In this embodiment, the level of autonomous driving performed by the autonomous driving ECU 34 is Level 2 or Level 3. In Level 2 or Level 3 autonomous driving, the driver is required to monitor the autonomous driving performed by the autonomous driving ECU 34 and intervene as necessary, for example, in case of deviation from the controllable range, or improper operation due to false detection, failure, or malfunction of sensors.

[0028] The display control ECU 42 includes a CPU 44, memory 46 such as ROM or RAM, a non-volatile storage unit 48 such as an HDD or SSD, and a communication interface 50. The CPU 44, memory 46, storage unit 48, and communication interface 50 are interconnected via an internal bus 52 to enable communication with each other. The storage unit 48 stores a display control program 54. The display control ECU 42 reads the display control program 54 from the storage unit 48 and loads it into the memory 46. The CPU 44 then executes the display control program 54 loaded into the memory 46, thereby performing the display control processing described later.

[0029] The display control ECU 42 is connected to a head-up display (hereinafter referred to as HUD) 56 and a meter display 58. In this embodiment, the HUD 56 is a small HUD that displays a portion of the forward field of view of the vehicle's occupants (forming an image in the lower foreground) through reflection from the windshield glass, as indicated by the reference numeral 60 in Figure 2. The meter display 58 is a display provided on the instrument panel of the vehicle. The display control ECU 42 controls the display of information on the HUD 56 and the meter display 58.

[0030] Note that the autonomous driving ECU 34 is an example of an autonomous driving control unit, and the display control ECU 42 is an example of a display control unit. Also, the HUD 56 and meter display 58 are examples of display units.

[0031] Next, the operation of this embodiment will be explained. While the autonomous driving ECU 34 is performing autonomous driving, the driver must continuously pay attention to the vehicle's behavior and surrounding traffic conditions, continuously understand the vehicle's behavior and surrounding traffic conditions, and be prepared to intervene when necessary. However, if the vehicle were to transmit the surrounding conditions captured by the sensors to the driver moment by moment, it would increase the driver's burden due to excessive information transmission, which would be contrary to the purpose of autonomous driving, which is to reduce the driver's workload.

[0032] Furthermore, in cases where the vehicle detects a need for some reason and initiates an unroutine driving operation, such as lane splitting, merging, or changing lanes, the vehicle can alert the driver. However, for example, if the vehicle fails to detect an obstacle on the road that suddenly appears and tries to continue driving as usual even though it should avoid the obstacle, the vehicle does not have the intention to demand attention in the first place, and therefore cannot issue a warning.

[0033] Based on these issues, the display control ECU 42 performs the display control processing shown in Figure 3. In step 100 of the display control processing, the display control ECU 42 determines whether or not automatic driving is being performed by the automatic driving ECU 34.

[0034] If the determination in step 100 is rejected, the process proceeds to step 120, in which the display control ECU 42 displays a normal image on the HUD 56 and the meter display 58. An example of a normal image displayed on the HUD 56 is shown in Figure 4(A), and an example of a normal image displayed on the meter display 58 is shown in Figure 4(B).

[0035] On the other hand, if autonomous driving is being performed by the autonomous driving ECU 34, the determination in step 100 is affirmed and the system proceeds to step 102. In step 102, the display control ECU 42 obtains lane information recognized by the autonomous driving ECU 34 from the autonomous driving ECU 34. The lane information includes information about the vehicle's own lane (such as whether it is a straight or curved lane) and information about adjacent lanes to the left and right of the vehicle's own lane (such as whether there are adjacent lanes). Based on the lane information obtained from the autonomous driving ECU 34, the display control ECU 42 generates images including road width lines 62 that simulate lane boundaries, such as a first-person single-lane display image as shown in Figure 5(A) as an example, and a third-person multi-lane display image as shown in Figure 5(B) as an example.

[0036] The first-person single-lane display image is an image that closely resembles what the driver sees looking ahead through the windshield of their vehicle, and the lanes adjacent to the driver's lane are excluded from the display. The first-person single-lane display image minimizes clutter by displaying the driver's lane as large as possible while omitting information that is not important for monitoring driving, and the various displays described later are displayed large and easy to see.

[0037] The third-person multi-lane display image is an image that shows the vehicle's own lane and the lanes adjacent to it on the left and right, as if viewed from above and behind the vehicle. By excluding non-existent lanes from the display, it generally shows a maximum of three lanes. However, it is not limited to a maximum of three lanes for the sake of clarity in transitional situations such as junctions and merges. In the third-person multi-lane display image, the vehicle is displayed as icon 64. The third-person multi-lane display image can show situations such as when changing lanes and delaying the lane change due to the approach of another vehicle from the right rear or left rear until the other vehicle has passed.

