JP7367380B2 - 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.

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

International Publication No. 2015/118859

In recent years, a lane keeping control function for keeping a vehicle traveling within a driving lane has been put into practical use. With the lane maintenance control function, when the driving lane is a straight road, the vehicle can be maintained within the driving lane and driven based on the road line of the driving lane. On the other hand, if the driving lane is curved and the radius of curvature is smaller than the radius of curvature of the road on which the vehicle can travel due to the lane keeping control function, the vehicle cannot be kept within the driving lane and driven. . That is, the vehicle may deviate from the driving lane due to the limitations of the lane keeping control function.

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 driving control device does not notify the driver that the vehicle will deviate from the driving lane due to the limitations of the lane keeping control function. Unable to notify. Therefore, there was a problem that convenience for the driver was low.

The present disclosure has been made in view of the above problems, and provides a display control device and a display control program that can improve driver convenience regarding the lane keeping control function of a vehicle equipped with a head-up display. The purpose is to provide.

In order to achieve the above object, a display control device that controls the display of a head-up display (13) installed in a vehicle (A) according to an aspect of the present disclosure includes lane maintenance control for driving the vehicle within a driving lane. An image generation unit (102) that generates an image to be displayed on the head-up display when a function is executed, and a display control unit (105) that provides the image generated by the image generation unit to the head-up display and displays it. The image generation unit is configured to detect when the road in front of the vehicle is curved and there is a possibility that the vehicle will deviate from the driving lane due to the limit of the lane keeping control function. The display control unit generates an image having deviation notification content that is image content indicating that the deviation notification content is displayed on the head-up display, and the display control unit provides the image having the deviation notification content to the head-up display for display, and the deviation notification content includes a lane keeping control function. includes image content showing a planned driving line along which the vehicle is scheduled to travel, the image content showing the planned driving line is displayed so as to deviate in a centrifugal direction from a line along the road ahead, and the image generation unit: Generates an image having image content indicating a planned travel line and image content indicating a line along the road ahead, and the display control unit provides the image having these image contents to a head-up display for display. .

Further, a display control program that controls the display of the head-up display (13) installed in the vehicle (A) according to one aspect of the present disclosure may cause at least one processor (110) to detect a curve in the road ahead of the vehicle. When the vehicle is traveling on the road ahead, there is a possibility that the vehicle will deviate from the lane due to the limitations of the lane keeping control function that keeps the vehicle within the lane. A process including generating an image having notification content (S105, S109) and providing and displaying the image having deviation notification content on a head-up display (S106, S110) is performed , and the deviation notification content includes: includes image content indicative of a scheduled travel line along which the vehicle is scheduled to travel via a lane keeping control feature, the image content indicative of the planned travel line is displayed to deviate in a centrifugal direction from a line along the road ahead; , generating an image having image content indicating a planned travel line and image content indicating a line along a road ahead, and providing an image having these image contents to a head-up display for display. Let it run .

In these aspects, when the road ahead of the vehicle is curved and there is a possibility that the vehicle will deviate from the driving lane due to the limit of the lane keeping control function, deviation notification content indicating this fact is provided. is displayed on the head-up display. Therefore, by visually recognizing the deviation notification content displayed in front of the driver, the driver can understand that there is a possibility that the vehicle may deviate from the driving lane due to the limit of the lane keeping control function. Therefore, convenience for the driver is improved.

1 is a diagram showing an in-vehicle system. 1 is a diagram showing an example of a head-up display device installed in a vehicle. FIG. 2 is a diagram showing the functional configuration of a display control device. 3 is a flowchart illustrating an example of processing executed by the display control device. 3 is a flowchart illustrating an example of processing executed by the display control device. 5 is a flowchart illustrating an example of image generation processing. FIG. 2 is a plan view showing an example of a virtual three-dimensional space. 8 is a diagram showing an example of a display image generated based on the virtual three-dimensional space shown in FIG. 7. FIG. FIG. 7 is a diagram showing another example of a display image generated by the display control device. FIG. 7 is a diagram showing another example of a display image generated by the display control device. FIG. 2 is a plan view showing an example of a virtual three-dimensional space when there is a possibility that a vehicle will deviate from a driving lane. 12 is a diagram showing an example of a display image generated based on the virtual three-dimensional space shown in FIG. 11. FIG. FIG. 7 is a diagram showing another example of a display image when there is a possibility that the vehicle will deviate from the driving lane. FIG. 7 is a diagram showing another example of a display image when there is a possibility that the vehicle will deviate from the driving lane. FIG. 7 is a diagram showing another example of a display image when there is a possibility that the vehicle will deviate from the driving lane. It is a figure which shows an example of a display image when a planned driving line and a recommended driving line match. It is a figure which shows an example of a warning image.

