JP7666239B2 - Vehicle display device - Google Patents

Description

The present invention relates to a display device for a vehicle.

The following Patent Document 1 discloses a route control assistance device in which multiple light emitting diodes (LEDs) are provided on the top surface of the vehicle's instrument panel. This device is configured to be able to change the number, brightness, and color of the LEDs that are emitted depending on the magnitude of the deviation when the vehicle deviates from a target state of the driving lane.

JP 2007-512636 A

However, there is room for improvement in more intuitively communicating to drivers the high risk of the vehicle leaving its lane.

In consideration of the above, the present invention aims to provide a vehicle display device that can intuitively inform the driver of the high risk of the vehicle deviating from its lane.

A vehicle display device according to one aspect of the present invention includes a surrounding environment information acquisition unit that acquires surrounding environment information for the vehicle including a pair of left and right road surface lines of the traveling lane in front of the vehicle; a vehicle information acquisition unit that acquires vehicle information including vehicle speed, acceleration, and yaw rate; a pair of left and right light-emitting units that are arranged within the vehicle cabin and are configured to emit light in a direction that is more inward than the pair of left and right road surface lines of the traveling lane and extends in approximately the same direction as the pair of left and right road surface lines in the driver's forward field of vision during normal driving; and a display unit that determines whether the vehicle is attempting to deviate from the traveling lane and the level of risk of deviation from the vehicle speed, lateral speed, lateral position, and departure angle obtained from the road surface lines, the vehicle speed, the acceleration, and the yaw rate, and when it is determined that the vehicle is attempting to deviate, changes and displays at least one of the blinking period of the light-emitting unit on the side where deviation is occurring and the movement speed of the light emitted in a flowing manner from the light-emitting unit depending on the level of risk of deviation.

In the vehicle display device according to the embodiment of the present invention, the pair of left and right light emitting units are arranged in the vehicle cabin so that light can be seen inside the pair of left and right road surface lines of the driving lane in the driver's forward field of vision during normal driving. Also, the pair of left and right light emitting units are configured so that light can be seen in a direction extending in approximately the same direction as the pair of left and right road surface lines in the driver's forward field of vision. However, the "road surface lines" referred to here refer to lines marked on the lane such as center lines, lane boundary lines, and roadside strips.

Here, in the display unit , when the vehicle is about to deviate from the driving lane to the right, the right light-emitting unit is illuminated at the timing when the extension of the road surface line on the right side overlaps with the right light-emitting unit in the driver's forward visual field. Similarly, when the vehicle is about to deviate from the driving lane to the left, the left light-emitting unit is illuminated at the timing when the extension of the road surface line on the left side overlaps with the left light-emitting unit in the driver's forward visual field. As a result, when the vehicle is about to deviate from the driving lane, the road surface line on the side where the vehicle is about to deviate is pseudo-extended and displayed inside the vehicle cabin in the driver's forward visual field. Therefore, the driver can intuitively receive the notification of lane departure while keeping his or her eyes facing forward.

In addition, in an aspect of the present invention, when a vehicle is about to deviate from a driving lane, at least one of the blinking cycle of the light-emitting unit on the side of the vehicle about to deviate and the moving speed of the light emitted from the light-emitting unit in a flowing manner is changed by the display unit according to the level of the risk of the vehicle deviating from the driving lane (hereinafter, appropriately referred to as the "departure risk"). In other words, when the departure risk is high, the driver receives a strong notification from the light-emitting unit, and when the departure risk is low, the driver receives a weak notification from the light-emitting unit.

As described above, the vehicle display device according to the present invention has the excellent effect of being able to intuitively inform the driver of the high risk of the vehicle deviating from its lane.

1 is a schematic diagram of a front passenger compartment portion including an instrument panel of a vehicle equipped with a vehicle display device according to an embodiment of the present invention, as viewed from a driver's side. FIG. 2 is a block diagram illustrating a control system for the vehicle display device shown in FIG. 1 . 2 is a flowchart showing a process executed in an ECU of the vehicle display device shown in FIG. 1 .

The following describes a vehicle display device according to one embodiment of the present invention with reference to Figures 1 to 3. Note that the arrow UP in Figure 1 indicates the upper and lower sides of a vehicle equipped with a vehicle display device according to this embodiment, and the arrows LH and RH indicate the left and right sides of the vehicle in the left-right direction. Furthermore, when the directions front-rear, left-right, and up-down are used in the following description unless otherwise specified, they are intended to refer to the front-rear, left-right, and up-down directions, respectively, of a vehicle equipped with a vehicle display device according to this embodiment.

