JP6642681B2 - Vehicle information projection system and vehicle information projection method - Google Patents

Description

  The present invention relates to a system (vehicle information projection system) for projecting information about a vehicle (vehicle information) and a method thereof (vehicle information projection method).

  For example, Patent Document 1 discloses a vehicle display device as a vehicle information projection system, and the vehicle display device projects a degree of attention of a road ahead of the vehicle on a windshield (windshield) of the vehicle. Can be. Specifically, for example, when there is an intersection provided with a temporary stop regulation in front of the vehicle, the display device for a vehicle, as a road with a high degree of attention, for example, temporarily in the traveling lane in which the vehicle is traveling It is possible to determine a portion in front of the stop line (part of the traveling lane) corresponding to the stop regulation. In addition, the vehicle display device can determine an opposite lane next to the traveling lane as a road having a high degree of attention. Further, the vehicle display device can determine, as a road having a high degree of attention, another road (intersecting road) that intersects the traveling lane at the intersection. Next, the vehicle display device of Patent Literature 1 discloses a windshield such that a road having a high degree of attention (for example, a part of a driving lane, an opposite lane, and an intersection road) has, for example, red from the viewpoint of a driver of the vehicle. , A display image (degree of attention of a road ahead of the vehicle) can be projected on the display.

  Here, the range of the red light projected on the windshield, that is, the shape of the red display image displayed on the windshield matches the shape of the road with a high degree of attention. In other words, according to the shape (position) of a road with a high degree of attention as a landscape or a road with a high degree of attention in real space, the shape of the red display image displayed on the windshield (projected onto the windshield) Is determined, and the virtual image of the red display image is superimposed on a road with a high degree of attention from the driver's viewpoint. The projection or display of the vehicle information indicating the degree of attention on the windshield is generally called a head-up display (HUD) by those skilled in the art. In the vehicle display device of Patent Literature 1, a future traveling locus of the vehicle may be projected or displayed as a road (part of a traveling lane) having a high degree of attention.

JP 2005-202787 A

  In the vehicle display device of Patent Literature 1, the degree of attention of the road ahead of the vehicle is projected somewhere on the entire windshield of the vehicle. Therefore, the display range in which the degree of attention is projected on the windshield is: It is set globally and therefore its display range is wide or large. However, in order to widen or enlarge the display range on the windshield, a space for a display (projector) mounted or installed on a dashboard (instrument panel) of the vehicle increases. In other words, the space is generally limited by the type of vehicle, and the display range on the windshield is limited to a part of the windshield.

  Further, when the display range on the windshield is widened or enlarged, the manufacturing cost of a vehicle display device (vehicle information projection system) including a display for determining the display range increases. In other words, the display range of the windshield may be limited to a part of the windshield in order to suppress an increase in the manufacturing cost of the display.

  When the display range on the windshield is limited to a part of the windshield, it is difficult for the driver of the vehicle to recognize a scene in which the projection or display of the degree of attention on the vehicle display device of Patent Document 1 overlaps. In other words, when the display range on the windshield is limited to a part of the windshield, the amount of information resulting from the projection or display of the degree of attention on the vehicle display device of Patent Document 1 is limited or reduced. The projection or display of the degree of attention needs to be performed efficiently.

  In addition, in the vehicle display device of Patent Literature 1, the degree of attention of the road ahead of the vehicle is projected somewhere on the entire windshield of the vehicle. The degree of attention of the vehicle behind (the vehicle behind) is not projected on the windshield.

  An object of the present invention is to provide a vehicle information projection system that can efficiently project vehicle information such as a degree of attention and a degree of warning of a rear vehicle. Other objects of the present invention will become apparent to those skilled in the art by referring to the aspects and best embodiments exemplified below and the accompanying drawings.

  Hereinafter, embodiments according to the present invention will be exemplified in order to easily understand the outline of the present invention.

In a first aspect, a vehicle information projection system includes:
The vehicle information is projected onto a display range set in a part of a windshield of the vehicle, and the vehicle information is displayed on the display range such that a virtual image of the vehicle information overlaps an actual scene from a viewpoint of a driver of the vehicle. A display mechanism that can be displayed;
A rear vehicle information acquisition unit capable of acquiring rear vehicle information indicating that a rear vehicle is present behind the vehicle,
A lane change information acquisition unit capable of acquiring lane change information indicating that the vehicle changes from a traveling lane of the vehicle to an adjacent lane adjacent to the traveling lane across a boundary line,
A processing unit that determines the degree of attention of the rear vehicle based on the rear vehicle information and the lane change information,
A vehicle traveling information acquisition unit capable of acquiring information on the traveling direction of the vehicle,
A steering angle sensor capable of acquiring steering angle information indicating that a steering handle of the vehicle is operated as vehicle traveling information;
With
The vehicle information includes first vehicle information including the degree of attention and second vehicle information that changes in accordance with the steering angle information.
The processing unit is capable of generating the first vehicle information and the second vehicle information so that the first vehicle information and the second vehicle information are displayed in the display range,
The processing unit can generate the second vehicle information having straightness so that the virtual image of the second vehicle information rotates within the display range as the operation amount of the steering handle increases. Yes,
When the operation amount reaches a predetermined amount, the processing unit replaces the second vehicle information having the straightness with a display format in which a position does not change according to an increase in the operation amount of the steering wheel. The second vehicle information can be generated.

  According to a first aspect, there is provided a vehicle information projection system capable of efficiently projecting vehicle information of a rear vehicle.

In a third aspect, the vehicle information projection method includes:
A vehicle information projection method executed by a display controller,
Detecting a rear vehicle existing behind the vehicle,
Detecting that the vehicle is to change from a driving lane of the vehicle to an adjacent lane adjacent to the driving lane;
Before the vehicle has finished changing from the driving lane to the adjacent lane, determining the degree of attention of the rear vehicle,
Generating vehicle information based on the degree of attention,
A display range set at a part of the windshield of the vehicle, projecting the vehicle information that changes a display position in response to a steering operation amount of the vehicle, and when the operation amount reaches the predetermined amount Changing the display format of the vehicle information to a display format in which a display position does not change in accordance with an increase in the operation amount of the steering wheel .

  In the third aspect, a vehicle information projection method capable of efficiently projecting vehicle information of a rear vehicle is provided.

  Those skilled in the art will readily appreciate that the illustrated embodiments according to the present invention may be further modified without departing from the spirit of the invention.