Hereinafter, one embodiment of the present disclosure will be described with reference to the drawings. The in-vehicle system 1 includes an HMI (Human Machine Interface) system 10, a peripheral monitoring device 20, a locator 30, a DCM (Data Communication Module) 40, an EPS (Electric Power Steering) ECU (Electronic Control Unit) 50, and a driving system. It includes a support ECU 60. These nodes communicate data with each other via communication bus 70.

The surroundings monitoring device 20 is a device that monitors the surroundings of the vehicle A. Surroundings monitoring device 20 includes a front camera 21 and a millimeter wave radar 22. The front camera 21 photographs the front of the vehicle A to generate a photographed image, and transmits the photographed image to the driving support ECU 60 and the display control device 100 of the HMI system 10 via the communication bus 70. The millimeter wave radar 22 uses millimeter waves or quasi-millimeter waves to calculate the distance to objects around the vehicle A, as well as the relative speed and direction of the objects, and transmits this information to the driver via the communication bus 70. It is transmitted to the support ECU 60.

The locator 30 is a device that generates position information of the vehicle A. The locator 30 includes a GNSS (Global Navigation Satellite System) receiver 31, an inertial sensor 32, a map database (hereinafter referred to as "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, and 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 conventional navigation or map information more accurate 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 support, such as information indicating the three-dimensional shape of the road, position information of road lines, information on the number of lanes, and information indicating the direction of travel of each lane.

The locator ECU 34 includes 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 portion of each wheel of the vehicle A. Further, 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 use the position, traveling direction, and attitude information (i.e., roll, pitch, etc.) of the vehicle A. 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 70. Additionally, the locator ECU 34 can provide map information to other nodes.

DCM 40 is a communication module mounted on vehicle A. The DCM 40 transmits and receives data to and from base stations in the vicinity of the vehicle A through wireless communication compliant with communication standards such as LTE (Long Term Evolution) and 5G. The DCM 40 can acquire the latest 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 EPSECU 50 is an ECU that controls the electric power steering system, and includes a microcomputer including a processor, ROM, RAM, and an input/output interface. The EPSECU 50 acquires the steering angle from a steering angle sensor that detects the steering angle of the steering wheel, and provides information indicating the steering angle to the driving support ECU 60.

The driving support ECU 60 is an ECU that supports the driver's driving operations. The driving support ECU 60 realizes partial automatic driving control at level 2 or lower in the automatic driving level defined by the Society of Automotive Engineers of America. The driving support ECU 60 includes a microcomputer including a processor, ROM, RAM, and an input/output interface. The processor implements an ACC (Adaptive Cruise Control) control section 61 and a lane keeping control section 62 by executing a program stored in a ROM.

The ACC control unit 61 is a functional unit that implements the ACC function. The ACC control unit 61 uses the captured images and information provided by the surrounding monitoring device 20 to cause the vehicle A to travel at a speed specified by the driver, or while maintaining the distance between the vehicle A and the vehicle in front, Vehicle A is caused to follow the vehicle in front.

The lane keeping control unit 62 is a functional unit that implements a lane keeping control function that causes the vehicle A to travel within the travel lane. The lane keeping control function is known as LTA (Lane Trace Assist). There are three states of the lane keeping control function: an OFF state, a standby state, and an execution state. When 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 62 analyzes the captured image provided by the front camera 21 and detects the front and front sides of the vehicle A. Start detecting 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 keeping control function is in the standby state, when the lane keeping control unit 62 detects the road lines on both sides of the lane in which vehicle A is traveling, the lane keeping control function transitions from the standby state to the execution state. That is, the lane maintenance control unit 62 controls the steering angle of the steering wheels of the vehicle A based on the detected road lines on both sides, and causes the vehicle A to travel within the travel lane. When the lane keeping control function transitions from the standby state to the execution state, the lane keeping control unit 62 transmits status information indicating that the lane keeping control function has changed from the standby state to the execution state to the display control device 100.

The lane maintenance control unit 62 also analyzes the captured image provided by the surroundings monitoring device 20 or the map information provided by the locator ECU 34, and calculates the radius of curvature of the road ahead of the vehicle A. Next, the lane keeping control unit 62 refers to a data table in which the speed of the vehicle A and the minimum radius of curvature of a road on which the vehicle can travel at the speed are registered in association with each other, and determines the speed of the vehicle A provided by the locator ECU 34. Identify the radius of curvature associated with velocity. If the calculated radius of curvature of the road ahead is smaller than the specified radius of curvature, the lane keeping control unit 62 generates a deviation indicating that the vehicle A may deviate from the driving lane due to the limit of the lane keeping control function. The information is transmitted to the display control device 100. At this time, the lane keeping control unit 62 can transmit information indicating the calculated radius of curvature of the road ahead to the display control device 100 together with deviation information.