Figure 1 shows the front portion 16 of the passenger compartment 14 of a vehicle 12 equipped with a vehicle display device 10 (hereinafter referred to as the "front passenger compartment 16"). An instrument panel 18 is disposed in the front passenger compartment 16 and extends in the vehicle width direction. In addition, a front windshield 20 is provided in front of the instrument panel 18 to separate the interior of the passenger compartment 14 from the exterior of the passenger compartment 14.

At the upper end of the front windshield 20, in the center in the left-right direction, a front camera 22 is provided to capture an image of the area in front of the vehicle 12. The front camera 22 may be a monocular camera or a compound-eye camera. In addition to the front camera 22, other sensors such as radar (Radio Detecting and Ranging) or lidar (Light Detection and Ranging or Laser Imaging Detection and Raging) may be used to obtain information of the area in front of the vehicle 12. Furthermore, a combination of multiple of these sensors may be mounted on the vehicle 12.

A steering wheel 24 is disposed on the left rear side of the instrument panel 18. That is, the vehicle 12 is a left-hand drive vehicle with the driver's seat on the left side. FIG. 1 is a view of the vehicle as seen from a driver seated in the driver's seat (not shown). In the driver's forward field of view seen through the front windshield 20, a roadside strip LM is marked as a road surface line on the left side of the driving lane DL in which the vehicle 12 is traveling. In addition, a lane change line RM is marked as a road surface line on the right side of the driving lane DL. In the following description, the left side strip LM and the right lane change line RM of the driving lane DL will be referred to as the "pair of left and right road surface lines M" as appropriate.

A meter panel 26 is disposed on the upper left surface of the instrument panel 18, in front of the steering wheel 24. The meter panel 26 has a height in the vertical direction of the vehicle, and is formed in a generally U-shape with an open rearward side in a plan view. The meter panel 26 is provided with a display 28 capable of displaying meters such as a speedometer toward the driver. The meter panel 26 also includes a left panel 30 and a right panel 32 that extend from the left and right ends of the display 28 toward the rearward side of the vehicle. The left panel 30 and the right panel 32 each extend in the longitudinal direction of the vehicle, moving away from each other as they approach the rearward side of the vehicle. Note that the display 28 is not limited to a digital type, and an analog type meter having a pointer may also be used.

(Pair of left and right light emitting units 34)
Here, a left-side light-emitting unit 30A is provided at the upper end of the left-side panel 30, along the upper end of the left-side panel 30. Similarly, a right-side light-emitting unit 32A is provided at the upper end of the right-side panel 32, along the upper end of the right-side panel 32. In the following description, the left-side light-emitting unit 30A and the right-side light-emitting unit 32A will be collectively referred to as "a pair of left and right light-emitting units 34" as appropriate.

The pair of left and right light emitting elements 34 are disposed in positions that are visible inside the pair of left and right road surface lines M in the driver's forward field of vision when the vehicle 12 is being driven normally (when the vehicle 12 is driving approximately in the center of the driving lane DL).

The pair of left and right light-emitting units 34 are provided with multiple light sources (not shown) and are arranged to extend in approximately the same direction as the pair of left and right road surface lines M in the driver's forward field of vision. Explaining the example shown in FIG. 1, the left light-emitting unit 30A is provided with multiple light sources and extends in a strip shape in approximately the same direction as the roadside strip LM on the left side of the driving lane DL. Similarly, the right light-emitting unit 32A is provided with multiple light sources and extends in a strip shape in approximately the same direction as the lane change line RM on the right side of the driving lane DL. As an example, decorative LEDs are used as the multiple light sources in the pair of left and right light-emitting units 34. Note that the pair of left and right light-emitting units 34 may use other light sources other than the multiple decorative LEDs.

Furthermore, the pair of left and right light-emitting units 34 are each configured to be able to change the blinking cycle. Also, the pair of left and right light-emitting units 34 are each configured to be able to move so that light flows from rear to front by sequentially emitting light from multiple light sources. Note that the direction in which the light flows is not limited to rear to front, but may be any other direction along the road surface line M in the driver's forward field of vision (for example, from front to rear in this embodiment).

