JP2010176591A - Display device for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a display device for a vehicle which is simple in configuration and visually warns a driver about the existence of an obstacle by display that is easy for the driver to visually recognize. <P>SOLUTION: A secondary warning zone 40 occupies 50 meters ahead, and when a pedestrian H is detected within the secondary warning zone 40, a red LED element 12 generates secondary warning information. A primary warning zone 44 is located at this side within 50 meters ahead, and occupies areas outside right and left sides more than right and left white lines 42, and when an obstacle is detected within the primary warning zone 44, a green LED element 10 of a LED display device 8 generates primary warning information. In the primary warning information and the secondary warning information, the LED elements 10 and 12 are controlled so that a warning mark A is reflected on a portion corresponding to the vicinity of the feet of the pedestrian H on a windshield 20 when the driver looks at the pedestrian H from an eye point EP on a virtual line connecting the pedestrian H and the eye point EP. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a vehicle display device, and more particularly to a display device related to driving assistance.

  The development of driving support technology that monitors the surroundings of a running vehicle and informs the driver of the presence of obstacles that may collide (such as pedestrians, bicycles, and motorcycles) is progressing. For example, in Patent Document 1, a projection mechanism for projecting a light beam having a predetermined shape such as a laser or a spot light source toward a front window glass is installed on an instrument panel, and the collision risk extracted from obstacles around the host vehicle is set. It proposes projecting an image of a pedestrian or bicycle toward the windshield.

  Specifically, Patent Document 1 includes a camera, a navigation device, and a radar. The camera captures the surroundings of the host vehicle, and the radar measures a distance to an obstacle. Edge detection processing and contour extraction processing are performed from an image captured by the camera to recognize a white line that defines a lane by a pattern matching method, and an obstacle such as a pedestrian extracted from the image is recognized. Then, the collision risk of the obstacle is determined using position information from the navigation device and the radar, and an obstacle having a collision risk of a predetermined level or more is displayed on the windshield to alert the driver.

  In Patent Document 2, for the purpose of improving the visibility of the route guidance information by the navigation device, a plurality of LEDs are arranged radially or in a matrix from the driver's seat on the instrument panel near the front window glass, It has been proposed to indicate the direction by controlling the display of the LED group based on the guidance information obtained from the navigation device. The LED display is color-coded according to the degree of danger. A yellow display is used for general attention, and a red display is used for special attention.

JP 2008-62762 A JP 2000-242897 A

  In the examples of Patent Documents 1 and 2, a navigation device is required. However, as is known, a navigation device is expensive, and assists the driver based on position information and map information captured from the navigation device. In order to generate information for this, complicated processing is required.

  An object of the present invention is to provide a vehicle display device that has a simple configuration and can visually warn the driver of the presence of an obstacle by a display that is easy for the driver to visually recognize.

According to the present invention, the above technical problem is
A light emitter display device disposed on an instrument panel on the driver side, and controls the lighting of a plurality of light emitters included in the light emitter display device, thereby allowing light emitted from the light emitter display device to be emitted from the front window. A vehicle display device that reflects information on a glass and transmits information to a driver,
A plurality of imaging means arranged to be spaced apart in the vehicle width direction to image the front of the host vehicle through the front window glass;
Obstacle detection means for detecting an obstacle from an image captured by the imaging means;
Distance detecting means for detecting a distance from the image captured by the imaging means to the obstacle;
Zone determination means for determining whether or not the obstacle detected by the obstacle detection means and the distance detection means is located in a preset alarm zone;
Control means for controlling lighting of the light emitter display device so that an alarm mark appears in the vicinity of a lower end of the obstacle visible on the front window glass when the obstacle is located in the alarm zone; This is achieved by providing a display device for a vehicle characterized by having the above-mentioned. Here, an LED can be mentioned as a typical example of the light emitter.

  In other words, according to the present invention, the light emitted from the light emitter display device installed on the instrument panel is reflected by the front window glass so that the driver can visually recognize the light, so that the driver without an accessory device such as a projector can be obtained. The alarm mark can be visually recognized, and the system can be simplified correspondingly. In addition, an alarm mark appears in the vicinity of the lower end of the obstacle visually recognized by the driver through the front window glass, and this alarm mark does not interfere with the obstacle. Inhibition can be prevented.

