JP4148229B2 - Vehicle display device - Google Patents

Description

  The present invention relates to a vehicle display device that displays a recommended course of a host vehicle.

  When driving a vehicle, when other vehicles are parked on the side of the road, such as at night or when passing through a tunnel, it may be difficult to visually recognize and avoid avoiding driving such as changing the course. there were.

  In addition, there exists a thing shown as patent document 1 as what alert | reports course information to a driver. In this patent document 1, the display position of the guidance route to the destination is adjusted based on the position of the driver's eyeball detected by the infrared camera and displayed on the windshield by a HUD (head up display). It is configured to appear as if the guidance route is displayed on the road ahead.

Further, Patent Document 2 describes a configuration in which an obstacle such as a parked vehicle on the road is detected to improve the accuracy of determining the possibility of a collision between the obstacle and the host vehicle. Based on the collision probability between the vehicle and the vehicle and the emergency level reference data for each obstacle, the emergency level of each obstacle is calculated, and the presence of the obstacle with a high level of emergency is displayed on the display device. .
Furthermore, Patent Document 3 describes a configuration in which a three-dimensional object is detected before the host vehicle narrows, and a gap between the three-dimensional object and the host vehicle is displayed on the display device to notify the driver. ing.

Further, in Patent Document 4, in order to detect an obstacle ahead of the own vehicle and at the same time automatically determine whether or not the own vehicle can pass through the obstacle, the image of the own vehicle captured by the image sensor is disclosed. A window setting means for setting a space frame necessary for passing through the vehicle ahead of a predetermined distance in the front screen and setting a window to be compared at a plurality of predetermined positions in the space frame, and a window A configuration is provided in which distance detection means for detecting a distance to a target object and determination means for determining the possibility of passing the vehicle on a road surface ahead of a predetermined distance from the distance detection result by the distance detection means are described. .
Japanese Patent Laid-Open No. 7-257228 Japanese Patent Laid-Open No. 2002-74594 JP 2004-168304 A JP-A-8-221698

  In the configuration shown in Patent Document 1, the direction of the eyeball must be detected, the device and the control are complicated, obstacles on the road cannot be detected, and the other vehicle has a course of its own vehicle. It was something that could not be reported.

  Moreover, in the structure shown by patent document 2, it was not known how to change the course of the own vehicle with respect to an obstacle. Furthermore, in the configuration shown in Patent Document 3, it is necessary to confirm both the traveling direction of the host vehicle and the display device, which may hinder driving. In addition, it was unclear how to change the course of the vehicle against the obstacle. Even in the configuration disclosed in Patent Document 4, it is not known how to change the course of the own vehicle with respect to the obstacle.

  The present invention has been made in view of the above circumstances, and its purpose is to detect obstacles in the traveling direction in an environment where the surroundings are dark and notify a recommended course for avoidance, and to other vehicles. It is another object of the present invention to provide a vehicle display device that can inform the recommended course of the host vehicle and contribute to the improvement of safety.

  In order to achieve the above object, the invention of claim 1 detects the brightness detection means for detecting the brightness around the host vehicle and whether or not a course change target exists in the vehicle traveling direction of the host vehicle. An object detection means, a positional relationship detection means for detecting a positional relationship between the course change object and the host vehicle when the course change object is detected by the object detection means, and the brightness detection means. Recommended course indexing means for determining a recommended course for avoiding the course change target object from the positional relationship detecting means when it is detected that the surrounding of the host vehicle is dark and a course change target object is detected by the object detection means And an image projection means for projecting the image of the recommended course indexed by the recommended course indexing means on the road in the traveling direction. According to this, when it is detected that the surroundings of the host vehicle is dark by the brightness detection means, and a course change target object that is an obstacle such as a parked vehicle on the road is detected by the object detection means, the recommended course allocation is performed. The indexing means determines a recommended path that avoids the path change target object from the positional relationship detection means, and the image projection means displays the video of the recommended path calculated by the recommended path indexing means on the road in the traveling direction. Therefore, when an obstacle exists on the road or the like in a dark environment, the obstacle can be reliably detected, and a recommended course for avoiding the obstacle can be determined and displayed (notified). In this case, the recommended route is displayed on the actual road, so there is no hindrance to driving compared to the case where it is displayed on the display device or windshield in the car, and the recommended route can be recognized very easily. The driver of the oncoming vehicle can be notified of the course of the host vehicle.