(Control system of the vehicle display device 10)
Next, the control system of the vehicle display device 10 will be briefly described with reference to the block diagram shown in Fig. 2. As shown in Fig. 2, the vehicle 12 is provided with a pair of left and right side cameras 36 for capturing images of the sides of the vehicle 12, in addition to the front camera 22, as sensors for acquiring information on the surrounding environment of the vehicle 12. The vehicle 12 is also provided with a vehicle speed sensor 38 for measuring the vehicle speed, an acceleration sensor 40 for measuring acceleration in the front-rear and left-right directions, and a yaw rate sensor 42 for measuring the yaw rate around an axis in the up-down direction, as sensors for acquiring information on the vehicle itself. Furthermore, the steering wheel 24 shown in Fig. 1 is provided with a direction indicator 44 for indicating the driver's intention to change lanes.

The vehicle display device 10 includes an ECU (Electronic Control Unit) 50 that can control a pair of left and right light-emitting elements 34 based on information acquired by sensors such as a front camera 22. The ECU 50 includes a data acquisition unit 52 that acquires data from the sensors, and a data output unit 66 that outputs data processed by the ECU 50 to each of the pair of left and right light-emitting elements 34.

Here, the ECU 50 is functionally configured to include a road surface line recognition unit 54 that recognizes road surface lines M, and a calculation unit 56 that performs calculation processing based on information from the sensors. Furthermore, the ECU 50 is equipped with a lane departure judgment unit 58 that judges whether the vehicle 12 will deviate from the driving lane DL, and a notification necessity judgment unit 60 that judges whether to notify the driver of the lane departure. Furthermore, the ECU 50 is equipped with a departure risk judgment unit 62 that judges the level of risk that the vehicle 12 will deviate from the driving lane DL (the degree of danger including the harm that may occur if the vehicle 12 deviates from the driving lane DL) based on each data calculated by the calculation unit 56.

The ECU 50 also includes a lighting control unit 64 that determines the display color, blinking cycle, and light movement speed of the pair of left and right light-emitting units 34 according to the level of departure risk determined by the departure risk determination unit 62. The display unit in the present invention is composed of the lighting control unit 64 and a data output unit 66. Here, the blinking cycle and light movement speed of the pair of left and right light-emitting units 34 are each configured to be continuously changeable by the lighting control unit 64. Furthermore, the light color, blinking cycle, and light movement speed of the pair of left and right light-emitting units 34 according to the departure risk are configured to be freely customizable by the driver operating the display device 46 (see FIG. 1) provided in the driver's seat.

Next, the process executed by the ECU 50 of the vehicle display device 10 will be described using the flowchart shown in FIG. 3. This flowchart is executed at a predetermined time interval when the vehicle 12 is traveling in the driving lane DL, for example, as shown in FIG. 1.

First, in step 100, the data acquisition unit 52 acquires surrounding environment information from the front camera 22 and the side camera 36. In addition, vehicle information is acquired from the vehicle speed sensor 38, the acceleration sensor 40, and the yaw rate sensor 42. In addition, data on whether the turn signal 44 is activated is acquired from the turn signal 44 (see FIG. 2).

Next, in step 102, the road surface line recognition unit 54 determines whether or not a road surface line exists in the driving lane based on the image data captured by the front camera 22 (see FIG. 2). If the result in step 102 is positive, i.e., if the road surface line M (side strip LM and lane change line RM) is detected in the driving lane DL as in this embodiment, the process proceeds to the next step 104. On the other hand, if the result in step 102 is negative, i.e., if no road surface line is detected on either the left or right side of the driving lane, the process ends.

In step 104, the calculation unit 56 calculates the vehicle speed, lateral speed, lateral position, and departure angle of the vehicle 12 based on the various data obtained by the data acquisition unit 52 and the data of the road surface line M detected by the road surface line recognition unit 54 (see FIG. 2). Here, the lateral position refers to the position of the vehicle 12 in the width direction of the driving lane DL. Also, the departure angle refers to the angle between the direction of the driving lane DL and the traveling direction of the vehicle 12.

In step 106, the lane departure determination unit 58 (see FIG. 2) determines whether or not the vehicle 12 is likely to depart from the driving lane DL, or whether or not the vehicle 12 has already departed from the driving lane DL, based on the lateral speed, lateral position, and departure angle calculated in step 104.