[0038] In the first-person single-lane and third-person multi-lane views, road width lines 62, which simulate lane boundaries, are displayed. For example, when the vehicle approaches a curve in the road it is traveling on, the road width lines 62 change from the display shown in Figure 6 to the display shown in Figure 7. When the vehicle approaches a fork in the road it is traveling on, the road width lines 62 change from the display shown in Figure 6 to the display shown in Figure 9. This allows the driver to understand that the first-person single-lane and third-person multi-lane views are schematic road diagrams (perspective representations of lane boundaries) that are scaled down to resemble the actual scenery. Furthermore, when the vehicle is about to change lanes, as shown in Figure 8, the road width lines 62 remain unchanged, while the markers 66 and track lines 68 (described later) change, allowing the driver to understand that the vehicle is about to change lanes.

[0039] In step 104, the display control ECU 42 obtains an array of coordinates of the vehicle's future position from the autonomous driving ECU 34 and selects a future position where the marker 66 (see Figure 5, etc.) will be displayed. As an example, the display control ECU 42 and the autonomous driving ECU 34 communicate every 100 milliseconds, and in each communication, as shown in Figure 10, a finite number of (for example, 50 = up to 5 seconds later) arrays of the vehicle's future position coordinates are sent from the autonomous driving ECU 34 to the display control ECU 42.

[0040] At time t0, the display control ECU 42 uses the vehicle's current position as the base point n0, hides the marker 66 for the first nine coordinates n1 to n9, and selects the tenth coordinate n10 as the future position where the marker 66 will be displayed. Similarly, the display control ECU 42 hides the marker 66 for coordinates n11 to n19 and selects coordinate n20 as the future position where the marker 66 will be displayed. As a result, an array of markers 66 at one-second intervals is generated from the array of future position coordinates received from the autonomous driving ECU 34.

[0041] Furthermore, at time t1, 100 milliseconds later, the vehicle will have moved to approximately the position of coordinate n1 at time t0, and the display control ECU 42 generates a new array of markers 66 based on the new position of the vehicle. At this time, the display / hide attribute for each coordinate at time t0 is maintained, and markers 66 are hidden for n1 to n8, n9 is selected as the future position to display marker 66, markers 66 are hidden for n10 to n18, and n19 is selected as the future position to display marker 66. In other words, the future positions for displaying markers 66 are switched so that the time difference from the current time to the future position to display marker 66 decreases as time progresses (for example, from time t0 to time t1). As a result, at time t1, an array of markers 66 is generated whose phase has moved 100 milliseconds toward the vehicle compared to time t0.

[0042] In step 106, the display control ECU 42, based on the result of selecting the future position to display the marker 66 in step 104, converts the coordinates of the future position to display the marker 66 to coordinates on the first-person single-lane display image shown in Figure 5(A), and displays the marker 66 on the converted coordinates of the first-person single-lane display image. It also converts the coordinates of the future position to display the marker 66 to coordinates on the third-person multi-lane display image shown in Figure 5(B), and displays the marker 66 on the converted coordinates of the third-person multi-lane display image.

[0043] As a result of the processing in steps 104 and 106 above, the markers 66 are displayed in positions corresponding to the future position of the vehicle on both the first-person single-lane display image and the third-person multi-lane display image. Furthermore, the arrangement of the markers 66 moves forward (downward in the display) towards the reference position corresponding to the vehicle as the vehicle moves. This creates a display that resembles an arrangement of markers 66 placed on the road at regular intervals (e.g., 1 second), flowing by. This allows the driver to intuitively understand that the first-person single-lane display image and the third-person multi-lane display image correspond to the actual foreground.

[0044] Furthermore, during periods when the display control ECU 42 is not communicating with the automatic driving ECU 34 (for example, the period between time t0 and time t1), it is desirable to calculate the display position of the marker 66 by means of extrapolation, for example, and then display the marker 66. This allows the marker 66 to move in a continuous, animated manner, resulting in a higher quality and smoother display.

[0045] In step 108, the display control ECU 42 displays a strip-shaped track line 68 encompassing the arrangement of markers 66, with the vehicle's width direction as the width direction and the arrangement of the vehicle's future positions as the length direction, in both the first-person single-lane display image and the third-person multi-lane display image (see Figures 5(A) and (B)). In both the first-person single-lane display image and the third-person multi-lane display image, the direction in which the strip-shaped track line 68 extends indicates the direction of travel of the vehicle, allowing the driver to intuitively grasp the vehicle's position.