In a preferred embodiment of the present invention,
The warning zone is divided into a plurality of warning zones according to the strength of the degree of alerting the driver,
In the control means, control different for each alarm zone is performed on the light emitter display device according to the alarm zone where the obstacle is located. In this way, the alarm zone is divided into a plurality of areas, and a different light emitter display device is controlled for each alarm zone, so that the driver can immediately determine the urgency of the collision avoidance operation by the display mode of the alarm mark displayed on the windshield. Can be recognized.

In a preferred embodiment of the present invention,
A white line extracting means for extracting a white line defining a travel path from an image captured by the imaging means;
In the control means, lighting of the light emitter display device is controlled so that a white line display mark near the obstacle is reflected on the front window glass among the white lines extracted by the white line extraction means. Thus, since the white line display mark is reflected on the front window only in the vicinity of the obstacle, the driver can find the obstacle in the road without feeling the inconvenience of the light emitted by the light emitter display device. It is possible to immediately recognize whether there is an obstacle or a side of the road.

In a preferred embodiment of the present invention,
Based on the obstacle detected by the obstacle detection means, the movement position of the obstacle after a predetermined time is obtained, and the warning mark is displayed on the front window glass at the movement position of the obstacle after the predetermined time. As described above, the control means controls the light emitter display device. By performing such control, the driver can perform an accurate collision avoidance operation based on the predicted position of the obstacle.

In a preferred embodiment of the present invention,
Headlight lighting determination means for determining whether or not the headlight is lit;
When the headlight is on, the light emission is greater when the obstacle is located outside the headlight irradiation range than when the obstacle is located outside the headlight irradiation range. The display time of the alarm mark by the body display device is shortened. As a result, when the obstacle light can be confirmed by the light of the headlight, the alarm mark display time is short, so that the alarm mark is reflected on the front window glass for a long time to prevent the driver from feeling annoying. be able to.

In a preferred embodiment of the present invention,
When the headlight is on and the obstacle is located outside the irradiation range of the headlight, a simulated image of the obstacle is displayed on the front window glass instead of the warning mark. Lighting of the light emitter display device is controlled. In this way, when the obstacle is not clearly visible due to the light of the headlight, a simulated image is reflected on the windshield, so this simulated image not only indicates the presence of the obstacle but also whether the obstacle is a person or a bicycle. It is possible to promptly inform the driver of the substance of the obstacle, such as whether it is a motorcycle.

In a preferred embodiment of the present invention,
The control means is configured such that when the headlight is on and the obstacle is located outside the headlight irradiation range, the obstacle is located within the headlight irradiation range. Compared to the case, the luminance of the light emitter display device is increased. Thus, when an obstacle outside the irradiation range of the headlight cannot be seen well by the light of the headlight, the driver can be made to accurately recognize the presence of the obstacle by increasing the luminance of the light emitter display device.

1 is a plan view of a vehicle to which an embodiment is applied. It is a top view of the LED display device mounted on an instrument panel facing up. It is a figure for demonstrating the path | route of the light which the LED display apparatus mounted in the instrument panel reflects in a front window glass, and reaches | attains a driver | operator's eyes. It is a figure which shows the example of a control system of this invention with a block diagram. It is a figure for demonstrating the example which divides a warning zone into a primary and a secondary warning zone. It is a figure for demonstrating the alarm mark reflected on a front window glass. It is a flowchart for demonstrating the specific example of control of an Example. FIG. 11 is a plan view of another example of an LED display device mounted on an instrument panel facing upward. It is a figure for demonstrating the path | route of the light which the light emitted from the LED display apparatus of FIG. 8 reflects in a front window glass, and reaches | attains a driver | operator's eyes.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings.

  In FIG. 1, an automobile VC as a vehicle has left and right front wheels 1F and left and right rear wheels 1R. The vehicle VC has first and second images of the front space through the front window glass. First and second CCD cameras 2 and 4 as left and right imaging means, and the first and second cameras 2 and 4 are separated in the horizontal direction (for example, sandwiching a room mirror with the left and right sides thereof). Is arranged). The first and second imaging means are not limited to CCD cameras, and may be image sensors such as CMOS cameras, for example. In addition, a display device 8 using a light emitter (hereinafter referred to as an LED display device 8 that employs an LED as a light emitter will be described) at a portion of the instrument panel 6 positioned in front of the driver's seat. May be used.). As shown in FIG. 2, the LED display device 8 as the light emitter display device includes a plurality of green light emitting LED elements 10, a plurality of red light emitting LED elements 12, and a plurality of blue light emitting LED elements 14. The LED elements 10, 12, and 14 for each color are arranged in a matrix.