Furthermore, the lane maintenance control unit 62 sequentially provides the display control device 100 with driving line information regarding the line on which the vehicle A is scheduled to travel (hereinafter referred to as the "scheduled traveling line"). The scheduled driving line includes (1) a scheduled driving line based on the lane keeping control function, and (2) a scheduled driving line based on the driver's steering wheel operation. The scheduled travel line based on the lane keeping control function is a travel line on which vehicle A is scheduled to travel using the lane keeping control function. The planned travel line based on the driver's steering wheel operation is information indicating the predicted travel line of the vehicle A when the steering angle of the steering wheel of the vehicle A is controlled based on the amount of steering wheel operation by the driver. Note that the planned travel line includes straight lines and/or curves.

Further, if the driver of vehicle A does not operate the steering wheel after transmitting the deviation information to the display control device 100, the lane keeping control unit 62 sends a warning display instruction to the display control device 100 to display a warning image. Send to. The lane keeping control unit 62 can determine whether the driver of the vehicle A has operated the steering wheel by determining whether or not information indicating the steering angle has been received from the EPSECU 50. The warning image is an image that instructs the driver of vehicle A to operate the steering wheel.

The HMI system 10 is a system that provides an interface between 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 control unit that controls these. The DSM 11 is installed at a position where the face of a driver seated in the driver's seat can be illuminated with near-infrared light from a near-infrared light source, and where the face of the driver can be photographed with a near-infrared camera. For example, the DSM 11 can be installed on the top surface of the steering column section 8 or the top surface of the instrument panel 9 shown in FIG. 2. The near-infrared camera photographs the driver's face at a frequency of 30 fpm or the like to generate a captured image. The control unit analyzes the captured image to calculate the driver's viewpoint position EP, and sequentially provides viewpoint position information indicating the viewpoint position EP to the display control device 100.

The operating device 12 is a device that can accept operations by a driver. Specifically, examples include a device that switches between starting and stopping ACC, a device that switches between starting and stopping a lane keeping control function, and the like. The operating device 12 can be realized by a steering switch or the like provided on a 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, and provides the image to the HUD device 13 for projection. A specific example of the display control device 100 is a HUC (HMI Control Unit). The display control device 100 includes a microcomputer including at least one processor 110, a nonvolatile storage device 120 such as a ROM, a volatile storage device 130 such as a RAM, and an input/output interface 140.

The processor 110 is an arithmetic device such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit) that can execute various programs. The nonvolatile storage device 120 stores various data such as a display control program according to the present disclosure. The processor 110 executes the display control method according to the present disclosure by accessing the nonvolatile storage device 120, loading the display control program onto the volatile storage device 130, and executing the program. 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. As shown in FIG. 2, the HUD device 13 is installed in an accommodation space in the instrument panel 9 below the windshield WS. The HUD device 13 includes a projector 14 and an enlarging optical system 15.

The projector 14 includes an LCD (Liquid Crystal Display) panel and a backlight. The projector 14 is fixed with the display surface of the LCD panel facing the enlarging 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, thereby emitting light forming the image to the enlarging optical system 15.

The magnifying optical system 15 includes a concave mirror in which a light-reflecting metal is deposited on the surface of a base material. The enlarging 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 in the projection area PA of the windshield WS, and the reflected light travels toward the driver's seat and reaches the driver's eyes. 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, the functions of the display control device 100 will be explained with reference to FIG. 3. The display control device 100 includes a receiving section 101, an image generating section 102, a time measuring section 103, a line determining section 104, and a display controlling section 105.

The receiving unit 101 is a functional unit that receives information provided by the surrounding monitoring device 20, the locator ECU 34, the DSM 11, and the driving support ECU 60. Upon receiving a captured image from the surrounding monitoring device 20, the receiving unit 101 stores the captured image in the volatile storage device 130. Further, upon receiving information such as map information, position information, speed information, and attitude information of vehicle A from locator ECU 34, receiving unit 101 stores these information in volatile storage device 130. Further, upon receiving the viewpoint position information from the DSM 11, the receiving unit 101 stores the viewpoint position information in the volatile storage device 130.