[0046] Furthermore, the strip-shaped track line 68 extending in the direction of the vehicle's travel is perceived by the driver as a representation similar to rails laid on a road, and the markers 66 placed at regular intervals are perceived by the driver as a representation similar to sleepers on a railway track. In this way, the representation using markers 66 and track line 68 becomes a mental model that many people find familiar, allowing the driver to intuitively recognize that it is a preview of the future time the vehicle will be traveling.

[0047] In step 112, the display control ECU 42 determines whether or not the distance setting for autonomous driving is being changed. If the distance setting is being changed, the determination in step 112 is affirmed and the process proceeds to step 114. In step 114, the display control ECU 42 displays distance setting lines 70 (the number of distance setting lines 70 changes depending on the set distance time) representing the set distance time on the first-person single-lane display image and the third-person multi-lane display image, respectively (see Figures 5(A) and (B)).

[0048] In this way, when the distance setting line 70 is displayed, the driver can be made aware of the set distance between vehicles. Furthermore, in this embodiment, the distance setting line 70 is stationary on the first-person single-lane display image and the third-person multi-lane display image. On the other hand, since the marker 66 is a marker whose display position moves in accordance with the movement of the vehicle, it is possible to avoid confusion between the marker 66 and the distance setting line 70.

[0049] If the vehicle distance setting is not being changed, the judgment in step 112 is negated, and step 114 is skipped. In this case, the vehicle distance setting line 70 will not be displayed in the first-person single-lane display image or the third-person multi-lane display image.

[0050] In step 116, the display control ECU 42 displays a first-person, single-lane display image on the HUD 56, as shown in Figure 5. When displaying the image on the HUD 56, the ECU 42 performs a process to change the display position of the image on the HUD 56 according to the steering angle.

[0051] Specifically, the steering angle detected by the steering angle sensor 28 is first obtained. If the steering angle is 0, the first-person single-lane display image is displayed on the HUD 56, for example, as shown in Figure 11, so that the image center of the first-person single-lane display image to be displayed on the HUD 56 coincides with the center CL of the display range of the HUD 56.

[0052] On the other hand, if the steering angle is not zero, as shown in Figure 12 for example, the HUD56 displays the first-person single-lane display image such that the image center of the image displayed on the HUD56 is deviated from the center CL of the HUD56's display range by an amount corresponding to the steering angle (right or left).

[0053] As an example, Figure 12 shows that the center of the first-person single-lane display image is shifted to the right relative to the center CL of the HUD56's display range. This makes it appear as if the image displayed on the HUD56 is always in the correct position within the lane, even when the road the vehicle is traveling on is curved, and does not shift to the outside of the corner.

[0054] In the next step 118, the display control ECU 42 displays a third-person multi-lane display image on the meter display 58, as shown in Figure 5. After the processing in step 118, the process returns to step 100, and steps 102 to 118 are repeated as long as the determination in step 100 is positive.

[0055] In Level 2 or Level 3 autonomous driving, situations may arise that require driver intervention. As an example, Figure 13 shows a situation where a bus is traveling in the left lane adjacent to the left of the vehicle's lane, yet the vehicle is attempting to change lanes to the left lane (a situation where the vehicle is not aware that the bus poses a danger when changing lanes). In such cases, it is desirable for the driver to intervene and cancel the lane change. Even in such cases, by displaying markers 66, track lines 68, and road width lines 62 on the HUD 56, the driver can quickly become aware that their vehicle is attempting to change lanes to the left lane. The driver can then recognize that the bus poses a danger when changing lanes and intervene to cancel the lane change, even without any special warning from the vehicle.

[0056] As an example, Figure 14 shows a situation where the vehicle is attempting to proceed straight ahead despite the lane ahead being blocked by a lane restriction (the vehicle is unaware that the lane ahead is blocked), and it is desirable for the driver to intervene and change lanes. In such cases, by displaying markers 66, track lines 68, and road width lines 62 on the HUD 56 and meter display 58, the driver can quickly become aware that the vehicle is attempting to proceed straight ahead. The driver can then recognize that the lane ahead of the vehicle is blocked and intervene to change lanes, even without any special warning from the vehicle.

[0057] As described above, in this embodiment, the display control ECU 42 displays the marker 66 on the HUD 56 and meter display 58 at a position corresponding to the future position of the vehicle, which is obtained from the autonomous driving ECU 34 that performs autonomous driving of the vehicle. At the same time, it moves the display position of the marker 66 on the HUD 56 and meter display 58 toward a reference position on the HUD 56 and meter display 58 corresponding to the vehicle, in accordance with the vehicle's movement. As a result, the display position of the marker 66 moves in synchronization with the vehicle's movement, so even when displaying information on a small HUD 56 and meter display 58 that do not cover a wide area of ​​the occupant's forward field of view, the occupant can intuitively grasp that the displayed information corresponds to the actual foreground.

