Display control device for vehicle, display control method for vehicle, and program

Abstract

This display control device for a vehicle displays, for a plurality of preset driving modes, an image indicating a surrounding situation of the host vehicle assumed to be viewed from a virtual viewpoint set in accordance with the driving mode, in a display area provided around a driver's seat. The display control device for a vehicle includes a dynamic display unit that gradually changes the image by changing the virtual viewpoint over a predetermined time when the driving mode of the host vehicle changes.

Description

Vehicle display control device, vehicle display control method and program

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

[0002] U.S. Patent Publication No. 2017 / 0136878 discloses that when a vehicle is operating in a first driving mode, graphics of a driving assistance system are displayed in a first display mode, and when a vehicle is operating in a second driving mode that is more highly automated than the first driving mode, graphics of the driving assistance system are displayed in a second display mode that is displayed from a different perspective than the first display mode.

[0003] As described in U.S. Patent Publication No. 2017 / 0136878, in recent years, there have been attempts to display graphics in multiple display modes depending on the vehicle's driving mode, allowing the driver to recognize the driving mode that is currently in operation from the display mode. However, if the display mode is changed simultaneously with the timing when the driving mode is changed in the vehicle system, it may be difficult for the occupant to recognize that the driving mode has changed at a glance at the display.

[0004] The present disclosure aims to provide a vehicle display control device, a vehicle display control method, and a program that display a change in the vehicle's driving mode in a manner that makes it easy for an occupant to recognize the change.

[0005] A vehicle display control device according to a first aspect of the present disclosure is a vehicle display control device that displays, in a display area provided around the driver's seat, an image showing the surrounding conditions of the vehicle as seen from a virtual viewpoint set according to a plurality of pre-set driving modes, and has a dynamic display unit that gradually changes the image by changing the virtual viewpoint over a predetermined time when the driving mode of the vehicle changes.

[0006] A vehicular display control device according to a first aspect of the present disclosure displays an image showing the surroundings of the vehicle in a display area provided around the driver's seat. The vehicular display control device also displays an image showing the surroundings of the vehicle as viewed from a virtual viewpoint set according to a driving mode in the display area. This allows the driver in the driver's seat to recognize the current driving mode of the vehicle based on the difference in the virtual viewpoint of the image.

[0007] When the driving mode of the vehicle changes, the vehicular display control device changes the virtual viewpoint over a predetermined time period to gradually change the image, thereby making it easier for the driver to notice the change in image and displaying the image in a manner that makes it easier for the occupants to recognize that the driving mode has changed.

[0008] In a first aspect of a vehicle display control device according to a second aspect of the present disclosure, the virtual viewpoint is set by setting a viewpoint in a virtual space according to a driving mode, and the virtual viewpoint is changed in the virtual space by at least one of moving the coordinates of the virtual viewpoint and rotating the orientation of the virtual viewpoint.

[0009] In the vehicle display control device according to the second aspect of the present disclosure, when the driving mode of the vehicle changes, the image is changed by moving the coordinates of the virtual viewpoint in the virtual space, thereby making it possible for the occupant to recognize that the driving mode has changed. Also, in the vehicle display control device, the image is changed by rotating the orientation of the virtual viewpoint in the virtual space, thereby making it possible for the occupant to recognize that the driving mode has changed.

[0010] In the vehicle display control device according to the third aspect of the present disclosure, in the first or second aspect, the image includes a first image showing the vehicle, and the dynamic display unit gradually changes the display range around the first image as the virtual viewpoint changes.

[0011] In a vehicle display control device according to a third aspect of the present disclosure, the display range of the image displayed in the display area around the first image showing the host vehicle changes in accordance with a change in the virtual viewpoint in the virtual space. This allows, for example, space to be secured within a predetermined range of the display area depending on the driving mode of the host vehicle. This allows efficient use of the limited size of the display area and secures space to display information.

[0012] In the vehicle display control device according to the fourth aspect of the present disclosure, in the first or second aspect, the dynamic display unit starts changing the virtual viewpoint after a predetermined time has elapsed since the driving mode of the vehicle changed.

[0013] In the vehicle display control device according to the fourth aspect of the present disclosure, the change of the virtual viewpoint starts a predetermined time after the driving mode of the vehicle is changed. Therefore, the viewpoint of the image can be kept unchanged in a situation where the driving mode changes in a short period of time, and therefore, when the driving mode changes frequently, the driver's feeling of annoyance when looking at the display area is reduced.

[0014] In the first or second aspect of the vehicle display control device according to the fifth aspect of the present disclosure, when the dynamic display unit determines, based on information about the surrounding area of ​​the vehicle, that the length of the section that can be traveled in the changed driving mode is less than a threshold value, the dynamic display unit displays the image without changing the virtual viewpoint.

[0015] In the vehicle display control device according to the fifth aspect of the present disclosure, when it is determined that the length of the section that can be traveled in the changed driving mode is less than a threshold, the image is displayed without changing the virtual viewpoint. Therefore, when it is expected that the driving mode will change over a short section, the image can be displayed without changing the viewpoint, which reduces the annoyance felt by the driver when looking at the display area when it is expected that the driving mode will change frequently.

[0016] In the first or second aspect of the vehicle display control device according to the sixth aspect of the present disclosure, the plurality of driving modes include a first driving mode to which no driving assistance function is associated, and a second driving mode and a third driving mode to which at least one driving assistance function is associated, and the dynamic display unit changes the virtual viewpoint over a first time period when the vehicle changes from the first driving mode to the second driving mode, and changes the virtual viewpoint over a second time period that is shorter than the first time period when the vehicle changes from the second driving mode to the third driving mode.

[0017] When the driving mode of the vehicle changes from a first driving mode, which is not associated with a driving support function, to a second driving mode, which is associated with a driving support function, the demands on the driver in the driver's seat change significantly. On the other hand, when the driving mode changes from the second driving mode, which is associated with at least one driving support function, to a third driving mode, which is also associated with a driving support function, the demands on the driver are often not as great as in the former case.

[0018] Therefore, in the vehicle display control device according to the sixth aspect, the time taken to change the virtual viewpoint when changing from the first driving mode to the second driving mode is set to be longer than the time taken to change from the second driving mode to the third driving mode. As a result, the greater the change in the driver's requirements that accompanies the change in driving mode, the more easily the occupant can recognize the change in driving mode.

[0019] In a seventh aspect of the present disclosure, in a sixth aspect of the vehicle display control device, the dynamic display unit moves the virtual viewpoint along a curved trajectory when the vehicle changes from the first driving mode to the second driving mode.

[0020] In a vehicle display control device according to a seventh aspect of the present disclosure, when a driving mode is changed from a first driving mode not associated with a driving assistance function to a second driving mode associated with the driving assistance function, the virtual viewpoint is moved along a curved trajectory, thereby enabling a dynamic change in the viewpoint of the image, and the greater the change in the driver's requirements that accompanies the change in driving mode, the more easily the occupant can recognize the change in driving mode.

[0021] In the vehicle display control device of the eighth aspect of the present disclosure, in the seventh aspect, a first virtual viewpoint corresponding to the first driving mode and a second virtual viewpoint corresponding to the second driving mode are set, and the dynamic display unit is configured to move the virtual viewpoint along an arc-shaped trajectory that extends rearward and downward when the vehicle changes from the first driving mode to the second driving mode, so that the virtual viewpoint moves from the first virtual viewpoint to a position rearward of the second virtual viewpoint, and then moves forward to reach the second virtual viewpoint.

[0022] In a vehicle display control device according to an eighth aspect of the present disclosure, when the host vehicle changes from a first driving mode to a second driving mode, coordinates are moved along a curved trajectory that describes an arc. Therefore, the viewpoint of the image is configured to move from the position of the first virtual viewpoint to a coordinate position behind the second virtual viewpoint, resulting in a viewpoint that is far behind the host vehicle, and then move forward to approach the host vehicle and reach the second virtual viewpoint. This allows the viewpoint of the image to change dynamically, and the greater the change in driver requirements that accompanies the change in driving mode, the more easily the occupant can recognize the change in driving mode.

[0023] A ninth aspect of the present disclosure provides a vehicle display control device in the eighth aspect, wherein the dynamic display unit causes the forward movement speed of the virtual viewpoint to be slower than the backward movement speed of the virtual viewpoint.

[0024] In the vehicle display control device according to the ninth aspect of the present disclosure, the moving speed of the virtual viewpoint is increased in the early stage of the image change, thereby making it easier for the driver to notice the image change. On the other hand, the moving speed of the virtual viewpoint is decreased after the driver's line of sight is directed to the image in the display area, i.e., in the later stage of the image change, thereby reducing the annoyance felt by the driver when looking at the display area.

[0025] In a vehicular display control device according to a tenth aspect of the present disclosure, in a sixth aspect, the dynamic display unit moves the virtual viewpoint along a linear trajectory when the vehicle changes from the second driving mode to the third driving mode.

[0026] In a vehicle display control device according to a tenth aspect of the present disclosure, when a driving mode is changed from a second driving mode associated with at least one driving assistance function to a third driving mode also associated with the driving assistance function, the virtual viewpoint is moved along a linear trajectory. This causes the viewpoint of the image to move along a straight line, which can reduce the sense of dynamism compared to when the virtual viewpoint moves along a curved trajectory. As a result, the driver can intuitively recognize that the change in driver requirements due to the change in driving mode is relatively small.

[0027] In the eleventh aspect of the present disclosure, in the sixth aspect of the vehicle display control device, the second driving mode is associated with at least one driving assistance function of acceleration / deceleration and steering, and the dynamic display unit changes the image so that the display range on the forward side of the first image is expanded when the vehicle changes to the second driving mode.

[0028] In a vehicle display control device according to an eleventh aspect of the present disclosure, when the driving mode of the host vehicle changes to a second driving mode associated with at least one of driving assistance functions for acceleration / deceleration and steering, the image is changed so as to expand the display range of the forward side of the first image. Driving assistance related to acceleration / deceleration and steering is significantly related to the direction of travel of the host vehicle. Therefore, by expanding the display range of the forward side of the first image showing the host vehicle in the display area, the user can intuitively recognize that the driving mode of the host vehicle has changed to the second driving mode, and further, space can be secured in the display range of the forward side of the first image for displaying information related to the second driving mode.

[0029] In a twelfth aspect of the present disclosure, in the sixth aspect of the vehicle display control device, the third driving mode is associated with a driving assistance function that controls the output of a power unit to improve the driving efficiency of the vehicle compared to when driving in the second driving mode, and the image includes a first image showing the vehicle, and when the vehicle changes to the third driving mode, the dynamic display unit changes the image so that the display range in a predetermined direction around the first image is expanded, and displays a second image indicating that the vehicle is in the third driving mode on the predetermined side of the first image.

[0030] In a twelfth aspect of the present disclosure, when the driving mode of the host vehicle changes to a third driving mode associated with a driving assistance function that improves the driving efficiency of the host vehicle compared to when the host vehicle is driving in the second driving mode, the image in the display area is changed so that the display range in a predetermined direction around the first image is expanded. Then, a second image indicating that the driving mode is the third driving mode is displayed in the predetermined direction around the first image. This makes it possible to display the second image indicating that the driving mode is the third driving mode around the first image, making it easier for the driver to recognize the change to the third driving mode.

[0031] In the 13th aspect of the present disclosure, in the first or second aspect of the vehicle display control device, the virtual viewpoint set for a driving mode with a relatively high level of autonomous driving is set to a viewpoint that is assumed to be viewed more upward than the virtual viewpoint set for other driving modes with a relatively low level of autonomous driving.

[0032] In a vehicle display control device according to a thirteenth aspect of the present disclosure, when driving in a driving mode with a higher level of autonomous driving, it is desirable to display more of the surrounding conditions acquired by the sensors to the driver in order to inform the user that the surrounding conditions are being widely recognized. However, simply changing the display magnification of the image makes it difficult to see information such as targets in the image. Therefore, by setting the virtual viewpoint set for a driving mode with a relatively high level of autonomous driving to a virtual viewpoint that assumes a more upward view, targets further ahead of the vehicle can be displayed in the display area. In this way, by widening the display range around the vehicle as the autonomous driving level increases, the driver can intuitively recognize the increase in the autonomous driving level.

[0033] In the vehicle display control device according to the fourteenth aspect of the present disclosure, in the first or second aspect, the virtual viewpoint set for a driving mode with a relatively high level of autonomous driving is set to a viewpoint that is assumed to be viewed from a lower position than the virtual viewpoint set for other driving modes with a relatively low level of autonomous driving.

[0034] In the vehicle display control device according to a fourteenth aspect of the present disclosure, the virtual viewpoint set for a driving mode with a relatively high autonomous driving level is set to a virtual viewpoint assumed to be viewed from a lower position, so that targets further ahead of the vehicle can be displayed in the display area. In this way, by widening the display range around the vehicle as the autonomous driving level increases, the driver can intuitively recognize the increase in the autonomous driving level.

[0035] A display control method for a vehicle according to a fifteenth aspect of the present disclosure is a display control method for a vehicle that displays, in a display area provided around the driver's seat, an image showing the surrounding situation of the vehicle as seen from a virtual viewpoint set according to a plurality of pre-set driving modes, and when the driving mode of the vehicle changes, the image is gradually changed by changing the virtual viewpoint over a predetermined time.

[0036] A program according to a sixteenth aspect of the present disclosure is a program that causes a computer to execute a process of displaying, in a display area provided around the driver's seat, an image showing the surrounding situation of the vehicle as seen from a virtual viewpoint that is set according to a plurality of pre-set driving modes, and causes the computer to execute a process of gradually changing the image by changing the virtual viewpoint over a predetermined time when the driving mode of the vehicle changes.

[0037] As described above, the vehicle display control device, vehicle display control method, and program according to the present disclosure can display a change in the vehicle's driving mode in a manner that is easy for the occupants to recognize.

[0038] 1 is a schematic diagram of a front part of a passenger compartment of a vehicle to which a vehicle display control device according to an embodiment is applied, viewed from the rear side of the vehicle. FIG. 2 is a diagram showing a display area of ​​a meter display as an example of a display area in the embodiment. FIG. 3 is a block diagram showing a hardware configuration of a vehicle display control device according to an embodiment. FIG. 4 is a block diagram showing a functional configuration of a vehicle display control device according to an embodiment. FIG. 5 is a diagram showing the position of a virtual viewpoint set in a virtual space for a plurality of pre-set driving modes. FIG. 6 is a display example of a surrounding situation of a host vehicle assumed to be viewed from a first virtual viewpoint when a first driving mode is operating. FIG. 7 is a display example of a surrounding situation of a host vehicle assumed to be viewed from a second virtual viewpoint when a second driving mode is operating. FIG. 8 is a display example of a surrounding situation of a host vehicle assumed to be viewed from a third virtual viewpoint when a third driving mode is operating. FIG. 9 is a diagram showing a gradual change in an image over time as a result of a change in the virtual viewpoint when the driving mode is changed from the first driving mode to the second driving mode. FIG. 10 is a diagram showing a gradual change in an image over time as a result of a change in the virtual viewpoint when the driving mode is changed from the second driving mode to the third driving mode. 1 is a diagram showing a gradual change in an image over time due to a change in a virtual viewpoint when a warning in a fourth driving mode is displayed while the driving mode is in the second driving mode. FIG. 2 is a flowchart showing an example of the flow of a display process in an embodiment. FIG. 3 is a diagram showing a modification of an embodiment, showing a display example in which a target image indicating a vehicle to be watched is enlarged and displayed for a certain period of time, showing a gradual change in an image over time due to a change in a virtual viewpoint. FIG. 4 is a modification of an embodiment, showing an example in which the display range is changed while keeping the virtual viewpoint fixed by changing the angle of view of the virtual viewpoint over a predetermined period of time.

[0039] A vehicle display control system 10 including a vehicle display control device 28 according to an embodiment will be described with reference to the drawings. Note that the arrow UP in Fig. 1 indicates the upper side in the vehicle vertical direction, and the arrow RH indicates the right side in the vehicle width direction. The vertical direction and the left-right direction in the following description refer to the up and down directions in the vehicle vertical direction and the left and right directions in the vehicle width direction, respectively.

[0040] As shown in Fig. 1, an instrument panel 14 is provided in the front portion of the passenger compartment of a vehicle 12. The instrument panel 14 extends in the vehicle width direction, and a steering wheel 16 is provided on the right side of the instrument panel 14. That is, in this embodiment, as an example, a right-hand drive vehicle is used in which the steering wheel 16 is provided on the right side, and the driver's seat is located on the right side of the vehicle. However, the present invention is not limited to this, and may also be applied to a vehicle in which the driver's seat is located on the left side of the vehicle.

[0041] A windshield glass 18 is provided at the front end of the instrument panel 14. The windshield glass 18 extends in the vertical direction and the width direction of the vehicle, and separates the interior of the vehicle from the exterior of the vehicle.

[0042] The right end of the windshield glass 18 is fixed to a front pillar 20 on the right side of the vehicle. The front pillar 20 extends in the vertical direction of the vehicle, and the windshield glass 18 is fixed to the inner end of the front pillar 20 in the vehicle width direction. In addition, the front ends of front side windows 22 are fixed to the outer end of the front pillar 20 in the vehicle width direction. The left end of the windshield glass 18 is fixed to a front pillar on the left side of the vehicle (not shown).

[0043] Here, the instrument panel 14 is provided with a first display unit 24 having an image display area V1. The first display unit 24 is configured as a meter display provided in front of the driver's seat on the vehicle right side of the instrument panel 14. The first display unit 24 is connected to various meter devices mounted on the vehicle 12, and is provided in a position within the driver's field of view when the driver is looking forward.

[0044] The instrument panel 14 is provided with a second display unit 25 having an image display area V2. The second display unit 25 is configured by a center display disposed in the center of the instrument panel 14 in the vehicle width direction.

[0045] The windshield glass 18 is provided with a third display unit 26 having an image display area V3. The third display unit 26 is set above the vehicle relative to the first display unit 24 and is configured as a projection surface onto which an image is projected by a head-up display device 46 serving as a display device. Specifically, the head-up display device 46 capable of projecting an image is provided on the vehicle front side of the instrument panel 14, and an image is projected from this head-up display device 46 onto the third display unit 26 of the windshield glass 18. In other words, the third display unit 26 is configured as part of the windshield glass 18 that serves as the projection surface for the head-up display device 46.

[0046] The vehicle 12 is provided with a vehicle display control device 28 that constitutes the vehicle display control system 10. The vehicle display control device 28 of this embodiment is, for example, an ECU (Electronic Control Unit) that performs various controls. The vehicle display control device 28 of this embodiment is configured to display, for a plurality of preset driving modes, an image showing the surrounding conditions of the vehicle as seen from a virtual viewpoint that is set according to the driving mode in at least one of display areas V1, V2, and V3 around the driver's seat. Furthermore, when the driving mode of the vehicle changes, the vehicle display control device 28 is configured to gradually change the image displayed in the display area by changing the virtual viewpoint over a predetermined period of time.

[0047] The following describes, as an example, a case where an image is displayed on the first display unit 24 of the vehicle 12. Here, a display area V1 of the first display unit 24 is shown in FIG.

[0048] The vehicle display control device 28 displays an image showing the surrounding conditions of the vehicle 12 in an area X, which is a portion of the display area V1. The area X is an area that can be seen by the driver in the driver's seat through the opening 17 of the steering wheel 16. Specifically, as shown in Fig. 2, the area X is the center of the area that can be seen between the upper ridge line L1 and the lower ridge line L2 of the opening 17 of the steering wheel 16. Meter displays M1 and M2 that show the meters of the measuring instruments of the vehicle 12 are displayed on the left and right of the area X.

[0049] 2, the vehicle display control device 28 includes a CPU (Central Processing Unit: processor) 30, a ROM (Read Only Memory) 32, a RAM (Random Access Memory) 34, a storage 36, a communication interface (communication I / F) 38, and an input / output interface (input / output I / F) 40. Each component is connected to each other via an internal bus 42 so as to be able to communicate with each other.

[0050] The CPU 30 is a central processing unit that executes various programs and controls each part. That is, the CPU 30 reads programs from the ROM 32 or the storage 36 and executes the programs using the RAM 34 as a work area. The CPU 30 also controls the above-mentioned components and performs various arithmetic processing in accordance with the programs recorded in the ROM 32 or the storage 36.

[0051] The ROM 32 stores various programs and various data. The RAM 34 temporarily stores programs or data as a working area. The storage 36 is configured with an HDD (Hard Disk Drive) or an SSD (Solid State Drive) and is a non-temporary recording medium that stores various programs including an operating system and various data. In this embodiment, the ROM 32 or the storage 36 stores a display program for performing display processing and the like.

[0052] The communication interface 38 is an interface through which the vehicle display control device 28 communicates with a server and other devices, and uses standards such as CAN (Controller Area Network), Ethernet (registered trademark), LTE (Long Term Evolution), FDDI (Fiber Distributed Data Interface), and Wi-Fi (registered trademark).

[0053] The input / output interface 40 is connected to a line-of-sight detection sensor 44, the first display unit 24, the second display unit 25, and a head-up display device 46. An image is projected onto the third display unit 26 by the head-up display device 46.

[0054] The gaze detection sensor 44 is provided on the steering wheel 16 and is positioned facing the face of the occupant (driver) seated in the driver's seat. The gaze detection sensor 44 detects the gaze direction of the occupant by recognizing the occupant's eyes and using principles such as the corneal reflex method and the scleral reflex method. The gaze detection sensor 44 may also be configured to be provided on the instrument panel 14.

[0055] (Functional Configuration of Vehicle Display Control Device 28) The vehicle display control device 28 uses the above hardware resources to realize various functions. The functional configuration realized by the vehicle display control device 28 will be described with reference to FIG.

[0056] 3, the vehicle display control device 28 includes, as functional components, a driving mode acquisition unit 52, a surrounding information acquisition unit 54, a driving support function information acquisition unit 56, and a dynamic display unit 60. Each functional component is realized by the CPU 30 reading and executing a program stored in the ROM 32 or the storage 36.

[0057] The driving mode acquisition unit 52 acquires the driving mode of the vehicle 12. The vehicle 12 of this embodiment has a plurality of pre-set driving modes, namely, a first driving mode to a fourth driving mode. The first driving mode is a driving mode in which the driver performs all operations, and is also referred to as a manual driving mode. Because the driver performs almost all operations in this first driving mode, it is not associated with the driving assistance functions of the vehicle 12.

[0058] The second driving mode is a driving mode in which at least some operations are performed automatically, and is included in an automated driving mode associated with at least one driving assistance function. Note that the term "automated driving" as used herein is not limited to so-called level 3 or higher automated driving, but also includes so-called level 2 or lower driving assistance, as will be described hereinafter. In this embodiment, the second driving mode is an adaptive cruise control (ACC) mode. This ACC mode is associated with a driving assistance function that automatically accelerates and decelerates while maintaining a distance from a preceding vehicle within a predetermined vehicle speed, thereby performing follow-up driving. The second driving mode may also include a hands-on function, which is a driving assistance function that provides steering assistance only when the occupant holds the steering wheel. Furthermore, the second driving mode may also include a hands-off function, which is a driving assistance function that provides acceleration / deceleration and steering assistance even when the occupant's hands are off the steering wheel as long as the occupant is paying attention to the area ahead of the vehicle. The second driving mode is not limited to the above assistance functions, and may be any driving mode associated with at least one of acceleration / deceleration and steering.

[0059] The third driving mode is a driving mode in which at least some operations are performed automatically, and is included in the automatic driving modes associated with at least one driving assistance function. In the example of this embodiment, the third driving mode is Eco ACC mode. This Eco ACC mode is associated with a driving assistance function that controls the output of the power unit to improve the driving efficiency of the host vehicle compared to when driving in the second driving mode. In other words, Eco ACC mode is a driving mode that improves actual fuel and electric power consumption while maintaining the driving assistance provided by the ACC mode. For example, in Eco ACC mode, pulse-and-glide driving, which involves repeated acceleration and coasting, may be automatically performed to improve the driving altitude ratio. Furthermore, for example, the driving altitude ratio may be improved by slowing down acceleration when starting and deceleration when stopping compared to normal ACC mode, or by automatically turning off the engine when stopping.

[0060] The fourth driving mode is a driving mode that warns the driver based on the result of object detection in a predetermined direction around the vehicle 12. In the example of this embodiment, the fourth driving mode is a blind spot monitor (BSM) mode. This BSM mode has a function of warning the driver when a target approaching from the rear side of the vehicle 12 is detected. The BSM mode is activated when predetermined conditions are met while each of the above driving modes is operating.

[0061] If the autonomous driving levels of each driving mode are divided into the following stages, the first driving mode corresponds to autonomous driving level 0. The second driving mode and the third driving mode correspond to autonomous driving level 1.

[0062] (Autonomous driving levels) Level 0: The driver performs all operations (acceleration, steering, braking). Level 1: The system performs either acceleration, steering, or braking. Level 2: The system performs multiple operations from acceleration, steering, and braking. Level 3: The system performs all acceleration, steering, and braking, but the driver responds if requested by the system. Level 4 and above: The system performs all acceleration, steering, and braking, and the driver is not involved.

[0063] The surrounding information acquisition unit 54 acquires surrounding information indicating the surrounding conditions of the vehicle 12 (host vehicle). Specifically, the vehicle 12 is provided with a plurality of sensors capable of detecting the surrounding conditions, and information detected by these sensors is acquired as the surrounding information.

[0064] The surrounding information also includes map information of the area around the vehicle 12. The vehicle 12 is provided with a GPS receiver for determining the current location, and the surrounding information acquisition unit 54 acquires map information of the area around the vehicle 12 by referring to the vehicle's location information and map data stored in the external server or storage 36.

[0065] The driving support function information acquisition unit 56 acquires information about the driving support functions that are in operation. Specifically, signals may be acquired from actuators such as a steering actuator, an accelerator actuator, and a brake actuator (not shown). The steering actuator steers the vehicle 12. The accelerator actuator accelerates the vehicle 12. The brake actuator decelerates the vehicle 12.

[0066] For example, when the vehicle 12 is being steered by a steering actuator, the driving assistance function information acquisition unit 56 acquires information regarding the driving assistance function, thereby determining that the driving assistance function for steering the vehicle 12 is operating.

[0067] Furthermore, for example, when the vehicle 12 is being accelerated by an accelerator actuator, the driving assistance function information acquisition unit 56 acquires information related to the driving assistance function, thereby determining that the driving assistance function is operating to accelerate the vehicle 12. Furthermore, when the vehicle 12 is being decelerated by a brake actuator, the driving assistance function information acquisition unit 56 acquires information related to the driving assistance function, thereby determining that the driving assistance function is operating to decelerate the vehicle 12.

[0068] The dynamic display unit 60 displays an image showing the surroundings of the vehicle in a display area provided around the driver's seat. Here, the image showing the surroundings of the vehicle is an image assumed to be seen from a virtual viewpoint set according to the driving mode.

[0069] The virtual viewpoint is set by setting a viewpoint in a virtual space according to the driving mode. In one example of this embodiment, the virtual viewpoint is set in a three-dimensional virtual space with the position of the vehicle 12 (host vehicle) as the origin O. This virtual viewpoint can be defined by viewpoint coordinates and a viewpoint angle (orientation) in the virtual space.

[0070] 5 shows an example of first to third virtual viewpoints C1 to C3 set for each driving mode of the vehicle 12. The virtual coordinates of the virtual viewpoints C1 to C3 are three-dimensional coordinates with the X axis representing the longitudinal direction (direction of travel) of the vehicle 12, the Y axis representing the width direction of the vehicle, and the Z axis representing the vertical direction of the vehicle. The viewpoint angle can be expressed as a set of rotation angles (roll, pitch, and yaw angles) around each axis. Therefore, the dynamic display unit 60 generates an image showing the surrounding situation of the vehicle 12, assuming that the surroundings of the vehicle 12 are viewed from a specific viewpoint coordinate in virtual space at a specific viewpoint angle, and displays the image in the display area.

[0071] The first virtual viewpoint C1 is a virtual viewpoint set for the first driving mode (manual driving mode). The first virtual viewpoint C1 is a viewpoint from a high position diagonally rearward of the vehicle 12. As an example, the viewpoint angle of the first virtual viewpoint C1 coincides with the direction of a line segment S1 passing through the viewpoint coordinates of the first virtual viewpoint C1 and the origin O, and the rotation angle (pitch angle) θ1 around the Y axis is the largest. The dynamic display unit 60 generates an image of the range R1 visible from the first virtual viewpoint C1 at a predetermined angle of view φ and displays it in the display area as an image showing the surrounding conditions of the vehicle 12.

[0072] 6 is a display example of an image showing the surrounding conditions of the vehicle 12 as seen from a first virtual viewpoint C1. As shown in this figure, the dynamic display unit 60 displays a road image 68 showing the lane the vehicle 12 is traveling in, etc., around a first image 66 showing the vehicle 12. In addition, an image 62 showing the traveling speed of the vehicle 12 and an image 64 showing the gear position of the vehicle 12 are displayed above the road image 68. In addition, when a sensor mounted on the vehicle 12 detects a target object such as a preceding vehicle or an approaching vehicle, the dynamic display unit 60 displays target object images 70 and 72 around the first image 66. From the first virtual viewpoint C1, as an example, a range R1 around the vehicle 12 is displayed, which is approximately 40 m ahead and approximately 3 m to the left, right, and rear.

[0073] Images of the vehicle and targets are modeled as three-dimensional data, and the dynamic display unit 60 can display not only the vehicle itself but also targets other than the vehicle as three-dimensional images viewed from any virtual viewpoint.

[0074] Returning to FIG. 5 , the second virtual viewpoint C2 is a virtual viewpoint set for the second driving mode (ACC mode). The second virtual viewpoint C2 is a viewpoint viewed from a position further rearward than the first virtual viewpoint C1 and lower than the first virtual viewpoint C1. As an example, the viewpoint angle of the second virtual viewpoint C2 coincides with the direction of a line segment S2 passing through the viewpoint coordinates of the second virtual viewpoint C2 and the origin O, and the rotation angle (pitch angle) θ2 around the Y axis is smaller than the rotation angle θ1 of the first virtual viewpoint C1. Therefore, the second virtual viewpoint C2 is a viewpoint facing upward relative to the first virtual viewpoint C1. The dynamic display unit 60 generates an image of the range R2 visible from the second virtual viewpoint C2 at a predetermined angle of view φ and displays it in the display area as an image showing the surrounding conditions of the vehicle 12.

[0075] FIG. 7 shows an example of an image display showing the surroundings of the vehicle 12 as seen from a second virtual viewpoint C2. As shown in this figure, the second virtual viewpoint C2 is an upward-facing viewpoint from a lower position than the first virtual viewpoint C1, and therefore the display range of the front side of the vehicle 12 is wider than that of the first virtual viewpoint C1. As an example, the display range is a range R2 around the vehicle 12, approximately 110 meters forward, and approximately 4 meters to the left, right, and rear. The dynamic display unit 60 also displays an image 74 indicating the operation of the second driving mode (ACCC mode). The image 74 is composed of multiple lines arranged in a striped pattern between a target image 72 representing a leading vehicle and the first image 66. The number of lines increases or decreases depending on the distance between the leading vehicle and the vehicle being followed. For example, the number of lines decreases as the distance between the leading vehicle and the vehicle decreases.

[0076] 5 , the third virtual viewpoint C3 is a virtual viewpoint set for the third driving mode (Eco ACC mode). The third virtual viewpoint C3 is a viewpoint seen from a position further rearward than the first virtual viewpoint C1 and the second virtual viewpoint C2, and is a viewpoint seen from a position lower than the first virtual viewpoint C1 and higher than the second virtual viewpoint C2. As an example, the viewpoint angle of the third virtual viewpoint C3 is the same as that of the second virtual viewpoint C2. The dynamic display unit 60 generates an image of the range R3 visible from the third virtual viewpoint C3 at a predetermined angle of view φ, and displays the image in the display area as an image showing the surrounding conditions of the vehicle 12.

[0077] FIG. 8 shows an example of an image showing the surroundings of the vehicle 12 as viewed from a third virtual viewpoint C3. Because the third virtual viewpoint C3 is a viewpoint viewed from a higher position rearward than the first and second virtual viewpoints C1 and C2, the display range of the vehicle 12 in the front, rear, left, and right directions is wider than the first and second virtual viewpoints C1 and C2. As an example, the display range R3 around the vehicle 12 is approximately 120 meters forward and approximately 6 meters to the left, right, and rear. The dynamic display unit 60 also displays a second image 84 indicating the operation of the third driving mode (Eco ACC mode) in the area behind the first image 66. As an example, the second image 84 is configured as an image resembling a plant leaf.

[0078] In the first to third virtual viewpoints C1 to C3 according to the embodiment, the virtual viewpoints set for driving modes with a relatively high level of autonomous driving are set as viewpoints assuming an upward view from a lower position than the virtual viewpoints set for other driving modes with a relatively low level of autonomous driving. That is, the second virtual viewpoint C2 and the third virtual viewpoint C3 are set as viewpoints assuming an upward view from a lower position than the first virtual viewpoint C1.

[0079] Here, when the driving mode of the vehicle 12 changes, the dynamic display unit 60 gradually changes the image displayed in the display area by changing the virtual viewpoint corresponding to the driving mode over a predetermined period of time.

[0080] Furthermore, the dynamic display unit 60 starts changing the virtual viewpoint after a predetermined time CT [s] has elapsed since the driving mode was changed in the vehicle 12. Furthermore, if it is determined that the length of the section that can be traveled in the changed driving mode is less than a threshold D1 [m] based on the surrounding information acquired by the surrounding information acquisition unit 54, the dynamic display unit 60 displays the image without changing the virtual viewpoint. Note that when the length of the section that can be traveled in the changed driving mode is less than the threshold D1 [m], this also includes a case where it is determined that the length of the section that can be traveled in the changed driving mode is likely to be less than the threshold D1 [m].

[0081] (Display example when changing from first driving mode to second driving mode) As an example, a display example when the driving mode of the vehicle 12 changes from the first driving mode (manual driving mode) to the second driving mode (ACC mode) will be described. The dynamic display unit 60 changes the virtual viewpoint of the image displayed in the area X from the first virtual viewpoint C1 to the second virtual viewpoint C2 over a first time Δt1 [s].

[0082] As shown in Fig. 5, when changing from the first virtual viewpoint C1 to the second virtual viewpoint C2, the virtual viewpoint moves along a curved trajectory T1. The trajectory T1 is an arc-shaped trajectory that points backward and downward. As a result, the virtual viewpoint of the image moves from the first virtual viewpoint C1 to a viewpoint behind the second virtual viewpoint C2, then moves forward while rotating, and reaches the second virtual viewpoint C2. In other words, the viewpoint coordinates move backward and downward on the XZ plane, and the viewpoint angle (direction of the virtual viewpoint) rotates upward around the Y axis.

[0083] 9 is a diagram showing how the image in the display area (area X) gradually changes as the virtual viewpoint of the image changes from a first virtual viewpoint C1 to a second virtual viewpoint C2. As shown in this figure, the image shrinks so that the viewpoint moves away from the vehicle 12 toward the rear, and then expands so that the viewpoint moves closer to the front. After the change in virtual viewpoint, the viewpoint becomes one looking upward from a lower position compared to before the change, and therefore the display area displays a range far in front of the vehicle 12. Also, before and after the change in virtual viewpoint, an image 74 indicating the operation of the second driving mode (ACC mode) is displayed between a target image 72 representing a leading vehicle and the first image 66.

[0084] The movement of the virtual viewpoint along the curved trajectory T1 causes the viewpoint of the image to move significantly, giving the image change a sense of dynamism. This allows the viewer to intuitively recognize that the change from the first driving mode to the second driving mode has changed the autonomous driving level and significantly changed the requirements placed on the driver.

[0085] In one example of this embodiment, when the virtual viewpoint is moved along the trajectory T1, the forward movement speed is set slower than the backward movement speed, which increases the sense of dynamism of the viewpoint movement in the early stage of the image change, and allows the image to change slowly in the later stage of the image change.

[0086] (Display example when changing from second driving mode to third driving mode) As an example, a display example when the driving mode of the vehicle 12 changes from the second driving mode (ACC mode) to the third driving mode (Eco ACC mode) will be described. The dynamic display unit 60 multiplies the virtual viewpoint of the image displayed in the area X by a second time Δt2 that is shorter than the first time Δt1 [s], and moves the coordinates corresponding to the image from the second virtual viewpoint C2 to the third virtual viewpoint C3.

[0087] 5, when the virtual viewpoint changes from the second virtual viewpoint C2 to the third virtual viewpoint C3, the virtual viewpoint moves along a linear trajectory T2, which is formed along a line segment S2.

[0088] 10 is a diagram showing how the image in the display area (area X) gradually changes as the virtual viewpoint of the image changes from the second virtual viewpoint C2 to the third virtual viewpoint C3. As shown in this figure, the image shrinks over the second time Δt2 so that the viewpoint moves further rearward from the vehicle 12. This makes it possible to secure space around the first image 66 for displaying an image 84 indicating the operation of the third driving mode while suppressing the movement of the virtual viewpoint.

[0089] (Display Example When a Warning in the Fourth Driving Mode is Displayed While the Second Driving Mode is Operating) As an example, a case will be described where a warning in the fourth driving mode (BSM function) is displayed while the driving mode of the vehicle 12 is in the second driving mode (ACC mode). When the sensor of the vehicle 12 detects an approaching vehicle from behind after the driver operates the turn signal, the dynamic display unit 60 changes the virtual viewpoint of the image in the display area (area X) from the second virtual viewpoint C2 to the third virtual viewpoint C3 and displays the warning.

[0090] 11 shows how the image gradually changes when a warning is displayed in the fourth driving mode (BSM function). As shown in this figure, when the driver operates the turn signal, the blinker lamp of the vehicle modeled in the first image 66 flashes. The image then zooms out over a second time period Δt2, moving the viewpoint further away from the vehicle 12, and a warning image 82 is displayed behind the first image 66 representing the vehicle. This warning image 82 is composed of multiple wavy lines displayed between the first image 66 and a target image 70 representing a vehicle approaching from the rear side. The warning image 82 may also be composed of an animation of waves moving from the first image 66 toward the target image 70.

[0091] When a warning for the fourth driving mode is displayed during operation in the first driving mode (manual driving mode), the virtual viewpoint of the image changes from the first virtual viewpoint C1 to the third virtual viewpoint C3, and a warning image 82 is displayed. On the other hand, when a warning for the fourth driving mode is displayed during operation in the third driving mode (Eco ACC mode), the virtual viewpoint does not change, and the warning image 82 is displayed.

[0092] (Operation) Next, the operation of this embodiment will be described.

[0093] (Display Processing) An example of a display processing for displaying a predetermined image in the area X of the first display unit 24 constituting the meter display will be described with reference to the flowchart shown in Fig. 12. This display processing is executed by the CPU 30 reading a display program from the ROM 32 or the storage 36, expanding the program into the RAM 34, and executing it.

[0094] The CPU 30 acquires the driving mode in step S10. Specifically, the CPU 30 acquires information about the driving mode of the vehicle 12 using the function of the driving mode acquisition unit 52.

[0095] In step S11, the CPU 30 acquires the surrounding conditions. Specifically, the CPU 30 acquires data on the surrounding conditions of the vehicle 12 based on signals from sensors mounted on the vehicle 12. The CPU 30 also acquires map information about the surroundings of the vehicle 12.

[0096] In step S12, the CPU 30 acquires information relating to the operating status of the driving support function. For example, the CPU 30 acquires information relating to the operating status of the driving support function based on information acquired from actuators such as a steering actuator, an accelerator actuator, and a brake actuator.

[0097] In step S13, the CPU 30 determines whether or not the driving mode of the vehicle 12 has changed. For example, the CPU 30 determines that the driving mode has changed when an operation requesting a change in the driving mode of the vehicle 12 is received.

[0098] The CPU 30 determines whether a predetermined time CT [s] has elapsed since the driving mode was changed in step S14. If an operation requesting a change to a predetermined driving mode is accepted and then an operation requesting a change to another driving mode is not accepted within the predetermined time CT [s], the CPU 30 determines that the predetermined time CT [s] has elapsed. If the determination in step S14 is positive, the CPU 30 proceeds to processing in step S15. On the other hand, if the determination in step S14 is negative, the CPU 30 ends the display processing.

[0099] In step S15, the CPU 30 determines whether or not the vehicle 12 can travel a predetermined distance D1 [m] or more in the driving mode set for the vehicle 12. For example, the CPU 30 refers to map information about the area around the vehicle 12, and if the distance of the section that can be traveled in the current driving mode is the predetermined distance D1 [m] or more, the CPU 30 makes a positive determination in step S15 and proceeds to processing in step S16. On the other hand, if the determination in step S15 is negative, the display processing is terminated.

[0100] In step S16, the CPU 30 determines whether the coordinates corresponding to the image of area X are moved in accordance with the change in driving mode. For example, the CPU 30 refers to a data table that associates a plurality of preset driving modes with virtual viewpoints in a virtual space, and if the corresponding virtual viewpoints are different before and after the change in driving mode, the CPU 30 makes a positive determination in step S16. On the other hand, if the determination in step S16 is negative, the display process is terminated.

[0101] In step S17, the CPU 30 changes the virtual viewpoint over a predetermined time period, thereby gradually changing the image in the area X. Then, the CPU 30 ends the display process.

[0102] As described above, the vehicle display control system 10 constructed by the vehicle display control device 28 according to this embodiment displays, for a plurality of preset driving modes, images showing the surroundings of the vehicle 12 (host vehicle) as seen from a virtual viewpoint set according to the driving mode in display areas V1 to V3 around the driver's seat, etc. Furthermore, when the driving mode of the vehicle 12 changes, the image is gradually changed by moving the coordinates over a predetermined time. This makes it easier for the driver to notice the change in image, and the image can be displayed in a manner that makes it easy for the driver to recognize that the driving mode has changed.

[0103] Specifically, the virtual viewpoint is set by setting a viewpoint in the virtual space according to the driving mode. The vehicle display control device 28 can change the virtual viewpoint in the virtual space by at least one of moving the viewpoint coordinates of the virtual viewpoint and rotating the viewpoint angle (direction of the virtual viewpoint).

[0104] In this embodiment, the first time Δt1 taken to move the virtual viewpoint when changing from a first driving mode (manual driving mode) without a driving support function to a second driving mode (ACC mode) or a third driving mode (Eco ACC) with a driving support function is set to be longer than the second time Δt2 taken to change from the second driving mode to the third driving mode. As a result, the greater the change in the driver's requirements due to the change in driving support, the more easily the occupant can recognize that the driving mode has changed.

[0105] Furthermore, in this embodiment, when the driving mode is changed from the first driving mode to the second driving mode, the dynamic display unit 60 moves the coordinates along the curved path T1, thereby dynamically changing the viewpoint of the image showing the situation around the vehicle 12, and displaying the change in driving mode in a manner that makes it easy for the occupant to recognize.

[0106] Specifically, as shown in FIG. 5 , the dynamic display unit 60 moves the virtual viewpoint from the first virtual viewpoint C1 to the second virtual viewpoint C2 (or the third virtual viewpoint C3) along a curved path T1 that describes an arc. Therefore, the virtual viewpoint moves away from the rear of the vehicle 12, then moves forward to approach the vehicle 12 and arrive at the second virtual viewpoint C2. The dynamic display unit 60 also slows the forward movement speed of the coordinates compared to the backward movement speed. Therefore, by dynamically moving the virtual viewpoint in the early stages of an image change, the driver can easily notice the image change. On the other hand, the moving speed of the virtual viewpoint is slowed after the driver's gaze is directed toward the image in the display area, i.e., in the later stages of the image change. This reduces the annoyance felt by the driver when looking at the display area.

[0107] On the other hand, in this embodiment, when the driving mode changes from the second driving mode associated with the driving assistance function to the third driving mode also associated with the driving assistance function, the dynamic display unit 60 moves the coordinates along the linear path T2. This makes it possible to reduce the sense of dynamism compared to when the virtual viewpoint moves along a curved path. As a result, the driver can intuitively recognize that the change in the driving mode requires a relatively small change in the driver's requirements.

[0108] Furthermore, in this embodiment, the dynamic display unit 60 changes the display range around the first image 66 showing the vehicle 12 in accordance with changes in the virtual viewpoint. This makes it possible, for example, to secure space for displaying other information in a predetermined range of the display area while changing the image in accordance with the driving mode of the vehicle 12. This allows for efficient use of the limited size of the display area.

[0109] Specifically, in this embodiment, the virtual viewpoint set for a driving mode with a relatively high autonomous driving level is set to a viewpoint that is assumed to be viewed more upward than the virtual viewpoint set for other driving modes with a relatively low autonomous driving level. Therefore, when the driving mode is changed from the first driving mode (autonomous driving level 0) to the second driving mode or the third driving mode (autonomous driving level 1), the virtual viewpoint is directed upward, allowing targets further ahead of the vehicle to be displayed in the display area. In this way, the display range ahead of the first image 66 (host vehicle) can be widened as the autonomous driving level increases.

[0110] In addition, in this embodiment, the virtual viewpoint set for a driving mode with a relatively high autonomous driving level is set to a viewpoint that is assumed to be viewed from a lower position than the virtual viewpoint set for other driving modes with a relatively low autonomous driving level. Therefore, when changing from the first driving mode (autonomous driving level 0) to the second driving mode or the third driving mode (autonomous driving level 1), the virtual viewpoint is lowered, allowing targets further ahead of the vehicle to be displayed in the display area. In this way, the display range ahead of the first image 66 (host vehicle) can be widened as the autonomous driving level increases.

[0111] In addition, by widening the display range around the vehicle, the driver can intuitively recognize the increase in the level of autonomous driving.

[0112] In this embodiment, the change of the virtual viewpoint begins a predetermined time CT [s] after a change in the driving mode of the vehicle 12. Therefore, the viewpoint of the image can be left unchanged in a situation where the driving mode changes in a short period of time, which reduces the annoyance felt by the driver when looking at the display area when the driving mode changes frequently.

[0113] In this embodiment, if it is determined that the length of the section that can be traveled in the changed driving mode is less than a threshold, the image is displayed without moving the virtual viewpoint. Therefore, if it is expected that the driving mode will change over a short section, the image can be displayed without changing the viewpoint of the image. Therefore, if it is expected that the driving mode will change frequently, the driver will not feel annoyed when looking at the display area.

[0114] (Regarding Modifications) In the above embodiment, the orientation of the virtual viewpoint (viewpoint angle) is set to the direction of a line segment passing through the origin O of the coordinate system and the viewpoint coordinates, so the first image 66 representing the host vehicle is displayed in the center of the display area. However, the present disclosure is not limited to this. The virtual viewpoint can be set to any orientation in the virtual space, and is not limited to the display mode in which the first image 66 is displayed in the center of the display area.

[0115] For example, when displaying a warning in the fourth driving mode in the above embodiment, by moving the virtual viewpoint around above the adjacent lane, a vehicle approaching vehicle 12 from behind can be displayed in the center of the display area, effectively informing the driver that a vehicle is approaching.

[0116] In addition to the above-described fourth driving mode warning display, when a vehicle to be watched appears, such as a vehicle approaching from behind or a vehicle cutting in front, the virtual viewpoint may be moved closer to the target to enlarge and display the target. In the example shown in FIG. 13 , a warning image 82 is displayed between the first image and the target image 70 (the vehicle to be watched) at a virtual viewpoint C3 behind the vehicle, and then the virtual viewpoint is moved closer to enlarge and display the target image 70 for a certain period of time, and then the virtual viewpoint returns to the virtual viewpoint C3, ending the warning. This allows the driver to be notified that the vehicle in question has been identified as a vehicle to be watched. In this case, the image may be gradually enlarged over a predetermined period of time, maintained, and then reduced again for display.

[0117] In the above embodiment, the dynamic display unit 60 changes the virtual viewpoint by changing at least one of the viewpoint coordinates and the viewpoint angle in the virtual space. However, this is not limiting. For example, the dynamic display unit 60 may gradually change the image showing the surrounding conditions of the host vehicle by changing the field of view φ over a predetermined time without changing the virtual viewpoint. For example, when the driving mode of the vehicle 12 changes from the first driving mode to the second driving mode, the field of view φ of the virtual viewpoint C1 may be widened to the field of view φ1 over a predetermined time, as shown in FIG. 14 . In this case, the display range of the surroundings of the host vehicle can be widened, and a similar effect can be achieved. Furthermore, when changing to the third driving mode, the field of view can be further widened over a predetermined time, thereby achieving a similar effect.