If the result in step 106 is YES, i.e., if it is determined that the vehicle 12 may deviate from the driving lane DL, or if it is determined that the vehicle 12 has already deviated from the driving lane DL, the process proceeds to step 108. For example, if it is determined that the vehicle 12 shown in FIG. 1 may cross the right lane change lane RM, the process proceeds to step 108. On the other hand, if the result in step 106 is NO, i.e., if it is determined that the vehicle 12 is not likely to deviate from the driving lane DL, the process ends. Note that it is not necessary to use all of the vehicle speed, lateral speed, lateral position, and departure angle as factors for determining whether or not the vehicle 12 is likely to deviate, and other factors may also be used for the determination.

In step 108, the notification necessity determination unit 60 confirms the driver's intention to change lanes based on the signal of the turn indicator 44 obtained by the data acquisition unit 52, and determines whether or not it is necessary to notify the driver of lane departure (see FIG. 2). If the turn indicator 44 is not operated, it is determined that there is a possibility of lane departure even though the driver has no intention of changing lanes. In this case, it is determined that it is necessary to notify the driver, and the process proceeds to step 110. On the other hand, if the turn indicator 44 is operated, it is determined that there is a possibility that the driver will cross the road line M with the intention of changing lanes. In this case, it is determined that there is no need to notify the driver, and the process ends. Note that the means for confirming the driver's intention to change lanes is not limited to the operation of the turn indicator 44, and other means may be used.

In step 110, the risk (degree of danger) of the vehicle 12 deviating from the driving lane DL is determined. At this time, the deviation risk determination unit 62 determines the degree of deviation risk based on the vehicle speed and acceleration of the vehicle 12 calculated by the calculation unit 56 and the image data of the side of the vehicle 12 captured by the side camera 36 and acquired by the data acquisition unit 52 (see FIG. 2). For example, the deviation risk is determined to be high when the vehicle speed is fast, the vehicle 12 is accelerating, or there are other vehicles, pedestrians, obstacles, etc. on the side from which the vehicle 12 is about to deviate. On the other hand, the deviation risk is determined to be low when the vehicle speed is slow, the vehicle 12 is decelerating, or there is nothing on the side from which the vehicle 12 is about to deviate. It is not necessary to use all of the vehicle speed, acceleration, and side image as factors for determining the deviation risk, and other factors may also be used for the determination.

Finally, in step 112, the display color, blinking cycle, and light movement speed of the pair of left and right light-emitting units 34 are determined in the lighting control unit 64. Then, a signal is output from the data output unit 66 to the pair of left and right light-emitting units 34, thereby changing the display color, blinking cycle, and light movement speed of the left light-emitting unit 30A and the right light-emitting unit 32A, respectively (see FIG. 2). Specific examples of the display color, blinking cycle, and light movement speed of the pair of left and right light-emitting units 34 will be described later in the section on action and effect.

(Actions and Effects of the Present Embodiment)
Next, the operation and effects of this embodiment will be described.

As shown in FIG. 1, in the vehicle display device 10 according to this embodiment, the left light-emitting unit 30A is provided at the upper end of the left panel 30 of the meter panel 26 of the instrument panel 18. The right light-emitting unit 32A is provided at the upper end of the right panel 32. The pair of left and right light-emitting units 34 are disposed in positions that are visible inside the pair of left and right road lines M in the driver's forward field of vision during normal driving. The pair of left and right light-emitting units 34 each have multiple light sources that are oriented to extend in approximately the same direction as the pair of left and right road lines M in the driver's forward field of vision.

Here, according to the vehicle display device 10 of this embodiment, as shown in FIG. 1, when the vehicle 12 is about to deviate from the driving lane DL to the right, the right light emitting unit 32A is illuminated at the timing when the extension of the right lane changing line RM overlaps with the right light emitting unit 32A in the driver's forward visual field. Also, when the vehicle 12 is about to deviate from the driving lane DL to the left, the left light emitting unit 30A is illuminated at the timing when the extension of the left side strip LM overlaps with the left light emitting unit 30A in the driver's forward visual field. Therefore, when the vehicle 12 is about to deviate from the driving lane DL, the road surface line M on the side of the lane that is about to deviate is pseudo-extended and displayed inside the vehicle interior 14 in the driver's forward visual field. This allows the driver to intuitively receive a notification of lane departure while keeping his or her eyes directed forward.