  FIG. 3 is a diagram for explaining a path along which the light of the LED display device 8 travels. In the figure, reference numeral 16 denotes a driver's seat, and 18 denotes a steering handle. The light emitted from the LED display device 8 disposed on the upper surface of the instrument panel 6 travels upward, reflects off the inclined front window glass 20, travels backward, and enters the driver's eyes. The driver's eye point is indicated by the reference symbol EP.

  FIG. 4 is a block diagram showing an entire LED display control system including a controller U (control unit) configured by using a microcomputer that constitutes a part of the vehicle display device. Imaging data is input to the controller U from the right camera 2 and the left camera 4. Here, the left and right cameras 2 and 4 arranged forward are arranged so that their optical axes are parallel to each other.

  Image data captured by the left and right cameras 2 and 4 is supplied to the controller U, and obstacle extraction processing is performed using this image data and pattern matching data (pedestrians, bicycles, motorcycles, etc.) stored in the memory 24. An obstacle (typically a pedestrian or a bicycle) is extracted by the unit 26, and the distance to the obstacle and its position are detected by the next distance and position detection processing unit 28. The method for detecting the distance to the obstacle is described in detail in Japanese Patent Application Laid-Open No. 2000-207693 and Japanese Patent Application Laid-Open No. 2006-236104, and the contents described in these documents are incorporated herein by reference. Although a detailed description is omitted, the outline is detected according to the principle of triangulation using parallax with respect to the distance to the obstacle.

  Also, reference numeral 30 in FIG. 4 indicates a white line extraction processing unit. In this white line extraction processing unit 30, image data taken from the left and right cameras 2 and 4 and pattern matching data for white lines are used. A process of extracting a white line that defines the lane is executed.

  In this embodiment, the alarm is classified into a primary alarm that alerts the driver and a secondary alarm that informs the driver that a collision avoidance operation is necessary, and the green LED element 10 is used in the primary alarm. For the alarm, the red LED element 12 is used. The primary and secondary alarms are generated by the primary alarm processing unit 32 and the secondary alarm processing unit 34. On the other hand, the blue LED element 14 is used for displaying a white line, but the display of the white line is limited to a portion of the white line continuously extending along the road that is located near the obstacle. The white line to be displayed is generated by the white line display processing unit 36.

  In FIG. 5, the area up to 50 meters ahead of the host vehicle VC is a secondary warning zone 40 that prompts the driver to perform a collision avoidance operation, and an obstacle O (pedestrian H) is detected in the secondary warning zone 40. Then, the secondary alarm information is generated by the red LED element 12 of the LED display device 8. Further, a region ahead of 50 mail and outside of the left and right sides of the left and right white lines 42 is a primary alarm zone 44 that alerts the driver, and when an obstacle is detected in the primary alarm zone 44, an LED is displayed. Primary alarm information is generated by the green LED element 10 of the display device 8. In the above description, the boundary between the primary warning zone 44 and the secondary warning zone 40 is 50 meters in front of the host vehicle VC, but this distance is determined by the driver to recognize obstacles such as pedestrians and avoidance behavior. This is a value corresponding to the distance traveled by the vehicle from the start to the collision avoidance. Therefore, this distance may be changed according to the operation response time by detecting the operation response time during normal driving of the driver. That is, for a driver whose steering operation speed or brake operation speed is slower than the standard, the distance may be lengthened to switch from the primary alarm to the secondary alarm early. For a fast driver, the distance may be shortened. Further, the distance of this boundary may be changed according to the vehicle speed or the road surface μ. For example, when traveling at a relatively high speed or on a low μ road, since the distance that the vehicle travels until collision avoidance is increased for the same operation time, the boundary distance is changed to 60 meters, for example. The distance to the boundary between the primary alarm zone 44 and the secondary alarm zone 40 may be changed according to the vehicle state or the environmental state such as the vehicle speed and the road surface μ.

  FIG. 6 shows a display example. In the display example of FIG. 6, on the virtual line connecting the pedestrian H and the driver's eye point EP, when the pedestrian H is viewed from the eye point EP, the feet of the pedestrian H on the windshield 20 are displayed. The green or red lighting of the LED display device 8 is controlled so that an alarm mark A having a circular shape or a long and narrow elliptical shape is reflected in a portion corresponding to the vicinity. The alarm mark A generated by the green LED element 10 is primary alarm information, and the alarm mark A generated by the red LED element 12 is secondary alarm information. Further, reference numeral 46 in FIG. 6 indicates a lighting display of a blue LED indicating a white line 42. The white line display 46 is displayed by a plurality of circular marks, and the white line display mark 46 is a white line 42 in the vicinity of the pedestrian H and is reflected on a portion corresponding to the white line 42 on the front window glass 20. This is done by controlling the blue lighting of 8.

  By performing such display, the driver's eyes will see a green or red LED light warning mark A on the foot of the pedestrian H, and the warning mark A on the front window glass 20 will be the pedestrian H. Since there is no interference, there is no possibility that the alarm mark A will disturb the pedestrian H through the front window glass 20. In addition, the relationship between the blue white line display mark 46 and the green or red warning mark A reflected on the windshield 20 whether the pedestrian H is in the lane in relation to the white line 42 or whether it is outside by the white line 42. I can know.

  In addition to this, preferably, the moving direction of the pedestrian H is monitored, and the moving direction of the pedestrian H is a direction away from the white line 42, or a direction approaching the white line 42, that is, a direction entering the roadway. Depending on whether or not, the movement position of the pedestrian H after a predetermined time may be estimated and the warning mark A ′ may be displayed. The alarm mark A ′ is displayed only when the alarm mark A ′ is displayed or the estimated movement position of the pedestrian H is displayed only in the display in which it is estimated that the pedestrian H is moving in the direction of entering the travel path. May be switched to blinking display, and the alarm mark A may be gradually displaced to the estimated movement position. In addition, it is desirable that the predetermined time be a time required to approach the pedestrian most when the vehicle travels at the current vehicle speed. That is, it is desirable that the estimated display position of the pedestrian is changed according to the traveling speed of the vehicle, and the degree of danger is recognized by making the degree of approach between the vehicle and the pedestrian visible in advance.

  A specific example of display control included in the embodiment will be described based on the flowchart of FIG. First, in step S1, signal input processing from the left and right cameras 2 and 4 is performed, and in the next step S2, detection of the pedestrian H is performed. And it is determined whether the pedestrian H exists in the primary warning zone 44 or the secondary warning zone 40 (S3). This step S3 constitutes a zone determination means. If YES, that is, if the pedestrian H is present in the primary and secondary alarm zones 40, 44, the process proceeds to step S4, and the white line 42 is in the vicinity of the pedestrian H. A determination is made as to whether it exists.

  In step S4, when NO, that is, when the white line 42 does not exist, the process proceeds to step S5, and the green or red pedestrian LEDs 10 and 12 are turned on. That is, when the pedestrian H is present in the primary warning zone 44, the light of the green LED element 10 is circular, horizontally long oval, horizontally on the front window glass 20 near the feet of the pedestrian H. The lighting of the LED display device 8 is controlled so as to appear in a long rectangle. When the pedestrian H is present in the secondary warning zone 40, the light of the red LED element 12 is circular, a horizontally long ellipse, and horizontally long at the position of the pedestrian H on the front window glass 20. The lighting of the LED display device 8 is controlled so as to appear in a rectangular shape.

  In step S4, when YES, that is, when the white line 42 exists, the process proceeds to step S6, where it is determined whether or not the moving direction of the pedestrian H is a direction to enter the roadway. When it can be estimated that the pedestrian H has entered, the process proceeds to step S7 to predict the position of the pedestrian H after a predetermined time. The estimation of the moving position can be obtained by multiplying the moving speed of the pedestrian H by a predetermined time. In step S8, when the estimated movement position of the pedestrian H, that is, the position of the pedestrian H after a predetermined time is outside the roadway across the white line 42, the green LED element 10 is turned on (primary alarm). Preparations are made. The secondary warning zone 40 described above includes the inner side of the white line 42, that is, the roadway and the outside of the roadway outside the white line. In the secondary warning zone 40, the estimated movement position of the pedestrian H is outside the roadway. That is, when it is outside the white line 42, the primary alarm (lighting of the green LED element 10) may be selected.

  When the estimated movement position of the pedestrian H, that is, the position of the pedestrian H after a predetermined time is inside the white line 42, that is, in the roadway, preparation for a secondary alarm (lighting of the red LED element 12) is performed. Although the primary alarm zone 44 described above is set farther than 50 meters and outside the white line 42, that is, outside the roadway, the primary alarm zone 40 is expanded inside the white line 42, that is, inside the roadway. When the movement position of the pedestrian H estimated in the warning zone 40 is in the roadway, a secondary warning, that is, lighting of the red LED element 12 may be selected. When the movement position of the pedestrian H after a predetermined time is displayed on the LED display device 8, a plurality of white line dot displays 46 are prepared to indicate the position of the white line 42 by the blue LED element 14 described above.

  In the next step S9, it is determined whether or not the vehicle is turning on the headlight. If NO, that is, if the vehicle is extinguished, the process proceeds to step S10, and the LED elements 10, 12, and 14 selected in step S8 are performed. Is turned on. As a result, the driver recognizes the white line display mark 46 (blue) and the warning mark A (green or red) reflected on the windshield 20 and pays attention to the obstacle (for example, pedestrian H), and performs the necessary driving. The operation will be performed. The LED display device 8 is continuously turned on for a predetermined time (S11) and then turned off (S12).

  If YES in step S9, that is, if the headlight is lit, the process proceeds to step S13, and correction processing is performed depending on whether the headlight is turned on (low beam or high beam) and whether the pedestrian H is within the headlight irradiation range. Is done. For example, if the position of the pedestrian H is within the headlight irradiation range, the driver is likely to be aware of the pedestrian H or immediately, and in this state, an LED is displayed on the front window glass 20. If the light from the device 8 is reflected, there is a risk of annoying it. In such a case, it is preferable to shorten the lighting time of the LED display device 8. Further, when the headlight is a low beam, when the pedestrian H is located far from the irradiation range of the headlight, the headlight is forcibly changed to a high beam so that the light from the headlight can reach far away. Instead of this, or in addition to this, do not use a circular or oblong oval mark at the foot of the pedestrian as an alarm mark A, but instead prepare a pseudo human body image (pseudo pedestrian) prepared in advance You may make it produce | generate with the light (green or red) of the display apparatus 8. FIG.

  Further, when the obstacle is located outside the headlight irradiation range, the luminance of the LED display device 8 may be increased as compared to when the obstacle is located within the headlight irradiation range.

  In addition, if the vehicle is equipped with a navigation device, it can be determined from the map information whether it is an urban area or a suburb. In addition, it is possible to determine whether the surroundings of the host vehicle are relatively bright at night based on the captured images of the cameras 2 and 4. From this, when the surroundings of the own vehicle are bright (during city driving), it is easy to confirm the pedestrian H by the light around the own vehicle, so that the lighting time of the LED display device 8 can be shortened or turned on. It is preferable to prohibit. Of course, the lighting time of the LED display device 8 may be changed according to the intensity of light around the host vehicle during night driving, that is, the degree of brightness around the host vehicle. That is, the lighting time of the LED display device 8 may be relatively long when the surroundings are dark, and the lighting time of the LED display device 8 may be relatively shortened when the surroundings are relatively bright.

  When the correction process is completed in step S13, the process proceeds to step S10, and the selected LED elements 10, 12, and 14 are turned on. When a predetermined time elapses in step S11, the LED elements 10, 12, and 14 are turned off. The As described above, the lighting times of the LED elements 10, 12, and 14 are shortened, for example, when the surroundings of the host vehicle are relatively bright.

  In the above embodiment, the light of the LED display device 8 is transmitted to the front window by using a combination of the LED display device 8 equipped with three-color LEDs and a stereo image pickup means comprising two cameras 2 and 4. By adopting a method in which the driver visually recognizes the reflection of the glass 20, it is possible to make the driver recognize the alarm accurately while using a relatively simple system. Further, regarding the obstacle such as the pedestrian H, the light source of the LED display device 8 is selected so that the alarm mark A is reflected at the lower end of the obstacle visible from the front window glass 20, and therefore the light of the LED display device 8 is obstructed. Since it does not interfere with objects, it does not hinder the visibility of obstacles.

  Further, by limiting the white line 42 defining the roadway to a portion in the vicinity of the obstacle so that the white line display mark 46 is reflected on the front window glass 20, whether the obstacle is inside the roadway or outside the roadway. You can make the driver know if you are. Further, since the movement of the obstacle (typically pedestrian H) is predicted and the estimated movement position is made visible to the driver using the reflection of the front window glass 20 together with the white line display mark 46, the driver The operation of collision avoidance performed by can be made accurate.

  As described above, the embodiment of the present invention has been described. As shown in FIG. 8, the LED display device 8 includes a first horizontally long LED display 50 for secondary alarms and a second two primary alarms. The secondary alarm LED display 50 is composed of a plurality of red LED elements 12, the primary alarm LED display 52 is composed of a plurality of green LED elements 10, and the secondary alarm LED display 52 is composed of a plurality of green LED elements 10. The alarm LED display 50 is disposed at a position close to the front window glass 20, and the two green primary alarm LED displays 52 are spaced apart from each other left and right and at a position relatively distant from the front window glass 20. You may make it do.

  According to this, a red alarm mark A related to an obstacle in the secondary alarm zone 40 within a range of 50 meters from the host vehicle VC is displayed on the lower area of the windshield 20 by the horizontally long secondary LED display. Can be reflected back to the driver. In addition, the left and right primary alarm LED indicators 52 located on the instrument panel 6 that are relatively close to the driver are separated from each other on the left and right sides in the primary alarm zone 44 that is 50 meters or more away from the vehicle VC. The green warning mark A related to the obstacle can be reflected toward the driver using the upper and lower middle areas of the windshield 20.

  In the above-described embodiment, green is used for the primary alarm that alerts the driver, and red is used for the secondary alarm, that is, when the driver is prompted to perform a collision avoidance operation. However, green and red are the primary alarm and the secondary alarm. It should be understood that a different color is used for the next alarm, and any color may be used as long as the primary alarm and the secondary alarm are different colors. In the alarm display control for the LED display device 8, the area for displaying the alarm is divided into two zones, a primary alarm zone and a secondary alarm zone. For example, it is divided into primary, secondary, and tertiary alarm zones, and the green LED element 10 is lit in the primary alarm zone, and the red LED element 12 is lit in the secondary alarm zone, and the driver is most strongly warned. In the tertiary alarm zone, the red LED element 12 may blink.

U Controller O Obstacle H Pedestrian
EP Driver's eyes (eyepoint)
A Alarm mark 2 Right camera 4 Left camera 6 Instrument panel 8 LED display device 10 Green light emitting LED element 12 Red light emitting LED element 14 Blue light emitting LED element 16 Driver's seat 20 Front window glass 26 Obstacle extraction processing unit 28 Distance and position Detection processing unit 30 White line extraction processing unit 32 Primary alarm processing unit 34 Secondary alarm processing unit 36 White line display processing unit 40 Secondary alarm zone 42 White line 44 Primary alarm zone 46 White line display mark)

Claims (7)

A display device using a light emitter disposed on an instrument panel on the driver side, and controls the lighting of a plurality of light emitters included in the light emitter display device, thereby allowing light emitted from the light emitter display device to A vehicle display device that transmits information to a driver by reflecting on a window glass,
A plurality of imaging means arranged to be spaced apart in the vehicle width direction to image the front of the host vehicle through the front window glass;
Obstacle detection means for detecting an obstacle from an image captured by the imaging means;
Distance detecting means for detecting a distance from the image captured by the imaging means to the obstacle;
Zone determination means for determining whether or not the obstacle detected by the obstacle detection means and the distance detection means is located in a preset alarm zone;
Control means for controlling lighting of the light emitter display device so that an alarm mark appears in the vicinity of a lower end of the obstacle visible on the front window glass when the obstacle is located in the alarm zone; A display device for a vehicle, comprising: The warning zone is divided into a plurality of warning zones according to the strength of the degree of alerting the driver,
2. The vehicle display device according to claim 1, wherein in the control unit, different control for each alarm zone is performed on the light emitter display device according to an alarm zone where the obstacle is located. A white line extracting means for extracting a white line defining a travel path from an image captured by the imaging means;
The lighting means is controlled by the control means so that a white line in the vicinity of the obstacle is reflected on the front window glass among the white lines extracted by the white line extracting means. The vehicle display device described in 1.   Based on the obstacle detected by the obstacle detection means, the movement position of the obstacle after a predetermined time is obtained, and the warning mark is displayed on the front window glass at the movement position of the obstacle after the predetermined time. The vehicle display device according to claim 3, wherein the control means controls the light emitter display device. Headlight lighting determination means for determining whether or not the headlight is lit;
When the headlight is on, the light emission is greater when the obstacle is located outside the headlight irradiation range than when the obstacle is located outside the headlight irradiation range. The vehicle display device according to claim 3 or 4, wherein a display time of the alarm mark by the body display device is shortened.   When the headlight is on and the obstacle is located outside the irradiation range of the headlight, a simulated image of the obstacle is displayed on the front window glass instead of the warning mark. The vehicle display device according to claim 5, wherein lighting of the light emitter display device is controlled.   The control means is configured such that when the headlight is on and the obstacle is located outside the headlight irradiation range, the obstacle is located within the headlight irradiation range. The vehicular display device according to any one of claims 1 to 3, wherein the luminance of the light emitter display device is increased as compared with the case.

Images