In this case, the object detection means may be configured to detect another vehicle parked and stopped in the traveling direction of the host vehicle as the course change object (Claim 2). Avoidance driving can be performed on the most parked vehicles on the road as a thing, and the practical value is high.
Further, the object detection means may include an image pickup means for picking up the traveling direction of the host vehicle, and may detect a course change target object by analyzing an image captured by the image pickup means. In this way, it is possible to satisfactorily detect the course change target object that is an obstacle, and the detection performance is improved.

  Further, the object detection means has an image pickup means for picking up the traveling direction of the host vehicle, and detects a course change object by analyzing an image captured by the image pickup means, and detects a road accessory such as a lane. (Claim 4) In this way, in addition to the course change target object that is an obstacle, a lane or the like can be detected using the object detection means, and the detected lane is also detected. This makes it easy to detect oncoming vehicles.

Further, the positional relationship detection means may be configured to have a radar (invention of claim 5). In this way, it is possible to accurately detect the distance and direction with respect to the detected course change object, and the recommended course Can contribute to improving the accuracy of indexing.
Further, the positional relationship detection means may be configured to detect the positional relationship between the course change target object and the host vehicle by analyzing the image captured by the imaging means (invention of claim 6). Can be used for the detection of the course change object and the detection of the positional relationship, and can contribute to the simplification of the configuration.

  In addition, a video signal output unit for converting the recommended route indexed by the recommended route indexing unit into a video signal and outputting the video signal is provided, and the video projection unit is based on the video signal output from the video signal output unit. Even if the recommended course indexing unit is configured to output the recommended course image, the recommended course indexing unit corrects the recommended course according to the width dimension of the host vehicle or the deviation between the arrangement position of the imaging unit and the driver viewpoint. Well (invention of claim 7), in this way, even if the arrangement position of the imaging means and the driver viewpoint are shifted, it is possible to correct the recommended course image so as to match the viewpoint of the driver.

  In addition, an input unit that is operated when the user requests a route display may be provided, and the recommended route indexing operation and the recommended route video output operation may be executed on condition that the input unit is operated. (Invention of Claim 8) In this way, the driver can conveniently detect the course change object, determine the recommended course, and display it.

  Further, the object detection means is configured to always detect an oncoming vehicle in addition to the course change target when the host vehicle is traveling, and when the object detection means detects the oncoming vehicle, a recommended course indexing means. Determines whether the determined recommended route and the oncoming vehicle contact or interfere with each other, and if there is a possibility of contact or interference, the recommended route may be projected from the image projection means. (Invention of claim 9) In this way, the presence / absence of an oncoming vehicle is always detected, and when there is a possibility that the recommended recommended route touches or interferes with the oncoming vehicle, the recommended route is displayed. From the above, the situation of changing the driving course by judging the presence of the obstacle and the appearance of the oncoming vehicle are automatically judged, and the recommended course is automatically displayed, so that the obstacle in the traveling direction and Report on the existence of oncoming vehicles It can and can contribute to safe driving.

In this case, when the recommended course interferes with the oncoming vehicle, the display pattern of the recommended course projected from the image projection means may be in the form of blinking or reduced illuminance (invention of claim 10). The effect of the recommended route on the driver of the oncoming vehicle can be reduced, and the uncomfortable feeling to the passenger on the passenger seat can be reduced.
Further, the display pattern of the recommended course projected from the video projection means may be in the form of two lines substantially corresponding to the width of the host vehicle (invention of claim 11). It becomes easy to understand.

Also, the recommended course display pattern projected from the image projection means may be in the form of two lines approximately corresponding to the width of the host vehicle, and the line on the oncoming vehicle may be blinking or reduced in illuminance. (Invention of Claim 12) In this way, the display line on the oncoming vehicle side and the display line on the obstacle side can be distinguished and recognized, and the influence on the oncoming vehicle can be reduced.
Further, the display pattern of the recommended course projected from the video projection means may be changed according to the traveling position of the host vehicle (invention of claim 13). In this way, the display of the recommended course is always the latest. The portion of the recommended route display pattern through which the vehicle has passed can be deleted.