1 shows a schematic configuration example of a vehicle information projection system according to the present invention. FIG. 2 is a flowchart illustrating a part of an example of a schematic operation of the vehicle information projection system or the display controller in FIG. 1. FIG. 2 is a flowchart illustrating the rest of an example of the schematic operation of the vehicle information projection system or the display controller in FIG. 1. FIG. 4A shows an example of an actual scene recognized through the windshield of FIG. 1, and FIG. 4B, FIG. 4C, FIG. 4D, and FIG. 4 (F) and FIG. 4 (G) each show an example of vehicle information projected on a display range set in a part of the windshield of FIG. 4 (A). 5 shows an example of a table for determining a display format of the degree of attention of vehicle information.

  The preferred embodiments described below are used for easy understanding of the present invention. Accordingly, those skilled in the art should note that the present invention is not unduly limited by the embodiments described below.

  FIG. 1 shows a schematic configuration example of a vehicle information projection system according to the present invention. As shown in FIG. 1, the vehicle information projection system includes, for example, an imaging unit 103 and a display mechanism 100. The imaging unit 103 can capture an image of a road existing in front of the vehicle (actual scenery on the road). The display mechanism 100 projects the vehicle information on a display range set in a part of the windshield 101 of the vehicle, and displays the vehicle information such that the virtual image V of the vehicle information overlaps the actual scenery at the viewpoint 102 of the driver of the vehicle. Can be displayed in the display range. Such a vehicle information projection system is generally called an HUD system. The display mechanism 100 in FIG. 1 includes, for example, a display 20 and a reflector 21. The display mechanism 100 is generally called a HUD or HUD device. The display mechanism 100 is typically housed inside the dashboard, but all or a part of the display mechanism 100 may be arranged outside the dashboard. Note that the display 20 projects the vehicle information on the windshield 101, for example, and may be called a projector.

  The vehicle information projection system in FIG. 1 further includes, for example, an information acquisition unit S, and the information acquisition unit S has at least a rear vehicle information acquisition unit 360. The rear vehicle information acquisition section 360 can acquire rear vehicle information indicating that a rear vehicle (not shown) exists behind the vehicle. The information acquisition unit S of FIG. 1 includes not only the rear vehicle information acquisition unit 360 but also a lane change information acquisition unit, where the lane change information acquisition unit determines that the vehicle is adjacent to the traveling lane from the traveling lane of the vehicle. It is possible to acquire lane change information indicating that the lane is changed to the adjacent lane. The lane change information includes the schedule that the vehicle will change from the driving lane of the vehicle to the adjacent lane adjacent to the driving lane (start of lane change), while the lane change information indicates that the vehicle changes from the driving lane to the adjacent lane. End (end of lane change) may not be included.

  In FIG. 1, the lane change information acquisition unit includes, for example, a road information acquisition unit 320, an instruction information acquisition unit 340, and a steering angle information acquisition unit 370. Of course, the lane change information acquisition unit may be only the road information acquisition unit 320, the instruction information acquisition unit 340, or the steering angle information acquisition unit 370, or may be an arbitrary combination thereof. Further, the lane change information acquisition unit is not limited to the combination shown in FIG. 1, and another information acquisition unit may be employed.

  The vehicle information projection system in FIG. 1 further includes, for example, a display controller 200, and the display controller 200 has at least a processing unit P. Although the display controller 200 is typically housed inside the dashboard, all or a part of the display controller 200 may be arranged outside the dashboard. The combination of the display mechanism 100 and the display controller 200 may be called a HUD or a HUD device. The processing unit P in FIG. 1 includes, for example, a determination unit 210 and a generation unit 220. The processing unit P or the determination unit 210 includes, for example, lane change information acquired by a lane change information acquisition unit such as an instruction information acquisition unit 340. The degree of attention of the rear vehicle can be determined based on the rear vehicle information acquired by the rear vehicle information acquisition unit 360. Next, the processing unit P or the generating unit such that the vehicle information projected on the windshield 101 includes the degree of attention of the vehicle behind and the virtual image V of the vehicle information overlaps the boundary between the traveling lane and the adjacent lane. 220 can generate the vehicle information.

  In FIG. 1, the display mechanism 100 or the display 20 is controlled by the display controller 200 or the processing unit P to display the virtual image V via the windshield 101, whereby the display 20 is based on the vehicle information. The display light L (projection light) can be generated or emitted. The reflector 21 guides the optical path of the display light L from the display 20 to the windshield 101, and the driver can recognize the display light L (vehicle information) on the windshield 101 as a virtual image V. Note that the display 20 has, for example, a liquid crystal panel, and one display 20 is shown in FIG. 1. However, the display 20 may be, for example, two or left and right displays. For example, the virtual image V may be a three-dimensional virtual image for both eyes of the driver.

  The vehicle (own vehicle) on which the vehicle information projection system is mounted is, for example, an automobile in FIG. 1, and the automobile can travel on a horizon H or on a road. At the driver's viewpoint 102, the height or depth of the virtual image V in FIG. 1 is set to a predetermined distance from a distance D1 to a distance D3, for example. In other words, at the driver's viewpoint 102, the lower end of the virtual image V exists forward by the distance D1 from the vehicle, the upper end of the virtual image V exists forward by the distance D3 from the vehicle, and the vertical midpoint of the virtual image V Exists ahead of the vehicle by a distance D2. The distance D1, the distance D2, and the distance D3 are, for example, 20 [m], for example, 30 [m] and, for example, 50 [m], respectively.

  Although one reflector 21 is shown in FIG. 1, the reflector 21 may be, for example, two reflectors. In other words, the optical path of the display light L from the display 20 to the windshield 101 is The distance D1, the distance D2, and the distance D3 are adjusted according to the height of the ideal driver's viewpoint 102 (the height of the ideal driver's sitting height) and the optical path of the display light L. May be done. In addition, the reflector 21 generally enlarges the display light L from the display 20, and in addition, the reflector 21 or the display controller 200 (for example, the processing unit P) is generally set in a part of the windshield 101. (For example, distortion of the glass surface) in the display range of the object.

  The display controller 200 in FIG. 1 further includes, for example, a storage unit 230. The storage unit 230 can store various data necessary for processing or calculation of the processing unit P such as the determination unit 210 and the generation unit 220, for example. . The display controller 200 is typically formed of, for example, a microcomputer, and can include, for example, a CPU, memories such as a ROM and a RAM, and an input / output interface. The processing unit P is typically configured by a CPU and a RAM (work area), and the storage unit 230 is typically configured by a ROM (for example, an EEPROM). For example, the ROM may store a program for causing the CPU to execute a predetermined operation (vehicle information projection method), and the RAM may form a work area of the CPU. The ROM can store, for example, data necessary for determining or calculating vehicle information. The display controller 200 in FIG. 1 is connected to, for example, an information acquisition unit S via a LAN 300 (for example, a bus-type LAN) arranged or mounted on a vehicle. The display controller 200 may be generally called an ECU (Electronic Control Unit).