Upon receiving the driving line information from the driving support ECU 60, the receiving unit 101 stores the driving line information in the volatile storage device 130. Further, upon receiving the status information of the lane keeping control function, the departure information, and the warning display instruction from the driving support ECU 60, the receiving unit 101 notifies the image generating unit 102 and the time measuring unit 103 to that effect.

The image generation unit 102 is a functional unit that generates an image projected by the HUD device 13. The image generation unit 102 executes image generation processing to generate an image projected by the HUD device 13. The display control unit 105 is a functional unit that transmits the image of the projection target generated by the image generation unit 102 to the HUD device 13 and causes it to be projected.

Here, with reference to FIG. 6, the image generation process executed by the image generation unit 102 will be described. In step S201, the image generation unit 102 acquires information necessary for generating a road model in a virtual three-dimensional space (for example, map information, position information of vehicle A, photographed images, etc.) from the volatile storage device 130. , generate a road model in virtual three-dimensional space. In step S202, the image generation unit 102 draws the virtual object VO on the road model in the virtual three-dimensional space. The virtual object VO corresponds to superimposed content that is displayed in association with the foreground object.

As shown in FIG. 7, the image generation unit 102 draws virtual objects VO1 and VO2 along virtual road lines VRL1 and VRL2 corresponding to the road lines of the driving lane of vehicle A to emphasize these road lines. The image generation unit 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 generation unit 102 may draw the virtual objects VO1 and VO2 on the virtual road lines VRL1 and VRL2, respectively. Furthermore, the image generation unit 102 may draw the virtual objects VO1 and VO2 on the outside of the respective driving lanes.

Further, the image generation unit 102 can draw the virtual object VO on the road model in the virtual three-dimensional space using the latest travel line information stored in the volatile storage device 130. For example, when the road ahead of vehicle A is curved as shown in FIG. ). The curve start position CP corresponds to the start position of a curve in which the lane maintenance control function does not allow the vehicle A to travel within the travel lane.

Next, the image generation unit 102 draws virtual objects VO1 and VO2 along virtual road lines VRL1 and VRL2 on the near side of the curve start position CP with vehicle A as a reference (that is, on the vehicle A side). Beyond the curve start position CP, the image generation unit 102 draws virtual objects VO1D and VO2D using the traveling line information. The image generation unit 102 draws the virtual objects VO1, VO2 and the virtual objects VO1D, VO2D so that they are continuous.

When the image generation unit 102 draws the virtual objects VO1D and VO2D using the driving line information indicating the scheduled driving line based on the lane keeping control function, the virtual objects VO1D and VO2D are those in which the vehicle A can travel due to the lane keeping control function. This shows the predicted driving line. In this case, the virtual objects VO1D and VO2D are drawn so as to deviate from a line along the virtual road lines VRL1 and VRL2, that is, a line along the road ahead of the vehicle A in the centrifugal direction. On the other hand, when the image generation unit 102 draws the virtual objects VO1D and VO2D using driving line information indicating the planned driving line based on the driver's steering wheel operation, the virtual objects VO1D and VO2D are drawn based on the amount of steering wheel operation by the driver. The predicted travel line on which vehicle A will travel based on the diagram is shown.

It is preferable that the display modes of the virtual objects VO1, VO2 and the virtual objects VO1D, VO2D are different. For example, when virtual objects VO1 and VO2 are drawn with solid lines, virtual objects VO1D and VO2D can be drawn with broken lines or dotted lines. Further, the virtual objects VO1, VO2 and the virtual objects VO1D, VO2D can be drawn in different display colors.

Furthermore, the image generation unit 102 can draw the virtual objects VO5 and VO6 along the virtual road lines VRL1 and VRL2 beyond the curve start position CP. Virtual objects VO5 and VO6 correspond to recommended travel lines for vehicle A to travel within the travel lane (hereinafter referred to as "recommended travel lines"). It is preferable that the display modes of the virtual objects VO1, VO2, virtual objects VO1D, VO2D, and virtual objects VO5, VO6 are different. For example, virtual objects VO1 and VO2 can be drawn with solid lines, virtual objects VO1D and VO2D can be drawn with broken lines, and virtual objects VO5 and VO6 can be drawn with dotted lines. Further, virtual objects VO1, VO2, virtual objects VO1D, VO2D, and virtual objects VO5, VO6 can be drawn in different display colors.

In step S203, the image generation unit 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.