  A first embodiment of the present invention will be described below with reference to FIGS. The vehicle display device 2 shown in FIG. 1 is mounted on the vehicle 1 shown in FIGS. The processing device 3 includes a CPU, a ROM, a RAM, various A / D converters, and the like. The processing device 3 includes an image processing unit 4, a vehicle information memory unit 5, a positional relationship measuring unit 6, and a recommendation. A recommended route data processing unit 7 as a route indexing unit, a video signal output unit 8, and an audio output device 16 as a notification unit are provided.

  Further, the vehicle display device 2 includes a brightness sensor 9 as brightness detection means for detecting the brightness of the host vehicle 1, a forward monitoring camera 10 as imaging means, a radar 11, and a route as input means. A display request switch 12 and a projector 13 as video projection means are provided.

  As shown in FIG. 2, the front monitoring camera 10 is arranged in the upper part of the indoor front seat of the vehicle 1 so as to be able to image the traveling direction of the vehicle 1. The front monitoring camera 10 and the image processing unit 4 constitute an object detection device 14 as object detection means. Further, as shown in FIG. 3, the projector 13 is also arranged in the horizontal direction at substantially the same position as the front monitoring camera 10.

  The image processing unit 4 stores various determination data for detecting parked and stopped vehicles in the traveling direction, lanes, oncoming vehicles, and the like in a memory, and when captured image data is given from the front monitoring camera 10, The captured image data and the determination data are compared and analyzed to detect (extract) an obstacle such as a parked vehicle on the road (an object to be changed) and a lane. The extracted data is sent to the recommended route data processing unit 7. Given.

  Further, the radar 11 is provided, for example, inside the hood (see FIG. 3) of the vehicle 1, and is constituted by a three-dimensional laser radar that detects the distance, direction, speed, and the like with respect to the three-dimensional object in the traveling direction of the vehicle 1. . The radar 11 outputs and receives a laser, and gives a detection signal to the positional relationship measuring unit 6. The positional relationship measuring unit 6 uses the three-dimensional data provided from the radar 11 to measure the distance and direction to the obstacle and the oncoming vehicle. Are measured and given to the recommended route data processing unit 7. The radar 11 and the positional relationship measuring unit 6 constitute a positional relationship detection device 15 as positional relationship detection means.

  Then, the recommended course data processing unit 7 determines the distance from the own vehicle 1 to the obstacle such as a parked vehicle from the obstacle extraction data from the image processing unit 4 and the measurement result from the positional relationship measurement unit 6. Judging the recommended course for avoiding the obstacle based on the vehicle width data and correction data (given from the vehicle information memory unit 5) of the own vehicle 1 put out. Then, the recommended route data processing unit 7 gives the recommended route data to the video signal output unit 8. In addition, when the recommended route is detected and the recommended route is determined, when the oncoming vehicle is detected, the recommended route data processing unit 7 may contact or interfere with the oncoming vehicle. The display form of the recommended course is changed according to the possibility of contact or interference.

The vehicle information memory unit 5 stores in advance the vehicle width data of the host vehicle 1 and the correction data for correcting the deviation between the position of the front monitoring camera 10 and the driver viewpoint. In this case, as shown in FIG. 2, when the deviation between the position of the front monitoring camera 10 and the driver viewpoint is a distance X, correction data corresponding to the deviation distance X is stored in advance. In this case, the arrangement position of the front monitoring camera 10 is a position in consideration of integration with the room mirror on the inner surface of the windshield.
Further, the video signal output unit 8 converts the video data for the recommended course given from the recommended course data processing unit 7 into an image signal and gives it to the projector 13. The route display request switch 12 is operated by a driver (user).