  When the information acquisition unit S is a plurality of information acquisition units, in other words, when the information acquisition unit S includes, for example, the rear vehicle information acquisition unit 360 and the steering angle information acquisition unit 370, for example, Each (for example, the rear vehicle information acquisition unit 360, the steering angle information acquisition unit 370, etc.) is connected to the display controller 200 via the LAN 300, for example. Each information acquisition unit (for example, the rear vehicle information acquisition unit 360, the steering angle information acquisition unit 370, and the like) included in the information acquisition unit S may be generally called an ECU or a sensor.

  In FIG. 1, the display controller 200 is connected to an image processing unit 310 via a LAN 300. The image processing unit 310 in FIG. 1 captures a captured image from the image capturing unit 103 having an image sensor such as a CCD, and based on the captured image, for example, a boundary line between a plurality of lanes (for example, a dotted white line, a solid white line, a solid white line). Yellow (orange)) can be detected or extracted in real time, for example. In addition, the image processing unit 310 may detect or extract a lane or a road, and detect or extract a preceding vehicle (for example, a preceding vehicle, an oncoming vehicle) and / or an obstacle or the like existing in front of the vehicle. You may. The imaging unit 103 is, for example, a camera (front camera), and is installed, for example, near an inner rear view mirror (not shown). The imaging unit 103 may be a dedicated imaging unit or a common imaging unit (an imaging unit used for a drive recorder as well as a vehicle information projection system, for example).

  Of course, the image processing unit 310 in FIG. 1 may be omitted. In other words, the display controller 200 is directly connected to the imaging unit 103 via, for example, the LAN 300, and the display controller 200 or the processing unit P For example, an object such as a boundary line may be detected or extracted based on the captured image (actual scenery). Alternatively, when the information acquisition unit S has, for example, the position information acquisition unit 330 and the road information acquisition unit 320, the display controller 200 or the processing unit P communicates with the LAN 300, the position information acquisition unit 330, and the road information acquisition unit 320, for example. Thus, information (shape of the object) such as a boundary line or a road based on the position of the vehicle (for example, the current position) may be detected or extracted.

  The rear vehicle information acquisition unit 360 in FIG. 1 includes, for example, a camera (rear camera) and an image processing unit (rear camera image processing unit), and a rear vehicle (for example, an automobile or a four-wheeled vehicle) existing behind the vehicle. Motorcycle or two-wheeled vehicle). Of course, the rear vehicle information acquisition unit 360 may be, for example, a radar device, a sonar device, or the like, and the rear vehicle information acquisition unit 360 can detect or extract an object as a rear vehicle. Alternatively, the rear vehicle information acquisition unit 360 may be, for example, a vehicle-to-vehicle communication device, a road-to-vehicle communication device, or the like, and may detect or receive a position (eg, an absolute position) of the rear vehicle.

  Preferably, the rear vehicle information acquisition section 360 is arranged or set so that it can detect a rear vehicle traveling in an adjacent lane adjacent to the traveling lane. The rear vehicle traveling in the adjacent lane is, for example, a rear vehicle located leftward or rightward with respect to the vehicle (own vehicle). In addition, the rear vehicle is, for example, a rear vehicle that is located on the left side or right side of the vehicle that does not pass the own vehicle with respect to the own vehicle, and a part of the rear vehicle exists in the direction of the own vehicle. It is included.

  The rear vehicle information acquisition unit 360 in FIG. 1 detects the rear vehicle, and preferably detects the relative distance between the vehicle (own vehicle) and the rear vehicle. More preferably, the rear vehicle information acquisition unit 360 in FIG. 1 detects not only the relative distance but also the relative speed between the vehicle (own vehicle) and the rear vehicle. Of course, the rear vehicle information acquisition unit 360 may detect only the presence of the rear vehicle, or alternatively, may detect only the absolute position of the rear vehicle, or alternatively, either the relative speed or the relative distance. Only one of them may be detected. When the rear vehicle information acquisition unit 360 detects only the presence of the rear vehicle (presence detection information), thereafter, the display controller 200 or the processing unit P itself determines, for example, the relative distance and the And / or the relative speed may be detected or extracted.

  When the rear vehicle information obtaining unit 360 detects or obtains, for example, the absolute speed of the rear vehicle, the rear vehicle information obtaining unit 360 or, for example, the display controller 200 (processing unit P) performs, for example, the vehicle speed information obtaining unit 350 (for example, a meter, a wheel speed). The relative speed may be detected or calculated in consideration of the absolute speed of the vehicle (own vehicle) acquired by a sensor or the like.

  The steering angle information acquisition unit 370 of FIG. 1 can detect or acquire the steering angle information of the vehicle (own vehicle). The steering angle information includes, for example, steering angle information indicating that a steering handle of the own vehicle is operated by a driver, and turning wheels (for example, front wheels) of the own vehicle are driven by, for example, a motor (not shown). Is included. In other words, the steering angle information acquisition unit 370 includes, for example, a steering angle sensor that can acquire the rotation of the steering wheel or the steering column, or, for example, the steering angle that can acquire the rotation of the shaft of the motor or the steered wheels. A sensor can be included. Note that the steering angle information acquisition unit 370 may be, for example, an ECU for power steering, an ECU for preventing skid, or the like, which can transmit the steering angle information to the display controller 200 (processing unit P) via the LAN 300, for example. .

  Next, the instruction information acquisition unit 350 in FIG. 1 can detect or acquire instruction information for a vehicle (own vehicle). The instruction information includes, for example, direction instruction information indicating that the turn signal (direction indicator) of the own vehicle is operated by the driver. In other words, the instruction information acquiring unit 350 may be, for example, a winker capable of outputting an operation to the winker. The instruction information acquisition unit 350 may be, for example, a meter ECU or the like that can transmit direction instruction information to the display controller 200 (processing unit P) via the LAN 300.

  Next, the road information acquisition unit 320 in FIG. 1 can detect or acquire road information around the vehicle (own vehicle) or, for example, road information ahead (for example, road information in the traveling direction). The road information includes turn image road information indicating that the turn (turn) of the own vehicle is reflected on the road. In other words, the road information acquisition unit 320 may be, for example, an image analyzer that analyzes an image that changes as the vehicle travels or travels. This image may be a captured image captured by a dedicated camera, for example, or may be a captured image captured by a front camera or a rear camera described below.

  Instead of the road information acquisition unit 320, for example, the image processing unit 310 may be employed as the vehicle traveling information acquisition unit. In other words, the image processing unit 310 (captured image analyzer) changes the lane of the own vehicle (the degree of lane change) based on the captured image (forward road captured image representing the road ahead) from, for example, the imaging unit 103 (front camera). ) May be detected or extracted.

