JP7014254B2 - Vehicle display control device and vehicle display control method - Google Patents

Description

The present invention relates to a vehicle display control device and a vehicle display control method.

Conventionally, a head-up display (HUD: Head-up Display) that superimposes a display image related to the running state of the own vehicle, which is automatically controlled by the automatic control unit, with the outside scenery of the own vehicle to display a virtual image. A vehicle display control device that controls the virtual image display is widely known.

In the device disclosed in Patent Document 1 as a kind of display control device for such a vehicle, an enhanced image emphasizing the presence of the vehicle in front in the landscape is produced by the HUD at a position overlapping with the road ahead in the landscape. It is displayed as a virtual image. Here, the automatic control unit mounted on the vehicle to which this device is applied is a cruise control unit that automatically controls the cruise of the own vehicle. Therefore, during cruise control by the cruise control unit, an enhanced image formed in the virtual image display area is formed. As a result, the user can correctly and quickly grasp the existence of the vehicle in front, which secures the distance from the own vehicle by the control by the cruise control unit, so that it is possible to bring a sense of security. Become.

German Patent Application Publication No. 102011007329

By the way, the information that the user wants to know during the control by the automatic control unit is not only the existence of the vehicle in front. For example, regarding the planned route scheduled for the own vehicle by the control by the automatic control unit, it is important to bring a sense of security whether or not the route is the correct route desired by the user.

Therefore, an object of the present invention is to provide a vehicle display control device and a vehicle display control method that give a user a sense of security.

Hereinafter, the technical means of the invention for achieving the object will be described. The scope of claims for disclosing the technical means of the invention and the reference numerals in parentheses described in this column indicate the correspondence with the specific means described in the embodiment described in detail later. It does not limit the technical scope of the invention.

The first invention disclosed to solve the above-mentioned problems is
A head-up display (50) that superimposes a display image (56) related to the running state of the own vehicle (2), which is automatically controlled by the automatic control unit (42), with the outside world scenery (8) of the own vehicle and displays a virtual image. ), Which is a vehicle display control device (54, 50e) that controls the virtual image display.
Route information acquisition means (S101 to S106, S401, S418, S422, S2412) for acquiring route information related to the planned route (Rp) scheduled for the own vehicle by control by the automatic control unit.
A route image (560, 2560) showing a planned route is used as a display image imaged by a head-up display in a virtual image display area (A1) that overlaps with a front travel path (8r) in an outside landscape, as a route information acquisition means. With the route image forming means (S403 to S405, S407, S409 to S411, S413 to S415, S417, S419 to S421, S423 to S425, S2413 to S2415, S2417) formed based on the route information acquired by
End information acquisition means for acquiring end information related to the scheduled end position (Pe) where the automatic control of the own vehicle is scheduled to end, and
After the start of automatic control of the own vehicle by the automatic control unit, an end image (562,2562) indicating the planned end position is displayed as a display image imaged by the head-up display in the virtual image display area superimposed on the traveling road ahead. The end image forming means formed based on the end information acquired by the end information acquisition means,
Prepared as a means built by at least one processor (54p)
When the end image forming means forms the end image, the route image forming means changes the route image so as to be separated from the end image so as to indicate the end schedule of the automatic control, and the own vehicle rather than the display position of the end image. It is characterized by superimposing on the front traveling path on the side.

In addition, the second invention disclosed to solve the above-mentioned problems is
A head-up display (50) that superimposes a display image (56) related to the running state of the own vehicle (2), which is automatically controlled by the automatic control unit (42), with the outside world scenery (8) of the own vehicle and displays a virtual image. ), Which is a display control method for vehicles that controls the virtual image display.
The route information acquisition steps (S101 to S106, S401, S418, S422, S2412) for acquiring the route information related to the planned route (Rp) scheduled for the own vehicle by the control by the automatic control unit.
A route image (560, 2560) showing a planned route is displayed as a display image imaged by a head-up display in a virtual image display area (A1) that overlaps with a forward traveling path (8r) in an external landscape, and a route information acquisition step. The route image forming step (S403 to S405, S407, S409 to S411, S413 to S415, S417, S419 to S421, S423 to S425, S2413 to S2415, S2417) formed based on the route information acquired by
The end information acquisition step for acquiring the end information related to the scheduled end position (Pe) where the automatic control of the own vehicle is scheduled to end, and the end information acquisition step.
After the start of automatic control of the own vehicle by the automatic control unit, an end image (562,2562) indicating the planned end position is displayed as a display image imaged by the head-up display in the virtual image display area superimposed on the traveling road ahead. The end image forming step formed based on the end information acquired by the end information acquisition step,
Included as a step performed by at least one processor
In the route image formation step, when the end image is formed by the end image formation step, the route image is changed so as to be separated from the end image so as to indicate the end schedule of the automatic control, and the own vehicle is separated from the display position of the end image. It is characterized by superimposing on the front traveling path on the side.