[0058] Furthermore, in this embodiment, the display control ECU 42 switches the future position of the vehicle where the marker 66 is displayed so that the time difference between the vehicle's future position and the current time decreases as time progresses, thereby moving the display position of the marker 66 on the HUD 56 and the meter display 58 toward the reference position on the HUD 56 and the meter display 58. In this way, the display position of the marker 66 on the HUD 56 and the meter display 58 can be moved by a simple process of switching the future position where the marker 66 is displayed.

[0059] Furthermore, in this embodiment, the display control ECU 42 displays the markers 66 at multiple positions on the HUD 56 and meter display 58, each corresponding to multiple future positions of the vehicle that differ by a predetermined time from the current time. This allows the user to intuitively grasp changes in the vehicle's behavior along the time axis, including acceleration and deceleration, from the display intervals of the multiple markers 66.

[0060] Furthermore, in this embodiment, the display control ECU 42 sets the vehicle's width direction as the width direction and the arrangement of the vehicle's future positions as the length direction, and displays a strip-shaped track line 68 encompassing the arrangement of markers 66 on the HUD 56 and meter display 58. This allows the driver to intuitively grasp the vehicle's current position from the direction in which the track line 68 extends.

[0061] Furthermore, in this embodiment, the display control ECU 42 causes the HUD 56 and meter display 58 to display road width lines 62 that simulate the boundary lines of the lane in which the vehicle is traveling. This makes it possible to more intuitively understand that the displayed information corresponds to the actual foreground.

[0062] Furthermore, in this embodiment, when the inter-vehicle time is changed, the display control ECU 42 displays the inter-vehicle setting line 70 corresponding to the set inter-vehicle time on the HUD 56 and the meter display 58, thereby allowing the driver to understand the inter-vehicle time.

[0063] In this embodiment, the marker 66 is rhombic in shape, but it is not limited to this, and may be other shapes such as circular or elliptical.

[0064] Furthermore, although the above describes an embodiment in which the autonomous driving ECU 34 performs Level 2 or Level 3 autonomous driving, it is not limited to this and may also be applied to embodiments that perform Level 4 or Level 5 autonomous driving. In Level 4 or higher autonomous driving, driver intervention is not required, but by displaying the information according to the present invention, the occupants of the vehicle can intuitively understand that the autonomous driving is functioning normally, thereby providing them with a sense of security.

[0065] Furthermore, although the above describes an embodiment in which the display according to the present invention (display of markers 66, track lines 68, road width lines 62, etc.) is displayed on each of the HUD 56 and the meter display 58, the invention is not limited to this, and the display according to the present invention may be displayed on only one of the HUD 56 and the meter display 58, while the other display is shown in the normal display (for example, the display in Figure 4). [Explanation of symbols]

[0066] 10 In-vehicle systems 28. Steering angle sensor 34 Autonomous driving ECU 42 Display Control ECU 56 HUD 58 Meter Display 62 Road width line 66 markers 68 Trajectory line 70 Car spacing setting lines

Claims

1. A vehicle display control device that displays road width lines simulating the boundary lines of the lane in which the vehicle is traveling on a display device, and displays a marker and a strip-shaped track line encompassing the marker at a position corresponding to the future position of the vehicle on the display device, A vehicle display control device characterized by displaying the track lines in a manner that allows them to be distinguished from the markers by coloring the track lines.

2. The vehicle display control device according to claim 1, characterized in that the track lines are displayed in a different color from the markers and the road width lines.

3. A vehicle display control method in which a computer performs a process including displaying road width lines that simulate the boundary lines of the lane in which the vehicle is traveling on a display device, and displaying a marker and a strip-shaped track line encompassing the marker at a position corresponding to the future position of the vehicle on the display device, A vehicle display control method characterized by displaying the track lines in a manner that allows them to be distinguished from the markers by coloring the track lines.

4. The vehicle display control method according to claim 3, characterized in that the track lines are displayed in a different color from the markers and the road width lines.

5. On the computer, A vehicle display control program for causing a vehicle to perform a process that includes displaying road width lines simulating the boundary lines of the lane in which the vehicle is traveling on a display device, and displaying a marker and a strip-shaped track line encompassing the marker at a position corresponding to the future position of the vehicle on the display device, A vehicle display control program characterized by displaying the track lines in a manner that allows them to be distinguished from the markers by coloring the track lines.

6. The vehicle display control program according to claim 5, characterized in that the track lines are displayed in a different color from the markers and the road width lines.

Images