JP6667347B2 - Display device - Google Patents

Description

  The present invention relates to a display device provided in a vehicle such as an automobile for displaying an image of an environment around the host vehicle, and more particularly to a display device that prevents a user from overconfident in information in a range that cannot be directly recognized by a sensor mounted on the host vehicle. .

2. Description of the Related Art In a vehicle such as an automobile, various types of display devices have been proposed that recognize the situation in front of the host vehicle by various peripheral recognition means and display information on lane shapes, obstacles, and the like.
By using such a display device, the occupant himself can obtain more information than can be obtained visually, as driving assistance when the occupant drives as a driver, or in a vehicle that performs automatic driving, the occupant can It is also useful for monitoring the validity of automatic operation control.

As a prior art relating to a display device for displaying an image of a situation around a vehicle, for example, Patent Document 1 discloses a device that detects an obstacle using an FMC type in-vehicle radar and displays an image. It is described that the threshold value of the reflected radio wave intensity is changed and the scale of the display screen is changed so as to make it easier to find the radio wave.
Patent Document 2 discloses a display device that three-dimensionally shows the road shape ahead of the host vehicle using a head-up display. In a high-speed driving that requires grasping a relatively distant road shape, the display range is increased. It is described that the display range is shortened during low-speed running.

Patent No. 4124454 JP 2006-39237 A

In the display device as described above, it is required that the driver overestimate the result of environmental recognition and prevent the surroundings from being visually monitored or the like during autonomous driving or from reckless driving during manual driving. Can be
In particular, when environment recognition is performed using map information, road-to-vehicle communication, vehicle-to-vehicle communication, or the like of a navigation device, it is possible to acquire information in a range that cannot be directly recognized from the own vehicle. It is not preferable to run the vehicle only on the information.
In view of the above-described problem, an object of the present invention is to provide a display device that prevents a user from overlying information in a range that cannot be directly recognized by a sensor mounted on a host vehicle.

The present invention solves the above-mentioned problems by the following means.
The invention according to claim 1 is based on direct environment recognition means for recognizing the environment around the vehicle by a sensor mounted on the vehicle, at least one of information provided from outside the vehicle, and map data created in advance. An indirect environment recognizing means for recognizing an environment around the own vehicle, and an image generating means for generating an environmental image including information on an environment in front of the own vehicle based on a recognition result of the direct environment recognizing means and the indirect environment recognizing means. Image display means for displaying the environmental image, wherein the environmental image includes a lane shape of a vehicle traveling lane ahead of the vehicle, and the lane shape is recognized by the direct environment recognition means. appears with a range of only up to the most distal end portion is to reflect the actual lane width wide, are recognized only by the indirect environment recognition means of the cutting edge portion beyond The range of the lane shape, a display device and displaying the width is substantially constant line.
According to this, it becomes possible for the user to intuitively grasp the limit of the range that can be recognized by the sensor mounted on the own vehicle, and the area of the area that cannot be directly detected from the own vehicle that can be recognized only by the indirect environment recognition means. It is possible to prevent the user from overlying the information.
Further, in an area that can be directly recognized by the environment recognizing means, by displaying the lane shape with the lane width, it is possible to urge the user to monitor a risk that can be distributed on the road surface.

In addition, the user can intuitively recognize that the range recognized only by the indirect environment recognition means is out of the recognizable range of the direct environment recognition means, and the minimum, such as presence or absence of a curve, direction, and speed, is required. Information can be recognized.

In the invention according to claim 2 , the environment image has a marker display indicating a boundary between the range recognized by the direct environment recognition unit and the range recognized only by the indirect environment recognition unit in the lane shape. The display device according to claim 1, wherein:
According to this, the recognition range limit of the direct environment recognition means can be emphasized and displayed, and the above-described effect can be obtained more reliably.