Furthermore, according to the vehicle display device 10 of this embodiment, when the vehicle 12 is about to deviate from the driving lane DL, the departure risk determination unit 62 determines the level of the departure risk. Then, depending on the level of the departure risk, the lighting control unit 64 determines the blinking cycle and the light movement speed of the left light-emitting unit 30A and the right light-emitting unit 32A, respectively. The blinking cycle and the light movement speed thus determined are output from the data output unit 66 to the left light-emitting unit 30A and the right light-emitting unit 32A, and at least one of the blinking cycle and the light movement speed of the light-emitting unit (left light-emitting unit 30A or right light-emitting unit 32A) on the side from which the vehicle 12 is about to deviate is changed.

This changes the strength of the notification given to the driver from the left light-emitting unit 30A or the right light-emitting unit 32A. In other words, when the deviation risk is high, the driver receives a strong notification from the left light-emitting unit 30A or the right light-emitting unit 32A, and when the deviation risk is low, the driver receives a weak notification from the left light-emitting unit 30A or the right light-emitting unit 32A.

As an example of changing the strength of the notification to the driver, there is a pattern in which the time interval between light emission and the next light emission of the light-emitting element on the side where lane departure is occurring (left light-emitting element 30A or right light-emitting element 32A) is gradually shortened in response to an increase in the departure risk. In this pattern, the pair of left and right light-emitting elements 34 do not flash during normal driving, and when there is a possibility of lane departure, the time interval between light emission and the next light emission of the left light-emitting element 30A or right light-emitting element 32A is gradually shortened. In addition, the light emission time per flash may be gradually increased while the off time per flash may be gradually shortened in response to an increase in the departure risk. As yet another example, the above patterns may be combined to gradually increase the light emission time per flash while gradually shortening the time interval between light emission and the next light emission.

As another example, there is a pattern in which the speed at which light flows from back to front in the light-emitting element on the side where lane departure is occurring (left light-emitting element 30A or right light-emitting element 32A) is gradually increased in response to an increase in the risk of departure. In this pattern, all of the multiple light sources in the pair of left and right light-emitting elements 34 are turned on during normal driving, and when there is a possibility of lane departure, the speed at which the light moves in the left light-emitting element 30A or right light-emitting element 32A gradually increases. Additionally, the speed at which the light moves may be changed and its period may be changed in response to the risk of departure.

In addition, when the departure risk is low, the light emitting unit on the side where the vehicle is about to depart (the left light emitting unit 30A or the right light emitting unit 32A) may be made to blink, and when the departure risk is high, the light emitting unit on the side where the vehicle is about to depart (the left light emitting unit 30A or the right light emitting unit 32A) may be made to emit light in a flowing manner. For example, when the vehicle 12 is likely to depart to the right but is still traveling in the driving lane DL, the right light emitting unit 32A may be made to blink, and when the vehicle 12 has crossed the lane change line RM and has already departed from the driving lane DL, the right light emitting unit 32A may be made to emit light in a flowing manner. Conversely, when the departure risk is low, the light emitting unit on the side where the vehicle is about to depart (the left light emitting unit 30A or the right light emitting unit 32A) may be made to emit light in a flowing manner, and when the departure risk is high, the light emitting unit on the side where the vehicle is about to depart (the left light emitting unit 30A or the right light emitting unit 32A) may be made to blink.

In either example, when the risk of deviation is high, the driver receives a strong notification from the left light-emitting unit 30A or the right light-emitting unit 32A, which allows the driver to feel a sense of pressure as if there is a wall on the side from which the driver is about to deviate. This allows the driver to intuitively sense the increasing risk of deviation and quickly return the vehicle 12 to the driving lane DL.

For example, during normal driving, the decorative LEDs of the pair of left and right light-emitting units 34 can be lit in cool colors such as green or blue, creating an illuminated and decorated space inside the vehicle cabin 14. On the other hand, when there is a possibility of lane departure, the decorative LEDs of the pair of left and right light-emitting units 34 can be made to flash or glow in a warm color such as orange or red, allowing the pair of left and right light-emitting units 34 to be used as warning lights. In other words, the pair of light-emitting units 34 can achieve both comfort and safety.

Furthermore, according to the vehicle display device 10 of this embodiment, the pair of left and right light-emitting units 34 are provided on the instrument panel 18. This allows the pair of left and right light-emitting units 34 to be easily arranged without competing with the mounting space of existing devices such as an air conditioner.

