JP7173089B2 - Display control device and display control program - Google Patents

Description

The present disclosure relates to a display control device and a display control program that control a head-up display.

Various techniques have been proposed for controlling the display of a head-up display mounted on a vehicle. For example, a vehicle display device disclosed in Patent Document 1 superimposes a guidance display indicating a route from the vehicle's travel position to a guidance point in the forward field of view of the driver, thereby driving the route to the destination. intended to be provided to

WO2015/118859

2. Description of the Related Art In recent years, a lane keeping control function has been put into practical use for keeping a vehicle in a driving lane. The lane keeping control function includes a driving control mode that controls the running of the vehicle based on the road line of the driving lane, and a driving control mode that controls the running of the vehicle based on the running locus of the preceding vehicle.

However, since the driving control device disclosed in Patent Document 1 is a technology that provides the driver with a route to the destination, the lane keeping control function can be either the road line of the driving lane or the driving trajectory of the vehicle in front. It is not possible to notify the driver whether it is being executed based on Therefore, when the driver is using a vehicle that is executing the lane keeping control function, it is necessary to determine whether the lane keeping control function is executed based on the road line of the driving lane or the running trajectory of the preceding vehicle. There is a problem that the driver cannot know and the driver's convenience is low.

The present disclosure has been made in view of the above problems, and provides a display control device and a display control program capable of improving the driver's convenience regarding the lane keeping control function of a vehicle equipped with a head-up display. intended to provide

To achieve the above object, a display control device that controls display of a head-up display (13) installed in a vehicle (A) according to one aspect of the present disclosure provides an image that generates an image displayed by the head-up display. A generation unit (102) and a display control unit (104) for providing and displaying an image generated by the image generation unit on a head-up display, wherein the image generation unit performs lane keeping control for causing the vehicle to travel within the driving lane. generating an image having first image content indicating that the lane keeping control function is being performed based on the road line when the function is being performed based on the road line of the vehicle's driving lane; An image having second image content indicating that the lane keeping control function is being executed based on the trajectory of the preceding vehicle when the control function is being executed based on the trajectory of the vehicle in front of the vehicle. and the second image content includes image content showing the travel locus of the vehicle in front and image content emphasizing the vehicle in front, and the display control unit generates an image having the first image content and the second image content. 2 image content is provided and displayed on the head-up display, and when the lane keeping control function is executed based on the traveling trajectory of the vehicle in front, the image that emphasizes the vehicle in front. After providing and displaying an image having content on the head-up display, providing and displaying an image having image content that emphasizes the vehicle in front and image content that indicates the traveling trajectory of the vehicle in front on the head-up display. Let
Further, a display control device for controlling display of a head-up display (13) installed in a vehicle (A) according to an aspect of the present disclosure, wherein the image generation unit (102) generates an image displayed by the head-up display. ), and a display control unit (104) for providing and displaying an image generated by the image generation unit on a head-up display, and the image generation unit has a lane keeping control function that causes the vehicle to travel within the driving lane. generating an image having first image content indicating that the lane keeping control function is being performed based on the road line when the lane keeping control function is being performed based on the road line of the driving lane; generating an image having second image content indicating that the lane keeping control function is being executed based on the trajectory of the vehicle in front, when the lane keeping control function is being executed based on the trajectory of the preceding vehicle; The first image content includes at least one of image content displayed along the road line of the driving lane of the vehicle and image content showing the center of the driving lane of the vehicle. One of an image having content and an image having second image content is provided to be displayed on a head-up display, and the first image content is image content displayed along the road line of the driving lane. , when the second image content is an image content indicating the traveling locus of the vehicle in front, and the lane keeping control function executed based on the road line is executed based on the traveling locus of the vehicle in front, the image The generation unit generates and displays a transition image in which the first image content displayed along the road line of the driving lane continuously moves to the position of the travel locus of the preceding vehicle indicated by the second image content. The control unit provides and causes the head-up display to display the transition image, and then provides and causes the head-up display to display an image having second image content indicating the travel locus of the preceding vehicle.

Further, the display control program for controlling the display of the head-up display (13) installed in the vehicle (A) according to one aspect of the present disclosure instructs the at least one processor (110) to run the vehicle within the driving lane. generating an image having first image content indicating that the lane keeping control function is being performed based on the road line when the lane keeping control function is being performed based on the road line of the lane in which the vehicle is traveling. (S102), and when the lane keeping control function is being executed based on the traveling locus of the vehicle in front of the vehicle, the lane keeping control function is executed based on the traveling locus of the preceding vehicle. 2 image content is generated (S107), and either one of the image having the first image content and the image having the second image content is provided and displayed on the head-up display (S103, S108). ), when the lane keeping control function is executed based on the trajectory of the vehicle in front, an image having image content that emphasizes the vehicle in front is provided to the head-up display for display, and then the vehicle in front is displayed. is provided to the head-up display to display an image having image content emphasizing and image content showing the travel locus of the vehicle ahead.
Further, the display control program for controlling the display of the head-up display (13) installed in the vehicle (A) according to one aspect of the present disclosure instructs the at least one processor (110) to run the vehicle within the driving lane. generating an image having first image content indicating that the lane keeping control function is being performed based on the road line when the lane keeping control function is being performed based on the road line of the lane in which the vehicle is traveling. (S102), and when the lane keeping control function is being executed based on the traveling locus of the vehicle in front of the vehicle, the lane keeping control function is executed based on the traveling locus of the preceding vehicle. 2 image content is generated (S107), and the first image content includes at least image content displayed along the road line of the vehicle's travel lane and image content showing the center of the vehicle's travel lane. Either one of the image having the first image content and the image having the second image content is provided to the head-up display for display (S103, S108), and the first image content runs. The image content is image content displayed along the road line of the lane, the second image content is image content showing the travel locus of the vehicle in front, and the lane keeping control function executed based on the road line is forward. When the execution is performed based on the running trajectory of the running vehicle, the first image content displayed along the road line of the running lane is continuously displayed up to the position of the running trajectory of the preceding vehicle indicated by the second image content. generating a moving transitional image, providing and displaying the transitional image on a head-up display, and then providing and displaying an image having second image content showing the trajectory of the preceding vehicle. Let the process run.

In these aspects, when the lane keeping control function is executed based on the road line of the lane in which the vehicle is traveling, the first image content indicating that the lane keeping control function is executed based on the road line is displayed by the head-up display. On the other hand, when the lane keeping control function is executed based on the trajectory of the vehicle in front of the vehicle, second image content indicating that the lane keeping control function is being executed based on the trajectory of the vehicle in front. is displayed by the head-up display. Therefore, by visually recognizing the image displayed in front of the driver, the driver can grasp whether the lane keeping control function is being executed based on the road line of the driving lane or the traveling trajectory of the preceding vehicle. be able to. As a result, convenience for the driver can be improved.

1 is a diagram showing an in-vehicle system; FIG. It is a figure which shows an example of the head-up display apparatus installed in a vehicle. It is a figure which shows the functional structure of a display control apparatus. 4 is a flowchart showing an example of processing executed by a display control device; 4 is a flowchart showing an example of processing executed by a display control device; 6 is a flowchart showing an example of image generation processing; It is a top view which shows an example of the virtual three-dimensional space at the time of the 1st operation control mode which concerns on 1st Embodiment. It is a figure which shows an example of the display image at the time of the 1st operation control mode which concerns on 1st Embodiment. FIG. 9 is a plan view showing another example of the virtual three-dimensional space during the second operation control mode according to the first embodiment; It is a figure which shows an example of the display image at the time of the 2nd driving control mode which concerns on 1st Embodiment. It is a figure which shows another example of the display image at the time of the 2nd driving control mode which concerns on 1st Embodiment. It is a figure showing other examples of a display picture at the time of the 2nd operation control mode concerning a 1st embodiment. It is a figure which shows an example of the display image at the time of the 1st operation control mode which concerns on 2nd Embodiment. It is a figure which shows an example of the display image at the time of the 2nd operation control mode which concerns on 2nd Embodiment. It is a figure which shows another example of the display image at the time of the 2nd operation control mode which concerns on 2nd Embodiment. It is a figure which shows the other example of the display image at the time of the 2nd operation control mode which concerns on 2nd Embodiment. FIG. 5 is a diagram for explaining an example of the relationship between the angle of view of the HUD device and the detection range CDA of the front camera; It is a figure which shows an example of the display image in the 1st driving control mode which concerns on 3rd Embodiment. It is a figure which shows an example of the notice notification image which notifies the shift schedule from the 1st driving control mode to the 2nd driving control mode. It is a figure which shows an example of the display image in a 2nd operation control mode. It is a figure showing another example of a display picture in the 2nd operation control mode. It is a figure showing another example of a display picture in the 2nd operation control mode. It is a figure which shows an example of the notice notification image which notifies the transfer schedule from the 2nd operation control mode to the 1st operation control mode. FIG. 10 is a diagram showing another example of an advance notification image;

<First embodiment>
A first embodiment of the present disclosure will be described below with reference to FIGS. 1 to 12. FIG. The in-vehicle system 1 mainly includes an HMI (Human Machine Interface) system 10 . Further, the in-vehicle system 1 includes a perimeter monitoring device 20 , a locator 30 , a DCM (Data Communication Module) 40 , and a driving support ECU (Electronic Control Unit) 50 . These nodes communicate data with each other via communication bus 60 . Specific nodes of these devices and ECUs may be directly electrically connected to each other and be able to communicate without going through the communication bus 60 .