  Alternatively, instead of the road information acquisition unit 320, for example, a rear vehicle information acquisition unit 360 may be employed as the vehicle travel information acquisition unit. In other words, the rear vehicle information acquisition unit 360 (captured image analyzer) detects a lane change (degree of lane change) of the own vehicle based on, for example, a captured image from a rear camera (a rear road captured image representing a rear road). Or you may extract.

  By the way, the road information acquisition unit 320 may detect or acquire traffic road information. The traffic road information includes lane change road information indicating whether or not the road on which the own vehicle is traveling has a plurality of lanes, in other words, whether or not the own vehicle can change lanes on that road. May be included. For example, the processing unit P or the determination unit 210 of the display controller 200 obtains or updates lane change road information according to the position of the own vehicle (for example, the current position), and the own vehicle can change lanes based on the lane change road information. It may be determined whether or not. When it is determined that the vehicle cannot change lanes based on the lane change road information, the display controller 200 may stop the operation of the image processing unit 310, for example. The road information acquisition unit 320 may be, for example, a navigation device, and the position information acquisition unit 330 may be, for example, a GPS sensor.

  2 and 3 are flowcharts showing an example of a schematic operation of the vehicle information projection system or the display controller 200 in FIG. FIG. 4A shows an example of an actual scene recognized through the windshield 101 in FIG. 1, and FIG. 4B, FIG. 4C, FIG. (E), FIG. 4 (F), and FIG. 4 (G) each show an example of vehicle information projected on a display range AR set in a part of the windshield 101 in FIG. 4 (A). For example, in FIG. 4B and the like, the display range AR is set on the glass surface forming the windshield 101, but the display range AR is, for example, a dashboard near the windshield 101 or, for example, an indoor space. It may be formed by a combiner arranged on the ceiling. In other words, the combiner may be arranged so that the display range AR is set in a part of the windshield 101 from the driver's viewpoint 102.

  The display controller 200 in FIG. 1 can determine whether or not a rear vehicle has been detected, for example, via the rear vehicle information acquisition unit 360 (see step ST01 in FIG. 2). When the rear vehicle information acquisition section 360 has, for example, a rear camera, the rear vehicle information acquisition section 360 determines whether or not a rear vehicle such as an automobile or a motorcycle is included in an image captured by the rear camera. Or it can be analyzed. Here, the rear camera is, for example, a stereo camera, and the rear vehicle information acquisition unit 360 can preferably calculate or analyze the relative distance between the vehicle (own vehicle) and the rear vehicle. More preferably, the rear vehicle information acquisition unit 360 can calculate or analyze the relative speed between the host vehicle and the rear vehicle based on the relative distance, specifically, for example, based on a time difference between the relative distances.

  In addition, the rear vehicle information acquisition unit 360 may acquire or analyze rear vehicle information such as a traveling direction and a traveling locus of the rear vehicle. Of course, the rear vehicle information acquisition unit 360 capable of acquiring rear vehicle information indicating that the rear vehicle is behind the host vehicle may be, for example, a radar device, or a combination of, for example, a rear camera and a radar device. It may be.

  When a vehicle behind is detected, the display controller 200 can determine, for example, via the instruction information acquisition unit 340, whether a lane change of the host vehicle has been detected. When the instruction information acquiring unit 340 is, for example, a turn signal, the turn signal can output the operation information (instruction information) of the turn signal by the driver to the display controller 200. Accordingly, the display controller 200 can determine whether or not the operation of the turn signal by the driver has been detected (see step ST02 in FIG. 2).

  When the operation of the turn signal is not detected, in other words, when the display controller 200 does not detect that the host vehicle is going to change from the traveling lane to the adjacent lane via the turn signal, the display controller 200 receives, for example, a signal from the steering angle information acquisition unit 370. Based on the steering angle information, it can be determined whether or not the lane change of the own vehicle has been detected (see step ST03 in FIG. 2). When the steering angle information acquisition unit 370 includes a steering angle sensor capable of acquiring steering angle information indicating that the steering wheel of the host vehicle is operated, the response of the steering angle information acquired by the steering angle sensor is fast. Become. In other words, when the steering angle information is the steering angle information, the display controller 200 can more easily determine the lane change of the own vehicle.

  When the operation of the turn signal is not detected in step ST02 of FIG. 2, the display controller 200 transmits the analysis information (for example, the analysis result of the front road captured image representing the road ahead) from the image processing unit 310 (captured image analyzer). Based on this, it can be determined whether or not the lane change of the own vehicle has been detected (see step ST04 in FIG. 2).

  Next, when a lane change is detected in step ST03 and / or step ST04 in FIG. 2, the display controller 200 can execute step ST05. Alternatively, when a lane change is not detected in steps ST03 and ST04 of FIG. 2, the display controller 200 can execute step ST01 again (see RETURN of FIG. 3).

  Note that when step ST05 in FIG. 2 is executed, the display controller 200 communicates with the host vehicle via, for example, any of a turn signal, a steering angle sensor, and a captured image analyzer, in other words, via a lane change information acquisition unit. Has detected that it is going to change from the traveling lane to the adjacent lane. At the same time, the display controller 200 also detects a rear vehicle, for example, via a rear camera, in other words, via a rear vehicle information acquisition unit 360. In step ST05 of FIG. 2, the display controller 200 assumes that the projection or display of the degree of attention of the following vehicle (for example, a departure warning line) is adopted as the lane information (first lane information) (step ST06 of FIG. 2). ), And the projection or display of the degree of attention of the lane change (for example, a predicted trajectory line) is adopted as the lane information (the second lane information), and information necessary for the display (for example, the display angle) is determined.

  In step ST05 of FIG. 2, the display controller 200 can determine the display angle of the predicted trajectory line via, for example, a steering angle sensor. The predicted trajectory line is preferably a straight line, and is indicated by, for example, two predicted trajectory lines TR1 and TR2 that are, for example, straight lines in FIG. When the driver turns the steering wheel, for example, counterclockwise, the two predicted trajectory lines TR1 and TR2 in FIG. 4B can indicate that the traveling direction or the traveling trajectory of the own vehicle is to the left. The left predicted trajectory line TR1 in FIG. 4B corresponds to, for example, the left front wheel of the host vehicle, and the display angle of the left predicted trajectory line TR1 is preferably the actual left side at the driver's viewpoint 102. The front wheels are moving in the future on the road. Similarly, the right predicted trajectory line TR2 in FIG. 4B corresponds to, for example, the right front wheel of the host vehicle, and the display angle of the right predicted trajectory line TR2 is preferably the actual angle at the driver's viewpoint 102. The front wheel on the right is the direction to travel on the road in the future. Of course, for example, instead of the two predicted trajectory lines TR1 and TR2, the display angle at which the midpoint of the actual vehicle (for example, the midpoint of the left and right front wheels) is the direction in which the driver travels on the road in the future at the viewpoint 102 of the driver. For example, one predicted trajectory line having the following may be adopted.

  Next, the display controller 200 generates, for example, a predicted trajectory line (for example, two predicted trajectory lines TR1 and TR2 in FIG. 4B) having a display angle determined according to the steering angle information from the steering angle sensor. It can be generated as second vehicle information. Similarly, the display controller 200 responds to, for example, a boundary between a plurality of lanes detected by the image processing unit 310 based on an image captured from the image capturing unit 103 (a front camera) (a captured image of a road ahead). Thus, for example, the display angle of the departure warning line can be determined. Next, the display controller 200 can generate a departure warning line having the display angle (for example, one departure warning line WR in FIG. 4B) as the first vehicle information.

  Next, the display controller 200 can generate a display image (projection image) including, for example, the first vehicle information and the second lane information, and send the display image to the display 20. In other words, the display controller 200 can display, for example, a predicted trajectory line and, for example, a departure warning line in the display range AR via the display 20 or the display mechanism 100 (see step ST06 in FIG. 2).

  By the way, for example, the virtual image of one departure warning line WR (first vehicle information) in FIG. 4B is, for example, the driving lane L2 of the own vehicle in FIG. For example, it overlaps with a dotted white line WL2 (actual scene) between the adjacent lane L1. In other words, the display controller 200 determines the shape of, for example, one departure warning line WR (first vehicle information) based on the shape of the dotted white line WL2 detected by the image processing unit 310, for example.

  For example, referring to FIG. 4B, the driver may not easily recognize the dotted white line WL2 below the virtual image of the departure warning line WR indicating the degree of warning of the following vehicle, but the range of the dotted white line WL2 or The area is relatively small or small. In other words, since the virtual image of the departure warning line WR is not arranged on the lane such as the traveling lane L2 and the adjacent lane L1, the amount of information caused by the lanes L1 to L3 is not limited or reduced by the departure warning line WR. As a result, the driver can continue to drive the vehicle more safely. On the other hand, the amount of information due to the departure warning line WR is limited or reduced by the range or area of the dotted white line WL2, but the amount of information is sufficient for the driver to determine the lane change. As described above, according to the vehicle information projection system or the vehicle information projection method, vehicle information such as the departure warning line WR can be efficiently projected.

  In addition, not only the departure warning line WR (first vehicle information) but also, for example, two predicted trajectory lines TR1 and TR2 (second vehicle information) are generated as vehicle information. Rather than projecting only the departure warning line WR on the windshield 101, it is more practical for the driver to project not only the departure warning line WR but also, for example, two predicted trajectory lines TR1 and TR2 on the windshield 101. It is easier to determine whether or not to change from the traveling lane L2 to the adjacent lane L1. In other words, when the host vehicle travels to a boundary line (for example, a dotted white line WL2) below the departure warning line WR and changes from the traveling lane L2 to the adjacent lane L1, the driver must pay attention to such lane change. (Attention caused by the second vehicle information) and the first vehicle information (attention, warning, etc. of the following vehicle) can be instantaneously associated.

  Referring to FIG. 1, for example, the virtual image of the departure warning line WR (first vehicle information) in FIG. 4B is at least a distance D1 (for example, 20 [m]) from the own vehicle at the viewpoint 201 of the driving vehicle. )), The contents of the vehicle information (only the first lane information) such as the degree of attention and the degree of warning of the rear vehicle are determined by the driver in the projection or display of only the departure warning line WR, for example. Can be difficult to recognize. Alternatively, for some drivers, it is sufficient to recognize the contents of the vehicle information (only the first lane information) such as the degree of warning.

  For example, in FIG. 4B, the shape of the departure warning line WR (first vehicle information) is, for example, a solid straight line based on the shape of the dotted white line WL2. The solid straight line representing the departure warning line WR extends from the end of the display range AR or, for example, the lower end to a horizontal line H, for example. In other words, the solid white straight line representing the departure warning line WR is indicated by the dotted white line WL2 on the road with the maximum length in the display range AR. This makes it easier for the driver to recognize the departure warning line WR (first vehicle information). However, the shape of the departure warning line WR (first vehicle information) may be, for example, a dotted straight line which is the same as the shape of the dotted white line WL2. When the shape of the departure warning line WR is, for example, a dotted straight line, the interval between the dotted lines regarding the departure warning line WR may or may not match the interval between the dotted lines regarding the white line WL2. The type of the interval between the dotted lines for the warning line WR is arbitrary. Further, the shape of the departure warning line WR may be, for example, a dashed straight line. In other words, when the departure warning line WR is, for example, a straight line, the type of the straight line is arbitrary. In addition, the shape of the departure warning line WR (first vehicle information) does not have to start from the end of the display range AR or, for example, the lower end, and does not have to end with the horizontal line H.

  For example, in FIG. 4B, for example, the shapes of the two predicted trajectory lines TR1 and TR2 (second vehicle information) are, for example, solid straight lines based on the traveling direction, the traveling trajectory, and the like of the own vehicle. For example, each of the two solid straight lines representing the two predicted trajectory lines TR1 and TR2 extends from the end or the lower end of the display range AR to, for example, the departure warning line WR. In other words, each of the two solid straight lines representing the two predicted trajectory lines TR1 and TR2 does not indicate the traveling direction and the traveling trajectory of the own vehicle on the road with the maximum length in the display range AR. , Departure warning line WR. As a result, the driver can determine the amount of information existing on the extension line of the two predicted trajectory lines TR1 and TR2 ahead of the departure warning line WR by the two predicted trajectory lines TR1 and TR2 remaining at the departure warning line WR. Not restricted or reduced. In addition, the driver can further strongly associate the two predicted trajectory lines TR1 and TR2 with the departure warning line WR. Note that the shapes of the two predicted trajectory lines TR1 and TR2 (second vehicle information) may be, for example, a dotted solid line, or may be, for example, a dashed solid line. For example, when the two predicted trajectory lines TR1 and TR2 are, for example, straight lines, the type of the straight line is arbitrary.

  Next, in order to update the display angle determined according to the steering angle information from the steering angle sensor in real time, for example, in step ST07 of FIG. 2, the display controller 200 uses the steering angle information used in step ST05. It can be determined whether a change has occurred. Specifically, when the driver returns the steering wheel to, for example, left rotation, the display controller 200 determines that, for example, an increase in the steering angle is not detected, in other words, a decrease in the steering angle is detected. be able to. When an increase in the steering angle is not detected, in other words, when a decrease in the steering angle is detected, the display controller 200 can determine whether the steering angle has returned to zero (the initial value) (see FIG. 3). See step ST08).

  When a decrease in the steering angle is detected, for example, the two predicted trajectory lines TR1 and TR2 in FIG. 4B are changed to, for example, two predicted trajectory lines TR1 ′ and TR2 ′ in FIG. 4C. Is done. Thereafter, when a decrease in the steering angle is continuously detected and zero (initial value) of the steering angle is detected, for example, the two predicted trajectory lines TR1 'and TR2' in FIG. D) is changed to the two predicted trajectory lines TRS1 and TRS2.

  When the steering angle returns to zero (initial value), the display controller 200 can change the display color of the predicted trajectory line (see step ST09 in FIG. 3). As an example, for example, the display colors of the two predicted trajectory lines TR1 ′ and TR2 ′ in FIG. 4C are yellow (orange), for example, and the two predicted trajectory lines TRS1 in FIG. , TRS2 is, for example, green. Thereby, the driver can recognize that it is safe to proceed with the own vehicle as it is. In other words, for example, green is a color indicating permission of traveling of the host vehicle, which is one of, for example, three display colors of a traffic light. The yellow (orange) color is, for example, one of the three display colors of the traffic light, which is a color indicating the attention of the traveling of the own vehicle. For example, the display color of the departure warning line WR in FIG. 4C is, for example, red, in other words, for example, a color indicating the prohibition of the traveling of the own vehicle, which is the remaining of the three display colors of the traffic light, for example. is there.

  When the steering angle returns to zero (initial value), since the lane change of the own vehicle is stopped, for example, the projection or display of the two predicted trajectory lines TR1 'and TR2' in FIG. May be stopped. However, the driver can recognize the normal operation of the vehicle information projection system or the vehicle information projection method by changing the display color of the predicted trajectory line in step ST09 of FIG. Accordingly, the display controller 200 continues to display, for example, the two predicted trajectory lines TRS1 and TRS2 in FIG. 4D for a certain period of time, and thereafter, for example, the two predicted trajectory lines TRS1 and TRS1 in FIG. Not only the display of TRS2 but also the display of, for example, the departure warning line WR of FIG. 4D can be stopped (see steps ST10 and ST11 of FIG. 3).

  On the other hand, when the steering angle does not return to zero (initial value), the display controller 200 determines whether or not the rearward vehicle has been continuously detected, in other words, whether or not the rearward vehicle detection has been completed. (See step ST12 in FIG. 3). When the detection of the following vehicle ends, the display controller 200 can immediately stop displaying the departure warning line WR in FIG. 4C, for example (see step ST13 in FIG. 3 and FIG. 4E). Next, the display controller 200 can continue to display, for example, the book predicted trajectory lines TR1 'and TR2' of FIG. 4C in another display format for a fixed time (steps ST14 and ST15 of FIG. 3). And FIG. 4 (E)). As an example, for example, the display colors of the two predicted trajectory lines TR1 ′ and TR2 ′ in FIG. 4C are yellow (orange), for example, and the two predicted trajectory lines TRS1 in FIG. The display color of ', TRS2' is, for example, green.

  For example, in FIG. 4E, each of two solid straight lines representing the two predicted trajectory lines TRS1 ′ and TRS2 ′ extends from an end or a lower end of the display range AR to, for example, a horizontal line H. In other words, each of the two solid straight lines representing the two predicted trajectory lines TRS1 'and TRS2' is extended to, for example, a horizontal line H in response to the stoppage of the display of the departure warning line WR. Thereby, the driver can more easily recognize the traveling direction, the traveling locus, and the like of the own vehicle. However, the two predicted trajectory lines TRS1 ′ and TRS2 ′ may not be extended to the horizontal line H but may remain at, for example, a dotted white line WL2 (boundary line).

  When the detection of the rear vehicle is not completed in step ST12 of FIG. 3, the display controller 200 displays, for example, the display angles of the two predicted trajectory lines TR1 and TR2 of FIG. 4B according to the decrease of the steering angle. The display angles of the two predicted trajectory lines TR1 ′ and TR2 ′ of FIG. 4C can be updated (see step ST19 in FIG. 2). Since the display angle of the predicted trajectory line is updated in accordance with the change in the steering angle, the driver may, for example, compare the two predicted trajectory lines TR1 'and TR2' (the degree of caution of lane change) in FIG. The departure warning line WR (degree of attention of the following vehicle) in FIG. 4C can be more instantaneously associated.

  When an increase in the steering angle is detected in step ST07 in FIG. 2, the display controller 200 updates, for example, the display angles of the two predicted trajectory lines TR1 and TR2 in FIG. 4B according to the increase in the steering angle. (See step ST19 in FIG. 2). However, when the display angle of the predicted trajectory line reaches the limit angle, the display controller 200 can stop updating the display angle of the predicted trajectory line (see steps ST17 and ST18 in FIG. 2). For example, in FIG. 4F, for example, only one predicted trajectory line TRS2 ″ is displayed in the display range AR. In other words, for example, one predicted trajectory line TR1 in FIG. 4B moves out of the display range AR in accordance with an increase in the steering angle.

  The display controller 200 sets, for example, a straight line so that the angle between the virtual image of the two predicted trajectory lines TR1 and TR2 in FIG. 4B and the dotted white line WL2 increases as the operation amount of the steering wheel increases. The two predicted trajectory lines TR1 and TR2 can be generated. Therefore, when the operation amount of the steering wheel is large, the two predicted trajectory lines TR1 and TR2 may move out of the display range AR. Therefore, when the operation amount of the steering wheel reaches a predetermined amount, the display controller 200 changes, for example, one predicted trajectory line TRS2 ″ as shown in FIG. (Fixed second vehicle information) can be generated. Thereby, when the operation amount of the steering wheel is large, the display controller 200 can leave the second vehicle information in the display range AR.

  When the display angle of the predicted trajectory line reaches the limit angle in step ST17 in FIG. 2, the display controller 200 determines, for example, one predicted trajectory line TRS2 in FIG. 4F as fixed second vehicle information. Instead of '', for example, a graphic TRS2 '' arranged next to the departure warning line WR in FIG. 4 (G) may be displayed. In FIG. 4 (G), for example, a triangular figure TRS2 ″ (fixed second vehicle information) is on the right side of the departure warning line WR on the traveling lane L2 side, and is at the end of the display range AR or, for example, It is located next to the lower end. Thus, the driver can continue to recognize the presence of the vehicle behind. Note that, for example, the graphic TRS2 ″ in FIG. 4 (G) is not limited to a triangle, and may be any graphic. For example, an arrow is selected as the graphic (fixed second vehicle information). You may.

  FIGS. 2, 3, and 4 (A) to 4 (G) show that the traveling lane of the vehicle (L2 in FIG. 4 (A)) or the road on which the vehicle is traveling is a straight line. It is shown on the assumption that However, the traveling lane of the own vehicle may not be a straight line, but may be a curved line, for example. For example, when the road on which the host vehicle is traveling is curved, for example, one departure warning line WR that is, for example, a straight line in FIG. 4B is bent in accordance with, for example, the curvature or radius of curvature of the road. Such a curve may be used. In other words, it is preferable that, for example, a virtual image V of one departure warning line WR is arranged on the curved boundary line (actual landscape) at the driver's viewpoint 102. Similarly, at the driver's viewpoint 102, for example, two predicted trajectory lines TR1 and TR2, which are, for example, straight lines in FIG. 4B, coincide with the actual traveling trajectory in which the left and right front wheels of the own vehicle advance in the future. For example, it is preferable to be a curved line.

  For example, in FIG. 4B, for example, one departure warning line WR (first vehicle information) and, for example, two predicted trajectory lines TR1 and TR2 (second vehicle information) are straight lines. However, these pieces of vehicle information may be partially straight or partially straight, or may be a combination of a plurality of straight portions. For example, in the departure warning line WR which is a straight line, a curved portion or a figure may be added to both ends or one end of the straight line. Further, for example, each of the two predicted trajectory lines TR1 and TR2 that are straight lines may be a plurality of straight line portions combined in the middle of the straight lines. In other words, when the road on which the host vehicle is traveling is a straight line, the first vehicle information and / or the second vehicle information may not have a perfect straight line, but only have a straight traveling property. For example, in FIG. 4B, since the shape of, for example, one departure warning line WR has straightness, the driver may enter a boundary between the departure warning line WR and the boundary line (for example, the dotted line in FIG. 4A). With the white line WL2). In addition, for example, in FIG. 4B, since the shapes of the two predicted trajectory lines TR1 and TR2 have straightness, for example, the driver can determine whether the vehicle is traveling in the direction toward the boundary line or when the vehicle is traveling in the direction of the boundary. It is easier to recognize the position passing through the boundary line.

  When the road on which the vehicle is traveling is a curve, for example, one departure warning line WR (first vehicle information) has a complete curvature or radius of curvature that is completely equal to the curvature or radius of curvature of the road. Instead of a curve, it may only have a curve. In other words, for example, one departure warning line WR may be partially curved or partially curved, or may be a combination of a plurality of curved portions. Further, when the road on which the host vehicle is traveling is a curve, for example, the two predicted trajectory lines TR1 and TR2 (second vehicle information) indicate the actual traveling trajectory in which the left and right front wheels of the host vehicle advance in the future, for example. It may not have a perfect curve that completely matches with, but only have a curve. In other words, for example, each of the two predicted trajectory lines TR1 and TR2 may be partially a curved line or a partially curved line, or may be a combination of a plurality of curved line portions.

  In addition, it is preferable that the initial value of the steering angle in step ST08 in FIG. 3 is set or updated in accordance with the curvature or the radius of curvature of the curved road instead of zero. Here, as an example, the curvature or radius of curvature of a curved road may be detected or extracted by the image processing unit 310 based on the imaging unit 103 or the front camera, for example, or alternatively, based on map road information, for example. For example, it may be detected or acquired by the road information acquisition unit 320 or the navigation device, for example.

  FIG. 5 shows an example of a table for determining the display format of the degree of attention of the vehicle information. For example, as shown in FIG. 5, the display controller 200 of FIG. 1 uses the vehicle information (for example, one departure warning of FIG. 4B) based on the relative speed and relative distance between the host vehicle and the following vehicle. The display format of the attention level of the line WR) can be determined. For example, in FIG. 5, for example, three display intensities are shown. Specifically, the relative speed is classified into low speed, medium speed, and high speed, and the relative distance is classified into long distance, middle distance, and short distance.

  As an example, when the relative speed is, for example, 10 km / h or less, the relative speed is set to a low speed. Next, when the relative speed is larger than, for example, 10 [km / h] and smaller than, for example, 30 [km / h], the relative speed is set to the medium speed. Next, when the relative speed is, for example, 30 km / h or more, the relative speed is set to a high speed.

  Specifically, when the relative speed is, for example, the relative speed of the rear vehicle with respect to the own vehicle, and the absolute speed of the own vehicle is, for example, 40 [km / h], for example, 10 [km / h] for the own vehicle, Relative to a rear vehicle having an absolute speed of 20 [km / h], 30 [km / h], 40 [km / h], 50 [km / h], 60 [km / h] and 70 [km / h] The speed is, for example, low speed (−30 [km / h] = 10 [km / h] −40 [km / h]) and low speed (−30 [km / h] = 10 [km / h] −40 [km], respectively. km / h]), low speed (−20 [km / h] = 20 [km / h] −40 [km / h]), low speed (−10 [km / h] = 30 [km / h] −40 [km / h]) km / h], low speed (0 [km / h] = 40 [km / h] -40 [km / h]), low speed (10 [km / h] = 50 [km / h] -4) [Km / h]), medium speed (20 [km / h] = 60 [km / h] -40 [km / h]) and high speed (30 [km / h] = 70 [km / h] -40 [ km / h]).

  Similarly, as an example, when the relative distance is, for example, 10 [m] or less, the relative distance is set to a short distance. Next, when the relative distance is larger than, for example, 10 [m] and smaller than, for example, 30 [m], the relative distance is set to the medium distance. Next, when the relative distance is, for example, 30 [m] or more, the relative distance is set to a long distance. The relative distance is, for example, the relative distance of the rear vehicle to the host vehicle (the distance from the rear vehicle to the host vehicle).

  For example, when the relative speed of the rear vehicle to the host vehicle is high, the absolute speed of the rear vehicle is higher than the absolute speed of the host vehicle. In other words, it can be said that the rear vehicle is approaching the host vehicle. Therefore, for example, when the relative speed of the rear vehicle to the own vehicle is high, the degree of attention is preferably higher. Alternatively, when, for example, the relative speed of the rear vehicle with respect to the host vehicle is low, the absolute speed of the rear vehicle may be equal to or lower than the absolute speed of the host vehicle. The attention level when the relative speed is low may be low.

  Next, for example, when the relative distance of the rear vehicle to the host vehicle is a short distance, it can be said that there is a risk of collision with the rear vehicle after the lane change of the host vehicle, and when such a relative distance is a short distance. It is preferable that the degree of attention is higher. Alternatively, for example, when the relative distance of the rear vehicle to the own vehicle is a long distance, it can be said that the possibility of collision with the rear vehicle after the lane change of the own vehicle is low, and such a relative distance is a long distance. The degree of attention at the time may be low. In FIG. 5, the display intensity I corresponds to, for example, a low attention level, the display intensity III corresponds to, for example, a high attention level (for example, a warning level), and the display intensity II corresponds to, for example, an intermediate attention level.

  For example, in FIG. 4B, for example, one deviation warning line WR corresponds to the display intensity III, and its display color is, for example, red. Thereafter, for example, when the absolute speed of the following vehicle decreases and the relative speed is medium speed, the display color of the departure warning line WR corresponding to, for example, the display intensity II changes from, for example, red to, for example, reddish brown (amber). May be. Thereafter, for example, when the absolute speed of the following vehicle further decreases and the relative speed is high, the display color of the departure warning line WR corresponding to, for example, the display intensity I may change from, for example, amber to yellow. . In this manner, as the degree of attention is higher, the display format of, for example, one deviation warning line WR can be set to a display color having more red components, for example.

  For example, the display format of one departure warning line WR may include a change or a classification of display brightness (gradation) instead of or in addition to a change or a classification of a display color. The higher the degree of attention, the more the display format of, for example, one departure warning line WR can be set to, for example, a higher display luminance. Similarly, for example, the display format of one departure warning line WR may include a change or classification of a display range (thickness). As the degree of attention is higher, for example, the display format of one departure warning line WR can be set to, for example, a wider display range (thick line). Similarly, for example, the display format of one departure warning line WR may include a change or a classification of a blinking speed. As the degree of attention is higher, for example, the display format of one departure warning line WR can be set to, for example, a faster blinking speed.

  For example, the display format shown in FIG. 5 may be applied to, for example, the two predicted trajectory lines TR1 and TR2 in FIG. In FIG. 4B, for example, the display colors of the two predicted trajectory lines TR1 and TR2 in FIG. 4B are yellow (orange), for example. It may change according to the relative speed and the relative distance to the following vehicle. Of course, for example, the display color (display format) of the two predicted trajectory lines TR1 and TR2 in FIG. 4B is set to, for example, red, in other words, for example, one deviation warning line in FIG. It may be set to be the same as the display color (display format) of the WR.

  The display format shown in FIG. 5 is only one example, and therefore, for example, one departure warning line WR (first vehicle information) in FIG. 4B and / or two lines in FIG. 4B, for example. The predicted trajectory lines TR1 and TR2 (second vehicle information) may be based only on the relative speed or based only on the relative distance. In FIG. 4E, for example, the display format of one deviation warning line WR is set to zero or lower than the display intensity I, and the display of the deviation warning line WR is stopped. Similarly, for example, the display colors of the two predicted trajectory lines TRS1 and TRS2 in FIG. 4D are green, for example, and the degree of attention (display intensity) is set to zero or lower than the display intensity I. .

  In addition, for example, the display format of the two predicted trajectory lines TR1 and TR2 (second vehicle information) in FIG. 4B may be changed according to other information. The other information is, for example, a change rate of the steering angle information. Specifically, for example, the higher the rate of increase of the steering angle, in other words, the higher the probability that the own vehicle heads for the departure warning line WR, the more the two predicted trajectory lines TR1 and TR2 (the second vehicle information ) Can be set to a high degree of attention (display intensity).

  The present invention is not limited to the exemplary embodiments described above, and those skilled in the art will be able to easily modify the exemplary embodiments described above to the scope included in the claims. .

Reference Signs List 20 display, 21 reflector, 100 display mechanism, 101 windshield, 102 driver's viewpoint, 103 imaging unit, 200 display controller , 210: determination unit, 220: generation unit, 230: storage unit, 300: LAN, 310: image processing unit, 320: road information acquisition unit, 330: position Information acquisition unit, 340: instruction information acquisition unit, 350: vehicle speed information acquisition unit, 360: rear vehicle information acquisition unit, 370: steering angle information acquisition unit, AR: display range, L ... display light, L1, L2, L3 ... lane, H ... horizontal line, P ... processing unit, S ... information acquisition unit, TR1, TR2, TR1 ', TR2', TR2 '' , TRS1, TRS2, TSR1 ', TSR2' ... second lane information, V ... Virtual image, WL1, WL2, WL3, WL4 ··· borders, WR · · · first lane information.

Claims (2)

The vehicle information is projected onto a display range set in a part of a windshield of the vehicle, and the vehicle information is displayed on the display range such that a virtual image of the vehicle information overlaps an actual scene from a viewpoint of a driver of the vehicle. A display mechanism capable of being displayed;
A rear vehicle information acquisition unit capable of acquiring rear vehicle information indicating that a rear vehicle is present behind the vehicle,
A lane change information acquisition unit capable of acquiring lane change information indicating that the vehicle changes from a traveling lane of the vehicle to an adjacent lane adjacent to the traveling lane across a boundary line,
A processing unit that determines a degree of attention of the rear vehicle based on the rear vehicle information and the lane change information;
A vehicle traveling information acquisition unit capable of acquiring information on the traveling direction of the vehicle,
A steering angle sensor capable of acquiring steering angle information indicating that a steering wheel of the vehicle is operated as vehicle traveling information;
With
The vehicle information includes first vehicle information including the degree of attention and second vehicle information that changes in accordance with the steering angle information.
The processing unit is capable of generating the first vehicle information and the second vehicle information so that the first vehicle information and the second vehicle information are displayed in the display range,
The processing unit can generate the second vehicle information having straightness so that the virtual image of the second vehicle information rotates within the display range as the operation amount of the steering handle increases. Yes,
When the operation amount reaches a predetermined amount, the processing unit replaces the second vehicle information having the straightness with a display format in which a position does not change according to an increase in the operation amount of the steering wheel. A vehicle information projection system capable of generating second vehicle information. A vehicle information projection method executed by a display controller,
Detecting a rear vehicle existing behind the vehicle,
Detecting that the vehicle is to change from a driving lane of the vehicle to an adjacent lane adjacent to the driving lane;
Before the vehicle has finished changing from the driving lane to the adjacent lane, determining the degree of attention of the rear vehicle,
Generating vehicle information based on the degree of attention,
A display range set at a part of the windshield of the vehicle, projecting the vehicle information that changes a display position in response to a steering operation amount of the vehicle, and when the operation amount reaches the predetermined amount Changing the display format of the vehicle information to a display format in which a display position does not change in accordance with an increase in the operation amount of the steering wheel .

Images