In step S204, the image generation unit 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 where the HUD device 13 forms the virtual image VI in real three-dimensional space. As shown in FIG. 2, the imaging area IA is defined by a virtual line extending from the viewpoint position EP at an angle of view AoV. Similarly, the virtual imaging area VIA is defined by a virtual line extending from the virtual viewpoint position VEP at an angle of view AoV. The image of the virtual imaging area VIA generated by the image generation unit 102 is imaged as a virtual image VI in the imaging area IA of the actual three-dimensional space. Note that in this embodiment, as the angle of view AoV, an angle of view in which the horizontal angle of view AoVh is 10 degrees and the vertical angle of view AoVv is 4 degrees can be adopted.

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. The image generation unit 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 in the imaging area IA. Image contents CT1 and CT2 are superimposed contents corresponding to virtual objects VO1 and VO2, respectively, and are displayed in association with road lines RL1 and RL2. To the driver of vehicle A, the image contents CT1 and CT2 appear to be displayed along road lines RL1 and RL2 on the road surface of the driving lane.

FIG. 9 shows a modification of the image shown in FIG. Image content CT3 shown in FIG. 9 is superimposed content that shows the center line of the driving lane in front of vehicle A. The image generation unit 102 draws the virtual object VO at a position equidistant from the virtual road lines VRL1 and VRL2 in the virtual three-dimensional space. Next, the image generation unit 102 can generate an image of the virtual imaging area VIA including the virtual object VO by performing perspective projection transformation on the virtual object VO drawn in the virtual area VA. When the HUD device 13 projects the image toward the windshield WS, the image content CT3 corresponding to the virtual object VO is imaged in the imaging area IA. To the driver of vehicle A, the image content CT3 appears to be displayed on the road surface in the center of the driving lane.

FIG. 10 shows an example of image content that prompts the driver of vehicle A to perform a driving operation. The image content corresponds to image content (hereinafter referred to as "departure notification content") indicating that vehicle A may deviate from the driving lane due to the limit of the lane keeping control function. Note that the image content CT4 is non-superimposed content.

Image content CT4 shown in FIG. 10 is an example of image content that prompts the driver of vehicle A to operate the steering wheel. Image content CT4 is composed of image content showing the steering wheel of vehicle A and image content showing the steering direction of the steering wheel necessary for vehicle A to travel without deviating from the driving lane. The image generation unit 102 can determine the steering direction of the steering wheel using the shape of the road model in the virtual three-dimensional space. For example, if the road ahead of vehicle A curves to the right as viewed from vehicle A, the steering direction of the steering wheel can be set to the right. On the other hand, if the road ahead of vehicle A curves to the left as viewed from vehicle A, the steering direction of the steering wheel can be set to the left.

The image generation unit 102 can generate the image shown in FIG. 10 by combining the image having the image contents CT1 and CT2 generated by the image generation process and the image having the image content CT4. When the display control unit 105 provides the image to the HUD device 13, the HUD device 13 projects the image toward the windshield WS. As a result, image contents CT1, CT2, CT4 as shown in FIG. 10 are imaged in the imaging area IA. Note that the image generation unit 102 combines the image having the image content CT3 shown in FIG. 9 with the image having the image content CT4, and the display control unit 105 provides the image to the HUD device 13 for display. Good too.

FIG. 12 shows how an image generated based on the virtual three-dimensional space shown in FIG. 11 is displayed. Image contents CT1D and CT2D shown in FIG. 12 are superimposed contents corresponding to virtual objects VO1D and VO2D, respectively, and indicate scheduled travel lines based on the lane keeping control function. To the driver of vehicle A, the image contents CT1D and CT2D appear to be displayed on the road surface in front of vehicle A. Image contents CT1D and CT2D correspond to deviation notification contents.

Image contents CT5 and CT6 are superimposed contents corresponding to virtual objects VO5 and VO6, respectively, and indicate recommended travel lines. To the driver of vehicle A, image contents CT1, CT5 and image contents CT2, CT6 appear to be displayed continuously along road lines RL1, RL2 in front of vehicle A, respectively.

When the image generation unit 102 draws virtual objects VO1, VO2, virtual objects VO1D, VO2D, and virtual objects VO5, VO6 in different display modes as shown in FIG. Contents CT1 and CT2, image contents CT1D and CT2D, and image contents CT5 and CT6 are displayed.

FIG. 13 shows a modification of the image shown in FIG. 12. In the example shown in FIG. 13, image contents CT5 and CT6 indicating recommended travel lines are omitted. In this case, the image contents CT1, CT2 and the image contents CT1D, CT2D are imaged in the imaging area IA.

FIG. 14 shows a modification of the image shown in FIG. 12. Image content CT3 is superimposed content that shows the center line of the driving lane in front of vehicle A. The image content CT3D is superimposed content showing a scheduled travel line based on the lane keeping control function. The image content CT7 is a superimposed content showing a recommended driving line, and shows the center line of the driving lane of the vehicle A. To the driver of vehicle A, the image contents CT3, CT3D, and CT7 appear to be displayed on the road surface of the lane in which vehicle A is traveling. The image content CT3D is displayed so as to deviate from the center line of the driving lane of the vehicle A, that is, the line along the road ahead of the vehicle A in the centrifugal direction. Image content CT3D corresponds to deviation notification content.

FIG. 15 shows a modification of the image shown in FIG. 14. In the example shown in FIG. 15, the image content CT7 indicating the recommended travel line is omitted. In this case, image contents CT3 and CT3D are imaged in the imaging area IA.

The time measuring unit 103 is a functional unit that determines whether a predetermined time has elapsed since the receiving unit 101 determined that the deviation information was received. The predetermined time corresponds to the display time of image content that prompts the driver of vehicle A to perform a driving operation as shown in FIG. 10 . The predetermined time is set to be less than or equal to the time from when the receiving unit 101 determines that the deviation information has been received until the vehicle A reaches the curve start position CP. Note that the predetermined time is preferably at least 1 second so that the driver can recognize the image content.

The line determination unit 104 is a functional unit that determines whether the positions of the planned travel line drawn in the virtual three-dimensional space match the positions of the recommended travel line. The line determination unit 104 uses the positional information of the planned travel line and the recommended travel line drawn in the virtual three-dimensional space by the image generation unit 102 to determine whether the positions of the planned travel line and the recommended travel line match. be able to.

Next, an example of a process executed by the display control device 100 will be described with reference to FIG. 4. In step S101, the receiving unit 101 of the display control device 100 determines whether or not the receiving unit 101 of the display control device 100 has received status information indicating that the lane keeping control function has entered the execution state from the driving support ECU 60. 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 is received (YES), the process branches to step S102.

In step S102, the image generation unit 102 executes the image generation process shown in FIG. 6 to generate an image. In the image generation process of step S102, the image generation unit 102 generates an image as shown in FIG. 8 or 9. In step S103, the display control unit 105 transmits the image generated in the image generation process of step S102 to the HUD device 13. Upon receiving the image, the HUD device 13 projects the image toward the windshield WS. As a result, image content as shown in FIG. 8 or 9 is imaged in the imaging area IA.

In step S104, the receiving unit 101 determines whether deviation information has been received from the driving support ECU 60. If deviation information has not been received (NO), the process returns to step S102. On the other hand, if deviation information is received (YES), the process branches to step S105.

In step S105, the image generation unit 102 executes the image generation process shown in FIG. 6 to generate an image. In the image generation process of step S105, the image generation unit 102 generates an image as shown in FIG. In step S106, the display control unit 105 transmits the image generated in the image generation process of step S105 to the HUD device 13. Upon receiving the image, the HUD device 13 projects the image toward the windshield WS. As a result, image content as shown in FIG. 10 is imaged in the imaging area IA.

In step S107, the time measuring unit 103 determines whether a predetermined time has elapsed since the receiving unit 101 determined to have received the deviation information in step S104. If the predetermined time has not elapsed (NO), the process returns to step S105. On the other hand, if the predetermined time has elapsed (YES), the process branches to step S108 in FIG. In step S108, the receiving unit 101 determines whether a warning display instruction has been received from the driving support ECU 60. If the warning display instruction has not been received (NO), the process branches to step S109.

In step S109, the image generation unit 102 acquires the latest running line information from the volatile storage device 130, and executes the image generation process shown in FIG. 6 to generate an image. In the image generation process of step S109, the image generation unit 102 generates images as shown in FIGS. 12 to 15. In step S110, the display control unit 105 transmits the image generated in the image generation process of step S109 to the HUD device 13. Upon receiving the image, the HUD device 13 projects the image toward the windshield WS. As a result, image contents as shown in FIGS. 12 to 15 are imaged in the imaging area IA.

In step S111, the line determination unit 104 determines whether the positions of the planned travel line drawn in the virtual three-dimensional space in the image generation process of step S109 match the positions of the recommended travel line. If the positions of the planned travel line and the recommended travel line do not match (NO), the process returns to step S108. On the other hand, if the positions of the planned travel line and the recommended travel line match (YES), the process branches to step S112.

In step S112, the image generation unit 102 acquires the latest running line information from the volatile storage device 130, and executes the image generation process shown in FIG. 6 to generate an image. In the image generation process of step S112, the image generation unit 102 generates an image as shown in FIG. 16. In step S113, the display control unit 105 transmits the image generated in the image generation process of step S112 to the HUD device 13. Upon receiving the image, the HUD device 13 projects the image toward the windshield WS. As a result, image contents CT8 and CT9 as shown in FIG. 16 are imaged in the imaging area IA.

Image contents CT8 and CT9 are superimposed contents and are displayed along road lines RL1 and RL2 in front of vehicle A. It is preferable that the image contents CT8 and CT9 have a different display mode from the image contents CT1D, CT2D, CT5, and CT6 shown in FIG. 12. For example, when image contents CT1D, CT2D, CT5, and CT6 are displayed as broken lines or dotted lines, image contents CT8 and CT9 can be displayed as solid lines. Furthermore, the display colors of the image contents CT8 and CT9 may be different from the display colors of the image contents CT1D, CT2D, CT5, and CT6.

If it is determined in step S108 that a warning display instruction has been received (YES), the process branches to step S114. In step S114, the display control unit 105 transmits a warning image instructing the driver of vehicle A to operate the steering wheel to the HUD device 13, and the process in FIG. 5 ends. Upon receiving the warning image, the HUD device 13 projects the warning image toward the windshield WS. As a result, image content CT10 as shown in FIG. 17 is imaged in the imaging area IA. Image content CT10 is non-superimposed content that prompts the driver of vehicle A to operate the steering wheel.

As described above, when the display control device 100 receives deviation information from the driving support ECU 60 while the lane keeping control function is being executed, the image generation unit 102 generates an image having deviation notification content. Then, the display control unit 105 provides the HUD device 13 with an image having the deviation notification content, and causes the HUD device 13 to display the image. As a result, the deviation notification content is displayed in front of the driver of vehicle A. Therefore, by visually recognizing the deviation notification content, the driver can understand that there is a possibility that the vehicle A may deviate from the driving lane due to the limit of the lane keeping control function, which improves convenience for the driver.

Further, the deviation notification content includes image content showing a scheduled driving line based on the lane keeping control function. As shown in FIGS. 12 to 15, the planned travel line is displayed so as to deviate from the line along the road ahead of vehicle A in the centrifugal direction. This makes it more clear that vehicle A is deviating from the driving lane, and it becomes easier for the driver to understand that vehicle A may deviate from the driving lane due to the limits of the lane keeping control function. .

Further, the image generation unit 102 generates an image having image content indicating a scheduled travel line based on the lane keeping control function and image content indicating a line along the road ahead of the vehicle A. Then, the display control unit 105 provides images having these image contents to the HUD device 13 for display.

As a result, if there is a possibility that vehicle A will deviate from the driving lane due to the limits of the lane keeping control function, the planned driving line based on the lane keeping control function and the road ahead beyond the starting point of the planned driving line will be changed. The lines appear separated. Therefore, the driver can visually see that the planned driving line based on the lane keeping control function and the line along the road ahead, which is the recommended driving line, are divergent, and due to the limit of the lane keeping control function, vehicle A is not in the driving lane. It becomes easier to understand that there is a possibility of deviation from the

Furthermore, the image generation unit 102 generates an image such that the display mode of the scheduled travel line based on the lane keeping control function is different from the display mode of the line along the road ahead (FIG. 11). The display control unit 105 then provides the image including these lines to the HUD device 13 for display (FIG. 12). As a result, the planned travel line and the line along the road ahead are displayed in different display formats. Therefore, it becomes easier for the driver to visually recognize that the planned driving line based on the lane keeping control function and the line along the road ahead, which is the recommended driving line, deviate from each other. It becomes easier to understand that there is a possibility of deviating from the driving lane.

Furthermore, the departure notification content further includes image content that prompts a driving operation of the vehicle A as shown in FIG. The image content that prompts driving operation includes image content that urges operation of the steering wheel of vehicle A, and image content that indicates the steering direction of the steering wheel necessary for vehicle A to travel without deviating from the driving lane. The display control unit 105 provides the image having the image content to the HUD device 13 for display.

As a result, image content that prompts the driver of vehicle A to operate the vehicle A is displayed in front of the driver of vehicle A. Therefore, by visually checking the image content, the driver can recognize that a driving operation of the vehicle is required, and can also determine the steering direction necessary for vehicle A to travel without deviating from the driving lane. can be grasped. As a result, vehicle A can be prevented from deviating from the driving lane.