The invention according to claim 3 , wherein the environment image displays a display mode of an area in which a transition from a state that can be recognized by the direct environment recognition unit to a state that is not possible in the display of the lane shape is predicted. The display device according to claim 1 or 2 , wherein the display mode is different from a display mode of the area.
The invention according to claim 4 is based on at least one of direct environment recognition means for recognizing the environment around the vehicle by a sensor mounted on the vehicle, information provided from outside the vehicle, and map data created in advance. An indirect environment recognizing means for recognizing an environment around the own vehicle, and an image generating means for generating an environmental image including information on an environment in front of the own vehicle based on a recognition result of the direct environment recognizing means and the indirect environment recognizing means. Image display means for displaying the environmental image, wherein the environmental image includes a lane shape of a vehicle traveling lane ahead of the vehicle, and the lane shape is recognized by the direct environment recognition means. Only the drawn area is displayed with a width reflecting the actual lane width, and the environment image is recognized by the direct environment recognition means in displaying the lane shape. The display mode of the area transition is predicted from ready to not state is a display device characterized by varying the display mode of the other region.
According to these respective inventions, the there is a possibility that the recognition by the direct environment recognizing means impossible region, by performing a warning indication to alert the user, the recognition result of the direct environment recognizing means It is possible to prevent the displayed range from suddenly disappearing and the user from being upset.

The invention according to claim 5, wherein in the display of the lane shape, a region in which a transition from a state that can be recognized by the direct environment recognition unit to a state that cannot be recognized is predicted is determined by the direct environment recognition unit and the indirect environment recognition. 5. The display device according to claim 3, further comprising: an area determining unit configured to determine based on a relative position and a relative speed of the obstacle recognized by at least one of the units with respect to the host vehicle.
According to this, based on the relative position and the relative speed of the obstacle such as another vehicle with respect to the own vehicle which are usually grasped by the direct environment recognizing means and the indirect environment recognizing means, the state can be recognized by the direct environment recognizing means. It is possible to appropriately determine an area where a transition to an impossible state is predicted.

  As described above, according to the present invention, it is possible to provide a display device that prevents a user from overlying information in a range that cannot be directly recognized by a sensor mounted on the host vehicle.

It is a block diagram showing typically composition of a vehicle provided with an example of a display to which the present invention is applied. It is a schematic diagram which shows the arrangement | positioning of the sensors which recognize the periphery of a vehicle in the vehicle of an Example. 4 is a flowchart illustrating an operation of the display device according to the embodiment. It is a figure which shows typically an example of the road environment where the vehicle in which the display device of an Example is provided runs. FIG. 5 is a diagram schematically illustrating an example of a screen display in the case of FIG. 4. It is a figure which shows typically other examples of the road environment where the vehicle in which the display device of an Example is provided runs. FIG. 7 is a diagram schematically illustrating an example of a screen display in the case of FIG. 6.

  The present invention has been made to solve the problem of providing a display device in which a user is prevented from overconfidence of information in a range that cannot be directly recognized by a sensor mounted on the own vehicle. The problem was solved by displaying only the shape with an image having a lane width, and displaying the lane shape further away in a line shape.

Hereinafter, embodiments of the display device to which the present invention is applied will be described.
FIG. 1 is a block diagram schematically showing a configuration of a vehicle provided with an embodiment of a display device to which the present invention is applied.
The display device according to the embodiment is provided, for example, in a vehicle 1 that is an automobile such as a passenger car having an automatic driving function, and informs a user such as a user (eg, a driver during manual driving) of a risk around the own vehicle. Are displayed as images.
The user can monitor the lane shape and obstacles ahead of the host vehicle based on the information presented by the display device, and can verify the validity of the automatic driving control when executing the automatic driving control.

As shown in FIG. 1, a vehicle 1 includes an engine control unit 10, a transmission control unit 20, a behavior control unit 30, an electric power steering (EPS) control unit 40, an automatic driving control unit 50, an environment recognition unit 60, and a stereo camera control. A unit 70, a laser scanner control unit 80, a rear side radar control unit 90, a navigation device 100, a road-to-vehicle communication device 110, a vehicle-to-vehicle communication device 120, an image generation unit 200, a display 210, and the like are provided.
Each of the above-described units is configured as, for example, a unit having information processing means such as a CPU, storage means such as a RAM and a ROM, an input / output interface, and a bus connecting these. These units can communicate with each other via an in-vehicle LAN system such as a CAN communication system.

The engine control unit 10 comprehensively controls an engine that is a power source for traveling of the vehicle 1 and its accessories.
As the engine, for example, a 4-stroke gasoline engine is used.
The engine control unit (ECU) 10 can control the output torque of the engine by controlling the throttle valve opening of the engine, the fuel injection amount and the injection timing, the ignition timing, and the like.
In a state where the vehicle 1 is driven in accordance with the driving operation of the driver, the engine control unit 10 controls the engine so that the actual torque of the engine approaches the driver request torque set based on the operation amount of the accelerator pedal and the like. Control the output.
When the vehicle 1 performs automatic driving, the engine control unit 10 controls the output of the engine according to a command from the automatic driving control unit 50.

The transmission control unit (TCU) 20 controls the transmission and the auxiliary devices (not shown) for switching the forward and backward movements of the vehicle while changing the rotational output of the engine.
When the vehicle 1 performs automatic driving, the transmission control unit 20 performs range switching such as forward / reverse travel and setting of a gear ratio in response to a command from the automatic driving control unit 50.
As the transmission, for example, a CVT of a chain type, a belt type, a toroidal type or the like, or various automatic transmissions such as a step AT, a DCT, and an AMT having a plurality of planetary gear sets can be used.
The transmission is configured to include, in addition to a transmission mechanism such as a variator, a starting device such as a torque converter, a dry clutch, a wet clutch, and a forward / reverse switching mechanism that switches between a forward traveling range and a reverse traveling range. I have.

The transmission control unit 20 is connected with a forward / reverse switching actuator 21, a range detection sensor 22, and the like.
The forward / reverse switching actuator 21 drives a forward / backward switching valve that switches an oil passage for supplying hydraulic pressure to the forward / backward switching mechanism, and switches the vehicle forward or backward.
The forward / reverse switching actuator 21 is, for example, an electric actuator such as a solenoid.
The range detection sensor 22 is a sensor (switch) for determining whether the currently selected range in the transmission is for forward movement or for backward movement.

The behavior control unit 30 controls the wheel cylinder hydraulic pressures of the hydraulic service brakes provided on the left, right, front and rear wheels, respectively, to control vehicle behavior such as understeer and oversteer, and to control wheel lock during braking. The anti-lock brake control for recovering the brake force is performed.
The behavior control unit 30 is connected with a hydraulic control unit (HCU) 31, a vehicle speed sensor 32, and the like.

The HCU 31 includes an electric pump for pressurizing a brake fluid, which is a working fluid of a hydraulic service brake, and a valve for individually adjusting a hydraulic pressure supplied to a wheel cylinder of each wheel.
When the vehicle 1 performs automatic driving, the HCU 31 generates a braking force on the wheel cylinder of each wheel according to a braking command from the automatic driving control unit 50.
The vehicle speed sensor 32 is provided at a hub portion of each wheel, and generates a vehicle speed pulse signal having a frequency proportional to the rotation speed of the wheel.
The traveling speed (vehicle speed) of the vehicle can be calculated by detecting the frequency of the vehicle speed pulse signal and performing predetermined arithmetic processing.

The electric power steering (EPS) control unit 40 comprehensively controls an electric power steering device that assists a driver's steering operation with an electric motor, and its accessories.
A motor 41, a steering angle sensor 42, and the like are connected to the EPS control unit 40.

The motor 41 is an electric actuator that assists a driver's steering operation by applying an assist force to a steering system of the vehicle, or changes a steering angle during automatic driving.
When the vehicle 1 performs automatic driving, the motor 41 applies torque to the steering system in accordance with a steering command from the automatic driving control unit 50 so that the steering angle of the steering system approaches a predetermined target steering angle. To steer.
The steering angle sensor 42 detects a current steering angle in the steering system of the vehicle.
The steering angle sensor 42 includes, for example, a position encoder that detects an angular position of the steering shaft.

  When the automatic driving mode is selected, the automatic driving control unit 50 outputs a control command to the above-described engine control unit 10, transmission control unit 20, behavior control unit 30, EPS control unit 40, and the like to automatically start the vehicle. This is to execute automatic operation control for making the vehicle travel in an optimal manner.

When the automatic driving mode is selected, the automatic driving control unit 50 causes the own vehicle to proceed in accordance with information on the surroundings of the own vehicle provided from the environment recognition unit 60, a command from a driver (not shown), and the like. Set the desired target trajectory, automatically perform acceleration (starting), deceleration (stop), forward / backward switching, steering, etc. of the vehicle, and automatically drive the vehicle to the preset destination. Execute.
In addition, the automatic driving mode is stopped in response to a predetermined release operation from the user when the user desires manual driving or when it is difficult to continue the automatic driving. It is possible to return to the operation mode.

An input / output device 51 is connected to the automatic operation control unit 50.
The input / output device 51 outputs information such as a warning and various messages from the automatic driving control unit 50 to the user, and receives input of various operations from the user.
The input / output device 51 includes, for example, an image display device such as an LCD, a sound output device such as a speaker, an operation input device such as a touch panel, and the like.

The environment recognition unit 60 recognizes information around the own vehicle.
The environment recognition unit 60 is based on information provided from the stereo camera control unit 70, the laser scanner control unit 80, the rear side radar control unit 90, the navigation device 100, the road-to-vehicle communication device 110, the vehicle-to-vehicle communication device 120, and the like. In addition, it recognizes obstacles such as parked vehicles, running vehicles, buildings, terrain, pedestrians, cyclists, etc. around the own vehicle, lane shapes of roads on which the own vehicle runs, and the like.

The stereo camera control unit 70 controls a plurality of sets of stereo cameras 71 provided around the vehicle and performs image processing on images transmitted from the stereo cameras 71.
Each of the stereo cameras 71 is configured by, for example, arranging a pair of camera units including, for example, an imaging optical system such as a lens, a solid-state imaging device such as a CMOS, a drive circuit, and a signal processing device in parallel. .
The stereo camera control unit 70 recognizes the shape of the subject imaged by the stereo camera 71 and the relative position with respect to the own vehicle based on the image processing result using the known stereo image processing technology.
The stereo camera control unit 70 can detect, for example, white lines at both ends of the lane in front of the host vehicle and recognize the lane shape.
The laser scanner control unit 80 controls the laser scanner 81 and recognizes various objects such as vehicles and obstacles around the vehicle as 3D point cloud data based on the output of the laser scanner 81.

The rear side radar control unit 90 controls the rear side radars 91 provided on the left and right sides of the vehicle, and detects an object present on the rear side of the vehicle based on the output of the rear side radar 91. Things.
The rear side radar 91 can detect another vehicle approaching from the rear side of the own vehicle, for example.
As the rear side radar 91, for example, a radar such as a laser radar or a millimeter wave radar is used.

FIG. 2 is a schematic diagram illustrating an arrangement of sensors for recognizing the periphery of the vehicle in the vehicle according to the embodiment.
The stereo cameras 71 are provided at the front, rear, left and right sides of the vehicle 1 respectively.
A plurality of laser scanners 81 are provided so as to be substantially distributed around the vehicle 1 so that a blind spot does not occur. The rear-side radars 91 are arranged, for example, on the left and right sides of the vehicle 1 and have a detection range of the vehicle 1. It is arranged rearward and outward in the vehicle width direction.

The navigation device 100 includes, for example, a vehicle position measurement unit such as a GPS receiver, a data storage unit that stores map data prepared in advance, a gyro sensor that detects the front-back direction of the vehicle, and the like.
The map data has road information such as roads, intersections, and interchanges at the lane level.
The road information includes, in addition to the three-dimensional lane shape data, information on whether or not each lane (lane) can make a right / left turn, a stop position, a speed limit, and other information that restricts traveling.
The navigation device 100 has a display 101 incorporated in an instrument panel.
The display 101 is an image display device on which various information output from the navigation device 100 to the driver is displayed.
The display 101 includes a touch panel, and also functions as an input unit through which various operation inputs from a driver are performed.

  The road-to-vehicle communication device 110 communicates with a ground station (not shown) by a communication system conforming to a predetermined standard, and transmits information on traffic congestion information, traffic signal lighting state, road construction, accident site, lane regulation, weather, road surface condition, and the like. What you get.

  The vehicle-to-vehicle communication device 120 communicates with another vehicle (not shown) by a communication system conforming to a predetermined standard, and transmits information on a vehicle state such as the position, azimuth, acceleration, and speed of the other vehicle, a vehicle type, a vehicle size, and the like. This is for acquiring information on vehicle attributes.

In the various environment recognition means described above, the lane shape and obstacles are directly detected by sensors mounted on the vehicle such as the stereo camera 71, the laser scanner 81, and the rear side radar 91 for performing environment recognition by the sensors mounted on the vehicle 1 itself. This is the direct environment recognition means referred to in the present invention.
On the other hand, like the navigation device 100, the road-to-vehicle communication device 110, and the vehicle-to-vehicle communication device, lane shapes, obstacles, etc. are determined based on information from sensors provided other than the own vehicle 1 and map data prepared in advance. Is the indirect environment recognition means according to the present invention.

  The image generation unit 200 generates an image (environmental image) including information on the environment around the host vehicle, which is displayed on the display 210, based on the environment recognition result transmitted from the environment recognition unit 60.

The display 210 is an image display device arranged to face the occupant of the vehicle.
The display 210 has, for example, an LCD incorporated in an interior member such as an instrument panel.

Next, an operation of displaying an image in the display device of the embodiment and an example of screen display will be described.
FIG. 3 is a flowchart illustrating the operation of the display device according to the embodiment.
Hereinafter, description will be given step by step.

<Step S01: Execute environment recognition process>
The environment recognition unit 60 performs environment recognition mainly in front of the host vehicle 1.
This environment recognition includes that by the direct environment recognition means and that by the indirect environment recognition means.
The environment recognition unit 60 transmits the recognition result (detection result) to the image generation unit 200 after detecting the lane shape ahead of the own vehicle and an obstacle such as another vehicle.
Thereafter, the process proceeds to step S02.

<Step S02: Direct recognition range lane shape image generation>
The image generation unit 200 generates an image of a lane shape within a range recognizable by the direct environment recognition unit (direct recognition range) based on information from the environment recognition unit 60.
Here, the limit (outer edge) of the direct recognition range is, for example, in the case of a road having a plurality of lanes, where all the lanes can be directly recognized by the environment recognition means, or at least the traveling lanes of the own vehicle are directly recognized by the environment. It can be set at a location that can be recognized by the means.
The lane shape within the direct recognition range is displayed with the lane width according to the lane shape reflecting the detected lane width.
The image indicating the lane shape within the direct recognition range is generated, for example, with an outline substantially matching the outline when the lane is viewed from the viewpoint in the display image.
Thereafter, the process proceeds to step S03.

<Step S03: Indirect recognition range lane display line generation>
Based on the information from the environment recognition unit 60, the image generation unit 200 converts a lane shape within a range recognizable only by the indirect environment recognition means (indirect recognition range) into a line of a fixed width that does not reflect the actual lane width. It is generated as an image of a shape.
Thereafter, the process proceeds to step S04.

<Step S04: Direct recognition limit marker display generation>
The image generation unit 200 sets a direct recognition range at a position corresponding to the front end (end farther from the host vehicle 1) of the image of the lane shape (range recognized by the direct environment recognition unit) generated in step S02. Generates a marker display indicating the limit of.
Thereafter, the process proceeds to step S05.

<Step S05: Obstacle Display Image Generation>
The image generation unit 200 generates a display image of an obstacle such as another vehicle directly included in the recognition range, based on information from the environment recognition unit 60.
The display image of the obstacle is generated as simplified computer graphics by omitting details and the like.
The display image of the obstacle is superimposed and displayed at the corresponding position in the lane shape image.
Thereafter, the process proceeds to step S06.

<Step S06: Direct recognition range decrease obstacle determination>
The image generation unit 200 determines, based on information from the environment recognition unit 60, whether there is an obstacle that may directly reduce the recognition range in the future.
The image generation unit 200 recognizes, by at least one of the direct environment recognition unit and the indirect environment recognition unit, an area in which the transition from a state that can be recognized by the direct environment recognition unit to a state that cannot be recognized by the direct environment recognition unit in the display of the lane shape is predicted. It functions as area determining means for determining based on the relative position and relative speed of the determined obstacle with respect to the own vehicle.
The image generation unit 200 determines, based on the size and shape of each recognized obstacle, the relative position and the relative speed with respect to the own vehicle, the possibility that the obstacle will directly block the lane shape within the recognition range in the future. It is determined whether each of them is equal to or more than the threshold value.
If there is an obstacle whose possibility of blocking the lane shape within the direct recognition range is equal to or larger than the threshold, the process proceeds to step S07, and otherwise proceeds to step S08.

<Step S07: Direct Recognition Range Reduction Notice Image Generation>
Based on the determination result in step S06, the image generation unit 200 determines whether the lane shape image generated in step S02 is included in the direct recognition range now, but may be blocked by an obstacle in the future. , The notice display P is superimposed.
Thereafter, the process proceeds to step S08.

<Step S08: Image Display Output>
The image generation unit 200 outputs the generated image data, causes the display 210 to display the generated image data, and presents it to the user.
Thereafter, a series of processing is terminated (returned).

Hereinafter, a specific display example in the display device of the embodiment will be described.
FIG. 4 is a diagram schematically illustrating an example of a road environment in which a vehicle provided with the display device according to the embodiment travels.
In the example shown in FIG. 4, the host vehicle 1 is traveling on a one-lane road on the left-hand side. (Same in FIG. 6 described later)
A straight road S1, a right corner R1, a straight road S2, and a left corner L1 are sequentially provided in front of the host vehicle 1 in the order from the host vehicle 1.
In front of the straight road S1, another vehicle V1, which is a preceding vehicle, is running.
On the straight road S2, another vehicle V2 as a preceding vehicle and another vehicle V3 as an oncoming vehicle are running.

The recognizable range (detection range) A of the direct environment recognizing means by the stereo camera 71, the laser scanner 81, and the like of the own vehicle 1 includes the area from the straight line S1 to the vicinity of the exit of the right corner R1. No regions are included.
Therefore, the lane shape of this area is recognized by the indirect environment recognition means, and the other vehicles V2 and V3 are recognized only when information is acquired by the road-to-vehicle communication device 110 and the vehicle-to-vehicle communication device 120.

FIG. 5 is a diagram schematically showing an example of the screen display in the case of FIG.
The display screen G1 simplifies the host vehicle 1 and the situation in front of the host vehicle 1 by omitting details, and is drawn by computer graphics.
The image generation unit 200 has a function of rendering such computer graphics.
The display screen G1 is, for example, an overhead view (bird's eye view) showing a state viewed from a virtual viewpoint arranged above and at an obliquely rearward side of the vehicle 1 as shown in FIG.
The display screen G1 has an image indicating the lane shape of the straight road S1, the right corner R1, the straight road S2, and the left corner L1.

Here, of the lane shapes, the range recognized by the direct environment recognition means is displayed in a shape reflecting the actual lane width (shape having a lane width).
In the example shown in FIG. 5, the lane shape of the straight road S1 and the right corner R1 is displayed in a display mode having a lane width.
At the forefront portion of such a lane shape display (boundary to the range recognized only by the indirect environment recognition means), for example, a marker M whose display color, luminance, and the like are different from those of other lane displays is displayed. ing.
The other vehicle V1 recognizable by the direct environment recognizing means is superimposed and displayed on the display of the straight road S1 by computer graphics with simplified details.

On the other hand, of the lane shapes, the range recognized only by the indirect environment recognition means is displayed as a line having a certain width regardless of the actual lane width.
In the example shown in FIG. 5, the lane shapes of the straight road S2 and the left corner L1 are indicated by broken lines.
The other vehicles V2 and V3, which can be recognized only by the indirect environment recognition means, are not displayed even if the environment recognition unit 60 recognizes them by the indirect environment recognition means.

FIG. 6 is a diagram schematically illustrating another example of the road environment in which the vehicle provided with the display device according to the embodiment travels.
In the example shown in FIG. 6, the host vehicle 1 is traveling on a straight road S3.
In front of the host vehicle 1, another vehicle V4, which is a large vehicle such as a truck, is running.
The vehicle speed of the other vehicle V4 is lower than the vehicle speed of the own vehicle 1, the other vehicle V4 has a relative speed approaching the own vehicle 1, and the inter-vehicle distance is gradually reduced.

FIG. 7 is a diagram schematically illustrating an example of a screen display in the case of FIG.
The display image G2 displays the lane shape of the straight road S3, the marker M, the other vehicle V4, and the like.
In addition, a notice display P is displayed so as to be superimposed on a lane display in a predetermined area closer to the host vehicle 1 than the marker M.
The notice display P is currently recognized by the direct environment recognizing means, but is displayed in an area where there is a high possibility that the direct environmental recognizing means will not be able to recognize it in the future because it will be shielded by obstacles such as other vehicles.
In the example illustrated in FIG. 7, when the inter-vehicle distance with the other vehicle V4 decreases in the future, there is a high possibility that the lane shape ahead of the other vehicle V4 cannot be recognized directly by the environment recognition unit due to the shielding by the other vehicle V4. Therefore, the notice display P is displayed in an area from the current position of the marker M to immediately after the other vehicle V4.
The range in which the notice display P is displayed is recognized only by the indirect environment recognition means in the future, and the user is notified that the display may be a line display having no lane width.

As described above, according to the display device of the embodiment, the following effects can be obtained.
(1) It becomes possible for the user to intuitively grasp the limit of the range A that can be recognized by the stereo camera 71, the laser scanner 81, and the like (direct environment recognition means) mounted on the vehicle 1, and the navigation device 100 and the road It is possible to prevent the user from overlying information in an area that can be recognized only by the inter-vehicle communication device 110, the inter-vehicle communication device 120, or the like (indirect environment recognition means) and cannot be directly detected from the own vehicle.
Further, in an area that can be directly recognized by the environment recognizing means, by displaying the lane shape with a road width, it is possible to urge the user to monitor a risk that can be distributed on the road surface.
(2) The lane shape within the range recognized only by the indirect environment recognition means is displayed as a line, so that the user can intuitively recognize that the vehicle is outside the recognizable range of the direct environment recognition means. It is possible to make the minimum information, such as the speed, be recognized.
(3) By displaying the marker M at the front end of the lane shape recognized by the direct environment recognition means, it is possible to emphasize and display the recognition range limit of the direct environment recognition means. Can be obtained reliably.
(4) A warning is given to the user by performing the notice display P in an area where the recognition by the direct environment recognition means may not be possible, and the range in which the recognition result by the direct environment recognition means is displayed suddenly disappears. As a result, it is possible to prevent the user from being upset.

(Modification)
The present invention is not limited to the embodiments described above, and various modifications and changes are possible, and these are also within the technical scope of the present invention.
(1) The configuration of the display device and the configuration of the vehicle are not limited to the above-described embodiment, and can be appropriately changed. Further, in the embodiments, the vehicle is a passenger vehicle, but the present invention can be applied to commercial vehicles such as freight vehicles, trucks, buses, motorcycles, and various other special vehicles.
(2) In the embodiment, the vehicle uses the engine as the driving power source. However, the present invention is not limited to this, and the driving power source may be an electric motor or a hybrid system combining the engine and the electric motor. It is also possible to use as.
(3) The types and arrangements of sensors for recognizing the environment around the host vehicle are not limited to those in the above-described embodiment, and can be changed as appropriate. For example, various sensors such as a millimeter-wave laser, a laser radar, a monocular camera, and an ultrasonic sonar can be used in combination with or in place of the sensors in the embodiment.
In addition, environment recognition is performed by using information obtained by road-to-vehicle communication or vehicle-to-vehicle communication, or by using positioning data such as GPS and map data possessed by a navigation device in combination with or instead of sensors mounted on the vehicle itself. May be performed.
(4) In the embodiment, the lane shape within the range recognizable only by the indirect environment recognition means is displayed as a line, but the lane shape within this range may not be displayed.
(5) In the embodiment, the display image is a bird's-eye view (bird's-eye view). However, the present invention is not limited to this. For example, a plan view or a driver's view viewed from a virtual driver's viewpoint may be used. Alternatively, 3D display may be performed using a display capable of 3D display. The display is not limited to the display provided on the instrument panel, and may be displayed, for example, by a head-up display that projects an image on a windshield.

DESCRIPTION OF SYMBOLS 1 Vehicle 10 Engine control unit 20 Transmission control unit 21 Forward / reverse switching actuator 22 Range detection sensor 30 Behavior control unit 31 Hydraulic control unit (HCU)
32 vehicle speed sensor 40 electric power steering (EPS) control unit 41 motor 42 steering angle sensor 50 automatic driving control unit 51 input / output device 60 environment recognition unit 70 camera control unit 71 stereo camera 80 laser scanner control unit 81 laser scanner 90 rear side Radar control unit 91 Rear side radar 100 Navigation device 101 Display 110 Road-to-vehicle communication device 120 Vehicle-to-vehicle communication device 200 Image generation unit 210 Display V1-V4 Other vehicles S1-S3 Straight road R1 Right corner L1 Left corner A Direct environment recognition means Recognizable range of G1, G2 Display image M Marker P Notice display

Claims (5)

Direct environment recognition means for recognizing the environment around the vehicle by a sensor mounted on the vehicle,
Information provided from outside the vehicle, indirect environment recognition means for recognizing the environment around the vehicle based on at least one of map data created in advance,
Image generation means for generating an environment image including information on the environment ahead of the vehicle based on the recognition results of the direct environment recognition means and the indirect environment recognition means,
Image display means for displaying the environmental image, a display device comprising:
The environment image includes a lane shape of the own vehicle traveling lane in front of the own vehicle,
The lane shape is displayed with a width that reflects the actual lane width only up to the forefront of the range recognized by the direct environment recognition unit ,
A display device , wherein a lane shape in a range recognized by only the indirect environment recognition means far from the forefront portion is displayed by a line having a substantially constant width . It said environmental image, to claim 1, characterized in that it comprises a marker display indicating the boundary portion between the recognition range only by the recognition range and the indirect environment recognition unit by the direct environment recognition means in the lane shape The display device according to the above. In the environment image, a display mode of an area in which a transition from a state that can be recognized by the direct environment recognition unit to a state that cannot be recognized by the direct environment recognition unit in displaying the lane shape is predicted to be different from a display mode of another area. The display device according to claim 1 , wherein:   Direct environment recognition means for recognizing the environment around the vehicle by a sensor mounted on the vehicle,
  Information provided from outside the vehicle, indirect environment recognition means for recognizing the environment around the vehicle based on at least one of map data created in advance,
  Image generation means for generating an environment image including information on the environment ahead of the vehicle based on the recognition results of the direct environment recognition means and the indirect environment recognition means,
  Image display means for displaying the environmental image;
  A display device comprising:
  The environment image includes a lane shape of the own vehicle traveling lane in front of the own vehicle,
  In the lane shape, only the range recognized by the direct environment recognition unit is displayed with a width reflecting the actual lane width,
  In the environment image, a display mode of an area in which a transition from a state that can be recognized by the direct environment recognition unit to a state that cannot be recognized in the display of the lane shape is predicted is different from a display mode of another area.
  A display device characterized by the above-mentioned. An area where a transition from a state that can be recognized by the direct environment recognition unit to a state that cannot be recognized in the display of the lane shape is predicted is recognized by at least one of the direct environment recognition unit and the indirect environment recognition unit. The display device according to claim 3, further comprising an area determining unit configured to determine based on a relative position and a relative speed of the obstacle with respect to the own vehicle.

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