In the following description, front and rear directions (see front Ze and rear Go in FIG. 2) and left and right directions (see side Yo in FIG. 2) are defined with reference to the vehicle A stationary on a horizontal plane. Specifically, the front-rear direction is defined along the longitudinal direction of the vehicle A (traveling direction). Moreover, the left-right direction is defined along the width direction of the vehicle A. As shown in FIG. Furthermore, the vertical direction (see upper Ue and lower Si in FIG. 2) is defined along the vertical direction of the horizontal plane that defines the front-rear direction and the left-right direction. Also, for simplification of the description, the description of the reference numerals indicating each direction may be omitted as appropriate.

The surroundings monitoring device 20 is a device that monitors the surrounding environment of the vehicle A. As shown in FIG. Perimeter monitoring device 20 includes front camera 21 and millimeter wave radar 22 . The front camera 21 captures the front of the vehicle A to generate a captured image, and transmits the captured image to the driving support ECU 50 and the display control device 100 of the HMI system 10 via the communication bus 60 . The millimeter-wave radar 22 uses millimeter waves or quasi-millimeter waves to calculate the distance to objects around the vehicle A, and the relative speed and direction of the objects. It is transmitted to the support ECU 50 .

The locator 30 is a device that generates location information of the vehicle A. FIG. The locator 30 includes a GNSS (Global Navigation Satellite System) receiver 31 , an inertial sensor 32 , a map database (hereinafter referred to as a map DB) 33 and a locator ECU 34 .

The GNSS receiver 31 is a device that receives positioning signals transmitted from a plurality of positioning satellites. The GNSS receiver 31 can utilize satellite positioning systems such as GPS, GLONASS, Galileo, IRNSS, QZSS, Beidou.

The inertial sensor 32 is a device that detects the acceleration and angular velocity of the vehicle A. Specific examples of the inertial sensor 32 include an acceleration sensor and a gyro sensor.

The map DB 33 is a storage device in which map information for navigation or map information with higher precision than the map information (hereinafter referred to as high-precision map information) is recorded. The high-precision map information includes information that can be used for driving assistance, such as information indicating the three-dimensional shape of roads, position information of road lines, information on the number of lanes, and information indicating the traveling direction of each lane.

The locator ECU 34 has a microcomputer including a processor, a ROM (Read Only Memory), a RAM (Random Access Memory), and an input/output interface. The locator ECU 34 can generate speed information of the vehicle A based on detection signals from wheel speed sensors provided at the hub portions of the wheels of the vehicle A. FIG. In addition, the locator ECU 34 uses the positioning signal received by the GNSS receiver 31, the detection result of the inertial sensor 32, and the speed information of the vehicle A to obtain the position, traveling direction, and attitude information (that is, roll, pitch, yaw) can be calculated sequentially. The locator ECU 34 provides the calculated speed information, posture information, position information and direction information of the vehicle A to other nodes via the communication bus 60 . The locator ECU 34 can also provide map information to other nodes.

The DCM 40 is a communication module mounted on the vehicle A. The DCM 40 transmits and receives data to and from base stations around the vehicle A by wireless communication conforming to communication standards such as LTE (Long Term Evolution) and 5G. The DCM 40 can acquire map information via the Internet from a probe server that holds the latest map information. The locator ECU 34 can update the map information stored in the map DB 33 using the latest map information acquired by the DCM 40 .

The driving assistance ECU 50 is an ECU that assists the driving operation of the driver. The driving support ECU 50 implements partial automatic driving control of Level 2 or lower in the automatic driving levels defined by the Society of Automotive Engineers of America. The driving assistance ECU 50 includes a microcomputer including a processor, ROM, RAM, and input/output interface. The processor implements an ACC (Adaptive Cruise Control) control unit 51 and a lane keeping control unit 52 by executing programs stored in the ROM.

The ACC control unit 51 is a functional unit that implements an ACC function (vehicle speed control function) capable of controlling the traveling speed of the vehicle A. FIG. The ACC control unit 51 uses the captured image and information provided by the perimeter monitoring device 20 to cause the vehicle A to travel at a constant speed at the target vehicle speed specified by the driver. In addition, the ACC control unit 51 sets the preceding vehicle as a target to be followed, and causes the vehicle A to follow the preceding vehicle while maintaining the inter-vehicle distance between the vehicle A and the preceding vehicle.

The lane keeping control unit 52 is a functional unit that realizes a lane keeping control function for causing the vehicle A to travel within the travel lane. The lane keeping control functions are known as LTA (Lane Tracing Assist) and LTC (Lane Trace Control). The lane keeping control function has at least two driving control modes. The first driving control mode is a driving control mode for controlling the driving (steering operation) of the vehicle A based on the road line of the driving lane. The second driving control mode is a driving control mode for controlling the running (steering operation) of the vehicle A based on the running locus of the preceding vehicle.

There are three types of states of the lane keeping control function: OFF state, standby state, and execution state. In the case where the ACC function is in the execution state, when the driver presses the activation switch for the lane keeping control function, the lane keeping control unit 52 analyzes the captured image provided by the front camera 21, start the detection processing of the road line of the driving lane. That is, the lane keeping control function transitions from the OFF state to the standby state.

When the lane maintenance control unit 52 detects the road lines on both sides of the lane in which the vehicle A is traveling while the lane maintenance control function is in the standby state, the lane maintenance control unit 52 transitions from the standby state to the execution state to perform the lane maintenance control. The unit 52 controls traveling of the vehicle A in the first operation control mode. That is, the lane keeping control unit 52 controls the steering angle of the steered wheels of the vehicle A based on the detected road lines on both sides to cause the vehicle A to travel within the travel lane.

When the lane keeping control unit 52 cannot detect the road lines on both sides of the traveling lane of the vehicle A when the traveling of the vehicle A is controlled in the first operation control mode, the captured image of the front of the vehicle A is captured. is analyzed to determine whether or not there is a preceding vehicle. When there is a vehicle ahead, the lane keeping control unit 52 controls the running of the vehicle A in the second operation control mode. That is, the lane keeping control unit 52 controls the rudder angle of the steered wheels of the vehicle A to cause the vehicle A to follow the vehicle ahead, based on the travel locus of the vehicle ahead.

The lane keeping control unit 52 provides the display control device 100 with information necessary for the display control device 100 to draw the travel locus of the preceding vehicle. Specifically, the lane keeping control unit 52 provides the display control device 100 with the vehicle width W of the vehicle in front, the center position CA of the vehicle A in the vehicle width direction, and the center position CB of the vehicle in front in the vehicle width direction. do. The center position CA of the vehicle A is the center position of the front end of the vehicle A in the vehicle width direction. The center position CB is the center position of the rear end of the vehicle ahead with respect to the center position CA of the vehicle A in the vehicle width direction. When the road ahead is curved, the lane keeping control unit 52 also provides the display control device 100 with the center point CR of the circle defined by the road ahead and the radius of curvature R of the road ahead. The lane keeping control unit 52 can derive this information based on the captured image provided by the perimeter monitoring device 20 and/or the map data provided by the locator 30 or the like.

The lane keeping control unit 52 provides at least the display control device 100 with (1) status information indicating that the lane keeping control function has changed from the standby state to the execution state. In addition, the lane keeping control unit 52 provides (2) detection information to the effect that road lines on both sides of the vehicle A's driving lane have been detected, and (3) information to the effect that road lines on both sides of the vehicle A's driving lane have not been detected. and (4) detection information indicating that there is a preceding vehicle to the display control device 100 .