Furthermore, as shown in FIG. 11, the image generation unit 102 generates a line along the road ahead located before the curve start position CP corresponding to the start point of the planned travel line based on the lane keeping control function, and a lane keeping control function. An image is generated in which the planned travel line based on the function is continuous. Then, the display control unit 105 provides an image in which these lines are continuous to the HUD device 13 for display. Thereby, it is possible to prevent the driver from feeling uncomfortable due to discontinuity between the line along the road ahead located before the starting point of the scheduled driving line based on the lane keeping control function and the scheduled driving line.

Furthermore, the image generation unit 102 generates an image having image content showing a line along the road ahead of the vehicle A, and image content showing the line along which the vehicle A is scheduled to travel in response to a steering wheel operation by the driver of the vehicle A. generate. Then, the display control unit 105 provides the image to the HUD device 13 for display. This allows the driver to visually recognize the line along the road ahead, which is the recommended driving line, and the planned driving line based on the driver's steering wheel operation. Therefore, the driver can visually recognize the amount of steering wheel operation required to drive the vehicle A along the recommended travel line, improving convenience for the driver.

<Other embodiments>
The present disclosure is not limited to the embodiments described above, and can be implemented with various changes. For example, in another embodiment, characters indicating that the vehicle A deviates from the driving lane may be used as the deviation notification content. In other embodiments, the image content that prompts the driver of vehicle A to operate the brakes may be adopted as the image content that urges the driver of vehicle A to operate the brakes. Furthermore, in other embodiments, an image having image content instructing a brake operation may be adopted as the warning image.

The functions and methods described in this disclosure can be implemented by a special purpose computer manufactured by configuring a processor programmed to perform one or more specific functions implemented in a computer program. . Additionally, the devices and methods described in this disclosure may be implemented with dedicated hardware logic circuits such as field programmable gate arrays (FPGAs) and application specific integrated circuits (ASICs). Additionally, 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. . A computer program may be stored on a computer-readable non-transitory tangible storage medium as instructions for execution by a computer.

100 display control device, 102 image generation unit, 105 display control unit, 110 processor, 13 head-up display, A vehicle

Claims (6)

A display control device that controls the display of a head-up display (13) installed in a vehicle (A),
an image generation unit (102) that generates an image to be displayed on the head-up display when a lane maintenance control function that causes the vehicle to travel within a driving lane is executed;
a display control unit (105) for providing and displaying the image generated by the image generation unit on the head-up display;
The image generation unit may be arranged such that when the road ahead of the vehicle is curved and the vehicle runs on the road ahead, there is a possibility that the vehicle deviates from the driving lane due to a limit of the lane keeping control function. When, generating an image having deviation notification content that is image content indicating that,
The display control unit provides an image having the deviation notification content to the head-up display for display,
The deviation notification content includes image content showing a scheduled travel line on which the vehicle is scheduled to travel by the lane keeping control function,
The image content indicating the planned travel line is displayed so as to deviate from the line along the road ahead in a centrifugal direction,
The image generation unit generates an image having image content indicating the planned travel line and image content indicating a line along the road ahead,
The display control unit provides images having these image contents to the head-up display for display.
Display control device. The display control device according to claim 1, wherein a display mode of the scheduled travel line and a display mode of the line along the road ahead are different. The display control device according to claim 1 or 2, wherein the deviation notification content further includes image content that prompts a driving operation of the vehicle. The image content that prompts the driving operation includes image content that prompts the driver to operate the steering wheel of the vehicle, and image content that indicates the steering direction of the steering wheel necessary for the vehicle to travel without deviating from the driving lane. The display control device according to claim 3. The image generation unit generates an image in which a line along the road ahead of the starting point of the planned travel line is continuous with the planned travel line,
The display control device according to claim 1, wherein the display control section provides an image in which these lines are continuous to the head-up display for display. A display control program that controls the display of a head-up display (13) installed in a vehicle (A), the program comprising:
When the road ahead of the vehicle is curved, when the vehicle travels on the road ahead, there is a possibility that the vehicle will deviate from the travel lane due to a limit of a lane maintenance control function that causes the vehicle to travel within the travel lane. If there is, an image having deviation notification content that is image content indicating that is generated (S105, S109),
An image having the deviation notification content is provided to the head-up display for display (S106, S110).
perform processing including
The deviation notification content includes image content showing a scheduled travel line on which the vehicle is scheduled to travel by the lane keeping control function,
The image content indicating the planned travel line is displayed so as to deviate from the line along the road ahead in a centrifugal direction,
Further, generating an image having image content showing the planned travel line and image content showing a line along the road ahead;
A display control program that causes an image having these image contents to be provided and displayed on the head-up display.

Images