JP6763348B2 - Display control device, display control system, display control method and display control program - Google Patents

Description

The present invention relates to a display control device, a display control system, a display control method, and a display control program.

In recent years, when the vehicle is reversing, a guide line showing the prediction of the trajectory of the retreating motion is superimposed on the rear image taken by the rear camera mounted on the rear of the vehicle and displayed on a display unit such as a monitor. By doing so, the technology of guiding the vehicle to the parking lot easily and accurately has become widespread.

In relation to this technique, Patent Document 1 superimposes and displays an image of the surroundings of a vehicle taken by a camera and a distance reference line indicating a position separated from the vehicle by a predetermined distance on a display provided in the vehicle. The vehicle peripheral display device is disclosed. The distance guide line includes a first distance guide line and a second distance guide line displayed at a position away from the vehicle from the first distance guide line, and the first distance guide line is the second distance guide line. It is displayed thicker than the distance guide line.

Further, Patent Document 2 displays a display unit mounted on a vehicle and displaying a parking support image, and a parking support image in which an image of the surroundings of the vehicle is superimposed on an image of an expected traveling route linked to a steering operation. The parking support device to be used is disclosed. Instead of the parking support image, the parking support device displays an auxiliary image including a virtual vehicle showing the vehicle and a virtual expected travel route for the virtual vehicle on the display unit.

The techniques described in Patent Document 1 and Patent Document 2 described above are expected to move in conjunction with a pair of vehicle width extension lines in which the vehicle width is extended in the straight direction of the vehicle and a steering operation. Information including a pair of left and right expected routes extending in the direction is superimposed on the display unit. That is, when the driver moves the vehicle to the parking lot, the display unit displays the parking frame line, the vehicle width extension line, the expected traveling route, and the like displayed in the parking lot. In addition to viewing the image displayed on the display unit, the driver moves the vehicle to the parking lot while ensuring the safety of the vehicle by observing the mirror installed on the vehicle and the surrounding conditions.

Japanese Unexamined Patent Publication No. 2012-106732 Japanese Unexamined Patent Publication No. 2011-245970

However, when many lines are displayed on the display screen in addition to the parking frame line, the display becomes complicated. If the display becomes complicated, it becomes difficult for the driver to accurately grasp the information on the display screen when moving the vehicle.

The present invention has been made to solve such a problem, and provides a display control device, a display control system, a display control method, and a display control program that suppress the information on the display screen from becoming complicated. With the goal.

The display control device according to the present invention includes a video data acquisition unit that acquires video data from a camera that captures the traveling direction of the vehicle, a parking border recognition unit that recognizes the parking border from the video data, and the vehicle. A vehicle motion detection unit that detects motion information, a first expected traveling route including at least a pair of lines extending in the straight direction of the vehicle, and at least a pair of lines along the traveling schedule of the vehicle corresponding to the motion information. A superposed image generation unit that generates an image obtained by superimposing the video data, the first expected line, and the second expected line, and a superposed image generation unit that generates the second predicted line including the above. When the second predicted traveling route and the parking frame line exist within a preset range, the superimposed image generation unit displays the first predicted traveling route inconspicuously. It is a thing.

Further, the display control device according to another aspect of the present invention includes a video data acquisition unit that acquires video data from a camera that captures the traveling direction of the vehicle, and a parking border recognition that recognizes a parking border from the video data. A unit, an operation information detection unit that detects operation information including the steering angle of the vehicle, a first expected traveling route including at least a pair of lines extending in the straight direction of the vehicle, and the vehicle corresponding to the operation information. A second predicted line including at least a pair of lines along the progress schedule of the above, a predicted line generation unit that generates each, the video data, the first predicted line, and the second predicted line are superimposed. The superposed image generation unit includes a superposed image generation unit that generates the generated image, and the superposed image generation unit is a case where the steering angle is smaller than a preset value, and the first predicted advance route or the second When the expected traveling route and the parking frame line exist within a preset range, either the first expected traveling route or the second expected traveling route is displayed inconspicuously.

Further, the display control method according to the present invention acquires video data from a camera that captures the traveling direction of the vehicle, recognizes a parking border from the video data, acquires operation information of the vehicle, and obtains motion information of the vehicle. A first predicted traveling line including at least a pair of lines extending in the straight direction and a second predicted traveling line including at least a pair of lines corresponding to the motion information according to the traveling schedule of the vehicle are generated. When an image in which the video data, the first expected advance line, and the second expected advance line are superimposed is generated, and the superimposed image is generated, the second expected advance line and the parking frame line are used. Is present within a preset range, the first expected advance route is displayed inconspicuously.

Further, the display control program according to the present invention causes a computer to acquire video data from a camera that captures the traveling direction of the vehicle, recognizes a parking border from the video data, and acquires operation information of the vehicle. A first predicted traveling route including at least a pair of lines extending in the straight direction of the vehicle and a second predicted traveling route including at least a pair of lines corresponding to the motion information according to the traveling schedule of the vehicle, respectively. When the video data is generated, the video in which the first predicted traveling route and the second predicted traveling route are superimposed is generated, and the superimposed video is generated, the second predicted traveling route and the parking are generated. When the frame line exists within a preset range, the first expected traveling route is displayed inconspicuously.

INDUSTRIAL APPLICABILITY According to the present invention, it is possible to provide a display control device, a display control system, a display control method, and a display control program in which information on a display screen is suppressed from becoming complicated.

It is a functional block diagram of the display control system 100 which concerns on embodiment. It is a top view which showed an example of the state which the vehicle 10 which mounted the display control system 100 is moving to a parking lot. It is a figure which shows the example of the image which displayed the image data acquired by a camera 210 on the display unit 220. It is a figure which shows the image which superposed the 1st predicted advance line on the image data acquired by a camera 210, and displayed on the display unit 220. It is a figure which shows the image which superposed the 2nd predicted advance line on the image data acquired by a camera 210, and displayed on the display unit 220. It is a figure which shows the image which superposed the 1st predicted advance line and the 2nd predicted advance line on the image data acquired by a camera 210, and displayed on the display unit 220. It is a figure which shows the example of the image | image in the display control system 100 which concerns on Embodiment 1. FIG. It is a flowchart of the display control device 200 which concerns on Embodiment 1. FIG. It is a figure which shows the example of the image | image in the display control system 100 which concerns on Embodiment 2. FIG. It is a flowchart of the display control device 200 which concerns on Embodiment 2. FIG. It is a figure which shows the example of the image | image in the display control system 100 which concerns on Embodiment 3. FIG. FIG. 5 is a flowchart of the display control device 200 according to the third embodiment. It is a figure which shows the example of the image in the display control system 100 which concerns on Embodiment 4. FIG. FIG. 5 is a flowchart of the display control device 200 according to the fourth embodiment.

Embodiments Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a functional block diagram of the display control system 100 according to the embodiment. The functional block of the display control system 100 shown in FIG. 1 exemplifies a configuration that is common to the embodiments described later.

The display control system 100 is mounted in front of or behind the vehicle when the driver moves the vehicle to the parking lot, and the direction in which the vehicle is scheduled to travel with respect to an image captured by the camera 210 that captures the traveling direction of the vehicle. It is a system that superimposes the expected traveling route showing the above and displays it on the display unit 220. The display control system 100 may be realized as a part of functions such as a navigation system and a drive recorder that can be retrofitted to the vehicle, for example. Further, the display control device 200 may be realized, for example, as a part of a function of a system incorporated in the vehicle when assembling the vehicle in a factory. Further, the display control device 200 may be realized, for example, by combining a system incorporated in the vehicle when assembling the vehicle in a factory and a device that can be retrofitted to the vehicle. The display control system 100 includes a display control device 200 and at least one of a camera 210 and a display unit 220.

The display control device 200 acquires video data which is data of the video captured by the camera 210, superimposes the predicted advance route, and displays it on the display unit 220. The display control device 200 can be realized as various forms of devices such as a computer device that operates by executing a program stored in a memory by a processor. The processor is, for example, a microprocessor, an MPU (Micro Processing Unit), or a CPU (Central Processing Unit). The memory is a volatile memory or a non-volatile memory, and may be composed of a combination of the volatile memory and the non-volatile memory. The processor executes one or more programs including a set of instructions for causing the computer to perform the processing according to the embodiment. The display control device 200 is connected to a CAN (Controller Area Network) or the like, which is an in-vehicle network. Further, the display control device 200 is connected to the camera 210 and the display unit 220. Note that CAN or the like is not limited to CAN, but means that it may be an in-vehicle network such as MOST (Media Oriented Systems Transport) or Ethernet (registered trademark).

Subsequently, the details of the display control device 200 will be described. The display control device 200 includes a vehicle motion detection unit 300, a predicted advance route generation unit 310, a video data acquisition unit 320, a parking border recognition unit 330, a determination unit 340, a superimposed image generation unit 350, and a display control unit 360.

The vehicle motion detection unit 300 receives motion information, which is information related to the motion of the vehicle, from CAN or the like, which is an in-vehicle network. The operation information is, for example, information including a part or all of information indicating the range in which the transmission of the vehicle is set, information indicating the steering angle of the vehicle, or information indicating the traveling speed of the vehicle. That is, the vehicle motion detection unit 300 detects a preset signal among the signals sent from the CAN or the like and sends it to the predicted route generation unit 310. By receiving the motion information, the vehicle motion detection unit 300 can detect, for example, that the transmission is set to the reverse range. Further, the vehicle motion detection unit 300 can detect, for example, that the transmission is set to the low speed mode of the drive range. Further, the vehicle motion detection unit 300 can detect information indicating the steering angle of the vehicle and monitor the angle of the steering wheel of the vehicle. Further, the vehicle motion detection unit 300 can detect information indicating the traveling speed of the vehicle and monitor the traveling speed of the vehicle.

The predicted route generation unit 310 receives the operation information transmitted by the vehicle operation detection unit 300. Then, the predicted route generation unit 310 generates the predicted route based on the motion information transmitted by the vehicle motion detection unit 300. The predicted route is line information indicating the progress schedule of the vehicle by being superimposed on the data of the image captured by the camera 210. The predicted route generation unit 310 calculates the predicted route based on, for example, the information indicating the steering angle transmitted by the vehicle motion detection unit 300. The predicted route generation unit 310 generates a predicted route from the calculated expected route. Any existing method can be applied to the generation of the predicted route by the predicted route generation unit 310. For example, the predicted route generation unit 310 calculates one or two or more points as the predicted route points. Then, the predicted route generation unit 310 generates information on the predicted route passing through the predicted route point by a preset method. As an example of the expected traveling route, it is line information that extends the width of the vehicle when the vehicle goes straight. Further, another example of the expected traveling route is line information related to the steering angle of the vehicle. The predicted route generation unit 310 transmits the generated information on the predicted route to the determination unit 340 and the superimposed image generation unit 350. The predicted route generation unit 310 generates and transmits information on one or a plurality of predicted routes among the above-mentioned predicted routes.

The video data acquisition unit 320 acquires the video data generated by the camera 210. The video data is, for example, H. 264 or H. It is generated using a method such as 265. Further, the video data may be generated by using MPEG (Moving Picture Experts Group) 2-TS (Transport Stream), AVI (Audio Video Interleave), or the like. The video data acquisition unit 320 transmits the video data to the parking border recognition unit 330, the superimposed video generation unit 350, or the display control unit 360, respectively.

The parking frame line recognition unit 330 recognizes the parking frame line displayed in the parking zone from the video data transmitted by the video data acquisition unit 320. The parking border recognition unit 330 calculates the luminance gradient of each pixel of the video data, and recognizes the parking border based on a preset method such as edge detection. A method of calculating the brightness gradient of each pixel of the video data and recognizing a preset object is a known technique. Therefore, detailed description will be omitted. By recognizing the parking frame line, the parking frame line recognition unit 330 generates information regarding whether or not the parking frame line exists in the video data and the position of the parking frame line in the video data. The parking border recognition unit 330 transmits the generated information to the determination unit 340. Further, when the parking frame line recognition unit 330 does not recognize the parking frame line, it transmits to the determination unit 340 that the parking frame line is not included in the video data.

The determination unit 340 receives the information transmitted by the predicted route generation unit 310 and the information transmitted by the parking frame line recognition unit 330, and determines the display mode of the predicted route to be displayed on the display unit 220. The determination unit 340 transmits information related to these determinations to the superimposed image generation unit 350.

For example, the determination unit 340 determines the distance between the parking frame line and the expected line from the information on the expected line transmitted by the predicted line generation unit 310 and the information on the parking frame line transmitted by the parking frame line recognition unit 330. Is calculated. Then, the determination unit 340 can determine that the predicted traveling route is set to an inconspicuous display mode when the parking frame line and the expected traveling route are closer than a preset distance. Alternatively, the determination unit 340 may determine that the expected advance route is not displayed in an inconspicuous manner when the parking frame line and the expected advance route are not closer than a preset distance. Further, the determination unit 340 may determine the display mode for each expected advance route when there are a plurality of expected advance routes.

Further, the determination unit 340 does not conspicuous one of the plurality of expected advance routes when, for example, there are a plurality of expected advance routes and a plurality of expected advance routes exist in the vicinity of each other. It can be determined that the display mode is used. In other words, the determination unit 340 determines that when the relative positions of the plurality of expected advance routes are within a preset range, one of the plurality of expected advance routes should be displayed in an inconspicuous manner. obtain. The relative positions of the plurality of expected routes are calculated based on the information indicating the steering angle transmitted by the vehicle motion detection unit 300. Further, the existence in the vicinity of each other may be a case where the distances of the plurality of expected routes are smaller than the preset values. Further, the existence in the vicinity of each other may be a case where the angles of the plurality of expected routes are smaller than the preset values.

The inconspicuous display mode means that the image displayed on the display unit 220 is relatively less conspicuous than other displays. That is, the inconspicuous display mode is, for example, to reduce the thickness of the predicted route to be superimposed on the video data. Further, the inconspicuous display mode is, for example, to increase the transmittance of the predicted route to be superimposed on the video data. Further, the inconspicuous display mode may include, for example, not displaying the expected route to be superimposed on the video data.

The superimposed video generation unit 350 receives the information transmitted by the predicted route generation unit 310, the video data transmitted by the video data acquisition unit 320, and the information transmitted by the determination unit 340. Then, the superposed image generation unit 350 superimposes the video data and the expected advance route based on the information transmitted by the determination unit. That is, the superimposed video generation unit 350 superimposes the video data transmitted by the video data acquisition unit 320 and the information on the predicted route transmitted by the predicted route generation unit 310 on the information transmitted by the determination unit 340. The display mode of the expected route can be changed accordingly.

For example, when the determination unit 340 transmits information for determining that the predicted advance route is to be displayed in an inconspicuous display mode, the superimposed image generation unit 350 is superimposed on the video data in an inconspicuous display mode. Alternatively, when the determination unit 340 transmits information for determining that the predicted advance route is not displayed in an inconspicuous display mode, the superimposed video generation unit 350 superimposes the predicted route on the video data without making the predicted route inconspicuous. .. When the predicted route generation unit 310 transmits information on a plurality of predicted routes, the superimposed image generation unit 350 receives a plurality of predictions according to the information on the display mode of each predicted route transmitted by the determination unit 340. Superimpose the route on the video data. The superimposed image generation unit 350 transmits the superimposed data, which is the image data obtained by superimposing the predicted route and the image data, to the display control unit 360. The determination unit 340 may be included in the superimposed image generation unit 350.

The display control unit 360 receives the video data transmitted by the video data acquisition unit 320 and the superimposed data transmitted by the superimposed video generation unit 350, respectively. The display control unit 360 transmits the received video data or superimposed data to the display unit 220. The display control unit 360 may transmit the video data or the superimposed data to the display unit 220 or stop the transmission, for example, in response to an instruction from a display instruction unit (not shown). The display control unit 360 may monitor the vehicle motion detection unit 300 and transmit video data or superimposed data to the display unit 220 or stop transmission according to the information detected by the vehicle motion detection unit 300. ..

The display control unit 360 may change the viewing angle of the image to be displayed on the display unit by processing the received video data or the superimposed data. Further, the display control unit 360 may perform distortion correction processing of the image to be displayed on the display unit by processing the received video data or the superimposed data. Further, the display control unit 360 may change the image to be displayed on the display unit into an image that looks like a bird's-eye view from above the vehicle by processing the received image data or the superimposed data. Further, the display control unit 360 may change the image to be displayed on the display unit by processing the received video data or the superimposed data, not limited to the above-mentioned contents.

The camera 210 generates video data obtained by photographing the front of the vehicle or the rear of the vehicle. The camera 210 may be installed in front of the vehicle. Further, the camera 210 may be installed at the rear of the vehicle. Further, the camera 210 may be installed in front of the vehicle and behind the vehicle, respectively. The camera 210 transmits the generated video data to the video data acquisition unit 320 included in the display control device 200.

The display unit 220 displays video data or superimposed data received from the display control unit 360 of the display control device 200. The display unit 220 is, for example, a display device such as a liquid crystal display device, an organic EL (organic electroluminescence) display device, or a head-up display. The display unit 220 is installed at a position that can be visually recognized when the driver operates the vehicle. Visible positions when the driver operates the vehicle are, for example, the center console, dashboard, meter panel, rearview mirror, steering wheel, windshield, etc. of the vehicle.

Next, a vehicle equipped with the display control system 100 will be described with reference to FIG. FIG. 2 is a top view showing an example of a state in which the vehicle 10 equipped with the display control system 100 is moving to the parking lot. The vehicle 10 has a display control device 200 at an arbitrary position. Further, the vehicle 10 has a front camera 210F and a rear camera 210R. Further, the vehicle 10 has a display unit 220 at a position that can be visually recognized when the driver operates the vehicle. In FIG. 2, the vehicle 10 is moving backward toward the parking lot 33. The parking lot 33 has parking borders 30 to 32. The driver is trying to move the vehicle 10 to a position surrounded by parking borders 30 to 32. In this case, the display control system 100 acquires the data of the image captured by the rear camera 210R.

Next, with reference to FIGS. 3 to 6, the video data acquired by the rear camera 210R in the vehicle 10 shown in FIG. 2 and the superimposed data in which the expected advance route is superimposed on the video data will be described. FIG. 3 is a diagram showing an example of an image 40 in which the image data acquired by the rear camera 210R is displayed on the display unit 220. The image 40 includes a part of the vehicle 10 and parking borders 30 to 32. The lower side of the image 40 is closer to the vehicle 10, and the upper side of the image 40 is farther from the vehicle 10.

The parking frame line recognition unit 330 recognizes the parking frame lines 30 to 32 included in the image 40. That is, the parking frame line recognition unit 330 receives the video data related to the video 40 from the video data acquisition unit 320, and recognizes the parking frame line from the brightness gradient of the video data.

Next, with reference to FIG. 4, a state in which the expected advance route is superimposed on the video data acquired by the camera 210 will be described. FIG. 4 is a diagram showing an image displayed on the display unit 220 by superimposing the first expected traveling line on the image data acquired by the camera 210. The image 40 in FIG. 4 includes the first expected advance routes 50 and 51 in addition to the image described in FIG. The first expected traveling routes 50 and 51 are line information obtained by extending the vehicle width of the vehicle in the straight direction of the vehicle. The first expected advance routes 50 and 51 are displayed at the same positions relative to the video data in the video 40 regardless of the steering angle of the vehicle. When the vehicle 10 is parked in the parking lot 33, the first predicted line 50 on the left side and the first predicted line 51 on the right side are located between the parking frame line 30 on the left side and the parking frame line 31 on the right side. It is preferable to do so. That is, the driver moves the vehicle so that the first expected advance routes 50 and 51 are located between the parking frame line 30 on the left side and the parking frame line 31 on the right side.

The determination unit 340 can calculate the distance between the parking frame line included in the image 40 and the first expected advance route. Specifically, for example, the determination unit 340 sets the reference point 52 and the reference point 53 along the first expected traveling line 50. Then, the determination unit 340 calculates the horizontal distance D52 between the reference point 52 and the parking frame line 30. Further, the determination unit 340 calculates the horizontal distance D53 between the reference point 53 and the parking frame line 30. Similarly, the determination unit 340 sets the reference point 54 and the reference point 55 along the first expected advance route 51. Then, the determination unit 340 calculates the horizontal distance D54 between the reference point 54 and the parking frame line 31. Further, the determination unit 340 calculates the horizontal distance D55 between the reference point 55 and the parking frame line 31.

In this way, the determination unit 340 can calculate the distances between the first expected advance routes 50 and 51 and the parking frame line, respectively. The determination unit 340 can determine the display mode of the first expected advance routes 50 and 51 according to the distance information calculated in this way.

The determination unit 340 is not limited to the method described above, and may calculate, for example, the shortest distance between the reference point 52 set along the first expected traveling line 50 and the parking frame line 30. Similarly, the determination unit 340 may calculate, for example, the shortest distance between the reference point 54 set along the first expected traveling line 51 and the parking frame line 31. Further, the determination unit 340 may calculate, for example, the angle between the first expected advance line 50 and the parking frame line 30. Similarly, the determination unit 340 may calculate, for example, the angle between the first expected advance line 51 and the parking frame line 31. The determination unit 340 may calculate the distance between the first expected traveling line 50 and the parking frame line 30 by using the shortest distance and the angle described above. The determination unit 340 may calculate the distance between the first expected traveling line 51 and the parking frame line 31 by using the shortest distance and the angle described above.

Next, with reference to FIG. 5, a state in which the predicted traveling route associated with the steering angle is superimposed on the video data acquired by the camera 210 will be described. FIG. 5 is a diagram showing an image displayed on the display unit 220 by superimposing the second expected traveling line on the image data acquired by the camera 210. The image 40 in FIG. 5 includes the second expected line 60, the second expected line 61, and the distance display lines 66 to 68 in addition to the image described in FIG. The second predicted traveling routes 60 and 61 are a pair of line information related to the steering angle of the vehicle, and are line information indicating the traveling course of the vehicle according to the steering angle of the vehicle.