More specifically, while the road lines on both sides of the travel lane of the vehicle A are being detected, the lane keeping control unit 52 updates the detection information indicating that the road lines on both sides of the travel lane are detected to the relative position of each road line. and detection information indicating the shape, and sequentially provided to the display control device 100 . In addition, the lane keeping control unit 52 sequentially provides the display control device 100 with information indicating that the road lines on both sides of the driving lane cannot be detected while the road lines on both sides of the driving lane of the vehicle A cannot be detected. Furthermore, while the vehicle ahead is being detected, the lane keeping control unit 52 sequentially outputs the detection information indicating the presence of the vehicle ahead to the display control device 100 together with the detection information indicating the relative position and size of the vehicle ahead. offer. In addition, the lane keeping control unit 52 grasps the travel locus of the preceding vehicle by analyzing the captured image of the front camera 21 and sequentially provides the display control device 100 with the coordinate information of the travel locus.

The HMI system 10 is a system that provides an interface between the vehicle A and the driver. The HMI system 10 includes a DSM (Driver Status Monitor) 11 , an operation device 12 , a display control device 100 and a Head Up Display (HUD) device 13 .

The DSM 11 includes a near-infrared light source, a near-infrared camera, and a controller for controlling them. The DSM 11 is installed at a position where it can irradiate the face of the driver seated in the driver's seat with near-infrared light from the near-infrared light source and can photograph the face of the driver with the near-infrared camera. For example, the DSM 11 can be installed on the upper surface of the steering column section 8 or the upper surface of the instrument panel 9 shown in FIG. The near-infrared camera takes a picture of the driver's face at a frequency such as 30 fpm and generates a captured image. The control unit analyzes the captured image, calculates the viewpoint position EP of the driver, and sequentially provides viewpoint position information indicating the viewpoint position EP to the display control device 100 .

The operation device 12 is a device capable of accepting an operation by the driver. Specifically, a device for switching between activation and deactivation of the ACC, a device for switching between activation and deactivation of the lane keeping control function, and the like are included. The operation device 12 can be realized by a steering switch or the like provided on the spoke portion of the steering wheel.

The display control device 100 is a device that generates an image to be projected by the HUD device 13, provides the image to the HUD device 13, and causes the HUD device 13 to project the image. A specific example of the display control device 100 is an HCU (HMI Control Unit). The display control device 100 includes a microcomputer including at least one or more processors 110 , a nonvolatile memory device 120 such as ROM, a volatile memory device 130 such as RAM, and an input/output interface 140 .

Processor 110 is an arithmetic device capable of executing various programs. The processor 110 includes at least one of a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), an NPU (Neural network Processing Unit), and the like. Various data such as a display control program according to the present disclosure are stored in the nonvolatile storage device 120 . The processor 110 accesses the nonvolatile storage device 120, develops the display control program in the volatile storage device 130, and executes the display control method according to the present disclosure. Processor 110 can communicate various data with other nodes via input/output interface 140 .

The HUD device 13 is a device that displays an image in front of the driver of the vehicle A. FIG. As shown in FIG. 2, the HUD device 13 is installed in an accommodation space within the instrument panel 9 below the windshield WS. The HUD device 13 has a projector 14 and an enlarging optical system 15 .

The projector 14 has an LCD (Liquid Crystal Display) panel and a backlight. The projector 14 is fixed with the display surface of the LCD panel facing the magnifying optical system 15 . The projector 14 displays the image provided from the display control device 100 on the LCD panel, and the backlight irradiates the LCD panel with light to emit the light forming the image to the magnifying optical system 15 .

The magnifying optical system 15 includes a concave mirror in which a metal having light reflectivity is vapor-deposited on the surface of the substrate. The magnifying optical system 15 reflects the light emitted by the projector 14 and projects it toward the windshield WS. The light projected toward the windshield WS is reflected by the projection area PA of the windshield WS, and the reflected light travels toward the driver's seat and reaches the eyes of the driver. As a result, the driver can visually recognize the virtual image VI of the image generated by the display control device 100 beyond the windshield WS.

Next, functions of the display control device 100 will be described with reference to FIG. The display control device 100 has a reception unit 101 , an image generation unit 102 , a reception count determination unit 103 , and a display control unit 104 .

The receiving unit 101 is a functional unit that receives information provided by the perimeter monitoring device 20 , the locator ECU 34 , the DSM 11 and the driving support ECU 50 . Upon receiving the captured image from the perimeter monitoring device 20 , the receiving unit 101 stores the captured image in the volatile storage device 130 . Upon receiving information such as map information, vehicle A position information, speed information, and attitude information from the locator ECU 34 , the reception unit 101 stores this information in the volatile storage device 130 . Upon receiving the viewpoint position information from the DSM 11 , the reception unit 101 stores the viewpoint position information in the volatile storage device 130 . When receiving the status information of the lane keeping control function and various detection information from the driving assistance ECU 50, the reception unit 101 notifies the image generation unit 102 and the reception frequency determination unit 103 of the received information.

The image generator 102 is a functional unit that generates an image projected by the HUD device 13 . The image generation unit 102 executes image generation processing shown in FIG. 6 to generate an image projected by the HUD device 13 . The reception frequency determination unit 103 is a functional unit that determines the number of reception times of non-detection information indicating that the road lines on both sides could not be detected from the driving support ECU 50 . The display control unit 104 is a functional unit that transmits the projection target image generated by the image generation unit 102 to the HUD device 13 for projection.

Here, image generation processing executed by the image generation unit 102 will be described with reference to FIG. In step S201, the image generator 102 acquires from the volatile storage device 130 information necessary for generating a road model in the virtual three-dimensional space (for example, map information, vehicle A position information, captured images, etc.). , to generate a road model in a virtual three-dimensional space. In step S202, the image generator 102 renders the virtual object VO on the road model in the virtual three-dimensional space. The virtual object VO corresponds to the superimposed content displayed in association with the foreground object.

When the lane keeping function is executed in the first driving control mode, the image generating unit 102, as shown in FIG. , the virtual objects VO1 and VO2 that emphasize these road lines are drawn with solid lines. The image generator 102 can draw the virtual objects VO1 and VO2 inside the driving lane defined by the virtual road lines VRL1 and VRL2, respectively. Further, the image generator 102 may draw the virtual objects VO1 and VO2 on the virtual road lines VRL1 and VRL2, respectively. Furthermore, the image generator 102 may render the virtual objects VO1 and VO2 outside the driving lane.

When the lane keeping function is executed in the second driving control mode, the image generation unit 102 arranges the virtual model BO of the preceding vehicle B in the virtual three-dimensional space as shown in FIG. Render virtual objects VO3 and VO4 indicating the travel locus of B. Specifically, the image generator 102 draws a line extending from the center position CB of the virtual model BO of the preceding vehicle B to the center position CA of the vehicle A, and draws this line in both directions in the vehicle width direction. The vehicle B is shifted by a distance corresponding to half the width W of the vehicle. As a result, the image generation unit 102 can draw the virtual objects VO3 and VO4 extending toward the vehicle A from both ends in the vehicle width direction of the virtual model BO of the vehicle B ahead.

Further, when the lane keeping function is executed in the second driving control mode and the road ahead is curved, the image generator 102 draws the virtual objects VO3 and VO4 along the curved road ahead. be able to. Specifically, the image generation unit 102 creates an arc with a radius of curvature (=R+1/2W) obtained by adding 1/2 the width W of the vehicle in front B to the radius of curvature R of the road ahead. The center point CR of the circle defined by is used as the base point for drawing. Further, the image generation unit 102 creates an arc with a radius of curvature (=R-1/2W) obtained by subtracting half the width W of the vehicle in front B from the radius of curvature R of the road ahead, at the center point CR. is drawn as a base point. Thereby, the image generator 102 can draw the virtual objects VO3 and VO4 that curve along the road ahead.

In step S203, the image generator 102 acquires viewpoint position information from the volatile storage device 130, and sets a virtual viewpoint position VEP based on the viewpoint position information in the virtual three-dimensional space. The virtual viewpoint position VEP corresponds to the viewpoint position EP of the driver of the vehicle A. FIG.

In step S204, the image generator 102 generates an image of the virtual imaging area VIA defined by the virtual viewpoint position VEP, the angle of view AoV, and the attitude information of the vehicle A in the virtual three-dimensional space. The virtual imaging area VIA corresponds to the imaging area IA in which the HUD device 13 forms the virtual image VI in the real three-dimensional space. The imaging area IA is defined by a virtual line extending from the viewpoint position EP with the angle of view AoV, as shown in FIG. Similarly, the virtual imaging area VIA is defined by a virtual line extending from the virtual viewpoint position VEP with the angle of view AoV. The image of the virtual imaging area VIA generated by the image generator 102 is formed as a virtual image VI in the imaging area IA in the actual three-dimensional space. In this embodiment, as the angle of view AoV, a horizontal angle of view AoVh of 10 degrees and a vertical angle of view AoVv of 4 degrees can be used. The horizontal angle of view AoVh is, for example, approximately 10 to 12°, and the vertical angle of view AoVv is, for example, approximately 4 to 5°.

In the example shown in FIG. 7, virtual objects VO1 and VO2 are drawn in the virtual area VA. The virtual area VA is an area on the road model defined by the virtual viewpoint position VEP, the angle of view AoV, and the attitude information of the vehicle A. FIG. The virtual area VA is an area corresponding to a front range (for example, a range of about ten and several meters to 100 m) that overlaps with the imaging area IA when viewed from the viewpoint position EP. The image generator 102 can generate an image of the virtual imaging area VIA by performing perspective projection transformation on the virtual objects VO1 and VO2 drawn in the virtual area VA shown in FIG. When the HUD device 13 projects the image toward the windshield WS, image contents CT1 and CT2 as shown in FIG. 8 are imaged on the imaging area IA. The image contents CT1 and CT2 are superimposed contents corresponding to the virtual objects VO1 and VO2, respectively, and are displayed in association with the road lines RL1 and RL2. The driver of the vehicle A sees the image contents CT1 and CT2 as being displayed along the road lines RL1 and RL2.

In the example shown in FIG. 9, virtual objects VO3 and VO4 are drawn in the virtual area VA. The image generator 102 can generate an image of the virtual imaging area VIA by performing perspective projection transformation on the virtual objects VO3 and VO4 drawn in the virtual area VA shown in FIG. When the HUD device 13 projects the image toward the windshield WS, image contents CT3 and CT4 as shown in FIG. 10 are imaged on the imaging area IA. The image contents CT3 and CT4 are superimposed contents showing the travel locus of the preceding vehicle B, and correspond to the virtual objects VO3 and VO4, respectively. The image contents CT3 and CT4 are displayed in association with both ends of the forward vehicle B in the width direction. From the driver of the vehicle A, it appears that the image contents CT3 and CT4 are continuously displayed toward the vehicle A from both widthwise ends of the vehicle B ahead. The display colors of the image contents CT3 and CT4 may be the same as or different from those of the image contents CT1 and CT2.

Further, the image generation unit 102 may generate a composite image by combining the image generated in step S204 with an image drawn with image content CT5 that emphasizes the vehicle in front B as shown in FIG. . When the display control unit 104 provides the composite image to the HUD device 13, the HUD device 13 projects the composite image toward the windshield WS. As a result, an image content CT5 as shown in FIG. 11 is imaged on the imaging area IA. The image content CT5 is image content displayed so as to surround the vehicle B in front. The display position of the image content CT5 can be determined based on the position coordinates of the virtual model BO of the vehicle in front in the virtual area VA. In the example shown in FIG. 11, the shape of the image content CT5 is a rectangle, but it can have various other shapes that can surround the vehicle B in front.

Furthermore, the image generating unit 102 may generate a composite image by combining the image generated in step S204 with an image drawn with image content CT6 that emphasizes the vehicle in front B as shown in FIG. . When the display control unit 104 provides the composite image to the HUD device 13, the HUD device 13 projects the composite image toward the windshield WS. An image content CT6 as shown in FIG. 12 is imaged on the imaging area IA. The image content CT6 is image content displayed below the vehicle B in front. The display position of the image content CT6 can be determined based on the position coordinates of the virtual model BO of the preceding vehicle B in the virtual area VA of the virtual three-dimensional space.

Next, an example of processing executed by the display control device 100 will be described with reference to FIG. In step S<b>101 , the reception unit 101 of the display control device 100 determines whether it has received status information indicating that the lane keeping control function has been executed from the driving assistance ECU 50 . If the status information has not been received (NO), the process of step S101 is executed again. On the other hand, if the status information has been received (YES), the process branches to step S102.

In step S102, the image generation unit 102 executes image generation processing to generate an image. In the image generation process of step S102, the image generation unit 102 generates an image in which virtual objects VO1 and VO2 that emphasize road lines as shown in FIG. 7 are drawn. In step S<b>103 , the display control unit 104 transmits the image generated by the image generation process in step S<b>102 to the HUD device 13 . When receiving the image, the HUD device 13 projects the image toward the windshield WS. As a result, image contents CT1 and CT2 emphasizing the road line as shown in FIG. 8 are imaged on the imaging area IA.

In step S<b>104 , the receiving unit 101 determines whether non-detection information has been received from the driving assistance ECU 50 indicating that the road lines on both sides of the lane in which the vehicle A is traveling have not been detected. If the non-detection information has not been received (NO), the process returns to step S102. On the other hand, when the non-detection information is received (YES), the process branches to step S105.

In step S105, the reception count determination unit 103 determines whether or not the reception count of the non-detection information exceeds the threshold. The threshold may be a value corresponding to the number of receptions of non-detection information received from the driving assistance ECU 50 when road lines on both sides cannot be detected for a certain period of time. The fixed period can be, for example, about 2 to 5 seconds. If the non-detection information does not exceed the threshold (NO), the process returns to step S102. On the other hand, if the non-detection information exceeds the threshold (YES), the process branches to step S106. Note that when the non-detection information exceeds the threshold, the reception count is initialized to zero.

In step S<b>106 , the receiving unit 101 determines whether detection information indicating the presence of a vehicle in front has been received from the driving support ECU 50 . If the detection information has not been received (NO), the process of FIG. 4 ends. On the other hand, if the detection information has been received (YES), the process branches to step S107 in FIG.

In step S107, the image generation unit 102 executes image generation processing to generate an image. In the image generation process of step S107, the image generation unit 102 generates an image in which a virtual object representing the travel locus of the preceding vehicle B as shown in FIG. 9 is drawn. In step S<b>108 , the display control unit 104 transmits the image generated by the image generation processing in step S<b>107 to the HUD device 13 . When receiving the image, the HUD device 13 projects the image toward the windshield WS. As a result, image contents CT3 and CT4 representing the running locus of the preceding vehicle B as shown in FIG. 10 are formed on the imaging area IA.

In step S<b>109 , the receiving unit 101 determines whether or not the detection information indicating that the road lines on both sides of the driving lane of the vehicle A have been detected has been received from the driving support ECU 50 . If the detection information has been received (YES), the process returns to step S102 in FIG. On the other hand, if the detection information has not been received (NO), the process branches to step S110.

In step S<b>110 , the receiving unit 101 determines whether detection information indicating the presence of a preceding vehicle has been received from the driving support ECU 50 . If the detection information has been received (YES), the process returns to step S107. On the other hand, if the detection information has not been received (NO), the process of FIG. 5 ends.

(Effect of the first embodiment)
When the lane keeping control function is being executed based on the road line of the driving lane, that is, when being executed in the first driving control mode, the image generation unit 102 generates first image content CT1 indicating that fact. , CT2. On the other hand, when the lane keeping control function is executed based on the running locus of the vehicle ahead, when it is executed in the second driving control mode, the second image contents CT3, CT4, CT5, Generate an image with CT6. The display control unit 104 provides an image including either one of the first image content and the second image content to the HUD device 13 and causes the HUD device 13 to display the image.

Thereby, when the lane keeping control function is executed in the first driving control mode, the first image content indicating that the lane keeping control function is executed based on the road line of the driving lane is displayed on the HUD device. 13. On the other hand, when the lane keeping control function is being executed in the second driving control mode, a second image content is displayed indicating that the lane keeping control function is being executed based on the travel locus of the preceding vehicle. . Therefore, by visually recognizing the image displayed in front of the driver, the driver can grasp whether the lane keeping control function is being executed based on the road line of the driving lane or the traveling trajectory of the preceding vehicle. can improve the convenience of the driver.

Further, the second image contents include image contents CT3 and CT4 showing the travel locus of the vehicle B in front. The display control unit 104 provides images having image contents CT3 and CT4 to the HUD device 13 for display. As a result, the HUD device 13 displays the image contents CT3 and CT4 emphasizing the vehicle B ahead. Therefore, the driver can visually recognize the travel locus of the vehicle in front B, and can recognize that the lane keeping control function is being executed based on the travel locus of the vehicle in front.

Further, the image contents CT3 and CT4 showing the traveling locus of the vehicle in front are image contents extending from both ends in the width direction of the vehicle in front B toward the vehicle A, and are superimposed on the road surface of the driving lane. Is displayed. The display control unit 104 provides an image having these image contents to the HUD device 13 for display. As a result, the HUD device 13 displays the image content extending toward the vehicle A from the contact positions between the tires of the vehicle B in front and the road surface of the driving lane, which are present at both ends in the width direction of the vehicle B in front. be. Therefore, it becomes easier for the driver to recognize that these image contents are the trajectory of the preceding vehicle B, and to easily grasp that the lane keeping control function is being executed based on the trajectory of the preceding vehicle. Become.

Furthermore, the second image contents include image contents CT5 and CT6 that emphasize the vehicle B in front. The display control unit 104 provides images having image contents CT5 and CT6 to the HUD device 13 for display. As a result, the HUD device 13 displays the image contents CT5 and CT6 emphasizing the vehicle B ahead. Therefore, the driver's attention can be directed to the preceding vehicle B, and the driver can easily recognize that the lane keeping control function is being executed based on the traveling locus of the preceding vehicle.

Further, the first image contents include image contents CT1 and CT2 displayed along the road line of the vehicle A's driving lane. The display control unit 104 provides images having image contents CT1 and CT2 to the HUD device 13 for display. Accordingly, the image contents CT1 and CT2 associated with the road line of the driving lane of the vehicle A are displayed by the HUD device 13 . Therefore, the driver's attention can be directed to the driving lane or the road line, and the driver can be made to recognize that the lane keeping control function is being executed based on the road line of the driving lane.

Further, the display control unit 104 displays the image having the second image content to the HUD device 13 when the road lines on both sides of the driving lane of the vehicle A continue to be undetected and the preceding vehicle B is present. to be displayed. As a result, when the first image content is displayed, the second image content is displayed only when the road lines on both sides of the driving lane are not detected and the preceding vehicle B is present. Is displayed. Therefore, when the road lines on both sides of the driving lane cannot be detected momentarily, the second image content is not displayed and the first image content is displayed even when the preceding vehicle B is present. continue. As a result, the display of the first image content and the second image content can be prevented from being switched in a short period of time, and the driver can be prevented from being annoyed.

<Second embodiment>
The second embodiment of the present disclosure will be described below with reference to FIGS. 13 to 16, focusing on differences from the first embodiment.

In the second embodiment, when the lane keeping control function is executed in the first driving control mode, the image generator 102 calculates the center position of the driving lane defined by the virtual road lines VRL1 and VRL2 in the virtual three-dimensional space. to draw the virtual object VO7. This virtual object VO7 extends along the vehicle A's driving lane. Next, the image generator 102 generates an image of the virtual imaging area VIA, and the display controller 104 provides the image to the HUD device 13 . Then, when the HUD device 13 projects the image toward the windshield WS, an image content CT7 as shown in FIG. 13 is formed on the imaging area IA. Image content CT7 is superimposed content displayed at the center position of road lines RL1 and RL2. From the perspective of the driver of vehicle A, the image content CT7 appears to be displayed on the road surface of the driving lane.

When the lane keeping control function is executed in the second driving control mode, the image generation unit 102 converts the virtual object VO8 representing the running trajectory of the preceding vehicle B in the virtual three-dimensional space into a virtual model of the preceding vehicle B. It is drawn so as to extend toward the vehicle A from the center position of the BO. Next, the image generator 102 generates an image of the virtual imaging area VIA, and the display controller 104 provides the image to the HUD device 13 . Then, when the HUD device 13 projects the image toward the windshield WS, an image content CT8 as shown in FIG. 14 is formed on the imaging area IA. The image content CT8 is superimposed content showing the travel locus of the vehicle B in front extending from the center position of the vehicle B in front toward the vehicle A. FIG. From the perspective of the driver of vehicle A, the image content CT8 appears to be displayed on the road surface of the driving lane. Note that the width of the virtual object VO8 can be any value less than or equal to the width of the virtual model BO of the vehicle B in front.

In addition, the image generation unit 102 may generate an image having image content CT8 shown in FIG. 14 and image content CT5 that emphasizes the preceding vehicle B shown in FIG. When the display control unit 104 provides the image to the HUD device 13, the HUD device 13 projects the image toward the windshield WS. As a result, image contents CT5 and CT8 as shown in FIG. 15 are formed on the imaging area IA.

Furthermore, the image generation unit 102 may generate an image having image content CT8 shown in FIG. 14 and image content CT6 that emphasizes the preceding vehicle B shown in FIG. When the display control unit 104 provides the image to the HUD device 13, the HUD device 13 projects the image toward the windshield WS. As a result, image contents CT6 and CT8 as shown in FIG. 16 are formed on the imaging area IA.

(Effect of Second Embodiment)
The image content CT8 showing the running locus of the vehicle in front is image content extending from the center position of the vehicle B in the width direction toward the vehicle A. As shown in FIG. The display control unit 104 provides the image having the image content to the HUD device 13 and causes the HUD device 13 to display the image. As a result, the HUD device 13 displays image content extending from the preceding vehicle B toward the vehicle A. FIG. Therefore, the driver can recognize that the image content is the trajectory of the preceding vehicle B, and the driver can recognize that the lane keeping control function is being executed based on the trajectory of the preceding vehicle. easier to comprehend.

In addition, the image generator 102 generates an image having image content CT7 showing the center of the vehicle A's lane. The display control unit 104 provides an image including the image content CT7 to the HUD device 13 and causes it to be displayed. Thereby, the image content CT7 is displayed by the HUD device 13. FIG. Therefore, the driver's attention can be directed to the driving lane, and the driver can be made to recognize that the lane keeping control function is being executed based on the road line of the driving lane. Note that the image generation unit 102 generates both the image contents CT1 and CT2 displayed along the road line of the driving lane of the vehicle A and the image content CT7 indicating the center of the driving lane of the vehicle A as the first image contents. may generate an image containing

<Third Embodiment>
The third embodiment of the present disclosure will be described below with reference to FIGS. 4, 5, and 17 to 24, focusing on differences from the first and second embodiments.

In the third embodiment, the detection range CDA of the front camera 21 shown in FIG. 17 includes a region farther from the vehicle than the front range overlapping the imaging region IA when viewed from the viewpoint position EP. The lane keeping control unit 52 grasps whether the road lines RL1 and RL2 and the preceding vehicle can be detected in a range farther than the angle of view AoV of the HUD device 13, and displays the detection information and the non-detection information of the road lines RL1 and RL2. Offer to 100.

In step S102 of the third embodiment, the image generator 102 executes image generation processing to generate an image as shown in FIG. In step S<b>103 , the display control unit 104 transmits the image generated by the image generation processing in step S<b>102 to the HUD device 13 . When receiving the image, the HUD device 13 projects the image toward the windshield WS. As a result, an image content CT21 as shown in FIG. 18 is imaged on the imaging area IA.

The image content CT21 is LTA content indicating the state of execution of the lane keeping control function. The image content CT21 is the first image content indicating that the lane keeping control function is being executed based on the road lines RL1 and RL2 when the lane keeping control function is being executed based on the road lines RL1 and RL2. corresponds to The image content CT21 is superimposed content superimposed on the center of the driving lane, in other words, at a road surface position approximately equidistant from the left and right road lines RL1 and RL2. The image content CT21 is drawn in a dotted line (broken line) extending along the extending direction of the driving lane. Such a drawn shape makes it difficult for the driver to recognize the deviation of the superimposed content from the road. The image content CT21 repeats a display state and a non-display state at a predetermined cycle by blinking display. As an example, the image content CT21 continues the display state for 5 seconds, then continues the non-display state for 5 seconds, and then becomes the display state again. The period of the non-display state may be shorter or longer than the period of the display state.

When the road lines RL1 and RL2 are lost (non-detected) in steps S104 and S105, and the detection of the preceding vehicle B is detected in step S106, the image generation unit 102 causes the preceding vehicle to follow in step S107. Generates an advance notification image that notifies the schedule of transition to . In step S107, blinking of the image content CT21 is interrupted. As a result, the image content CT21 is fixed in a state of being superimposed and displayed in the center of the road surface ahead of the own vehicle lane.

Furthermore, in step S107, the image generation unit 102 generates an image including the image content CT21 and the image content CT22, CT23. When at least part of the forward vehicle B is visible within the angle of view AoV, the image content CT21 is shortened toward the host vehicle so as not to overlap the forward vehicle B. As described above, the image content CT21 is imaged in a shape that connects the widthwise center of the preceding vehicle B and the widthwise center of the own vehicle.

Image contents CT22 and CT23 indicate that recognition of road lines RL1 and RL2 by the lane keeping control function has been interrupted when the lane keeping control function is scheduled to transition from the first driving control mode to the second driving control mode. corresponds to the first auxiliary content shown. In step S108, the display control unit 104 provides an image having the image contents CT21 to CT23 to the HUD device 13 to be displayed in the foreground of the driver.

The image contents CT22 and CT23 are superimposed contents that emphasize the non-detected road lines RL1 and RL2. The image contents CT22 and CT23 are drawn in a manner different from that of the image contents CT21, for example, in solid lines, and are superimposed on the road surface closer to the vehicle than the lost position UDP where the left and right road lines RL1 and RL2 are not detected. The image content CT22 is superimposed on the inner side of one of the road lines RL2 on which a discontinuity is detected in the direction of travel, and extends in a narrow strip shape along the road line RL2. Similarly, the image content CT23 is superimposed on the inner side of the other road line RL1 whose discontinuity has been detected in the direction of travel, and extends in a strip shape along the road line RL1. The image generation unit 102 displays the image content CT21 in a non-blinking manner, while blinking the image contents CT22 and CT23. The image generator 102 terminates the display of the image contents CT22 and CT23 at the timing when the lost position UDP moves outside the angle of view AoV.

Here, the image contents CT22 and CT23 that emphasize the road lines RL1 and RL2 may not be displayed. That is, the transition from the blinking display of the image content CT21 to the continuous display may be used as an advance notice image that notifies the scheduled transition to the preceding vehicle following. In FIG. 19 and subsequent figures, for the sake of easy understanding of the explanation, the non-detection (disappearance) sections of the road lines RL1 and RL2 are indicated by two-dot chain lines.

When the control mode of the lane keeping control function transitions from the first driving control mode to the second driving control mode, the image generator 102 generates an image as shown in FIG. 20 by image generation processing. As a result, image contents CT26 and CT28 as shown in FIG. 20 are imaged by the HUD device 13 on the imaging area IA.

Image contents CT26 and CT28 are LTA contents indicating the state of execution of the lane keeping control function. The image contents CT26 and CT28 indicate that the lane keeping control function is being executed based on the traveling locus of the preceding vehicle B when the lane keeping control function is executed based on the traveling locus of the preceding vehicle B. corresponds to the second image content shown.

The image content CT26 is superimposed content that is superimposed below the vehicle B in front to emphasize the vehicle B in front. The image content CT26 has, for example, a partial circular drawing shape. The display position of the image content CT26 within the angle of view AoV is sequentially corrected based on the information indicating the relative position of the vehicle ahead B acquired by the receiving unit 101 so as to follow the vehicle ahead. In addition, the display size (horizontal width) of the image content CT26 is based on the information indicating the relative position and size of the vehicle in front B obtained by the receiving unit 101, and the width of the vehicle in front B as seen by the driver. Corrections are made successively so as to approximately match.

Here, when the ACC control unit 51 is executing control to follow the vehicle in front, the image generation unit 102 generates ACC content (third image content) indicating that there is a vehicle in front to be followed. to generate an image with The ACC content is superimposed content that emphasizes the vehicle in front, similar to the image content CT26. Therefore, the ACC content and the image content CT26 are related to each other. As an example, the ACC content is in the form of a partial arc that is superimposed below the vehicle in front.

As an example of such related aspects, the ACC content and the image content CT26 are of substantially identical reference shapes to each other. The same reference shape indicates that the ACC content and the image content CT26 have substantially the same shape when the relative position and size of the preceding vehicle B are the same. In this case, the display brightness and display color may be the same or different.

As another example of a related aspect, the ACC content and the image content CT26 may be images having similar reference shapes or images having different aspect ratios of the reference shapes. Furthermore, one of the ACC content and the image content CT26 may contain the image elements of the other. As described above, the ACC content and the image content CT26 have similarity in shape and color to the extent that they are recognized as the same by the driver.

The image content CT28 is LTA content displayed in substantially the same manner as the image content CT21 (see FIG. 18). The image content CT28 is superimposed and displayed in the center of the road surface in front of the own vehicle along the travel locus (travel history) of the preceding vehicle B ascertained by the lane keeping control unit 52 . Therefore, in the second driving control mode, the image content CT28 becomes image content indicating the planned travel locus of the own vehicle.

The image content CT28 is superimposed and displayed in the center of the driving lane. The image content CT28 is continuous with the image content CT26, and extends like a dotted line from the center of the image content CT26 toward the center of the vehicle. The image content CT28 is imaged with substantially the same display luminance and display color as the image content CT26. The image contents CT26 and CT28 continue to be displayed without blinking.

Here, the lane keeping control unit 52 can execute lane keeping control in the second operation control mode with the preceding vehicle B outside the angle of view AoV as the control target. Therefore, the image generator 102 displays the image contents CT26 and CT28 as shown in FIGS. 21 and 22 even if the preceding vehicle B is out of view above the angle of view AoV. In this case, the vertical display position of the image content CT26 emphasizing the forward vehicle B is fixed near the upper edge of the angle of view AoV. On the other hand, the horizontal display position of the image content CT is adjusted according to the relative position of the forward vehicle B in the horizontal direction. When the driving lane is curved, the image generation unit 102 generates an image content CT28 curved along the curved shape based on the driving locus (driving history) of the preceding vehicle B, as shown in FIG. display.

When it is determined in step S109 that the receiving unit 101 has received the detection information indicating the restart of detection of the road lines RL1 and RL2, in step S102 the image generating unit 102 shifts to white line following as shown in FIG. Generates an advance notification image that notifies the schedule. As a result, in addition to the image contents CT26 and CT28, the image contents CT24 and CT25 are imaged on the imaging area IA by the HUD device 13 as shown in FIG.

Image contents CT24 and CT25 indicate that recognition of road lines RL1 and RL2 by the lane keeping control function has resumed when the lane keeping control function is scheduled to transition from the second driving control mode to the first driving control mode. corresponds to the second auxiliary content indicating The image contents CT24 and CT25 are superimposed contents that emphasize the road lines RL1 and RL2 whose detection has been restarted. The image contents CT24 and CT25 are drawn in a manner different from the image contents CT26 and CT28, for example, in a solid line, and superimposed on the road surface behind the detection position DP where the left and right road lines RL1 and RL2 are re-detected. . The image content CT24 is superimposed inside one of the re-detected road lines RL2 and extends in a strip shape along the road lines RL2. Similarly, the image content CT25 is superimposed inside the other re-detected road line RL1 and extends in a narrow band along the road line RL1. The image generation unit 102 may display the image contents CT24 and CT25 in blinking or non-blinking manner.

When the control mode of the lane keeping control function transitions from the second driving control mode to the first driving control mode, the image generator 102 terminates the display of the image contents CT24 and CT25. In addition, the image generation unit 102 terminates the display of the image contents CT26 and CT28 in accordance with the shift to the first operation control mode, and restarts the display of the image contents CT21 as shown in FIG.

Further, the image generation unit 102 may generate an advance notification image including image contents CT34 and CT35 as shown in FIG. good. The image contents CT34 and CT35 are superimposed contents that emphasize the road lines RL1 and RL2 whose detection is restarted, like the image contents CT24 and CT25 (see FIG. 23). The image contents CT34 and CT35 are drawn as dotted lines, and are virtual line displays superimposed on the road surface closer to the vehicle than the detection positions DP of the left and right road lines RL1 and RL2. The image content CT34 is superimposed on the inside of the virtual road line extending the left road line RL2 toward the vehicle. Similarly, the image content CT35 is superimposed on the inside of the virtual road line extending the road line RL1 on the right side toward the host vehicle. When the detection position DP moves outside the angle of view AoV, the image generator 102 terminates the display of the image contents CT34 and CT35.