  Now, the operation of the vehicle display device 2 will be described together with the operation of the recommended route data processing unit 7 (this is shown in the flowchart of FIG. 4). The flowchart in FIG. 4 starts when the ignition key of the vehicle 1 is turned ON, for example. In step S1, it is determined whether or not the host vehicle 1 is traveling in a dark environment. That is, based on the brightness detection signal from the brightness sensor 9, it is determined whether or not the surroundings of the host vehicle 1 are dark. If it is determined that the surroundings of the host vehicle 1 are dark, each device (forward monitoring) is determined in step S2. The camera 10, radar 11 and projector 13) are turned on to start driving. The front monitoring camera 10 supplies image data to the image processing unit 4 when the power is turned on. The image processing unit 4 extracts a parked vehicle or a lane, and gives the extracted data to the recommended route data processing unit 7. Further, the radar 11 outputs and receives a laser, and gives a detection signal to the positional relationship measuring unit 6. The positional relationship measuring unit 6 measures the distance and direction to the obstacle from the three-dimensional data provided from the radar 11. To the recommended course data processing unit 7.

  The recommended course data processing unit 7 reads the extracted data, which is the detection result of the obstacle (parked / stopped vehicle) or lane, in step S3, and determines whether or not the obstacle is detected in step S4. Returning to S3, if an obstacle is detected, the positional relationship measurement result from the positional relationship measurement unit 6 is read in step S5, and the recommended course is determined in step S6. The images of the recommended recommended paths are indicated by reference characters La ′ and Lb ′ in FIG. In this case, the recommended routes La ′ and Lb ′ are indexed so as not to exceed the tip Ca of the detected lane C.

  In step S7, the extracted data from the image processing unit 4 is read again, and it is determined in step S8 whether an oncoming vehicle is detected. Here, when an obstacle (parked vehicle) is detected and no oncoming vehicle is detected, the image data of the front monitoring camera 10 is as shown in FIG. In FIG. 5, symbol A corresponds to the hood of the host vehicle 1, symbol B corresponds to a parked vehicle, and symbol C corresponds to a lane.

  When the oncoming vehicle is not detected in step S8, the process proceeds to step S9 according to “NO” in step S8. If the course display request switch 12 is turned on in step S9, the process proceeds to step S10, and the video data of the recommended course determined in step S6 is supplied to the video signal output unit 8. As a result, the video signal output unit 8 outputs a video signal corresponding to the recommended route to the projector 13. The projector 13 projects images of the recommended courses La and Lb having two lines substantially corresponding to the width of the host vehicle 1 on the road as shown in FIG. 7 showing the traveling direction seen from the windshield. To display. In FIG. 7, reference numeral 1a indicates a bonnet of the host vehicle 1, 17 indicates a parked vehicle, and 18 indicates a lane. FIG. 8 is a plan view.

  In the next step S11, it is determined whether or not the host vehicle 1 has passed the recommended route. If not yet passed, the vehicle 1 is based on the data provided from the image processing unit 4 and the positional relationship measuring unit 6 in step S12. The travel position of the host vehicle 1 (positional relationship with the obstacle) is confirmed, the display pattern of the recommended route is updated in step S13, and video data of the recommended route is supplied to the video signal output unit 8 in step S14. Thus, the projector 13 projects the video of the recommended route on the road with the updated display pattern. The state of display of the projected recommended course is shown in FIG. 9, and as can be seen from the comparison with FIG. 7, the passage (front part) of the recommended courses La and Lb is deleted. If the host vehicle 1 has already passed the recommended route in step S11, the supply of video data for the recommended route is stopped in step S15, the road display is terminated, and the power of each device is turned off in step S25. To do.

  On the other hand, if an obstacle is detected and an oncoming vehicle is detected, “YES” is determined in the step S8, and the process shifts to a step S16. In this step S16, it is determined whether or not there is a possibility that the recommended route and the oncoming vehicle are in contact with each other. And the video data of the recommended course determined in step S6 is supplied to the video signal output unit 8. An image of the image data at this time is shown in FIG. As a result, the video signal output unit 8 outputs a video signal corresponding to the recommended route to the projector 13. The projector 13 projects and displays images of the recommended routes La and Lb having two line shapes on the road, as shown in FIG. 11 showing the traveling direction seen from the windshield. In FIG. 11, reference numeral 19 indicates an oncoming vehicle.

  In the next step S18, it is determined whether the recommended route interferes with the oncoming vehicle. If it is determined that the recommended route interferes, the process proceeds to step S19. In step S19, the sound output device 16 outputs a sound for warning, and a recommended course is displayed on the road. In this case, as shown in FIG. 12, the recommended route Lb on the oncoming vehicle side is blinked among the images of the recommended routes La and Lb having two lines.

  After step S19, steps S20 to S24 similar to steps S11 to S15 described above are executed. That is, in step S20, it is determined whether or not the host vehicle 1 has passed the recommended route. If not yet passed, the travel position of the host vehicle 1 (positional relationship with the obstacle) is confirmed in step S21. In step S22, the recommended route display pattern is updated, and in step S23, video data for the recommended route is supplied to the video signal output unit 8. If the host vehicle 1 has already passed the recommended route in step S20, the on-road display of the recommended route is terminated in step S24, and the power of each device is turned off in step 26.

  According to the vehicle display device 2 of the present embodiment described above, the recommended route data processing unit 7 detects that the surroundings of the host vehicle 1 are dark by the brightness sensor 9, and is parked on the road by the object detection device 14. When an obstacle such as the above is detected, a recommended route for avoiding the obstacle is determined based on the positional relationship detection data given from the positional relationship detection device 15, and the image of the determined recommended route is obtained by the projector 13. Is displayed on the road in the direction of travel, and when there is an obstacle on the road when driving in a dark environment, the obstacle is surely detected and the recommended course to avoid the obstacle is determined. It can be displayed (notified).

In this case, the recommended route is displayed on the actual road, so there is no hindrance to driving compared to the case where it is displayed on the display device or windshield in the car, and the recommended route can be recognized very easily. The driver of the oncoming vehicle can be notified of the course of the host vehicle 1.
In this case, the object detection device 14 is configured to detect other vehicles parked and stopped in the traveling direction of the host vehicle 1 as obstacles. Can avoid driving and has high practical value. However, the obstacle (the course change target object) may be other than a parked vehicle.

In addition, the object detection device 14 includes the front monitoring camera 10 that captures the traveling direction of the host vehicle 1, and the obstacle is detected by analyzing the image captured by the front monitoring camera 10. Can be detected well, and the detection performance is improved.
Further, the object detection device 14 detects an obstacle in addition to analyzing an image captured by the front monitoring camera 10 and also detects a road accessory such as a lane, so that the object for detecting the obstacle is detected. The detection device 14 can be conveniently used for detecting a lane or the like, and the oncoming vehicle can be easily detected by the detected lane.
In addition, since the positional relationship detection device 15 includes the radar 11, it is possible to accurately detect the distance and direction with respect to the detected obstacle, which can contribute to the improvement in the index accuracy of the recommended course.

  In addition, a video signal output unit 8 that converts the recommended route indexed by the recommended route data processing unit 7 into a video signal and outputs the video signal is provided, and the projector 13 converts the video signal output from the video signal output unit 8 into the video signal. The recommended course data processing unit 7 corrects the recommended course according to the width dimension of the host vehicle or the deviation between the position of the front monitoring camera 10 and the driver viewpoint. Because of the configuration, even if the arrangement position of the front monitoring camera 10 and the driver viewpoint are misaligned, it is possible to correct the recommended course video so that it matches the viewpoint of the driver.

  Also, a route display request switch 12 that is operated when a user requests a route display is provided, and a recommended route indexing operation and a recommended route video output operation are executed on condition that the route display request switch 12 is operated. Therefore, it is convenient for the user (driver) to detect obstacles and to determine and display recommended routes as necessary.

  The object detection device 14 is configured to always detect an oncoming vehicle in addition to an obstacle when the host vehicle 1 travels. When the object detection device 14 detects an oncoming vehicle, recommended route data processing is performed. The department determines whether the recommended recommended route and the oncoming vehicle contact or interfere with each other, and if there is a possibility of contact or interference, the recommended route is projected from the image projection means. Regardless of whether the route display request switch 12 is turned on or off, the situation where the presence of an obstacle is always determined and the traveling route is changed and the appearance of an oncoming vehicle are automatically determined, and automatically Since the recommended course is displayed, it is possible to notify the presence of obstacles and oncoming vehicles in the traveling direction, thereby contributing to safe driving.

