Display control method and display control device

Abstract

A display control device (10) comprises a controller (20) and a display device (14) installed in a vehicle cabin. The display device (14) displays captured images obtained by capturing an image of the area behind a vehicle (1) and the areas to the sides at the rear of the vehicle (1). The controller (20) changes the central axis of the field of view of the captured images displayed on the display device (14) to the right direction when the vehicle (1) is turning right at an intersection, and changes the central axis of the field of view of the captured images displayed on the display device (14) to the left direction when the vehicle (1) is turning left at an intersection.

Description

Display control method and display control device

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

[0002] The image display device described in Patent Document 1 listed below increases the angle of view of the cropped image that is cropped from a rear image captured by a camera and displayed in the display area of ​​the display as the distance between the vehicle and the following vehicle becomes shorter.

[0003] Patent No. 6744236

[0004] When turning right or left at an intersection, the driver checks the area diagonally behind the vehicle. In the above-mentioned conventional technology, the range of the image displayed on the display device does not change even when turning right or left at an intersection, making it difficult to check the area diagonally behind the vehicle. The present invention aims to present the driver with an image that makes it easy to check the area diagonally behind the vehicle when turning right or left at an intersection.

[0005] According to one aspect of the present invention, there is provided a display control method for a vehicle including a controller and a display device installed in a vehicle cabin. In the display control method, the display device displays a captured image obtained by capturing an image of an area including the rear and sides of the vehicle. The controller shifts a central axis of the field of view of the captured image displayed on the display device to the right when the vehicle turns right at an intersection, and shifts the central axis of the field of view of the captured image displayed on the display device to the left when the vehicle turns left at the intersection.

[0006] According to the present invention, when a vehicle turns right or left at an intersection, an image that allows the driver to easily check the area diagonally behind the vehicle can be presented. The objects and advantages of the present invention are realized and attained by using the elements and combinations set forth in the claims. It should be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not intended to limit the invention as defined by the claims.

[0007] 1 is a schematic configuration diagram of a vehicle equipped with a display control device according to an embodiment; FIG. 2 is a block diagram of an example of the functional configuration of a controller; FIG. 3 is an explanatory diagram of the field of view and angle of view of an imaging device and the field of view and angle of view of a display image; (a) is a schematic diagram of an example of a camera image acquired by an imaging device, and (b) is a schematic diagram of an example of a display image displayed on a display device; (a) to (c) are explanatory diagrams of a first example of a method for generating a display image when a vehicle turns right or left at an intersection; and (a) to (c) are a flowchart of an example of a display control method according to an embodiment; (a) to (c) are explanatory diagrams of a first example of a method for generating a display image when a vehicle turns right or left at an intersection; and (b) is an explanatory diagram of an example of a method for setting the central axis of the field of view of a cropped image. and (c) are a flowchart of an example of a first process in a second embodiment.

[0008] (First embodiment) (Configuration) Fig. 1 is a schematic configuration diagram of a vehicle 1 equipped with a display control device 10 according to an embodiment. The display control device 10 is a group of devices that control the display of a display device provided in the vehicle 1. As shown in Fig. 1, the display control device 10 includes an imaging device 11, a distance measuring device 12, a vehicle sensor 13, a display device 14, a map database (map DB) 15, a positioning device 16, and a controller 20. These devices are connected by a CAN (Controller Area Network) or other in-vehicle LAN, and can exchange information with each other.

[0009] The imaging device 11 is a device that captures images of objects around the vehicle 1, and is, for example, a camera equipped with an imaging element such as a CCD, an infrared camera, or the like. For example, the imaging device 11 may include a camera that captures images of an area including the rear and rear sides of the vehicle 1, or a camera that captures images in front of the vehicle 1. The ranging device 12 is a device that detects the relative distance, relative speed, etc. between the vehicle 1 and an object, and is, for example, a laser radar, a millimeter-wave radar, or a LiDAR (light detection and ranging) unit.

[0010] The objects detected by the imaging device 11 and the distance measuring device 12 are objects that exist on the road and its surroundings, including lane boundaries, center lines, road markings, medians, guardrails, curbs, road signs, traffic lights, etc. The objects also include obstacles that may affect the travel of the vehicle, such as other vehicles, motorcycles, bicycles, and pedestrians.

[0011] The detection results of the imaging device 11 and the distance measuring device 12 are acquired by the controller 20 at predetermined time intervals (for example, every 0.1 to 1 millisecond) as needed. The controller 20 recognizes objects around the vehicle 1 and the driving environment of the vehicle 1 from the acquired detection results. The controller 20 may integrate or synthesize (so-called sensor fusion) the detection results of the imaging device 11 and the distance measuring device 12.

[0012] The vehicle sensor 13 is mounted on the vehicle 1 and detects various information (vehicle signals) obtained from the vehicle 1. For example, the vehicle sensor 13 may include a vehicle speed sensor that detects the speed of the vehicle 1, a wheel speed sensor that detects the rotational speed of each wheel, and a shift position sensor that detects the shift position of a shift lever. For example, the vehicle sensor 13 may detect the operating state of a device (e.g., a turn signal) that indicates the traveling direction of the vehicle 1 to the surrounding area.

[0013] The display device 14 is a device that provides information to the occupants of the vehicle 1, and is, for example, a liquid crystal display provided on the instrument panel. The display device 14 may also include an input device that enables the occupants of the vehicle 1 to input instructions to the controller 20. Examples of the input device include a touch panel and a switch. The display device 14 may also be an electronic mirror that is installed inside the vehicle cabin and displays an image of the rear of the vehicle 1 acquired from the imaging device 11. The electronic mirror is installed, for example, at the top center of the windshield of the vehicle 1 in place of a conventional rearview mirror.

[0014] The map database 15 stores map data (for example, map data for navigation or high-precision map data suitable for maps for autonomous driving). The positioning device 16 measures the current position of the vehicle 1. The positioning device 16 includes, for example, a Global Navigation System (GNSS) receiver. The GNSS receiver is, for example, a Global Positioning System (GPS) receiver, and receives radio waves from multiple navigation satellites to measure the current position of the vehicle 1. The positioning device 16 may also include an inertial navigation system.

[0015] The controller 20 is an electronic control unit (ECU) that controls the display of the display device 14 by cooperating with the devices that make up the display control device 10. The controller 20 includes a processor 20a and peripheral components such as a storage device 20b. The processor 20a may be, for example, a central processing unit (CPU) or a micro-processing unit (MPU). The storage device 20b may include a semiconductor storage device, a magnetic storage device, an optical storage device, or the like. The storage device 20b may include memories such as a read-only memory (ROM) and a random access memory (RAM) used as main storage devices, as well as registers and cache memories.

[0016] The functions of the controller 20 described below are realized, for example, by the processor 20a executing a computer program stored in the storage device 20b. The controller 20 may also be formed by dedicated hardware for executing the information processing described below. For example, the controller 20 may include a functional logic circuit configured in a general-purpose semiconductor integrated circuit. The controller 20 may also include a programmable logic device (PLD) such as a field-programmable gate array (FPGA).

[0017] FIG. 2 is a block diagram of an example of the functional configuration of the controller 20. For convenience, FIG. 2 illustrates an acquisition unit 21, a generation unit 22, and an output unit 23 as functional blocks that execute processing related to the display control method of the present invention. The acquisition unit 21 acquires information about images captured around the vehicle 1 from the imaging device 11 and outputs the information to the generation unit 22. For example, the acquisition unit 21 acquires a captured image (hereinafter sometimes referred to as a "camera image") captured by the imaging device 11 of an area including the rear and rear sides of the vehicle 1 and outputs the image to the generation unit 22. The generation unit 22 generates a display image to be displayed on the display device 14 based on the information about the camera image input from the acquisition unit 21, and outputs the image to the output unit 23. The output unit 23 outputs the display image input from the generation unit 22 to the display device 14 for display.

[0018] 3 is an explanatory diagram of the field of view and angle of view of the imaging device 11 and the field of view and angle of view of the display image displayed on the display device 14. The imaging device 11 may include a wide-angle camera, for example, that is provided near the upper center of the rear window of the vehicle 1 and captures an image of an area including the rear and rear sides of the vehicle 1. The angle α shown in FIG. 3 indicates the horizontal angle of view of the imaging device 11 that captures an image of an area including the rear and rear sides of the vehicle 1 (i.e., the imaging range of the imaging device 11 when the vehicle 1 is viewed from above). In other words, the imaging device 11 captures an image of an object within the field of view Fvc of the imaging device 11, which is schematically represented as the area surrounded by a dashed dotted line.

[0019] Note that while Fig. 3 schematically represents the boundary of the field of view Fvc using sectorial radii L1 and L2, the line of the sectorial arc A does not indicate the position of the farthest point that the imaging device 11 can capture, but is used to indicate the range inside the boundaries L1 and L2 of the field of view Fvc. The same applies to the field of view Fvd in Fig. 3, the fields of view Fv0 and Fv1 in Figs. 5(c) and 7(c), and the field of view Fv in Fig. 8, which will be described later. The horizontal angle of view α of the imaging device 11 may be, for example, approximately 140 degrees. The vertical angle of view of the imaging device 11 may be, for example, approximately 100 degrees.

[0020] The acquisition unit 21 acquires a camera image captured by the imaging device 11 and outputs the image to the generation unit 22. The generation unit 22 generates a display image to be displayed on the display device 14 by mirror-inverting the camera image. For example, the generation unit 22 may generate a display image by cutting out a cropped image, which is a part of the camera image, from the camera image and adjusting the cropped image to the size of the display area (the number of pixels of the display area) of the display device 14. The generation unit 22 may perform mirror-inversion before cutting out the cropped image from the camera image, or may perform mirror-inversion after cutting out the cropped image from the camera image.

[0021] The area Fvd surrounded by a dashed line in Figure 3 represents the field of view of the display image, and the two-dot chain line C represents the central axis of the field of view Fvd of the display image. For example, if a portion of a camera image is cut out to generate a display image, the field of view Fvd of the display image will be narrower than the field of view Fvc of the imaging device 11. Figure 4(a) shows an example of a camera image Ic acquired by the imaging device 11. For ease of explanation, a mirror-inverted camera image Ic is shown here for convenience. Reference numeral 100 represents a following vehicle traveling behind the right side of the vehicle 1 photographed by the imaging device 11.

[0022] The generation unit 22 cuts out the portion of the camera image Ic within the cutout range Rs as a cutout image. The generation unit 22 generates the display image Id shown in FIG. 4B by adjusting the cutout image to the size of the display area (the number of pixels of the display area) of the display device 14. In this specification, the ratio of the size of the cutout image (i.e., the size of the cutout range Rs) to the size of the camera image Ic (size of cutout image / size of camera image Ic) may be referred to as the "angle of view value." The central axis C of the field of view Fvd of the display image Id is a straight line passing through the coordinates in the world coordinate system projected onto the center point of the display image Id (i.e., the center point of the cutout range Rs) and the viewpoint of the imaging device 11. In FIGS. 4A and 4B, the position where the central axis C is projected onto the camera image Ic and the display image Id is indicated by an "x" plot. For example, in a normal driving scene (e.g., a scene other than turning right or left at an intersection, changing lanes, or reversing), the generation unit 22 may set the cut-out range Rs so that the direction of the central axis C in the horizontal direction of the vehicle body is the fore-and-aft direction of the vehicle body.

[0023] 5A to 5C are explanatory diagrams of a first example of a method for generating a display image Id when the vehicle 1 turns right or left at an intersection. The generation unit 22 determines whether the vehicle 1 will turn right or left at the intersection. For example, the generation unit 22 may determine that the vehicle 1 will turn right or left at the intersection when a device (e.g., a turn signal) that indicates the direction of travel of the vehicle 1 to the surrounding area is activated and the forward speed of the vehicle 1 is equal to or less than a predetermined threshold. Furthermore, for example, the generation unit 22 may determine that the vehicle 1 will turn right or left at the intersection when a device that indicates the direction of travel of the vehicle 1 to the surrounding area is activated while the vehicle 1 is approaching the intersection or is located within the intersection. For example, the generation unit 22 may determine whether the vehicle 1 is approaching an intersection or is located within the intersection based on the measurement result of the current position of the vehicle 1 by the positioning device 16 and the map DB 15, or may determine whether the vehicle 1 is approaching an intersection or is located within the intersection by image recognition processing based on an image captured in front of the vehicle 1 by the imaging device 11. Furthermore, for example, when the vehicle 1 is approaching an intersection or is located within the intersection, the generation unit 22 may determine that the vehicle 1 will turn right or left at the intersection if a device that indicates the traveling direction of the vehicle 1 to the surrounding area is activated and the forward speed of the vehicle 1 is equal to or lower than a predetermined threshold.