The image contents CT24, CT25, CT34, and CT35 that emphasize the re-detected road lines RL1 and RL2 are not displayed in the same manner as the image contents CT22 and CT23 that emphasize the disappearing road lines RL1 and RL2. good too.

(Effect of the third embodiment)
A transition is planned from a state in which the lane keeping control function is executed based on road lines (first driving control mode) to a state in which it is executed based on the trajectory of the preceding vehicle (second driving control mode). , the image generation unit 102 generates an advance notification image. This advance notification image has image contents CT22 and CT23 indicating that recognition of the road line by the lane keeping control function has been interrupted together with image contents CT21. Then, the display control unit 104 provides the advance notice image having these image contents CT21 to CT23 to the HUD device 13 and causes it to be displayed.

As described above, when the advance notification image that notifies the switchover schedule to the preceding vehicle following is displayed, the driver visually recognizes the advance notice image to predict the transition schedule of the driving control mode of the lane keeping control function. , can be grasped prior to the actual transition implementation. As a result, convenience for the driver is further improved.

Image generation when the lane keeping control function is scheduled to transition from the second driving control mode in which the function is executed based on the travel locus of the preceding vehicle to the first driving control mode in which the function is executed based on the road line. A unit 102 generates a schedule notification image. This advance notification image has image contents CT24 and CT25 (or image contents CT34 and CT35) indicating that recognition of the road line by the lane keeping control function has been restarted, together with image contents CT26 and CT28. Then, the display control unit 104 provides the HUD device 13 with an advance notification image having these image contents CT24, CT25, CT26, and CT28 and causes it to be displayed.

As described above, when the advance notification image that notifies the schedule of switching to the lane keeping control function is displayed, the driver visually confirms the transition schedule of the driving control mode of the lane keeping control function by visually recognizing the advance notification image. can be grasped prior to the implementation of the transition. As a result, convenience for the driver is further improved.

When the ACC function that controls the traveling speed of vehicle A is executing control to follow the preceding vehicle, the image generating unit 102 generates ACC content (third image content). The image content CT26 emphasizing the vehicle in front during the period in which the steering control is performed in the second driving control mode is a mode related to the ACC content. As described above, if image content in a related manner is displayed while a plurality of driving assistance functions are in operation, the driver will be able to understand the meaning of the content even if the vehicle A is equipped with a plurality of driving assistance functions. easier. Therefore, convenience for the driver is improved.

<Fourth Embodiment>
Next, the fourth embodiment will be described, focusing on differences from the above-described embodiments. In the fourth embodiment, when the own vehicle (vehicle A) is running offset from the center line of the driving lane, the running locus of the preceding vehicle B is offset and displayed.

The lane keeping control unit 52 displays an offset value indicating the deviation of the vehicle A in the vehicle width direction from the center line of the driving lane as information necessary for the display control device 100 to draw the traveling locus of the preceding vehicle. 100 more offers.

The image generator 102 adds an offset value to the coordinate value in the width direction of the center position CB of the virtual model BO of the vehicle in front B to offset the center position CB. Next, the image generator 102 draws a line extending from the center position CB of the offset virtual model BO to the center position CA of the vehicle A. FIG. Then, the image generation unit 102 shifts the drawn line in both directions in the vehicle width direction by a distance corresponding to half the vehicle width W of the preceding vehicle B, thereby offsetting the virtual objects VO3, VO3, and VO3. Draw VO4 in the virtual area VA. The image generator 102 can generate an image of the virtual imaging area VIA by performing perspective projection transformation on the virtual objects VO3 and VO4 in the virtual area VA. This image includes image content corresponding to the offset virtual objects VO3 and VO4.

The display control unit 104 provides the HUD device 13 with an image including image content corresponding to the offset virtual objects VO3 and VO4 and causes the HUD device 13 to display the image. As a result, when the vehicle A is traveling with an offset from the center line of the driving lane, the image content showing the traveling locus of the preceding vehicle B according to the offset appears to be superimposed on the road surface of the driving lane. to be displayed.

As a result, when the lane keeping control function is executed in the second driving control mode, even when the vehicle A is running with an offset, the running locus of the preceding vehicle according to the offset is displayed. As a result, the driver can recognize that the lane keeping control function is being executed based on the trajectory of the vehicle in front, and that the vehicle is traveling offset from the centerline of the driving lane. Therefore, convenience for the driver can be improved.

<Other embodiments>
The present disclosure is not limited to the above-described embodiments, and can be implemented with various modifications. For example, when the lane keeping control function is executed based on the travel locus of the vehicle in front B, the display control device 100 displays the image contents CT5 and CT6 emphasizing the vehicle in front B, and then the vehicle in front B. image contents CT3 and CT4 showing the travel locus of the vehicle may be displayed. In this case, the display control unit 104 provides the images having the image contents CT5 and CT6 to the HUD device 13 for display, and then provides the images having the image contents CT5 and CT6 and the image contents CT3 and CT4 to the HUD device 13. to be displayed.

As a result, after the image contents CT5 and CT6 emphasizing the vehicle B in front are displayed, the image contents CT3 and CT4 showing the travel locus of the vehicle B in front are displayed. As a result, after the driver's attention is focused on the vehicle in front B, the image content showing the travel locus of the vehicle in front B can be displayed. Therefore, it becomes easier for the driver to grasp that the lane keeping control function is being executed based on the travel locus of the preceding vehicle.

Further, when the control mode of the lane keeping control function transitions from the first driving control mode to the second driving control mode, the display control unit 104 causes the HUD device 13 to blink the first image content. Afterwards, the second image content may be displayed. This makes it easier for the driver to understand that the driving control mode of the lane keeping control function is switched from the first driving control mode to the second driving control mode, thereby improving convenience for the driver.

Furthermore, when the control mode of the lane keeping control function transitions from the first driving control mode to the second driving control mode, the image generator 102 generates a transition image (announcement notification image). In one example of such a transition image, the first image contents CT1 and CT2 continuously move to the position of the traveling locus of the forward vehicle B indicated by the second image contents CT3, CT4 and CT8. After providing the transition image to the HUD device 13 for display, the display control unit 104 provides and displays an image having the second image content CT3, CT4 or the second image content CT8.

As a result, the first image contents CT1 and CT2 are moved to become the second image contents CT3, CT4 and CT8. Therefore, switching display from the first image content to the second image content can be performed smoothly. Also, even if the driver momentarily looks away from the front, the first image contents CT1 and CT2 are moved and switched to the second image contents CT3, CT4 and CT8. This makes it easier for the driver to recognize that the control mode of the lane keeping control function has transitioned from the first driving control mode to the second driving control mode, thereby improving convenience for the driver.

Furthermore, the display color of the image content CT7 (FIG. 13) indicating the center position of the driving lane and the display color of the image content CT8 (FIG. 14, etc.) indicating the travel locus of the preceding vehicle B can be different colors. . When the control mode of the lane keeping control function changes from the first driving control mode to the second driving control mode, the image generation unit 102 changes the display color of the image content CT7 to gradually change to the color of the image content CT8. , an image of the virtual imaging area VIA can be generated.

Further, the lane maintenance control unit 52 of the driving support ECU 50 acquires information indicating the current position of the vehicle A from the locator 30 and map information, and the road on which the vehicle A is traveling is continuously It can be determined whether the road is a specific road with a high probability of being detected. Specific roads are, for example, highways (national highways and motorways) and national roads. When the lane maintenance control unit 52 determines that the road on which the vehicle A is traveling is the specific road when the lane maintenance control function is executed in the second operation control mode, the lane maintenance control unit 52 performs the second operation control. mode can be switched to the first operation control mode. At this time, the lane keeping control unit 52 provides the display control device 100 with information indicating that the control mode of the lane keeping control function has been switched from the second operation control mode to the first operation control mode. When receiving the information from the lane keeping control unit 52, the display control device 100 can generate an image having the first image content and provide the image to the HUD device 13 for display.

Furthermore, in another embodiment, the image generation unit 102 forms an image content CT26 that emphasizes the vehicle ahead B during lane keeping control in the second driving control mode so as to overlap the vehicle ahead B. be. In such an embodiment, the ACC content, which is similar in appearance to the image content CT26, may also be displayed in a shape that overlaps the preceding vehicle.