  In this case, when the recommended course interferes with the oncoming vehicle, the display pattern of the recommended course projected from the projector 13 is made to blink, so that the influence of the projected recommended course on the driver of the oncoming vehicle can be reduced and the passenger seat It can alleviate the sense of discomfort for passengers. In this case, instead of blinking the display pattern, the illuminance may be reduced.

Moreover, since the display pattern of the recommended course projected from the video projection unit is in the form of two lines substantially corresponding to the width of the host vehicle 1, the distance from the obstacle can be easily understood.
In addition, the recommended course display pattern projected from the video projection means is in the form of two lines approximately corresponding to the width of the host vehicle, and the line on the oncoming vehicle is in a form of blinking or reduced illuminance. The on-vehicle display line (recommended route Lb) and the obstacle-side display line (recommended route La) can be distinguished and recognized, and the influence on the oncoming vehicle can be reduced.
Moreover, since the display pattern of the recommended route is changed according to the traveling position of the host vehicle 1, the display of the recommended route can always be updated, and the host vehicle has passed through the recommended route display pattern. The part can be erased.

In addition, this invention is not limited to the said Example, You may implement as changed as follows.
1) The positional relationship detection device 15 may be configured not to use the radar 11 but to detect the positional relationship between the obstacle and the host vehicle 1 by analyzing an image captured by the front monitoring camera 10 serving as an imaging unit. In this way, the object detection device 14 including the front monitoring camera 10 and the image processing unit 4 can be used for the detection of the obstacle and the detection of the positional relationship, and can contribute to the simplification of the configuration.

2) In the above embodiment, the control for displaying the recommended route by turning on the route display request switch 12 and the control for displaying the recommended route by detecting the oncoming vehicle are performed at the same time, but only one of them is controlled. But it ’s okay. For example, as shown in FIG. 13 shown as the second embodiment of the present invention, the recommended route display control may be performed by turning on the route display request switch 12, or as the third embodiment of the present invention. As shown in FIG. 14, a series of controls such as recommended route indexing, oncoming vehicle detection, and recommended route display may be performed whenever the host vehicle is traveling. The correspondence between each step in FIG. 13 and the step in FIG. 4 is as follows. Step T1 is S1, T2 is S9, T3 is S2, T4 is S3, T5 is S4, T6 is S5, T7 is S6, T8 is S10, T9 to T13 are S11 to S15, T14, and T15 are S25, respectively. . The correspondence between each step in FIG. 14 and each step in FIG. 4 is as follows. Steps U1 to U8 correspond to S1 to S8, U9 to U17 correspond to S16 to S24, and U18 corresponds to S26, respectively.
3) The front monitoring camera 10 may be provided at the same arrangement position as the driver's viewpoint as shown in FIG. 15 as the fourth embodiment of the present invention. In this case, the front monitoring camera 10 and the driver's viewpoint The deviation is small and deviation correction can be omitted.

4) The projector 13 may be an integrated unit with the front monitoring camera 10. Further, the projector 13 may be arranged on the dashboard as shown in FIG. 16 shown as the fifth embodiment of the present invention, or in the vehicle hood as shown in FIG. 17 shown as the sixth embodiment. May be.
5) “Each device power on” such as step S2 may be “removing each device standby state”, and “each device power off” such as step 25 may be “each device standby state”.

1 is a block diagram of a functional configuration showing a first embodiment of the present invention. Partial schematic side view of the vehicle to show the location of the front monitoring camera Schematic plan view of a vehicle for showing a front monitor camera and a projector arrangement position Flow chart showing control contents Diagram showing image data with obstacles A diagram showing an image of the recommended career path View of recommended course display through windshield Plan view of the recommended course display View of the updated recommended course display The figure which shows the image data where the obstacle and the oncoming vehicle exist Plan view of the road when the recommended course may come into contact with the oncoming vehicle Plan view of road when recommended course interferes with oncoming vehicle Flow chart of control contents showing the second embodiment of the present invention Flow chart of control contents showing the third embodiment of the present invention FIG. 2 shows a fourth embodiment of the present invention and is different from FIG. FIG. 2 shows a fifth embodiment of the present invention and is equivalent to FIG. FIG. 2 shows a sixth embodiment of the present invention and is equivalent to FIG.

Explanation of symbols

  In the drawings, 1 is the host vehicle, 2 is a display device for the vehicle, 3 is a processing device, 4 is an image processing unit, 6 is a positional relationship measuring unit, 7 is a recommended route data processing unit (recommended route indexing means), and 8 is Video signal output unit, 9 is a brightness sensor (brightness detection means), 10 is a front monitoring camera (imaging means), 11 is a radar, 12 is a route display request switch (input means), and 13 is a projector (video projection means). , 14 indicates an object detection device (object detection means), and 15 indicates a position relationship detection device (position relationship detection means).

Claims (13)

Brightness detection means for detecting brightness around the vehicle;
An object detection means for detecting whether there is a course change object in the vehicle traveling direction of the host vehicle;
A positional relationship detecting means for detecting a positional relationship between the course changing object and the host vehicle when a course changing object is detected by the object detecting means;
When the brightness detection unit detects that the surrounding of the host vehicle is dark and the target detection unit detects a course change target, the recommended path for avoiding the course change target from the positional relationship detection unit is determined. Recommended course indexing means to determine;
A vehicle display device comprising: an image projecting unit that projects an image of the recommended route indexed by the recommended track indexing unit on a road in a traveling direction. The vehicle display device according to claim 1,
The object detection means detects a vehicle parked and stopped in the traveling direction of the host vehicle as a course change object. The vehicle display device according to claim 1 or 2,
The object detection means includes an image pickup means for picking up an advancing direction of the host vehicle, and analyzes a picked-up image by the image pickup means to detect a course change target object. The vehicle display device according to claim 3,
The object detection means has an image pickup means for picking up the traveling direction of the host vehicle, and analyzes a picked-up image by the image pickup means to detect a course change target object, and also detects a road accessory such as a lane. A display device for vehicles. The vehicle display device according to claim 1,
The vehicle display device characterized in that the positional relationship detection means includes a radar. The vehicle display device according to claim 3 or 4,
The positional relationship detection means is configured to detect a positional relationship between the course change target and the host vehicle by analyzing an image captured by the imaging means. In the vehicle display device according to any one of claims 1 to 6,
Provided with a video signal output unit for converting the recommended course indexed by the recommended course indexing means into a video signal and outputting it,
The video projection means is configured to output a recommended course video based on the video signal output from the video signal output unit,
The recommended course indexing means corrects the recommended course according to the width dimension of the host vehicle or the deviation between the arrangement position of the imaging means and the driver viewpoint. In the vehicle display device according to any one of claims 1 to 7,
It has an input means that is operated when the user requests a route display,
A vehicle display device that performs a recommended route indexing operation and a recommended route video output operation on condition that the input means is operated. In the vehicle display device according to any one of claims 1 to 8,
The object detection means is configured to detect an oncoming vehicle in addition to the course change object at all times when the host vehicle is traveling,
When the object detection unit detects an oncoming vehicle, the recommended route indexing unit determines whether the indexed recommended route and the oncoming vehicle are in contact with or interfere with each other, and may contact or interfere with each other. In the case, the vehicle display device displays the recommended course from the image projection means. The vehicle display device according to claim 9,
A display device for a vehicle, wherein when the recommended route interferes with an oncoming vehicle, a display pattern of the recommended route projected from the image projection means is configured to blink or reduce illuminance. In the vehicle display device according to any one of claims 1 to 9,
The vehicle display device indicates that the display pattern of the recommended course projected from the video projection means is in the form of two lines substantially corresponding to the width of the host vehicle. The vehicle display device according to claim 10,
The display pattern of the recommended course projected from the image projection means is a form of two lines substantially corresponding to the width of the own vehicle, and the line on the oncoming vehicle side is a form that blinks or reduces the illuminance. A vehicle display device. In the vehicle display device according to any one of claims 1 to 12,
A display device for a vehicle, wherein a display pattern of a recommended course projected from a video projection unit is changed according to a travel position of the host vehicle.

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