[Supplementary explanation of the above embodiment]
In the above embodiment, the pair of left and right light emitting units 34 are described as being provided on the left panel 30 and the right panel 32 of the meter panel 26 that is formed in a substantially U-shape in a plan view, respectively. However, the present invention is not limited to this, and may be provided on, for example, the upper surface of an instrument panel that is formed substantially flat. In this case, the pair of left and right light emitting units can be extended to the vicinity of the lower end of the front windshield 20, so that the pair of left and right road surface lines M look even more like they are extended into the passenger compartment 14. This allows the driver to more intuitively receive the notification of lane departure while keeping his or her eyes facing forward. The pair of left and right light emitting units may also be provided on, for example, the display 28. In FIG. 1, the display 28 and the pair of left and right light emitting units 34 are described as being viewed from above the steering wheel 24, but for example, if the pair of left and right light emitting units are provided on the display 28, the pair of left and right light emitting units can be viewed in a general manner of looking at the display 28 between the steering wheel 24.

The pair of left and right light-emitting units 34 may be provided on other equipment in the vehicle cabin, not limited to the instrument panel 18, such as a yoke-type steering wheel, a head-up display (HUD), or a separate display device disposed near the instrument panel. For example, when the pair of left and right light-emitting units are provided on a plane that is substantially perpendicular to the fore-aft direction of the vehicle, the pair of left and right light-emitting units each extend substantially in the vertical direction of the vehicle. In this case, the pair of left and right light-emitting units may be disposed so as to face substantially in the same direction as the pair of left and right road surface lines M in the driver's forward field of vision, and to approach each other as they move toward the upper side of the vehicle.

Furthermore, while the vehicle 12 has been described as a left-hand drive vehicle with the driver's seat on the left side, the vehicle is not limited to this and may be a right-hand drive vehicle with the driver's seat on the right side. The vehicle 12 may also be an autonomous vehicle, or a vehicle that can switch between autonomous and manual driving. Furthermore, the vehicle 12 may be equipped with not only a device that notifies the driver of lane departure, but also a device that suppresses lane departure.

Furthermore, in the above embodiment, the calculation unit 56 calculates the vehicle speed, lateral speed, lateral position, and departure angle of the vehicle 12, and then the lane departure determination unit 58, the notification necessity determination unit 60, and the departure risk determination unit 62 perform processing in this order (see steps 104 to 110 in Figures 2 and 3), but this is not limited to the above. For example, the presence or absence of a departure possibility may be determined based on the lateral speed and lateral position, and then the speed of the vehicle 12 may be calculated only if there is a possibility of departure, and the necessity of notification may be determined based on this vehicle speed. Also, for example, the departure risk may be determined, and then the necessity of notification may be determined based on this departure risk.

In addition, in the above embodiment, the display color, blinking cycle, and light movement speed of the pair of left and right light-emitting elements 34 are changed according to the level of risk that the vehicle 12 will deviate from the driving lane DL (the degree of danger including the potential for harm if the vehicle 12 deviates from the driving lane DL), but this is not limiting, and the display color, blinking cycle, and light movement speed of the light-emitting elements may be changed simply according to the likelihood of deviation.

10 Vehicle display device 12 Vehicle 14 Vehicle interior 30A Left side light emitting unit (light emitting unit)
32A Right side light emitting part (light emitting part)
34 Left and right pair of light emitting parts DL Travel lane LM Roadside strip (road surface line)
RM Lane change line (road surface line)
M: A pair of left and right road surface lines 64: Lighting control unit (display unit)
66 Data output unit (display unit)

Claims (1)

a surrounding environment information acquisition unit that acquires surrounding environment information of the vehicle including a pair of left and right road surface lines of a driving lane in front of the vehicle;
A vehicle information acquisition unit that acquires vehicle information including a vehicle speed, an acceleration, and a yaw rate;
a pair of left and right light emitting units arranged in a vehicle cabin and configured to emit light visible in a forward field of vision of a driver during normal driving, the light emitting units being configured to emit light in a direction that is inside the pair of left and right road surface lines of a driving lane and that extends in substantially the same direction as the pair of left and right road surface lines;
a display unit which determines whether the vehicle is about to deviate from the driving lane and the level of the risk of deviation from the vehicle speed, lateral speed, lateral position, and deviation angle obtained from the road surface lines, the vehicle speed, the acceleration, and the yaw rate, and when it is determined that the vehicle is about to deviate , changes and displays at least one of the blinking cycle of the light-emitting unit on the side where the vehicle is about to deviate and the moving speed of the light emitted in a flowing manner from the light-emitting unit according to the level of the risk of deviation;
A vehicle display device having the following: