JP2021022125A - On-vehicle display control device - Google Patents

Abstract

To provide an on-vehicle display control device capable of suppressing occurrence of an accident.SOLUTION: When a vehicle enters an intersection 73 where a stop line is not arranged, an on-vehicle display control device allows a display device 23 to display a boundary this-side line content indication 9 on this side of a boundary position 72 of the intersection by a predetermined distance, and then to display a boundary position line content indication 8 at the boundary position.SELECTED DRAWING: Figure 1

Description

The present invention relates to an in-vehicle display control device.

In a head-up display (HUD) system that realizes so-called Augmented Reality (AR) display, the position is superimposed according to the stop line, pedestrian crossing, and surrounding objects on the road through which the vehicle passes. There is a technology to display. In particular, for road signs such as stop lines and pedestrian crossings, a system has been devised that displays them by superimposing them on the basis of detailed map data.

However, since there are no road signs such as stop lines at intersections where there are no traffic rules in the first place, there is no superimposed display of road signs such as stop lines by the HUD system. If the driver trusts this display state, an accident may occur while trying to pass the intersection without slowing down.

JP-A-2018-63517

The present invention has been made in view of the above problems, and an object of the present invention is to display an indication such as a vehicle stop near the boundary of an intersection at an intersection without a road sign such as a stop line to cause an accident. It is an object of the present invention to provide an in-vehicle display control device capable of suppressing the occurrence.

The vehicle-mounted display control device according to claim 1 displays the boundary front line content on the display device by a predetermined distance before the boundary position of the intersection when the vehicle enters an intersection where the stop line is not arranged. After displaying, the boundary position line content display is displayed at the boundary position.

According to the above-mentioned in-vehicle display control device, the boundary position line content display and the boundary front line content display are displayed in front of the boundary position of the intersection without a road sign such as a stop line and a predetermined distance of the boundary position. It is possible to suppress the occurrence of automobile accidents such as collisions at encounters at intersections without road signs such as.

A block diagram showing a schematic configuration of an in-vehicle display control device according to an embodiment. The figure which shows the schematic structure of the display device Schematic flow chart of processing in the in-vehicle display control device Diagram showing an example of content display Schematic diagram showing an example of content display displayed on a display device Diagram showing the layout of content display on a map in a parking lot Schematic diagram showing an example of content display displayed on a display device Schematic diagram showing an example of content display displayed on a display device Schematic diagram showing an example of content display displayed on a display device Schematic diagram showing an example of content display displayed on a display device Schematic diagram showing an example of content display displayed on a display device Schematic diagram showing an example of content display displayed on a display device Schematic diagram showing an example of content display displayed on a display device Schematic diagram showing an example of content display displayed on a display device Schematic diagram showing an example of content display displayed on a display device Schematic diagram showing an example of content display displayed on a display device

Hereinafter, the in-vehicle display control device according to the embodiment of the present invention will be described with reference to the drawings. In the following description, the same elements as those mentioned above will be given the same reference numerals or the same names, and the description thereof will be omitted.

Hereinafter, the vehicle-mounted display control device 1 according to the embodiment will be described with reference to the drawings. As shown in FIG. 1, the in-vehicle display control device 1 according to the embodiment is used for a moving body such as a vehicle traveling on a road, and is an HMI system 2 (HMI: Human Machine Interface), an ADAS locator 3. (ADAS: Advanced Driver Assistance Systems), peripheral monitoring sensor 4, vehicle control ECU 5 (ECU: Electronic Control Unit), driving support ECU 6 (ECU: Electronic Control Unit), DCM (Data Communication Module) 13, and the like are provided. The HMI system 2, the ADAS locator 3, the peripheral monitoring sensor 4, the vehicle control ECU 5, and the driving support ECU 6 are connected to, for example, an in-vehicle LAN (LAN: Local Area Network) mounted on the vehicle. Further, the vehicle-mounted display control device 1 includes a data center 15 that is communicably connected via the wireless communication network 14.

The ADAS locator 3 includes a GNSS receiver 30 (GNSS: Global Navigation Satellite System), an inertial sensor 31, a map database 32, and the like. Hereinafter, the map database 32 is referred to as a map DB 32. The GNSS receiver 30 receives positioning signals from a plurality of artificial satellites. The inertial sensor 31 includes, for example, a gyro sensor and an acceleration sensor. The ADAS locator 3 sequentially positions the vehicle position of its own vehicle on which the in-vehicle display control device 1 is mounted by combining the positioning signal received by the GNSS receiver 30 and the sensing result by the inertial sensor 31. Then, the ADAS locator 3 outputs the positioned vehicle position via the in-vehicle LAN.

In this case, the vehicle position is represented by a coordinate system consisting of latitude and longitude. In this coordinate system, for example, the X-axis indicates longitude and the Y-axis indicates latitude. It should be noted that the positioning of the vehicle position can be performed as long as the position of the own vehicle can be specified, for example, based on the information of the mileage obtained based on the sensing result by the vehicle speed sensor mounted on the own vehicle. The configuration of can be adopted.

The map DB 32 is composed of, for example, a non-volatile memory, and stores detailed map data including various data such as link data, node data, and road shape data. The link data includes link identification data that identifies the links that make up the road on the map, link length data that indicates the length of the link, link orientation data that indicates the orientation of the link, and link travel time data that indicates the time required to travel the link. , Contains various data such as node coordinate data indicating the coordinates of the nodes constituting the start point and the end point of the link, and link attribute data indicating the attributes of the road.

The node data includes node identification data that identifies a node existing on the map, node coordinate data that indicates the coordinates of the node, node name data that indicates the name of the node, for example, node type data that indicates the type of node such as an intersection, and node data. Includes various data such as connection link data that identifies the link to connect to. Road shape data is data indicating the shape of a road existing on a map. The road shape data includes data indicating the altitude of the road, the cross slope of the road, the longitudinal slope of the road, and the like.

The detailed map data and the map data such as the probe map data are acquired from the data center 15 via, for example, the DCM 13 and the wireless communication network 14 that function as communication modules mounted on the vehicle, and the probe map data is stored in the storage unit. In 13a, the detailed map data is stored in the map DB 32. The detailed map data and the probe map data are three-dimensional map data including a point cloud such as a feature point of a road shape and a feature point of a structure existing on the map. When the detailed map data or the probe map data is used, the ADAS locator 3 uses the detailed map data or the probe map data, a lidar (Light Detection and Ranging / Laser Imaging Detection and Ranging) 42 for detecting a point cloud, or the like. The vehicle position of the own vehicle may be specified by using the sensing result of the above.

The peripheral monitoring sensor 4 is a sensor that monitors the surrounding environment of the own vehicle, and in this case, it is provided as an autonomous sensor that operates autonomously. The peripheral monitoring sensor 4 is, for example, a dynamic target moving around the own vehicle such as a human being such as a pedestrian, an animal other than the human being, or a vehicle other than the own vehicle, a falling object existing on the road, or a road. Detects objects that exist around the vehicle, such as guardrails, curbs, trees, and other static targets that are stationary around the vehicle.

In addition, the peripheral monitoring sensor 4 is provided on the road around the own vehicle, and is provided on a traveling lane marking line, a temporary stop line, a pedestrian crossing, for example, an instruction sign marked as "stop", or a stop displayed at the boundary of an intersection. Road markings such as lines can be detected. Then, the peripheral monitoring sensor 4 sequentially outputs the obtained sensing data to the in-vehicle LAN. The peripheral monitoring sensor 4 is composed of, for example, a peripheral monitoring camera that captures a predetermined range around the own vehicle, a millimeter wave radar that outputs a search wave in a predetermined range around the own vehicle, a sonar, an exploration wave sensor such as LIDAR42, and the like. ..

The exploration wave sensor sequentially outputs scanning results based on the received signal obtained by receiving the reflected wave reflected by the object to the in-vehicle LAN as sensing data. More specifically, the exploration wave sensor measures the distance from the exploration wave sensor to the object based on the time from transmitting the exploration wave to receiving the reflected wave reflected by the object.

In addition, the exploration wave sensor measures the orientation of the object with respect to the exploration wave sensor based on the angle at which the reflected wave is received. The azimuth can be represented by, for example, an azimuth, for example, clockwise can be represented as a positive azimuth and counterclockwise can be represented as a negative azimuth with respect to the front direction of the own vehicle.

In this case, the peripheral monitoring sensor 4 includes at least a front camera 41 whose imaging range is a predetermined range in front of the own vehicle, and a LIDAR 42 capable of analyzing the distance to a target at a long distance and the nature of the target. , Is provided. The front camera 41 may be provided, for example, on the rearview mirror of the own vehicle, the upper surface of the instrument panel, or the like.

Further, the LIDAR 42 may be provided on, for example, the front grill of the own vehicle, the front bumper, or the like. According to LIDAR42, it is possible to analyze the distance to an object at a long distance and the properties of the object by measuring the scattered light with respect to the laser irradiation that emits pulsed light. The center line drawn on the road is recognized by LIDAR42.

The sensing range of the front camera 41 and the sensing range of the LIDAR 42 may or may not match. Further, at least a part of the sensing range by the front camera 41 and the sensing range by the LIDAR 42 may or may not overlap. Further, a plurality of peripheral monitoring sensors 4 may be provided at different locations of the own vehicle.

The vehicle control ECU 5 is an electronic control unit for controlling acceleration and deceleration of the own vehicle, steering control, braking control, and the like by operating the steering wheel, brake, accelerator, and the like of the own vehicle amount, for example. The vehicle control ECU 5 includes a power unit control ECU that controls acceleration and deceleration of the own vehicle, a steering control ECU that controls the steering of the own vehicle, a brake control ECU that controls braking of the own vehicle, and the like.

The vehicle control ECU 5 is based on detection signals output from various sensors such as an accelerator position sensor, a brake pedal force sensor, a steering angle sensor, and a wheel speed sensor mounted on the own vehicle, for example, an electronically controlled throttle, a brake actuator, and the like. A control signal is output to various drive control system devices such as an EPS motor (EPS: Electric Power Steering). Further, the vehicle control ECU 5 can output detection signals obtained from various sensors to the in-vehicle LAN.

The driving support ECU 6 calculates a target value for driving control by cooperating with the vehicle control ECU 5, for example, and supports the driving operation by the driver. The support provided by the driving support ECU 6 also includes an automatic driving function that automatically controls the running of the own vehicle. The driving support ECU 6 acquires the vehicle position of its own vehicle from the ADAS locator 3, detailed map data stored in the map DB 32, etc., probe map data stored in the storage unit 13a, and sensing data acquired from the peripheral monitoring sensor 4. Recognize the driving environment of the own vehicle based on the above. The map data includes detailed map data or probe map data acquired by the DCM 13 from the data center 15 and stored in the storage unit 13a.

More specifically, the driving support ECU 6 recognizes the position, shape, moving state, etc. of an object existing in the vicinity of the own vehicle based on, for example, sensing data acquired from the peripheral monitoring sensor 4, or the own vehicle. It is possible to recognize the position, size, contents, etc. of road markings that exist in the vicinity of. Then, the driving support ECU 6 combines the information recognized in this way with information such as map data and the vehicle position of the own vehicle to create a virtual space that reproduces the actual driving environment around the own vehicle in three dimensions. It is possible to generate.

Further, the driving support ECU 6 generates a driving plan for automatically driving the own vehicle by the automatic driving function based on the recognized driving environment. As a driving plan, a long- to medium-term driving plan and a short-term driving plan can be generated. In a short-term driving plan, the generated virtual space around the own vehicle is used, for example, acceleration / deceleration control for maintaining the target inter-vehicle distance from the preceding vehicle, steering control for lane tracking and lane change, and collision avoidance. Braking control for this is decided.

In the long- to medium-term driving plan, the recommended route and driving schedule for the vehicle to reach the destination are determined. The driving support ECU 6 may generate only one of a short-term running plan and a long- and medium-term running plan, for example, a short-term running plan.

As an example of the automatic driving function executed by the driving support ECU 6, for example, an ACC function that controls the traveling speed of the own vehicle so as to maintain the target inter-vehicle distance from the preceding vehicle by adjusting the driving force and the braking force ( There is ACC: Adaptive Cruise Control). In addition, there is an AEB function (AEB: Autonomous Emergency Braking) that forcibly decelerates the own vehicle by generating a braking force based on the sensing result in front of the own vehicle. The ACC function and the AEB function are merely examples, and the driving support ECU 6 may be configured to have other functions.

The HMI system 2 includes an HCU 20 (Human Machine Interface Control Unit), a display device 23, and the like. The HMI system 2 accepts an input operation by a driver who is a user of the own vehicle, and presents various information to the driver of the own vehicle.

The display device 23 is an example of a display unit, and in this case, it is configured as a head-up display (HUD) 230. Hereinafter, the head-up display 230 will be referred to as a HUD 230. As illustrated in FIG. 2, the HUD 230 is provided, for example, on the instrument panel 11 of the own vehicle. The HUD 230 forms a display image based on the image data output from the HCU 20 by, for example, a liquid crystal type or a scanning type projector 231. The display image is, for example, image content representing information related to vehicle route guidance.

As shown in FIG. 2, the HUD 230 projects the display image formed by the projector 231 onto the front windshield 10, which is an example of the projection unit, via an optical system 232 having, for example, a concave mirror. The front windshield 10 is provided with a projection area R shown in FIG. 5 and the like, and the display image formed by the projector 231 is projected in the projection area R. The projection area R is provided so as to be located in front of the driver's seat, particularly in front of the driver seated in the driver's seat.

The luminous flux of the display image projected on the front windshield 10 is perceived or visually recognized by the driver seated in the driver's seat. Further, the front windshield 10 is made of, for example, a translucent glass material, and the scenery, that is, the luminous flux in the foreground existing in front of the own vehicle is also perceived, that is, visually recognized by the driver seated in the driver's seat. To.

As a result, the driver can visually recognize the virtual image of the display image formed in front of the front windshield 10 in a state of being superimposed on a part of the foreground as the virtual image content 100. That is, the HUD 230 realizes so-called AR display by superimposing the virtual image content 100 on the foreground of the own vehicle. The virtual image content 100 is at least content that visually represents information related to the traveling support of the own vehicle, that is, traveling support-related information.

As the driving support related information, for example, route guidance related information indicating the traveling direction of the own vehicle in the guidance route, automatic driving related information indicating the course when the own vehicle is automatically controlled, and the lane in which the own vehicle travels. Lane information to be shown, curve notification information to notify the curve existing in front of the traveling direction of the own vehicle, pedestrian information to inform that there is a pedestrian in front of the traveling direction of the own vehicle, and a stop line in front of the traveling direction of the own vehicle. Various information can be applied as long as it is useful information for driving support of the own vehicle, such as stop line information for notifying the existence.

Further, the virtual image content 100 also includes information indicating the operation timing for operating the vehicle, that is, content indicating the operation timing information, and information indicating the operation area for operating the vehicle, that is, content indicating the operation area information. The boundary position line content displays 8, 8a to 8c and the boundary front line content display 9, which will be described later, are superimposed and displayed on the road surface in the foreground as the above-mentioned virtual image content 100, which is visually recognized in the front line-of-sight direction of the driver.

The operation timing information includes, for example, accelerator on information indicating the timing of operating the accelerator pedal on the road ahead in the traveling direction of the vehicle, accelerator off information indicating the timing of releasing the accelerator pedal, and brake on indicating the timing of operating the brake pedal. Various information can be applied as long as it is information indicating the timing related to the operation of the vehicle, such as information and brake-off information indicating the timing of releasing the brake pedal.

The HCU 20 is mainly composed of a microcomputer including, for example, a processor, a volatile memory, a non-volatile memory, an input / output circuit, a bus connecting these, and the like. The HCU 20 is connected to the HUD 230 and the in-vehicle LAN. The HCU 20 functions as a display control device according to the present disclosure, and controls the display by the HUD 230 by executing a control program stored in a storage medium such as a non-volatile memory. This control program includes a display control program according to the present disclosure.

Further, the HCU 20 performs the display control method according to the present disclosure by executing the control program. The memory is, for example, a non-transitory tangible storage medium for storing programs and data that can be read by a computer non-transitoryly. Further, the non-transitional substantive storage medium can be realized by, for example, a semiconductor memory or a magnetic disk.

The wireless communication network 14 is a so-called Internet communication network. The data center 15 includes a control unit (not shown), a file server, a web server, and the like. The data center 15 verifies and integrates probe data acquired from a plurality of vehicles via the wireless communication network 14, generates probe map information, and stores the probe map information in a file server. The data center 15 can distribute probe map information to the DCM 13 of each vehicle via the wireless communication network 14 in response to a request from the DCM 13 of each vehicle. Furthermore, the accumulated probe map information is verified and integrated processing is performed to generate detailed map data and stored in the file server. The data center 15 can deliver detailed map data to the DCM13 of each vehicle via the wireless communication network 14 in response to a request from the DCM13 of each vehicle. The delivered probe map information is stored in the storage unit 13a. The delivered detailed map data is stored in the map DB 32.

Next, the processing flow in the HCU 20 will be described with reference to FIGS. 3 to 16. In this case, the HCU 20 functions as a display control device that controls the display of various content displays on the display device 23. That is, the HCU 20 performs the following processing in the vehicle-mounted display control device 1. As shown in FIG. 3, the HCU 20 first specifies the position of the own vehicle, and determines whether or not the specified position of the own vehicle is in the parking lot (S1). The position of the own vehicle is recognized by the ADAS locator 3.

When the HCU 20 determines that the position of the own vehicle is in the parking lot (S1: YES), the HCU 20 displays any of the content displays related to the pattern 1 on the display device 23 (S5). The content display according to pattern 1 and the display mode of the content display will be described later.

In the following description, the lane on which the own vehicle travels is referred to as the own lane 70a, the road including the own lane 70a is referred to as the own vehicle road 70, and the road intersecting the own road is referred to as the crossing road 71. Further, the intersection means an area where the own vehicle road and the intersection road 71 intersect, and the boundary position means the position of the boundary between the own vehicle road 70 or the intersection road 71. The control performed by the vehicle-mounted display control device 1 described below is a control performed when the vehicle approaches an intersection where a stop line is not arranged.

When the own vehicle is not located in the parking lot (S1: NO), the HCU 20 determines whether or not there is a stop line at the boundary position on the road of the own lane 70a (S2). When the stop line exists at the boundary position of the own lane 70a (S2: YES), the HCU 20 displays the content display related to the pattern 4 on the display device 23. The content display according to the pattern 4 and the display mode of the content display will be described later. When the stop line exists at the boundary position of the own lane 70a (S2: YES), it means that the own lane 70a is not the priority road.

If there is no stop line in the own lane 70a (S2: NO), the HCU 20 gives priority to either the own lane 70a or the crossing road 71 at the intersection where the own road 70 and the crossing road 71 intersect. It is determined whether or not it is understood (S3). When it is not known which lane has priority (S3: NO), the HCU 20 displays the content display related to the pattern 1 (S5). Whether or not any of the lanes has priority is determined by the HCU 20 based on the detailed map data provided in the map database 32 and the road conditions acquired from the LIDAR 42. If it can be determined, it is possible to know which road has priority, and if it cannot be determined, it is not known whether any road has priority.

Priority roads include those that have a central line or vehicle lane with road signs that regulate the passage of vehicles on the road at the intersection, and those that are designated as priority roads by road signs. To do. For example, a central line road sign is installed at an intersection, or a central line road sign is drawn inside the intersection, a vehicle lane road sign is drawn, and a road sign indicating a priority road. Roads that are installed, roads that intersect roads with "forward priority road" auxiliary signs, and roads that intersect roads with road signs indicating a temporary stop are judged as priority roads.

In the process of displaying the content display of any of the patterns 1 in step S5, the boundary between the own vehicle road 70 and the intersecting road 71 is determined, the boundary line is drawn, and the boundary position line content display 8 and the boundary. Each process of displaying the front line content display 9 is being executed. This process is the same in steps S6, S7, and S8 described later.

When the HCU 20 knows which lane has priority (S3: YES), the HCU 20 determines whether or not the own road 70 is the priority road (S4). When the own vehicle road 70 is a priority road, the content display related to the pattern 2 is displayed (S6). The content display according to the pattern 2 and the display mode of the content display will be described later.

When it is determined that the own vehicle road 70 is not prioritized (S4: NO), the HCU 20 displays the content display related to the pattern 3 (S7). The content display according to the pattern 3 and the display mode of the content display will be described later.

FIG. 4 is a plan view showing the traveling direction 12 of the own vehicle and the road condition on which the own vehicle is traveling, and FIG. 5 is an example of a landscape in which the driver visually recognizes the driver in front of the own vehicle through the windshield at the intersection of FIG. It is a figure which shows. FIG. 6 is a plan map showing the traveling direction 12 of the own vehicle when the own vehicle travels in the parking lot and the outline of the road condition in which the own vehicle travels.

In FIGS. 4 to 6, when the own vehicle is traveling along the traveling direction 12 indicated by the arrow on the road 7, the front of the own road 70 at the intersection 73 between the own road 70 and the intersection road 71. It shows how the boundary position line content display 8 and the boundary front line content display 9 are displayed at the boundary position 72. The maps shown in FIGS. 4 to 6 show the road conditions at the intersection 73 when no stop line, stop sign, or the like is installed. 4 and 5 show an example of the road condition in the residential area, and FIG. 6 shows an example of the road condition in the parking lot. FIG. 5 shows the boundary position line content display 8 and the boundary front line content display 9 as display examples of the above-mentioned and virtual image contents 100 that can be visually recognized in the projection area R of the front windshield 10.

In FIG. 5, the boundary position line content display 8 is indicated by a solid line, and the boundary front line content display 9 is indicated by a broken line. When the content display is displayed with a solid line, including the explanations that follow, it is assumed that the driver is required to be highly careful, and if there is a signal, it will blink red. It shows that attention is required. For example, it shows a case where it is required to temporarily stop the vehicle at the solid line position. In addition, when the content display is displayed with a broken line, it is assumed that the degree of caution required of the driver is relatively low, and if it is assumed that there is a signal, the degree of attention required is about the yellow signal. Indicates that the driver is required. For example, it is assumed that attention is required to decelerate or slow down using the broken line as a mark.

The boundary position line content display 8 is a content display displayed at the boundary position 72 on the front side of the intersection 73 on the own vehicle road 70, and indicates a position that serves as a guide for the own vehicle to stop or decelerate. The boundary front line content display 9 is a content display displayed in front of the boundary position 72 by a predetermined distance, and indicates a position that serves as a guide for the own vehicle to decelerate, slow down, or the like. The boundary front line content display 9 is displayed in front of the boundary position line content display 8, for example, 3 meters.

The own vehicle road 70, the intersection road 71, and its boundary position 72, and the intersection 73 position between the own vehicle road 70 and the intersection road 71 are probe map data stored in the storage unit 13a, detailed map data stored in the map DB 32, and forward. The HCU 20 determines based on the road condition information acquired by the camera 41 and the LIDAR 42. Whether or not the own vehicle road 70 is a priority road is determined by the HCU 20 based on the road conditions acquired by the probe map data, the detailed map data, the front camera 41, the LIDAR 42, and the like.

As shown in FIG. 6, in the parking lot, the nearest intersection 73 in the traveling direction 12 of the own vehicle and the back-side intersection 74 located further in front of and behind the traveling direction 12 are shown. In this case, the boundary position line content display 8 is displayed at the boundary position 72 of each of the intersection 73 and the back intersection 74. Here, an example of displaying the boundary position line content display 8 at the closest intersection 73 and the back side intersection 74 is shown. For example, the boundary position line content display 8 is displayed only at the closest intersection in the traveling direction of the own vehicle. May be displayed, or the boundary position line content display 8 may be displayed at all visible intersections in the projection area R. Further, although only the boundary position line content display 8 is shown in FIG. 6, in addition to this, the boundary front line content display 9 may be displayed in front of a predetermined distance.

(Basic content display at the boundary position)
FIG. 7 is a diagram showing the content display in the embodiment, and shows the view of the projection area R from the driver's line of sight. FIG. 8 shows the boundary position line content in front of the own lane 70a when the own vehicle has a road width that allows two vehicles to pass in a two-way manner and the own vehicle travels to the left of the own road 70. It is a figure which shows the mode in which the display 8 and the boundary front line content display 9 are displayed. Although the figure corresponding to FIG. 7 is illustrated in FIGS. 9 to 16 below, when the own vehicle road 70 has a road width that allows two vehicles to pass through each other, the boundary position line content display 8 is the same as in FIG. , Boundary front line content display 9 is displayed.

The boundary position line content display 8 and the boundary front line content display 9 may be integrated. Further, the area between the boundary position line content display 8 and the boundary front line content display 9 may be expressed as “solid” with respect to the road. As a result, it is possible to clearly indicate to the driver in which area the operation should be performed together with the operation timing.

Further, in the embodiment, the boundary front line content display 9 is displayed in front of a predetermined distance of the boundary position 72 on the front side of the intersection 73 in the traveling direction 12 of the own vehicle, and the boundary position line content display 8 is further displayed at the boundary position 72. Is displayed. In this case, for example, the content display may display the boundary position line content display 8 after displaying the boundary front line content display 9, or may display the boundary front line content display 9 and then display the boundary front line content display 9. When the own vehicle decelerates due to braking or accelerator off at 9, the boundary position line content display 8 may be displayed.

Furthermore, the content display does not display the boundary position line content display 8 when the own vehicle decelerates due to braking or accelerator off on the boundary front line content display 9 after displaying the boundary front line content display 9. You may do so. Further, as the content display, the boundary position line content display 8 and the boundary front line content display 9 may be displayed at the same time.

Furthermore, after displaying the boundary front line content display 9, when the own vehicle stops at the boundary front line content display 9, the boundary front line content display 9 is deleted, and then the boundary position line content display 8 is displayed. You may do so. Further, in these cases, the own vehicle road 70 is the priority road, and the boundary front line content display 9 may be hidden when the content of the pattern 2 is displayed.

As described above, the basic content display at the boundary position 72 in the embodiment is to display the two-stage stop line of the boundary front line content display 9 and the boundary position line content display 8. By displaying in this way, it is possible to suppress a collision accident at the intersection 73.

The basic content display at the boundary position includes the following display modes. At this time, after displaying the boundary front line content display 9, if the vehicle stops at the display position of the boundary front line content display 9, the boundary front line content display 9 is erased and the boundary position line content display 8 is displayed.

Other display modes include the following. In the first display mode, the vehicle travels in 12 directions, and the boundary front line content display 9 is displayed in front of the own lane 70a at a position before a predetermined distance of the boundary position 72 with the intersection 73 of the own road 70. After that, the boundary position line content display 8 is subsequently displayed.

The second display mode is a mode in which the boundary position line content display 8 is displayed when the vehicle is braked or decelerated at the display position of the boundary front line content display 9 after the boundary front line content display 9 is displayed. .. At this time, it is also possible not to display the boundary position line content display 8.

The third display mode is a mode in which the boundary position line content display 8 and the boundary front line content display 9 are displayed at the same timing. By displaying the two-step stop line of the boundary position line content display 8 and the boundary front line content display 9 by these displays, the collision accident of the encounter head at the intersection 73 between the vehicles is suppressed, and the safe driving of the vehicle is realized. can do.

In the above display mode, when the vehicle is traveling in the parking lot and there is another intersection 73 in the driver's line-of-sight direction, that is, in the back direction of the traveling direction 12, as shown in FIG. 6, the intersection on the back side is present. The boundary position line content display 8 and the boundary front line content display 9 are displayed at the boundary position 72 of 73.

The boundary position line content display 8 and the boundary front line content display 9 are displayed on at least a part of the left end to the right end of the road 7 when the road 7 has one lane and the road width is about one vehicle. If there is no road sign on the central line on the road 7 and the width of the road is such that two-way traffic is possible, at least a part of the road 7 from the left end to the vicinity of the center, or in front of the traveling area where the own vehicle is expected to travel. The boundary position line content display 8 and the boundary front line content display 9 are displayed at least in a part of the above. When the road 7 has two or more lanes, it is displayed in at least a part of the width of the own lane 70a from the left end to the right end. The boundary position line content display 8 and the boundary front line content display 9 do not necessarily have to be displayed exactly from the left end to the right end or the center of the road 7, and should be displayed at least a part of the width of the own lane 70a. Just do it. For example, it may be displayed only in the central part on the road in front of the own lane 70a.

As for the position information of the road edge and the parking lot frame, the HCU 20 has the high-precision map data stored in the map DB 32, the coordinate data of the probe map data stored in the storage unit 13a, and the peripheral monitoring sensor. It is grasped by acquiring various sensor information acquired from the front camera 41 and LIDAR 42 included in 4. When the HCU 20 uses the probe map data acquired from the data center 15 by the storage unit 13a of the DCM13, the stop line positions of the road and the parking lot are recommended based on the information on the stop position included in the probe map data. The stop position can be determined, the boundary position line content display 8 can be displayed at the recommended stop position, and the boundary front line content display 9 can be displayed before a predetermined distance of the recommended stop position.

The recommended stop position information may be calculated by the HCU 20 of each vehicle based on the probe data acquired by the data center 15, or the data center 15 may calculate the recommended stop position information in advance so that the HCU 20 acquires the calculation result. It may be. Here, the information regarding the stop position included in the probe map data includes the position information of the position where the vehicle frequently stops, the position information of the position where the vehicle decelerates frequently, and the position where the brake operation is frequently performed in the vehicle. The position information of the vehicle, its speed information, acceleration / deceleration information, brake operation information, etc. are included.

(Content display of pattern 1)
9 to 12 are diagrams showing the contents of the content display of the pattern 1. In pattern 1, any of the contents of FIGS. 9 to 12 is displayed. The content display according to the pattern 1 is an urban road or a parking lot, and there is no stop line displayed at the boundary position 72 of the road 7, and it is unclear whether the own vehicle road 70 or the crossing road 71 has priority. It is a content display displayed in.

As shown in FIG. 9, in the first content display of the pattern 1, the boundary position line content display 8 displayed at the boundary position 72 located in the traveling direction 12 of the own road 70 and in front of the intersection 73 is Is displayed. By displaying the boundary position line content display 8 at the boundary position 72 in front of the intersection 73 toward the traveling direction 12 of the own vehicle road 70, the own vehicle can be stopped before the own vehicle enters the intersection 73. it can. In the first content display of the pattern 1, the boundary position line content display 8 is displayed as a solid line, which is illustrated as a display in which the boundary position line content display 8 requires high attention to the driver. It is not intended to be limited to displaying with a solid line.

Further, although the boundary position line content display 8 to be displayed at the boundary position 72 of the intersection 73 is typically shown and described here, it is the same as the basic content display at the boundary position described with reference to FIGS. 7 and 8. , Boundary front line content display 9 and boundary position line content display 8 or both are displayed. This also applies to patterns 2, 3 and 4 described below.

Next, as shown in FIG. 10, in the second content display of the pattern 1, the boundary position line content displayed at the boundary position 72 located in the traveling direction 12 of the own vehicle road 70 and in front of the intersection 73. Display 8a is displayed. As a result, the same effect as that of the first content display of the pattern 1 is obtained. In the second content display of the pattern 1, the display line indicating the boundary position line content display 8 is displayed by the boundary position line content display 8a indicated by the broken line, but this is because the intersection 73 is not necessarily obliged to stop. In view of the fact that the above is not the case, this is illustrated as a display that impresses to the extent that it is approaching the intersection 73 where it is unclear which one has priority. This is to show the difference between the boundary front line content display 9 displayed by a solid line and the attention required of the driver, and is not intended to be limited to displaying the boundary position line content display 8a by a broken line.

Next, as shown in FIG. 11, in the third content display of the pattern 1, the boundary position line content displayed at the boundary position 72 located in the traveling direction 12 of the own road 70 and in front of the intersection 73. The display 8 and the boundary position line content display 8b displayed at the boundary position 72 of the intersection road 71 are displayed. As a result, the same effect as that of the first and second content display of the pattern 1 is obtained.

Next, as shown in FIG. 12, in the fourth content display of the pattern 1, the boundary position line content displayed at the boundary position 72 located in front of the intersection 73 in the traveling direction 12 of the own road 70. The display 8a and the boundary position line content display 8c displayed at the boundary position 72 of the intersection road 71 are displayed. As a result, the same effect as that of the first and second content display of the pattern 1 is obtained. In the fourth content display of the pattern 1, the boundary position line content displays 8a and 8c are displayed by broken lines, but which is prioritized in view of the fact that the intersection 73 does not necessarily have to stop. This is illustrated as a display for impressing the driver to the extent that the driver is warned that he / she is approaching an unknown intersection 73. It is not intended to limit the boundary position line content display 8a and 8c to be displayed by a broken line.

(Content display of pattern 2)
13 and 14 are diagrams showing the contents of the content display of the pattern 2. In the pattern 2, the content display of either the fifth content display shown in FIG. 13 or the sixth content display shown in FIG. 14 is performed. The content display according to the pattern 2 is an urban road or a parking lot, and a road sign such as a stop line is not installed at the boundary position 72 of the road 7, but the own road 70 is determined to be a priority road. This is the content display that is displayed when.

In the fifth content display shown in FIG. 13, considering that the own road 70 is a priority road, the content display is not displayed at the boundary position 72 of the intersection 73 toward the traveling direction 12 of the own road 70. The boundary position line content display 8b is displayed at the boundary position 72 between the intersection 73 and the intersection road 71. In the sixth content display shown in FIG. 14, in addition to the display content of the fifth content display, the boundary position line content display 8a is displayed at the boundary position 72 with the intersection 73 of the own vehicle road 70. Although the own vehicle road 70 is a priority road, it is for alerting the driver and encouraging deceleration and slowing down just in case.

(Content display of pattern 3)
FIG. 15 is a diagram showing the contents of the content display of the pattern 3. In pattern 3, the display of the seventh content display shown in FIG. 15 is performed. It is determined that the content display according to the pattern 3 is an urban road or a parking lot, and there is no stop line displayed at the boundary position 72 of the road 7, the own vehicle road 70 is not prioritized, and the crossing road 71 is prioritized. This is the content display that is displayed when

In the seventh content display shown in FIG. 15, since the own road 70 is not a priority road and the intersection road 71 is a priority road, the boundary position 72 of the intersection 73 is set toward the traveling direction 12 of the own road 70. The boundary position line content display 8 is displayed. This is to alert the driver to a high degree and to encourage the vehicle to stop in the boundary position line content display 8.

(Content display when there is a road sign such as a stop line)
FIG. 16 is a diagram showing an example of content display displayed when a road sign such as a stop line 75 or a traffic sign 76 exists at an intersection 73. In FIG. 16, a stop line 75 is provided on the road 7 at the boundary position 72 between the own vehicle road 70 and the intersection road 71. In this case, as shown in FIG. 16, the HCU 20 displays the boundary position line content display 8 so as to be superimposed on the stop line 75 provided on the road 7 in the projection area R.

According to the vehicle-mounted display control device 1 according to the embodiment, the following effects are obtained.
The HCU 20 travels in the parking lot based on the high-precision map data stored in the map DB 32, the probe map data stored in the storage unit 13a, and various sensor information acquired from the front camera 41 and the LIDAR 42 included in the peripheral monitoring sensor 4. It is possible to determine whether the road is inside, there is a stop line at the intersection, which road is the priority road, or whether the own vehicle road 70 is the priority road. As a result, the HCU 20 grasps that the own vehicle has approached the intersection 73 without a road sign such as a stop line. In this case, the HCU 20 superimposes the boundary position line content display 8 on the road 7 in the projection area R visually recognized by the driver at the boundary position 72 between the intersection 73 without the stop line and the own vehicle road 70 in the projection area R. Display it.

Further, the boundary front line content display 9 is superimposed on the road 7 of the projection area R visually recognized by the driver at a position in front of the boundary position 72 by a predetermined distance. The driver who visually recognizes the boundary position line content display 8 and the boundary front line content display 9 is alerted to the level corresponding to the content display, and decelerates in the boundary position line content display 8 or the boundary front line content display 9. You will be prompted to operate the brakes, stop, slow down, etc. As a result, it is possible to suppress the occurrence of an automobile accident such as a collision accident at an intersection 73.

Although the present disclosure has been described in accordance with the examples, it is understood that the present disclosure is not limited to the examples and structures. The present disclosure also includes various modifications and modifications within an equal range. In addition, various combinations and forms, as well as other combinations and forms that include only one element, more, or less, are also within the scope of the present disclosure.

1 ... In-vehicle display control device, 8 ... Boundary position line content display, 9 ... Boundary front line content display, 23 ... Display device, 72 ... Boundary position, 73 ... Intersection

Claims (8)

When a vehicle enters an intersection (73) where a stop line is not arranged, the display device (23) displays the boundary front line content (9) in front of the boundary position (72) of the intersection by a predetermined distance. An in-vehicle display control device that displays the boundary position line content display (8) at the boundary position after displaying. The vehicle-mounted display control device according to claim 1, wherein the intersection includes an intersection in a parking lot. The vehicle-mounted display control according to claim 1 or 2, wherein when the vehicle decelerates at the display position of the boundary front line content display after displaying the boundary front line content display, the boundary position line content display is displayed. apparatus. The vehicle-mounted display control device according to any one of claims 1 to 3, wherein the display of the boundary position line content display is performed after the display of the boundary front line content display is turned off. According to any one of claims 1 to 4, when the vehicle decelerates at the display position of the boundary front line content display after displaying the boundary front line content display, the boundary position line content display is not displayed. The in-vehicle display control device described. The vehicle-mounted display control device according to claim 1 or 2, wherein the boundary front line content display and the boundary position line content display are displayed at the same timing. The vehicle-mounted display control according to claim 1 or 2, wherein the boundary position line content display is displayed when the vehicle stops at the display position of the boundary front line content display after displaying the boundary front line content display. apparatus. When the own road (70) on which the vehicle travels is a priority road, the boundary position line content display is displayed at the boundary position of the intersection where the own road 70 and the intersection road (71) intersect. The vehicle-mounted display control device according to claim 1 or 2, wherein the boundary position line content display is hidden.