[0024] When the vehicle 1 turns right at an intersection, the generation unit 22 changes the central axis C of the field of view Fvd of the display image Id to the right relative to a normal driving scene. Furthermore, when the vehicle 1 turns left at an intersection, the generation unit 22 changes the central axis C of the field of view Fvd of the display image Id to the left relative to a normal driving scene. This makes it possible to widen the area displayed in the display image I to the rear side of the vehicle 1 in the direction of turning when the vehicle 1 turns right or left at an intersection. As a result, an image that makes it easy for the driver to check the area behind the vehicle can be presented. In the following description, the process of changing the central axis C of the field of view Fvd of the display image Id to the right when the vehicle 1 turns right at an intersection and changing the central axis C to the left when the vehicle 1 turns left at an intersection may be referred to as "first process."

[0025] For example, in the first embodiment, the generation unit 22 enlarges the field of view Fvd of the display image Id to the right rear side compared to a normal driving scene when the vehicle 1 turns right at an intersection, and enlarges the field of view Fvd to the left rear side compared to a normal driving scene when the vehicle 1 turns left at an intersection. As a result, the angle of view value of the display image Id when the vehicle 1 turns right or left at an intersection is larger (enlarged) than the angle of view value in a normal driving scene.

[0026] FIG. 5( a) shows the cropping range of the cropped image when the vehicle 1 turns right at an intersection and the cropping range in a normal driving scene. When the vehicle 1 turns right at an intersection, the generation unit 22 expands the cropping range Rs1 of the cropped image to the right rear side more than the cropping range Rs0 in a normal driving scene. FIG. 5( b) shows a display image Id when the vehicle 1 turns right at an intersection. The field of view of the display image Id shown in FIG. 5( b) is expanded to the right rear side more than the field of view of the display image Id in a normal driving scene shown in FIG. 4( b). The generation unit 22 may superimpose a frame line F, which represents the field of view before the vehicle 1 turns right or left at the intersection, on the display image Id.

[0027] 5C is a schematic diagram showing the field of view of the display image Id when the vehicle 1 turns right at an intersection and the field of view of the display image Id in a normal driving scene. Compared to the field of view Fv0 of the display image Id in the normal driving scene, the field of view Fv1 when the vehicle 1 turns right at an intersection is expanded to the rear right. Accordingly, the central axis C1 of the field of view Fv1 is shifted to the right of the central axis C0 of the field of view Fv0.

[0028] Furthermore, the generation unit 22 may execute a second process of enlarging the field of view of the display image when the vehicle 1 is reversing more than the field of view of the display image in a normal driving scene. For example, the generation unit 22 may enlarge the field of view of the display image so that obstacles within a predetermined distance range from the vehicle 1 photographed by the imaging device 11 and parking frame lines photographed by the imaging device 11 are displayed on the display device 14.

[0029] The angle of view value in the case of a first process executed when the vehicle 1 turns right or left at an intersection may be larger than the angle of view value in the case of a second process executed when the vehicle 1 is reversing. That is, the generation unit 22 may enlarge the field of view of the display image by a first magnification factor when the vehicle 1 is turning right or left at an intersection compared to a normal driving scene, and may enlarge the field of view of the display image by a second magnification factor smaller than the first magnification factor when the vehicle 1 is reversing compared to a normal driving scene. For example, the generation unit 22 may determine whether the vehicle 1 is reversing based on the shift position of the shift lever detected by a shift position sensor.

[0030] Furthermore, the generation unit 22 may execute a third process of enlarging the field of view of the display image when the inter-vehicle distance between the vehicle 1 and the following vehicle is equal to or less than a threshold value, compared to when the inter-vehicle distance is greater than the threshold value. The generation unit 22 may prohibit the third process when it determines that the following vehicle is rapidly approaching the vehicle 1 (i.e., may maintain the angle of view value of the display image at the value for a normal driving scene). Furthermore, the generation unit 22 may prohibit the third process and record the display image in the storage device 20b when it determines that the following vehicle is driving in a way that intimidates the occupants of the vehicle 1 (so-called tailgating).

[0031] For example, the generation unit 22 may determine that the following vehicle is tailgating if it detects at least one of the following: the distance between vehicle 1 and the following vehicle is less than a predetermined distance for a predetermined period of time or more (condition 1); the following vehicle is repeatedly accelerating and decelerating at an acceleration greater than or equal to a predetermined value (condition 2); the following vehicle is swerving (condition 3); the following vehicle is repeatedly flashing its headlights (condition 4); or the following vehicle's horn is repeatedly activated (condition 5).

[0032] (Operation) Fig. 6 is a flowchart of an example of a display control method according to an embodiment. In step S1, the generation unit 22 determines whether the vehicle 1 is reversing. If the vehicle 1 is not reversing (step S1: N), the process proceeds to step S3. If the vehicle 1 is reversing (step S1: Y), the process proceeds to step S2. In step S2, the generation unit 22 executes a second process to generate a display image and outputs the image to the output unit 23. Thereafter, the process proceeds to step S13.

[0033] In step S3, the generation unit 22 determines whether the vehicle speed of the vehicle 1 is equal to or less than a threshold value. If the vehicle speed is not equal to or less than the threshold value (step S3: N), the process proceeds to step S6. If the vehicle speed is equal to or less than the threshold value (step S3: Y), the process proceeds to step S4. In step S4, the generation unit 22 determines whether the turn indicator is on. If the turn indicator is not on (step S4: N), the process proceeds to step S6. If the turn indicator is on (step S4: Y), the process proceeds to step S5. In step S5, the generation unit 22 executes a first process to generate a display image and outputs it to the output unit 23. Thereafter, the process proceeds to step S13.

[0034] In step S6, the generation unit 22 determines whether the inter-vehicle distance between vehicle 1 and the following vehicle is equal to or less than a threshold value. If the inter-vehicle distance is not equal to or less than the threshold value (step S6: N), the process proceeds to step S8. If the inter-vehicle distance is equal to or less than the threshold value (step S6: Y), the process proceeds to step S7. In step S7, the generation unit 22 determines whether the following vehicle is rapidly approaching vehicle 1. If the following vehicle is not rapidly approaching (step S7: N), the process proceeds to step S9. If the following vehicle is rapidly approaching (step S7: Y), the process proceeds to step S8. In step S8, the generation unit 22 maintains the angle of view value of the display image at the value for a normal driving scene (prohibiting execution of the third process). Thereafter, the process proceeds to step S13.

[0035] In step S9, the generation unit 22 determines whether the following vehicle is tailgating. If the following vehicle is not tailgating (step S9: N), the process proceeds to step S12. If the following vehicle is tailgating (step S9: Y), the process proceeds to step S10. In step S10, the generation unit 22 maintains the angle of view value of the display image Id at the value for a normal driving scene (prohibiting execution of the third process). In step S11, the generation unit 22 records the display image in the storage device 20b. Then, the process proceeds to step S13.

[0036] In step S12, the generation unit 22 executes the third process to generate a display image and outputs it to the output unit 23. The process then proceeds to step S13. In step S13, the output unit 23 outputs the display image to the display device 14, causing it to be displayed on the display portion of the display device 14. In step S14, the controller 20 determines whether the ignition key (IGN) of the vehicle has been turned off. If the ignition key has not been turned off (step S14: N), the process returns to step S1. If the ignition key has been turned off (step S14: Y), the process ends.

[0037] In the above description, an example has been shown in which the field of view of the display image (i.e., the angle of view of the display image) is changed by changing the cropping range for cropping the display image from the camera image, but the present invention is not limited to this. For example, the field of view of the display image (i.e., the angle of view of the display image) may be changed by changing the optical magnification of the imaging device 11.

[0038] Second Embodiment In a second embodiment, the generation unit 22 changes the field of view of the display image to the right rear side compared to a normal driving scene when the vehicle 1 turns right at an intersection, and changes the field of view of the display image to the left rear side compared to a normal driving scene when the vehicle 1 turns left at an intersection. Figures 7(a) to 7(c) are explanatory diagrams of a second example of a method for generating a display image Id when the vehicle 1 turns right or left at an intersection.

[0039] 7A shows the cropping range of the cropped image when the vehicle 1 turns right at an intersection and the cropping range in a normal driving scene. When the vehicle 1 turns right at an intersection, the generation unit 22 changes (moves) the cropping range Rs1 of the cropped image to the right rear side compared to the cropping range Rs0 in the normal driving scene. FIG. 7B shows the display image Id when the vehicle 1 turns right at an intersection. The field of view of the display image Id shown in FIG. 7B has changed (moved) to the right rear side compared to the field of view of the display image Id in the normal driving scene shown in FIG. 4B.

[0040] 7C is a schematic diagram showing the field of view of the display image Id when the vehicle 1 turns right at an intersection and the field of view of the display image Id in a normal driving scene. Compared to the field of view Fv0 of the display image Id in the normal driving scene, the field of view Fv1 when the vehicle 1 turns right at an intersection has changed (moved) to the rear right. Accordingly, the central axis C1 of the field of view Fv1 has shifted to the right of the central axis C0 of the field of view Fv0.

[0041] 8 , the generation unit 22 may change the field of view Fv of the display image displayed on the display device 14 while the vehicle 1 is turning right or left at the intersection CR so that the direction of the central axis C of the field of view Fv of the display image is parallel to the extension direction of the lane Ln of the vehicle 1 before the vehicle 1 turns right or left at the intersection CR. In other words, the cropping range of the cropped image may be set so that the direction of the central axis C is parallel to the extension direction of the lane Ln of the vehicle 1.

[0042] FIG. 8 shows an example in which vehicle 1 turns left at intersection CR. At time t0, vehicle 1 is traveling in driving lane Ln before starting to turn left at intersection CR. A dashed-dotted line Tr indicates the travel path of vehicle 1 before turning left at intersection CR. The generation unit 22 may recognize the extension direction of driving lane Ln by image recognition processing based on the camera image acquired by the acquisition unit 21. For example, the generation unit 22 may recognize the extension direction of driving lane Ln based on lane boundary lines and center lines that appear in the camera image. The generation unit 22 may generate the display image by setting the cropping range of the cropped image so that the direction of the central axis C of the field of view Fv of the display image is parallel to the extension direction of driving lane Ln.

[0043] At time t1, which is later than time t0, vehicle 1 makes a left turn at intersection CR. Vehicle 1 enters intersection CR, and acquisition unit 21 cannot recognize the driving lane in which vehicle 1 is currently traveling. In this case, generation unit 22 may recognize the extension direction of driving lane Ln before vehicle 1 starts to turn left at intersection CR, based on the camera image acquired by acquisition unit 21. In the following description, the lane in which vehicle 1 was traveling before starting to turn right or left at intersection CR and that is detected after starting to turn right or left at intersection CR may be referred to as the "target lane." The generation unit 22 generates a display image by setting the cropping range of the cropped image so that the direction of the central axis C of the field of view Fv of the display image is parallel to the extension direction of target lane Ln.

[0044] At time t2, which is later than time t1, vehicle 1 makes a left turn at intersection CR. If the position of vehicle 1 at time t2 is far from target lane Ln, generation unit 22 may be unable to recognize the extension direction of target lane Ln based on the camera image. In this case, generation unit 22 may calculate a driving trajectory Tr before vehicle 1 turns left at intersection CR and set the driving trajectory Tr as a virtual driving line. For example, generation unit 22 may calculate the driving trajectory Tr based on a history of measurement results by positioning device 16 or odometry using a wheel speed sensor. Generation unit 22 generates a display image by setting the cropping range of the cropped image so that the direction of the central axis C of the field of view Fv of the display image is parallel to the extension direction of the virtual line (driving trajectory Tr).

[0045] At time t3, which is later than time t2, the vehicle 1 exits the intersection CR (having completed a left turn at the intersection CR). The generation unit 22 returns the cropping range of the cropped image to the range of a normal driving scene. FIG. 9 is a flowchart of an example of the first process in the second embodiment. In step S31, the generation unit 22 determines whether the driving lane of the vehicle 1 can be recognized. If the driving lane cannot be recognized (step S31: N), the process proceeds to step S33. If the driving lane can be recognized (step S31: Y), the process proceeds to step S32. In step S32, the generation unit 22 sets the cropping range of the cropped image so that the direction of the central axis of the field of view of the display image is parallel to the extension direction of the driving lane. Thereafter, the process proceeds to step S36.

[0046] In step S33, the generation unit 22 determines whether the target lane in which the vehicle was traveling before turning right or left at the intersection can be recognized. If the target lane cannot be recognized (step S: N), the process proceeds to step S35. If the target lane can be recognized (step S: Y), the process proceeds to step S34. In step S34, the generation unit 22 sets the cropping range of the cropped image so that the direction of the central axis of the field of view of the display image is parallel to the extension direction of the target lane. Then, the process proceeds to step S36.

[0047] In step S35, the generation unit 22 sets the travel path of the vehicle 1 before turning right or left at the intersection as a virtual travel line. The generation unit 22 sets the cropping range of the cropped image so that the direction of the central axis of the field of view of the display image is parallel to the extension direction of the virtual travel line. The process then proceeds to step S36. In step S36, the generation unit 22 generates a display image based on the cropping range set in any of steps S32, S34, and S35. The first process then ends.

[0048] (Effects of the Embodiment) (1) The vehicle 1 includes a controller 20 and a display device 14 installed in the vehicle cabin. The display device 14 displays a captured image obtained by capturing an image of an area including the rear and rear sides of the vehicle 1. The controller 20 shifts the central axis of the field of view of the captured image displayed on the display device 14 to the right when the vehicle 1 turns right at an intersection, and shifts the central axis of the field of view of the captured image displayed on the display device 14 to the left when the vehicle 1 turns left at an intersection. This makes it easier for the driver to check the rear side of the vehicle 1 when the vehicle 1 turns right or left at an intersection.

[0049] (2) The display device 14 displays a cropped image cropped from an image obtained by capturing an area including the rear and rear sides of the vehicle 1, and the controller 20 may change the central axis of the field of view of the cropped image to the right when the vehicle 1 turns right at an intersection, and may change the central axis of the field of view of the cropped image to the left when the vehicle 1 turns left at an intersection. This makes it possible to display an image that makes it easy to check the rear sides of the vehicle 1 when the vehicle 1 turns right or left at an intersection.

[0050] (3) When the vehicle 1 turns right at an intersection, the controller 20 may expand the field of view of the captured image displayed on the display device 14 to the rear right, and when the vehicle 1 turns left at an intersection, the controller 20 may expand the field of view of the captured image displayed on the display device 14 to the rear left. This makes it easier for the driver to check the area behind the vehicle 1 when the vehicle 1 turns right or left at an intersection.

[0051] (4) When the turn signal of the vehicle 1 is on and the vehicle speed of the vehicle 1 is equal to or lower than a predetermined threshold, the controller 20 may expand the field of view of the captured image displayed on the display device 14. This allows the field of view of the image displayed on the display device 14 to be automatically switched when turning right or left at an intersection where it is necessary to check the situation behind the vehicle 1.

[0052] (5) The controller 20 may enlarge the field of view of the captured image displayed on the display device 14 by a first magnification factor when the vehicle 1 turns right or left at an intersection, and may enlarge the field of view of the captured image displayed on the display device 14 by a second magnification factor that is smaller than the first magnification factor when the vehicle 1 is reversing. This makes it easier to check a wider range of the situation when turning right or left at an intersection than when reversing.

[0053] (6) When the vehicle 1 turns right at an intersection, the controller 20 may change the field of view of the captured image displayed on the display device 14 to the rear right, and when the vehicle 1 turns left at an intersection, the controller 20 may change the field of view of the captured image displayed on the display device 14 to the rear left. This makes it easier for the driver to check the area behind the vehicle 1 when the vehicle 1 turns right or left at an intersection.

[0054] (7) When the turn signal of the vehicle 1 is on and the vehicle speed of the vehicle 1 is equal to or lower than a predetermined threshold, the controller 20 may change the field of view of the captured image displayed on the display device 14. This allows the field of view of the image displayed on the display device 14 to be automatically switched when turning right or left at an intersection where it is necessary to check the situation behind the vehicle 1.

[0055] (8) The controller 20 may change the field of view of the captured image displayed on the display device 14 so that the direction of the central axis of the field of view of the captured image displayed on the display device 14 while the vehicle 1 is turning right or left at an intersection is parallel to the direction of the lane in which the vehicle 1 is traveling before the vehicle 1 turns right or left at the intersection. This allows the display of an image that matches the driver's perception.

[0056] (9) When the driving lane of the vehicle 1 cannot be recognized before the vehicle 1 turns right or left at an intersection, the controller 20 may change the field of view of the captured image displayed on the display device 14 so that the direction of the central axis of the field of view of the captured image displayed on the display device 14 is parallel to the direction of the driving trajectory of the vehicle 1 before the vehicle 1 turns right or left at the intersection. This allows an image that matches the driver's perception to be displayed even when the driving lane cannot be recognized.

[0057] All examples and conditional terms described herein are intended for educational purposes to aid the reader in understanding the present invention and the concepts provided by the inventor for the advancement of technology, and should be construed without limitation to the specifically described examples and conditions above, and the configuration of examples herein for illustrating the advantages and disadvantages of the present invention. Although the embodiments of the present invention have been described in detail, it should be understood that various changes, substitutions, and alterations can be made thereto without departing from the spirit and scope of the present invention.

[0058] 1...vehicle, 10...display control device, 11...imaging device, 12...distance measuring device, 13...vehicle sensor, 14...display device, 15...map database, 16...positioning device, 20...controller, 20a...processor, 20b...storage device, 21...acquisition unit, 22...generation unit, 23...output unit

Claims

1. A display control method for a vehicle comprising a controller and a display device installed in the vehicle cabin, wherein the display device displays a captured image obtained by capturing an image of an area including the rear and rear sides of the vehicle, and the controller changes the central axis of the field of view of the captured image displayed on the display device to the right when the vehicle turns right at an intersection, and changes the central axis of the field of view of the captured image displayed on the display device to the left when the vehicle turns left at the intersection.

2. The display control method described in claim 1, characterized in that the display device displays a cropped image cropped from an image obtained by photographing an area including the rear and rear sides of the vehicle, and the controller changes the central axis of the field of view of the cropped image to the right when the vehicle turns right at an intersection, and changes the central axis of the field of view of the cropped image to the left when the vehicle turns left at the intersection.

3. The display control method described in claim 1 or 2, characterized in that the controller expands the field of view of the captured image displayed on the display device to the rear right when the vehicle turns right at an intersection, and expands the field of view of the captured image displayed on the display device to the rear left when the vehicle turns left at an intersection.

4. The display control method described in claim 3, characterized in that the controller expands the field of view of the captured image displayed on the display device when the direction indicator of the vehicle is on and the vehicle speed is below a predetermined threshold.

5. The display control method described in claim 3 or 4, characterized in that the controller enlarges the field of view of the captured image displayed on the display device by a first magnification factor when the vehicle turns right or left at an intersection, and enlarges the field of view of the captured image displayed on the display device by a second magnification factor smaller than the first magnification factor when the vehicle reverses.

6. The display control method described in claim 1 or 2, characterized in that the controller changes the field of view of the captured image displayed on the display device to the rear right when the vehicle turns right at an intersection, and changes the field of view of the captured image displayed on the display device to the rear left when the vehicle turns left at an intersection.

7. The display control method described in claim 6, characterized in that the controller changes the field of view of the captured image displayed on the display device when the direction indicator of the vehicle is on and the vehicle speed is below a predetermined threshold.

8. The display control method described in claim 6 or 7, characterized in that the controller changes the field of view of the captured image displayed on the display device so that the direction of the central axis of the field of view of the captured image displayed on the display device while the vehicle is turning right or left at the intersection is parallel to the direction of the lane in which the vehicle is traveling before turning right or left at the intersection.

9. The display control method described in claim 8, characterized in that, when the controller cannot recognize the lane in which the vehicle is traveling before turning right or left at an intersection, the controller changes the field of view of the captured image displayed on the display device so that the direction of the central axis of the field of view of the captured image displayed on the display device becomes parallel to the direction of the vehicle's traveling trajectory before turning right or left at the intersection.

10. A display control device comprising a controller and a display device installed in the vehicle cabin, wherein the display device displays captured images obtained by photographing the rear and rear sides of the vehicle, and the controller changes the central axis of the field of view of the captured image displayed on the display device to the right when the vehicle turns right at an intersection, and changes the central axis of the field of view of the captured image displayed on the display device to the left when the vehicle turns left at the intersection.

Images