Also, in other embodiments, the detection range of the front camera is narrower than the forward range that overlaps the angle of view of the HUD device. In such an embodiment, the display of the advance notification image that notifies the schedule of switching between the first operation control mode and the second operation control mode may be omitted.

The functions and methods described in this disclosure may be implemented by a special purpose computer manufactured by configuring a processor programmed to perform one or more of the specified functions implemented in the computer program. . Also, the apparatus and methods described in this disclosure may be implemented by dedicated hardware logic circuits. A hardware logic circuit is a circuit having, for example, FPGA (Field Programmable Gate Array) and ASIC (Application Specific Integrated Circuits). Furthermore, the apparatus and methods described in this disclosure may be implemented in combination with one or more special purpose computers manufactured by configuring a processor to execute a computer program, and one or more hardware logic circuits. . Computer programs can be stored as computer-executable instructions on a computer-readable, non-transitory, tangible storage medium.

REFERENCE SIGNS LIST 100 display control device 102 image generation unit 104 display control unit 110 processor 13 HUD device (head-up display) A vehicle

Claims (14)

A display control device for controlling display of a head-up display (13) installed in a vehicle (A),
an image generator (102) that generates an image to be displayed by the head-up display;
a display control unit (104) for providing the image generated by the image generation unit to the head-up display for display,
The image generator is
Indicates that the lane keeping control function is executed based on the road line when the lane keeping control function for causing the vehicle to travel within the driving lane is executed based on the road line of the driving lane of the vehicle. generating an image having first image content;
A second indicating that, when the lane keeping control function is executed based on the running locus of the vehicle in front of the vehicle, the lane keeping control function is executed based on the running locus of the preceding vehicle. generates an image with image content of
The second image content includes image content showing the travel locus of the vehicle in front and image content emphasizing the vehicle in front,
The display control unit
providing one of the image having the first image content and the image having the second image content to the head-up display for display ;
When the lane keeping control function is executed based on the travel locus of the preceding vehicle,
After providing and displaying an image having image content emphasizing the preceding vehicle on the head-up display,
providing an image having image content emphasizing the vehicle in front and image content showing the trajectory of the vehicle in front to be displayed on the head-up display;
Display controller. 2. The first image content of claim 1, wherein the first image content includes at least one of image content displayed along the road line of the vehicle's travel lane and image content showing the center of the vehicle's travel lane. Display controller. The display control unit provides an image having the second image content to the head-up display when road lines on both sides of the driving lane remain undetected and the vehicle ahead is present. 3. The display control device according to claim 1 , wherein the display is performed by 2. When displaying the second image content on the head-up display, the display control unit blinks the first image content and then displays the second image content. 4. The display control device according to any one of 1 to 3 . When the first image content is image content displayed along the road line of the driving lane, and the second image content is image content showing the travel locus of the preceding vehicle , When the lane keeping control function being executed based on is executed based on the traveling trajectory of the preceding vehicle,
The image generation unit performs a transition in which the first image content displayed along the road line of the driving lane continuously moves to the position of the travel locus of the preceding vehicle indicated by the second image content. generate the image,
The display control unit provides and causes the head-up display to display the transition image, and then provides and causes the head-up display to display an image having the second image content indicating the traveling trajectory of the preceding vehicle. The display control device according to claim 2 . A display control device for controlling display of a head-up display (13) installed in a vehicle (A),
an image generator (102) that generates an image to be displayed by the head-up display;
a display control unit (104) for providing the image generated by the image generation unit to the head-up display for display,
The image generator is
Indicates that the lane keeping control function is executed based on the road line when the lane keeping control function for causing the vehicle to travel within the driving lane is executed based on the road line of the driving lane of the vehicle. generating an image having first image content;
A second indicating that, when the lane keeping control function is executed based on the running locus of the vehicle in front of the vehicle, the lane keeping control function is executed based on the running locus of the preceding vehicle. generates an image with image content of
the first image content includes at least one of image content displayed along the road line of the vehicle's driving lane and image content indicating the center of the vehicle's driving lane;
The display control unit
providing one of the image having the first image content and the image having the second image content to the head-up display for display;
The first image content is image content displayed along the road line of the driving lane, the second image content is image content showing the travel locus of the preceding vehicle, and the image content is based on the road line When the lane keeping control function being executed is executed based on the travel locus of the preceding vehicle,
The image generation unit generates a transition image in which the first image content displayed along the road line of the driving lane continuously moves to the position of the travel locus of the preceding vehicle indicated by the second image content. to generate
The display control unit provides and causes the head-up display to display the transition image, and then provides and causes the head-up display to display an image having the second image content indicating the traveling trajectory of the preceding vehicle.
Display controller. 7. The display control device according to claim 6 , wherein the second image content includes image content that emphasizes the preceding vehicle. 7. The display control device according to claim 6 , wherein said second image content includes image content indicating a travel locus of said preceding vehicle. The image content indicating the running locus of the vehicle in front is image content extending toward the vehicle from one of both ends in the width direction of the vehicle in front and the central position in the width direction of the vehicle in front. The display control device according to any one of claims 1 to 5 and 8 , wherein the display is displayed so as to be superimposed on the road surface of the driving lane. When the vehicle speed control function for controlling the traveling speed of the vehicle is executing control for following the vehicle in front, the image generation unit generates a third image indicating that there is the vehicle in front to be tracked. generate an image with image content;
10. The display control device according to any one of claims 1 to 5 and 7 to 9 , wherein the image content emphasizing the preceding vehicle is associated with the third image content. When the state in which the lane keeping control function is being executed based on the road line is scheduled to transition to the state in which it is being executed based on the trajectory of the preceding vehicle,
The image generation unit generates an image having, together with the first image content, first auxiliary content indicating that recognition of the road line by the lane keeping control function has been interrupted, and
11. The display control according to any one of claims 1 to 10, wherein the display control unit provides an image including the first image content and the first auxiliary content to the head-up display for display. Device. When the lane keeping control function is scheduled to transition from the state in which it is executed based on the travel locus of the preceding vehicle to the state in which it is executed based on the road line,
The image generation unit generates an image having, together with the second image content, second auxiliary content indicating that recognition of the road line by the lane keeping control function has been resumed, and
12. The display control according to any one of claims 1 to 11, wherein the display control unit provides an image including the second image content and the second auxiliary content to the head-up display for display. Device. A display control program for controlling the display of a head-up display (13) installed in a vehicle (A), for at least one processor (110),
Indicates that the lane keeping control function is executed based on the road line when the lane keeping control function for causing the vehicle to travel within the driving lane is executed based on the road line of the driving lane of the vehicle. generating an image having first image content (S102);
A second indicating that, when the lane keeping control function is executed based on the running locus of the vehicle in front of the vehicle, the lane keeping control function is executed based on the running locus of the preceding vehicle. generating an image having image content of (S107),
providing one of the image having the first image content and the image having the second image content to the head-up display for display ( S103, S108) ;
When the lane keeping control function is executed based on the travel locus of the preceding vehicle,
After providing and displaying an image having image content emphasizing the preceding vehicle on the head-up display,
An image having image content that emphasizes the preceding vehicle and image content that indicates the traveling locus of the preceding vehicle is provided and displayed on the head-up display.
A display control program that executes processing including: A display control program for controlling the display of a head-up display (13) installed in a vehicle (A), for at least one processor (110),
Indicates that the lane keeping control function is executed based on the road line when the lane keeping control function for causing the vehicle to travel within the driving lane is executed based on the road line of the driving lane of the vehicle. generating an image having first image content (S102);
A second indicating that, when the lane keeping control function is executed based on the running locus of the vehicle in front of the vehicle, the lane keeping control function is executed based on the running locus of the preceding vehicle. generating an image having image content of (S107),
the first image content includes at least one of image content displayed along the road line of the vehicle's driving lane and image content indicating the center of the vehicle's driving lane;
providing one of the image having the first image content and the image having the second image content to the head-up display for display (S103, S108);
The first image content is image content displayed along the road line of the driving lane, the second image content is image content showing the travel locus of the preceding vehicle, and the image content is based on the road line When the lane keeping control function being executed is executed based on the travel locus of the preceding vehicle,
generating a transition image in which the first image content displayed along the road line of the driving lane continuously moves to the position of the traveling locus of the preceding vehicle indicated by the second image content;
After providing and displaying the transition image on the head-up display, providing and displaying an image having the second image content indicating the traveling trajectory of the preceding vehicle;
A display control program that executes processing including:

Images