The distance display lines 66 to 68 are line information extending in the horizontal direction so as to connect the second predicted line 60 on the left side and the second predicted line 61 on the right side in the image 40. Distance display lines 66 to 68 indicate a preset distance from the end of the vehicle 10. For example, the distance display line 66 indicates a distance of 0.4 meters from the rear end of the vehicle 10. The distance display line 67 indicates, for example, a distance of 1.0 meter from the rear end of the vehicle 10. The distance display line 68 indicates, for example, a distance of 2.0 meters from the rear end of the vehicle 10.

FIG. 5A shows the second expected traveling routes 60 and 61 when the steering angle is 0 degrees, that is, the vehicle travels straight. FIG. 5B shows the second expected traveling routes 60 and 61 in a state where the steering wheel of the vehicle 10 is operated in the steering direction indicated by the arrow. When the driver moves the vehicle, the driver sees the video data on which the second predicted route 60, the second predicted route 61, and the distance display lines 66 to 68 are superimposed, so that the driver can see the predicted route and parking frame of the vehicle. The distance between the 32 and the vehicle can be grasped.

The determination unit 340 can calculate the distance between the parking frame line 30 on the left side included in the image 40 and the second expected traveling line 60 on the left side. Specifically, for example, the determination unit 340 sets the reference point 62 and the reference point 63 along the second expected advance line 60. The vertical positions of the reference point 62 and the reference point 63 can be preset positions. Further, the horizontal positions of the reference point 62 and the reference point 63 may change corresponding to the positions of the second expected traveling line 60. Then, the determination unit 340 calculates the horizontal distance D62 between the reference point 62 and the parking frame line 30. Further, the determination unit 340 calculates the horizontal distance D63 between the reference point 63 and the parking frame line 30. Then, the determination unit 340 determines whether or not the calculated distance D62 and distance D63 are within the preset ranges, respectively.

When the distance D62 and the distance D63 are within the preset ranges, when the distance between the parking frame line 30 and the second expected line 60 is short, the parking frame line 30 and the second expected line 60 are in contact with each other. This includes the case where the parking frame line 30 and the second expected advance line 60 intersect. The range preset for the distance D62 and the range preset for the distance D63 are appropriately set, and may be the same range or different ranges. May be good.

The determination unit 340 calculates the distance between the parking frame line 31 on the right side included in the image 40 and the second expected traveling line 61 on the right side, as in the example on the left side described above. That is, as in the case of calculating the distance between the parking frame line 30 on the left side and the second expected advance line 60 on the left side, the determination unit 340 determines the reference point 64 and the reference point 65 along the second expected advance line 61. To set. Then, the determination unit 340 calculates the horizontal distance D64 between the reference point 64 and the parking frame line 31. Further, the determination unit 340 calculates the horizontal distance D65 between the reference point 65 and the parking frame line 31. Then, the determination unit 340 determines whether or not the calculated distance D64 and distance D65 are within the preset range.

The determination unit 340 determines the display mode of the second expected advance routes 60 and 61 according to the distance information calculated in this way. For example, when the determination unit 340 determines that either the distance between the parking frame line 30 and the second expected line 60 or the distance between the parking frame 31 and the second expected line 61 is close, the second prediction It can be determined that the routes 60 and 61 are displayed in an inconspicuous manner.

The second expected advance lines 60 and 61 are associated with the steering angle of the vehicle. Therefore, the distances D62 to D65 change according to the steering angle of the vehicle. For example, when the distance D63 in FIG. 5 (A) and the distance D63 in FIG. 5 (B) are compared, the distance D63 in FIG. 5 (B) is longer than the distance D63 in FIG. 5 (A). This is because the steering angle in FIG. 5 (A) was close to 0 degrees, whereas the steering angle in FIG. 5 (B) changed to the right as shown by the arrow. For the same reason, when the distance D65 in FIG. 5 (A) and the distance D65 in FIG. 5 (B) are compared, the distance D63 in FIG. 5 (B) is shorter than the distance D63 in FIG. 5 (A).

Next, with reference to FIG. 6, a display in which both the first predicted line and the second predicted line described above are superimposed on the video data will be described. FIG. 6 is a diagram showing an image displayed on the display unit 220 by superimposing both the first predicted traveling line and the second predicted traveling line on the video data acquired by the camera 210. The images 40 illustrated in FIGS. 6 (A) to 6 (C) are the image data acquired by the camera 210, the first expected advance routes 50 and 51, and the second expected advance routes 60 and 61, respectively. The distance display lines 66 to 68 are superimposed and displayed on the display unit 220.

FIG. 6A is an example in which both the first expected traveling route and the second expected traveling route are displayed in a display mode that can be easily visually recognized by the driver. In the description of the present embodiment, such a display mode will be referred to as a first display mode thereafter. In the first display mode, for example, the larger the angle Ad between the first predicted traveling line 50 and the second predicted traveling line 60, the larger the steering angle of the vehicle. The driver can recognize the steering angle of the vehicle by visually observing the first display mode. The angle Ad between the first predicted line 50 and the second predicted line 60 may be the angle between the straight line connecting the end points of the second predicted line 60 and the first predicted line 50. Further, the angle between the inclination at the midpoint of the second predicted traveling line 60 and the first predicted traveling line 50 may be set.

FIG. 6B is an example in which the first expected advance routes 50 and 51 are displayed in an inconspicuous display mode. In the description of this embodiment, such a display mode will be referred to as a second display mode hereafter.

Further, FIG. 6C is an example in which the second expected advance routes 60 and 61 are displayed in an inconspicuous display mode. In the description of this embodiment, such a display mode will be referred to as a third display mode hereafter.

In addition, the inconspicuous display modes exemplified in FIGS. 6 (B) and 6 (C) have high transmittances of the corresponding lines. However, in the second display mode and the third display mode, the thickness of the corresponding line may be reduced. Further, in the inconspicuous display mode shown in FIGS. 6 (B) and 6 (C), each line may be composed of a line other than the solid line such as a broken line or a dotted line. Further, in the inconspicuous display mode shown in FIGS. 6 (B) and 6 (C), the corresponding line may be erased.

As described above, the determination unit 340 determines the distance between the first predicted line 50 and the parking frame line 30, the distance between the first predicted line 51 and the parking frame line 31, and the second predicted line 60 and the parking frame line. The distance to 30 and the distance between the second expected advance line 60 and the parking frame line 30 can be calculated, respectively. Then, the determination unit 340 can determine which of the first display mode to the third display mode is used to display each line based on the calculated distance.

Further, the determination unit 340 may determine which of the first display mode to the third display mode is used to display each line according to the steering angle of the vehicle. In this case, as shown in FIG. 6A, the determination unit 340 can calculate, for example, the angle Ad between the first expected traveling line 50 and the second expected traveling line 60. Further, the determination unit 340 may receive information on the steering angle from the vehicle motion detection unit 300.

Embodiment 1
Based on the above-mentioned contents, the first embodiment will be described with reference to FIGS. 7 and 8.

The image in the display control system 100 according to the first embodiment will be described with reference to FIG. 7. FIG. 7 is a diagram showing an example of an image in the display control system 100 according to the first embodiment. FIG. 7A shows an image 40 in a state where the vehicle 10 is moving toward the parking lot 33. In FIG. 7A, the first expected advance line 50 intersects the parking frame line 30. That is, FIG. 7A shows that when the vehicle 10 goes straight, it protrudes from the parking frame line 30. On the other hand, FIG. 7A shows that the second expected advance lines 60 and 61 are steered along the parking frame lines 30 and 31. That is, the vehicle 10 is traveling toward between the parking frame line 30 and the parking frame line 31.

As described with reference to FIG. 5, the determination unit 340 calculates the distance between the parking frame line 30 on the left side and the second expected traveling line 60 on the left side in the image 40. Specifically, the determination unit 340 calculates the horizontal distance D62 between the reference point 62 and the parking frame line 30 and the horizontal distance D63 between the reference point 63 and the parking frame line 30. In the example shown in FIG. 7A, the parking frame line 30 is not displayed in the direction extending horizontally from the reference point 62. In such a case, when calculating the distance D62, the determination unit 340 may use the extension line 30E which is an extension of the parking frame line 30.

Similarly, the determination unit 340 calculates the distance between the parking frame line 31 on the right side and the second expected traveling line 61 on the right side in the image 40. Specifically, the determination unit 340 calculates the horizontal distance D64 between the reference point 64 and the parking frame line 31 and the horizontal distance D65 between the reference point 65 and the parking frame line 31. In the example shown in FIG. 7A, the parking frame line 31 is not displayed in the direction extending horizontally from the reference point 64. In such a case, when calculating the distance D64, the determination unit 340 may use the extension line 31E which is an extension of the parking frame line 31.

The determination unit 340 determines the display mode after calculating the distances D62 to D65. That is, the determination unit 340 determines whether the distances D62 and D63 are within the preset ranges, or the distances D64 and D65 are within the preset ranges, respectively. Then, the determination unit 340 stands out the first expected advance routes 50 and 51 when the distances D62 and D63 are within the preset ranges, or when the distances D64 and D65 are within the preset ranges, respectively. It is determined to display in the second display mode in which there is no display mode. In the example shown in FIG. 7A, the distances D62 and D63 are not within the preset ranges, respectively. Similarly, the distances D64 and D65 are not within the preset ranges, respectively. Therefore, the determination unit 340 determines that the image 40 shown in FIG. 7A is displayed in the first display mode.

FIG. 7B shows a state in which the vehicle 10 shown in FIG. 7A has further advanced to the parking lot 33. In FIG. 7B, the parking frame line 30 intersects with the first expected advance line 50. Further, the parking frame line 30 is close to the second expected advance line 60. Therefore, in the image 40, the parking frame line 30, the first predicted line 50, and the second predicted line 60 are close to each other or intersect with each other. It may be difficult for the driver to grasp the driving situation of the vehicle from the video in which the information is displayed complicatedly in this way.

As explained with reference to FIG. 7A, the determination unit 340 calculates the distance between the parking frame line 30 on the left side and the second expected traveling line 60 on the left side in the image 40. Specifically, the determination unit 340 calculates the horizontal distance D62 between the reference point 62 and the parking frame line 30 and the horizontal distance D63 between the reference point 63 and the parking frame line 30. In the example shown in FIG. 7B, the distances D62 and D63 are each within a preset range. Therefore, the determination unit 340 determines to display the first expected advance routes 50 and 51 in the second display mode in which the display mode is inconspicuous, regardless of the values of the distances D64 and D65.

FIG. 7C is an example in which the image 40 illustrated in FIG. 7B is displayed in the second display mode. Compared with the first display mode shown in FIG. 7 (B), the first expected advance routes 50 and 51 illustrated in FIG. 7 (C) have high transmittance and are inconspicuous display modes. This makes it easier for the driver to visually check the image 40 and accurately determine the information. As described above, the display control system 100 according to the first embodiment can prevent the information on the display screen from becoming complicated.

When changing the display from the first display mode shown in FIG. 7 (B) to the second display mode shown in FIG. 7 (C), the display control device 200 uses the first expected advance routes 50 and 51. The display mode may be changed stepwise according to the distance between the first expected advance line 50 and the parking frame line 30. For example, the determination unit 340 may determine that the closer the distance between the first expected advance line 50 and the parking frame line 30, the higher the transmittance of the first expected advance lines 50 and 51. Further, the determination unit 340 may determine that the closer the distance between the first expected advance line 50 and the parking frame line 30, the thinner the thickness of the first expected advance lines 50 and 51. That is, the determination unit 340 may determine that the closer the distance between the first expected advance line 50 and the parking frame line 30, the less conspicuous the display correspondence of the first expected advance lines 50 and 51 is.

Next, the processing of the display control device 200 according to the first embodiment will be described with reference to FIG. FIG. 8 is a flowchart of the display control device 200 according to the first embodiment.

First, the vehicle motion detection unit 300 detects information related to the setting of the transmission of the vehicle, which is detected from CAN or the like, which is an in-vehicle network. Then, the vehicle motion detection unit 300 determines whether or not the vehicle is moving backward (step S100). When the vehicle does not move backward, that is, when the transmission setting of the vehicle is not in the reverse range (step S100: No), the vehicle motion detection unit 300 performs the process of step S100 again.

When the vehicle moves backward, that is, when the transmission setting of the vehicle is in the reverse range (step S100: Yes), the determination unit 340 determines whether or not the parking frame line recognition unit 330 recognizes the parking frame line. (Step S101).

When the parking frame line recognition unit 330 does not recognize the parking frame line (step S101: No), the determination unit 340 outputs information instructing that the superimposed data is generated in the first display mode to the superimposed image generation unit 350. (Step S105). Therefore, the superimposed video generation unit 350 superimposes the video data transmitted by the video data acquisition unit 320 and the video data transmitted by the predicted route generation unit 310 in the first display mode. The display control unit 360 transmits the superimposed data in the first display mode transmitted by the superimposed image generation unit 350 to the display unit 220.

On the other hand, when the parking frame line recognition unit 330 recognizes the parking frame line (step S101: Yes), the determination unit 340 generates information on the parking frame line transmitted by the parking frame line recognition unit 330 and the expected advance route generation. From the information on the expected advance route transmitted by the unit 310, it is determined whether or not the parking frame line and the second expected advance route are close to each other (step S102). More specifically, for example, as described with reference to FIGS. 5 and 7, the determination unit 340 calculates the distances D62 to D65. Then, the determination unit 340 determines whether or not the calculated distances D62 to D65 are within a preset range.

When the determination unit 340 does not determine that the parking frame line and the second expected advance line are close to each other (step S102: No), the determination unit 340 superimposes information instructing that superimposed data is generated by the first display mode. It is transmitted to the image generation unit 350 (step S105).

When the determination unit 340 determines that the parking frame line and the second expected advance line are close to each other (step S102: Yes), the determination unit 340 generates superimposed data in the superimposed image generation unit 350 in the second display mode. Is transmitted to the superimposed image generation unit 350 (step S103). Therefore, the superimposed video generation unit 350 superimposes the video data transmitted by the video data acquisition unit 320 and the video data transmitted by the predicted route generation unit 310 in the second display mode. The display control unit 360 transmits the superimposed data in the second display mode transmitted by the superimposed image generation unit 350 to the display unit 220.

Next, in step S103 or step S105, after the determination unit 340 determines the display mode, the display control unit 360 determines whether or not to end the display of the expected route (step S104). Specifically, the display control unit 360 determines, for example, whether or not the transmission setting of the vehicle is in the reverse range by monitoring the vehicle motion detection unit 300. When the transmission setting of the vehicle is not in the reverse range (step S104: Yes), the display control device 200 determines to end the expected route display. On the other hand, when the transmission setting of the vehicle is in the reverse range (step S104: No), the display control device 200 does not end the expected route display. In this case, returning to step S101, the determination unit 340 determines whether or not the parking frame line recognition unit 330 recognizes the parking frame line, and continues the process.

By performing the above processing, it becomes easy for the driver to visually check the image and accurately judge the information. Therefore, the display control method according to the first embodiment can prevent the information on the display screen from becoming complicated.

Embodiment 2
Next, the image in the display control system 100 according to the second embodiment will be described. In the display control system 100 according to the second embodiment, the content of the determination in the determination unit 340 is different from that of the first embodiment. In the display control system 100 according to the second embodiment, the steering angle of the vehicle is smaller than the preset value, and the first expected traveling route and the parking frame line exist within the preset range. In this case, the first expected route is displayed inconspicuously (second display mode).

When the steering angle of the vehicle is smaller than the preset value and the first expected advance route and the parking frame line are within the preset range, the parking displayed on the display unit is used. This is a case where the frame line, the first predicted line, and the second predicted line are close to each other to the extent that it is difficult to distinguish them in a short time. Specifically, the case where the steering angle of the vehicle is smaller than the preset value is, for example, about 20 degrees. Further, when the first expected traveling line and the parking frame line exist within a preset range, for example, the actual distance is a value corresponding to about 20 cm. That is, in such a case, since the steering angle is small, the first predicted traveling line and the second predicted traveling line are close to each other. Further, the parking frame line 30 and the first expected advance line 50 are close to each other, the parking frame line 30 and the first expected advance line 50 overlap, or the parking frame line 30 and the first expected advance line 50 intersect. There is. It may be difficult for the driver to grasp the driving situation of the vehicle from the video in which the information is displayed complicatedly in this way.

FIG. 9 is a diagram showing an example of an image in the display control system 100 according to the second embodiment. FIG. 9A shows an image 40 in a state where the vehicle 10 is moving toward the parking lot 33. In FIG. 9A, the angle Ad is about 10 degrees. Therefore, for example, the first predicted line 50 and the second predicted line 60 are close enough to overlap each other in the lower part of the image, that is, in the region showing the difference between the vehicles. Further, the distances D52 and D53 indicating the distance between the first expected traveling line 50 and the parking frame line 30 are substantially smaller than 20 cm.

The determination unit 340 determines whether or not the angle Ad is smaller than a preset value. Further, the determination unit 340 determines whether or not the values of the distances D52 and D53 are within the preset range. Then, the determination unit 340 determines that the angle Ad is smaller than the preset value and the values of the distances D52 and D53 are within the preset range. In such a case, the determination unit 340 determines to display the first expected advance routes 50 and 51 in the second display mode in which the display mode is inconspicuous, regardless of the values of the distance D54 and the distance D55.

FIG. 9B is an example in which the image 40 illustrated in FIG. 9A is displayed in the second display mode. Compared with the first display mode shown in FIG. 9A, the first expected advance routes 50 and 51 illustrated in FIG. 9B have high transmittance and are inconspicuous display modes. This makes it easier for the driver to visually check the image 40 and accurately determine the information. As described above, the display control system 100 according to the second embodiment can suppress the information on the display screen from becoming complicated.

When changing the display from the first display mode shown in FIG. 9 (A) to the second display mode shown in FIG. 9 (B), the display control device 200 uses the first expected advance routes 50 and 51. The display mode may be changed stepwise according to the distance between the first expected advance line 50 and the parking frame line 30. That is, the determination unit 340 may determine that the closer the distance between the first expected advance line 50 and the parking frame line 30, the less conspicuous the display correspondence of the first expected advance lines 50 and 51 is.

Next, the processing of the display control device 200 according to the second embodiment will be described with reference to FIG. FIG. 10 is a flowchart of the display control device 200 according to the second embodiment. The flowchart of the display control device 200 according to the second embodiment is different from the flowchart of the display control device 200 according to the first embodiment in the processing between steps S101 and S103. The same processing as that already described in the first embodiment will be omitted as appropriate.

In step S101, when the parking frame line recognition unit 330 does not recognize the parking frame line (step S101: No), the determination unit 340 superimposes information instructing that the superimposition data is generated in the first display mode. It is transmitted to the image generation unit 350 (step S105). On the other hand, when the parking frame line recognition unit 330 recognizes the parking frame line (step S101: Yes), the determination unit 340 determines whether or not the angle Ad of the vehicle is smaller than the preset angle A1 (step S101: Yes). Step S200). When the angle Ad of the vehicle is not smaller than the preset angle A1 (step S200: No), the determination unit 340 sends information instructing that the superimposed data is generated in the first display mode to the superimposed image generation unit 350. Transmit (step S105).

On the other hand, when the angle Ad of the vehicle is smaller than the preset angle A1 (step S200: Yes), the determination unit 340 determines whether or not the parking frame line and the first expected traveling route are close to each other (step S202). .. More specifically, the determination unit 340 receives the information on the parking frame line transmitted by the parking frame line recognition unit 330 and the information on the expected advance route transmitted by the expected advance route generation unit 310. Then, the determination unit 340 calculates the distances D52 to D55. Then, the determination unit 340 determines whether or not the calculated distances D52 to D55 are within a preset range.

When the determination unit 340 determines that the parking frame line and the first expected advance route are close to each other (step S202: Yes), the determination unit 340 generates superimposed data in the superimposed image generation unit 350 in the second display mode. Is transmitted to the superimposed image generation unit 350 (step S103).

When the determination unit 340 does not determine that the parking frame line and the first expected advance line are close to each other (step S202: No), the determination unit 340 superimposes information instructing that superimposed data is generated by the first display mode. It is transmitted to the image generation unit 350 (step S105).

Next, in step S103 or step S105, after the determination unit 340 determines the display mode, the display control unit 360 determines whether or not to end the display of the expected route (step S104). Specifically, the display control unit 360 determines, for example, whether or not the transmission setting of the vehicle is in the reverse range by monitoring the vehicle motion detection unit 300. When the transmission setting of the vehicle is not in the reverse range (step S104: Yes), the display control device 200 determines to end the expected route display. On the other hand, when the transmission setting of the vehicle is in the reverse range (step S104: No), the display control device 200 does not end the expected route display. In this case, returning to step S101, the determination unit 340 determines whether or not the parking frame line recognition unit 330 recognizes the parking frame line, and continues the process.

By performing the above processing, it becomes easy for the driver to visually check the image and accurately judge the information. Therefore, the display control method according to the second embodiment can prevent the information on the display screen from becoming complicated.

Embodiment 3
Next, the image in the display control system 100 according to the third embodiment will be described. In the display control system 100 according to the third embodiment, the content of the determination in the determination unit 340 is different from that of the second embodiment. In the display control system 100 according to the third embodiment, the steering angle of the vehicle is smaller than the preset value, and the second expected traveling line and the parking frame line exist within the preset range. In this case, the second expected route is displayed inconspicuously (third display mode). In the following description, the description of the content overlapping with the content of the second embodiment will be omitted as appropriate.

In the third embodiment, the case where the steering angle of the vehicle is smaller than the preset value is, for example, about 3 degrees. Further, when the first expected traveling line and the parking frame line exist within a preset range, for example, the actual distance is a value corresponding to about 20 cm. That is, in such a case, since the steering angle is small, the first predicted traveling line and the second predicted traveling line are close to each other. Further, the parking frame line 30 and the first expected advance line 50 are close to each other, the parking frame line 30 and the first expected advance line 50 overlap, or the parking frame line 30 and the first expected advance line 50 intersect. There is. It may be difficult for the driver to grasp the driving situation of the vehicle from the video in which the information is displayed complicatedly in this way.

FIG. 11 is a diagram showing an example of an image in the display control system 100 according to the third embodiment. FIG. 11A shows an image 40 in a state where the vehicle 10 is moving toward the parking lot 33. In FIG. 11 (A), the angle Ad is about 3 degrees. Therefore, for example, the first predicted line 50 and the second predicted line 60 are so close that most of them overlap. Further, the distances D52 and D53 indicating the distance between the first expected traveling line 50 and the parking frame line 30 are substantially smaller than 20 cm.

The determination unit 340 determines whether or not the angle Ad is smaller than a preset value. Further, the determination unit 340 determines whether or not the values of the distances D62 and D63 are within the preset range. Then, the determination unit 340 determines that the angle Ad is smaller than the preset value and the values of the distances D62 and D63 are within the preset range. In such a case, the determination unit 340 determines to display the second expected advance routes 60 and 61 in the third display mode in which the display mode is inconspicuous, regardless of the values of the distance D64 and the distance D65.

FIG. 11B is an example in which the image 40 illustrated in FIG. 11A is displayed in the third display mode. Compared with the first display mode shown in FIG. 11 (A), the second expected advance routes 60 and 61 illustrated in FIG. 11 (B) have high transmittance and are inconspicuous display modes. This makes it easier for the driver to visually check the image 40 and accurately determine the information. As described above, the display control system 100 according to the third embodiment can prevent the information on the display screen from becoming complicated.

When changing the display from the first display mode shown in FIG. 11 (A) to the third display mode shown in FIG. 11 (B), the display control device 200 uses the second expected advance routes 60 and 61. The display mode may be changed stepwise according to the distance between the second expected advance line 60 and the parking frame line 30. That is, the determination unit 340 may determine that the closer the distance between the second expected advance line 60 and the parking frame line 30, the less conspicuous the display correspondence of the second expected advance lines 60 and 61 is.

Next, the process of the display control device 200 according to the third embodiment will be described with reference to FIG. FIG. 12 is a flowchart of the display control device 200 according to the third embodiment. The flowchart of the display control device 200 according to the third embodiment is different from the flowchart of the display control device 200 according to the second embodiment in the processing between steps S200 and S104. The same processing as that already described will be omitted as appropriate.

Steps S100 to S200 are as described in the first embodiment or the second embodiment.

When the angle Ad of the vehicle is smaller than the preset angle A1 (step S200: Yes), the determination unit 340 determines whether or not the parking frame line and the second expected traveling route are close to each other (step S302). More specifically, the determination unit 340 receives the information on the parking frame line transmitted by the parking frame line recognition unit 330 and the information on the expected advance route transmitted by the expected advance route generation unit 310. Then, the determination unit 340 calculates the distances D62 to D65. Then, the determination unit 340 determines whether or not the calculated distances D62 to D65 are within a preset range.

When the determination unit 340 determines that the parking frame line and the second expected advance route are close to each other (step S302: Yes), the determination unit 340 displays the second expected advance route inconspicuously on the superimposed image generation unit 350. Information instructing the generation of superimposed data in the third display mode is transmitted to the superimposed image generation unit 350 (step S303).

When the determination unit 340 does not determine that the parking frame line and the second expected advance line are close to each other (step S302: No), the determination unit 340 superimposes information instructing that superimposed data is generated by the first display mode. It is transmitted to the image generation unit 350 (step S105).

Next, in step S103 or step S105, after the determination unit 340 determines the display mode, the display control unit 360 determines whether or not to end the display of the expected route (step S104). Specifically, the display control unit 360 determines, for example, whether or not the transmission setting of the vehicle is in the reverse range by monitoring the vehicle motion detection unit 300. When the transmission setting of the vehicle is not in the reverse range (step S104: Yes), the display control device 200 determines to end the expected route display. On the other hand, when the transmission setting of the vehicle is in the reverse range (step S104: No), the display control device 200 does not end the expected route display. In this case, returning to step S101, the determination unit 340 determines whether or not the parking frame line recognition unit 330 recognizes the parking frame line, and continues the process.

By performing the above processing, it becomes easy for the driver to visually check the image and accurately judge the information. Therefore, the display control method according to the third embodiment can prevent the information on the display screen from becoming complicated.

Embodiment 4
Next, the image in the display control system 100 according to the fourth embodiment will be described. In the display control system 100 according to the fourth embodiment, the content of the determination in the determination unit 340 is different from that of the second embodiment. In the display control system 100 according to the fourth embodiment, the steering angle of the vehicle is smaller than the preset value, and the first expected traveling route and the parking frame line exist within the preset range. In this case, the second expected route is displayed inconspicuously (third display mode). In the following description, the contents that overlap with the contents of the first to third embodiments will be omitted as appropriate.

In the fourth embodiment, the case where the steering angle of the vehicle is smaller than the preset value is, for example, about 3 degrees. Further, when the first expected traveling line and the parking frame line exist within a preset range, for example, the actual distance is a value corresponding to about 20 cm. That is, in such a case, since the steering angle is small, the first predicted traveling line and the second predicted traveling line are close to each other. Further, the parking frame line 30 and the first expected advance line 50 are close to each other, the parking frame line 30 and the first expected advance line 50 overlap, or the parking frame line 30 and the first expected advance line 50 intersect. There is. It may be difficult for the driver to grasp the driving situation of the vehicle from the video in which the information is displayed complicatedly in this way.

FIG. 13 is a diagram showing an example of an image in the display control system 100 according to the fourth embodiment. FIG. 13A shows an image 40 in a state where the vehicle 10 is moving toward the parking lot 33. In FIG. 13A, the angle Ad is about 3 degrees. Therefore, for example, the first predicted line 50 and the second predicted line 60 are so close that most of them overlap. Further, the distances D52 and D53 indicating the distance between the first expected traveling line 50 and the parking frame line 30 are substantially smaller than 20 cm.

The determination unit 340 determines whether or not the angle Ad is smaller than a preset value. Further, the determination unit 340 determines whether or not the values of the distances D52 and D53 are within the preset range. Then, the determination unit 340 determines that the angle Ad is smaller than the preset value and the values of the distances D52 and D53 are within the preset range. In such a case, the determination unit 340 determines to display the second expected advance routes 60 and 61 in the third display mode in which the display mode is inconspicuous, regardless of the values of the distance D54 and the distance D55.

FIG. 13B is an example in which the image 40 illustrated in FIG. 13A is displayed in the third display mode. Compared with the first display mode shown in FIG. 13 (A), the second expected advance routes 60 and 61 illustrated in FIG. 13 (B) have high transmittance and are inconspicuous display modes. This makes it easier for the driver to visually check the image 40 and accurately determine the information. As described above, the display control system 100 according to the fourth embodiment can suppress the information on the display screen from becoming complicated.

When changing the display from the first display mode shown in FIG. 13 (A) to the third display mode shown in FIG. 13 (B), the display control device 200 uses the second expected advance lines 60 and 61. The display mode may be changed stepwise according to the distance between the first expected advance line 50 and the parking frame line 30. That is, the determination unit 340 may determine that the closer the distance between the first expected advance line 50 and the parking frame line 30, the less conspicuous the display correspondence of the second expected advance lines 60 and 61 is.

Next, the processing of the display control device 200 according to the fourth embodiment will be described with reference to FIG. FIG. 14 is a flowchart of the display control device 200 according to the fourth embodiment. The flowchart of the display control device 200 according to the fourth embodiment is different from the flowchart of the display control device 200 according to the second and third embodiments in the process between steps S200 and S105. The same processing as that already described will be omitted as appropriate.

Steps S100 to S200 are as described in the first embodiment or the second and third embodiments.

When the angle Ad of the vehicle is smaller than the preset angle A1 (step S200: Yes), the determination unit 340 determines whether or not the parking frame line and the first expected traveling route are close to each other (step S402). More specifically, the determination unit 340 receives the information on the parking frame line transmitted by the parking frame line recognition unit 330 and the information on the expected advance route transmitted by the expected advance route generation unit 310. Then, the determination unit 340 calculates the distances D52 to D55. Then, the determination unit 340 determines whether or not the calculated distances D52 to D55 are within a preset range.

When the determination unit 340 determines that the parking frame line and the first expected advance route are close to each other (step S402: Yes), the determination unit 340 displays the second expected advance route inconspicuously on the superimposed image generation unit 350. Information instructing the generation of superimposed data in the third display mode is transmitted to the superimposed image generation unit 350 (step S403).

When the determination unit 340 does not determine that the parking frame line and the first expected advance line are close to each other (step S402: No), the determination unit 340 superimposes information instructing that superimposed data is generated by the first display mode. It is transmitted to the image generation unit 350 (step S105).

Next, in step S103 or step S105, after the determination unit 340 determines the display mode, the display control unit 360 determines whether or not to end the display of the expected route (step S104). Specifically, the display control unit 360 determines, for example, whether or not the transmission setting of the vehicle is in the reverse range by monitoring the vehicle motion detection unit 300. When the transmission setting of the vehicle is not in the reverse range (step S104: Yes), the display control device 200 determines to end the expected route display. On the other hand, when the transmission setting of the vehicle is in the reverse range (step S104: No), the display control device 200 does not end the expected route display. In this case, returning to step S101, the determination unit 340 determines whether or not the parking frame line recognition unit 330 recognizes the parking frame line, and continues the process.

By performing the above processing, it becomes easy for the driver to visually check the image and accurately judge the information. Therefore, the display control method according to the fourth embodiment can suppress the information on the display screen from becoming complicated.

The present invention is not limited to the above embodiment, and can be appropriately modified without departing from the spirit. For example, the above-described embodiment may be applied to the case where the vehicle 10 moves to the parking lot 33 while moving forward. In that case, the display control device 200 can superimpose the data of the image taken by the front camera 210F of the vehicle 10 and the expected traveling route. In this case, in step S100, the display control device 200 can detect, for example, that the vehicle 10 is moving forward slower than the preset traveling speed. Alternatively, in step S100, the display control device 200 may start the first display mode according to an instruction from a driver (not shown).

Programs can also be stored and supplied to a computer using various types of non-transitory computer readable media. Non-transitory computer-readable media include various types of tangible storage media. Examples of non-temporary computer-readable media include magnetic recording media (eg, flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (eg, magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / W, semiconductor memory (for example, mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (random access memory)) is included. The program may also be supplied to the computer by various types of transient computer readable media. Examples of temporary computer-readable media include electrical, optical, and electromagnetic waves. The temporary computer-readable medium can supply the program to the computer via a wired communication path such as an electric wire and an optical fiber, or a wireless communication path.

10 Vehicles 30, 31, 32 Parking frame line 33 Parking lot 40 Video 50, 51 1st expected forward route 60, 61 2nd expected forward route 100 Display control system 200 Display control device 210 Camera 220 Display unit 300 Vehicle motion detection unit 310 Predicted advance route generation unit 320 Video data acquisition unit 330 Parking frame line recognition unit 340 Judgment unit 350 Superimposed image generation unit 360 Display control unit

Claims (10)

A video data acquisition unit that acquires video data from a camera that captures the direction of travel of the vehicle,
A parking frame line recognition unit that recognizes the parking frame line from the video data,
A vehicle motion detection unit that detects vehicle motion information, and
A first predicted traveling route including at least a pair of lines extending in the straight direction of the vehicle and a second predicted traveling route including at least a pair of lines corresponding to the motion information according to the traveling schedule of the vehicle, respectively. The expected route generator to be generated and
It is provided with a superimposed image generation unit that generates an image in which the image data, the first predicted line, and the second predicted line are superimposed.
When the second predicted route and the parking frame line exist within a preset range, the superimposed image generation unit displays the first predicted route inconspicuously.
Display control device. The vehicle motion detection unit detects motion information including the steering angle of the vehicle, and
The superimposed image generation unit is a case where the steering angle is smaller than a preset value, and the first predicted traveling line or the second predicted traveling line and the parking frame line are in a preset range. If it exists in, either the first predicted line or the second predicted line is displayed inconspicuously.
The display control device according to claim 1. The superimposed image generation unit
When the first expected route and the parking frame line exist within a preset range, the first expected route is displayed inconspicuously.
The display control device according to claim 2. The superimposed image generation unit
When the second predicted route and the parking frame line exist within a preset range, the first predicted route is displayed inconspicuously.
The display control device according to claim 2. The superimposed image generation unit
When the first expected traveling route and the parking frame line exist within a preset range, the second expected traveling route is displayed inconspicuously.
The display control device according to claim 2. By not displaying either the first predicted line or the second predicted line, the superimposed image generation unit makes the display less conspicuous than the other display.
The display control device according to any one of claims 1 to 5. The superimposed image generation unit increases the transmittance of either the first predicted line or the second predicted line to make the display less noticeable than the other display.
The display control device according to any one of claims 1 to 5. The display control device according to any one of claims 1 to 7.
With at least one of the camera that captures the video data and the display unit that displays the video data.
Display control system with. Acquire video data from a camera that captures the direction of travel of the vehicle,
Recognize the parking border from the video data and
Acquire the operation information of the vehicle and
A first predicted traveling route including at least a pair of lines extending in the straight direction of the vehicle and a second predicted traveling route including at least a pair of lines corresponding to the motion information according to the traveling schedule of the vehicle, respectively. Generate and
A video in which the video data, the first predicted route, and the second predicted route are superimposed is generated.
When the superimposed image is generated, if the second predicted route and the parking frame line exist within a preset range, the first predicted route is displayed inconspicuously.
Display control method. On the computer
Obtain video data from a camera that captures the direction of travel of the vehicle,
Recognize the parking border from the video data
Acquire the operation information of the vehicle,
A first predicted traveling route including at least a pair of lines extending in the straight direction of the vehicle and a second predicted traveling route including at least a pair of lines corresponding to the motion information according to the traveling schedule of the vehicle, respectively. Generate and
A video in which the video data, the first predicted route, and the second predicted route are superimposed is generated.
When the superimposed image is generated, if the second predicted route and the parking frame line exist within a preset range, the first predicted route is displayed inconspicuously.
Display control program.

Images