[0118] In the above embodiment, when the driving mode of the vehicle 12 changes from the first driving mode to the second driving mode (or the third driving mode), the virtual viewpoint is changed by changing both the viewpoint coordinate and the viewpoint angle in the virtual space. However, the present invention is not limited to this. For example, the virtual viewpoint may be changed by rotating the orientation (viewpoint angle) of the virtual viewpoint upward while keeping the viewpoint coordinate fixed.

[0119] In the above embodiment, the vehicle and its surroundings are displayed as three-dimensional image data based on a virtual viewpoint set in a three-dimensional virtual space. However, the present invention is not limited to this. A two-dimensional virtual viewpoint may be set and the vehicle and its surroundings may be displayed as two-dimensional image data. In this case, changes in the image accompanying changes in driving mode can be displayed as two-dimensional animation.

[0120] The processing performed by the CPU 30 after reading the program in the above embodiment may be performed by various processors other than the CPU 30. Examples of such processors include programmable logic devices (PLDs) such as field-programmable gate arrays (FPGAs), whose circuit configuration can be changed after manufacture, and dedicated electrical circuits such as application-specific integrated circuits (ASICs), which are processors having a circuit configuration specifically designed to perform specific processing. The processing may be performed by one of these various processors, or by a combination of two or more processors of the same or different types, such as multiple FPGAs or a combination of a CPU and an FPGA. The hardware structure of these various processors is, more specifically, an electrical circuit that combines circuit elements such as semiconductor devices.

[0121] In the above embodiment, various data is stored in the storage 36, but this is not limiting. For example, a non-transitory recording medium such as a CD (Compact Disk), a DVD (Digital Versatile Disk), or a USB (Universal Serial Bus) memory may be used as the storage unit. In this case, various programs and data are stored in these recording media.

[0122] Furthermore, the processing flow described in the above embodiment is an example, and unnecessary steps may be deleted, new steps may be added, or the processing order may be changed within the scope of the gist.

[0123] The disclosure of Japanese Patent Application No. 2023-143815, filed on September 5, 2023, is incorporated herein by reference in its entirety. All documents, patent applications, and technical standards mentioned herein are incorporated herein by reference to the same extent as if each individual document, patent application, and technical standard was specifically and individually indicated to be incorporated by reference.

Claims

1. A vehicle display control device that displays, for a plurality of pre-set driving modes, an image showing the surrounding conditions of the vehicle as viewed from a virtual viewpoint that is set according to the driving mode in a display area provided around the driver's seat, the vehicle display control device having a dynamic display unit that gradually changes the image by changing the virtual viewpoint over a predetermined time when the driving mode of the vehicle changes.

2. The vehicle display control device according to claim 1, wherein the virtual viewpoint is set by setting a viewpoint in a virtual space according to a driving mode, and the virtual viewpoint is changed by at least one of moving the coordinates of the virtual viewpoint and rotating the orientation of the virtual viewpoint in the virtual space.

3. A display control device for a vehicle as described in claim 1 or claim 2, wherein the image includes a first image showing the vehicle, and the dynamic display unit gradually changes the display range around the first image in accordance with changes in the virtual viewpoint.

4. The vehicle display control device according to claim 1 or 2, wherein the dynamic display unit starts changing the virtual viewpoint a predetermined time after the driving mode of the host vehicle has changed.

5. A display control device for a vehicle as described in claim 1 or claim 2, wherein the dynamic display unit displays the image without changing the virtual viewpoint when it determines, based on information about the surroundings of the vehicle, that the length of the section that can be traveled in the changed driving mode is less than a threshold value.

6. A display control device for a vehicle as described in claim 1 or claim 2, wherein the multiple driving modes include a first driving mode to which no driving assistance function is associated, and a second driving mode and a third driving mode to which at least one driving assistance function is associated, and the dynamic display unit changes the virtual viewpoint over a first time when the vehicle changes from the first driving mode to the second driving mode, and changes the virtual viewpoint over a second time shorter than the first time when the vehicle changes from the second driving mode to the third driving mode.

7. The vehicle display control device according to claim 6, wherein the dynamic display unit moves the virtual viewpoint along a curved trajectory when the host vehicle changes from the first driving mode to the second driving mode.

8. A display control device for a vehicle as described in claim 7, wherein a first virtual viewpoint corresponding to the first driving mode and a second virtual viewpoint corresponding to the second driving mode are set, and the dynamic display unit is configured to move the virtual viewpoint along an arc-shaped trajectory extending rearward and downward when the vehicle changes from the first driving mode to the second driving mode, thereby moving the virtual viewpoint from the first virtual viewpoint to a position rearward of the second virtual viewpoint and then moving forward to reach the second virtual viewpoint.

9. The vehicle display control device according to claim 8, wherein the dynamic display unit makes the forward moving speed of the virtual viewpoint slower than the backward moving speed of the virtual viewpoint.

10. The vehicle display control device according to claim 6, wherein the dynamic display unit moves the virtual viewpoint along a linear trajectory when the vehicle changes from the second driving mode to the third driving mode.

11. A display control device for a vehicle as described in claim 6, wherein the second driving mode corresponds to at least one driving assistance function of acceleration / deceleration and steering, and the dynamic display unit changes the image so that the display range on the forward side of the first image is expanded when the vehicle changes to the second driving mode.

12. The display control device for a vehicle as described in claim 6, wherein the third driving mode is associated with a driving assistance function that controls the output of a power unit to improve the driving efficiency of the vehicle compared to when the vehicle is driven in the second driving mode, the image includes a first image showing the vehicle, and when the vehicle changes to the third driving mode, the dynamic display unit changes the image so that the display range in a specified direction around the first image is expanded, and displays a second image indicating that the vehicle is in the third driving mode on the specified direction side around the first image.

13. A display control device for a vehicle as described in claim 1 or claim 2, wherein the virtual viewpoint set for a driving mode having a relatively high level of autonomous driving is set to a viewpoint assumed to be looking upward relative to the virtual viewpoint set for other driving modes having a relatively low level of autonomous driving.

14. A display control device for a vehicle as described in claim 1 or claim 2, wherein the virtual viewpoint set for a driving mode having a relatively high level of autonomous driving is set to a viewpoint assumed to be viewed from a lower position than the virtual viewpoint set for other driving modes having a relatively low level of autonomous driving.

15. A vehicle display control method for displaying, in a display area provided around the driver's seat, an image showing the surrounding conditions of the vehicle as viewed from a virtual viewpoint set according to a plurality of pre-set driving modes, wherein when the driving mode of the vehicle changes, the image is gradually changed by changing the virtual viewpoint over a predetermined time.

16. A program that causes a computer to execute a process of displaying, in a display area provided around the driver's seat, an image showing the surrounding situation of the vehicle as seen from a virtual viewpoint that is set according to a plurality of pre-set driving modes, and when the driving mode of the vehicle changes, the program causes the image to change gradually by changing the virtual viewpoint over a predetermined period of time.

Images