According to the first and second inventions, a route image as a display image is formed by the HUD in the virtual image display area that overlaps with the traveling path in front of the own vehicle. At this time, the route image is formed based on the route information related to the planned route so as to show the planned route scheduled for the own vehicle by the automatic control by the automatic control unit, so that the route image is superimposed on the forward traveling route. .. As a result, the user can intuitively and in advance grasp the correctness of the planned route from the degree of superimposition with the preceding traveling road, so that it is possible to bring a sense of security.

It is an inside view which shows the passenger interior of the own vehicle equipped with the traveling assist system by 1st Embodiment. It is a block diagram which shows the traveling assist system by 1st Embodiment. It is a structural drawing which shows typically the detailed structure of the HUD by 1st Embodiment. It is a front view which shows the virtual image display state by 1st Embodiment. It is a front view which shows the virtual image display state by 1st Embodiment. It is a front view which shows the virtual image display state by 1st Embodiment. It is a front view which shows the virtual image display state by 1st Embodiment. It is a front view which shows the virtual image display state by 1st Embodiment. It is a front view which shows the virtual image display state by 1st Embodiment. It is a front view which shows the virtual image display state by 1st Embodiment. It is a front view which shows the virtual image display state by 1st Embodiment. It is a front view which shows the virtual image display state by 1st Embodiment. It is a front view which shows the virtual image display state by 1st Embodiment. It is a time chart for demonstrating lane control and cruise control by 1st Embodiment. It is a time chart for demonstrating lane control and cruise control by 1st Embodiment. It is a time chart for demonstrating lane control and cruise control by 1st Embodiment. It is a flowchart which shows the lane control state check flow by 1st Embodiment. It is a flowchart which shows the lane control schedule check flow by 1st Embodiment. It is a flowchart which shows the cruise control state check flow by 1st Embodiment. It is a flowchart which shows the 1st virtual image display flow by 1st Embodiment. It is a flowchart which shows the 1st virtual image display flow by 1st Embodiment. It is a flowchart which shows the 2nd virtual image display flow by 1st Embodiment. It is a front view which shows the virtual image display state by 2nd Embodiment. It is a front view which shows the virtual image display state by 2nd Embodiment. It is a front view which shows the virtual image display state by 2nd Embodiment. It is a front view which shows the virtual image display state by 2nd Embodiment. It is a front view which shows the virtual image display state by 2nd Embodiment. It is a front view which shows the virtual image display state by 2nd Embodiment. It is a flowchart which shows the 1st virtual image display flow by 2nd Embodiment. It is a flowchart which shows the 1st virtual image display flow by 2nd Embodiment. It is a flowchart which shows the 1st virtual image display flow by 2nd Embodiment. It is a flowchart which shows the 2nd virtual image display flow by 2nd Embodiment. It is a block diagram which shows the modification of FIG.

Hereinafter, a plurality of embodiments of the present invention will be described with reference to the drawings. By assigning the same reference numerals to the corresponding components in each embodiment, duplicate description may be omitted. When only a part of the configuration is described in each embodiment, the configuration of the other embodiment described above can be applied to the other parts of the configuration. Further, not only the combination of the configurations specified in the description of each embodiment but also the configurations of a plurality of embodiments can be partially combined even if the combination is not specified. ..

(First Embodiment)
As shown in FIGS. 1 and 2, the traveling assist system 1 of the first embodiment to which the present invention is applied is mounted on the own vehicle 2.

As shown in FIG. 2, the traveling assist system 1 is composed of a peripheral monitoring system 3, a vehicle control system 4, and a display system 5. The systems 3, 4, and 5 of the travel assist system 1 are connected to each other via an in-vehicle network 6 such as a LAN (Local Area Network).

The peripheral monitoring system 3 includes an external sensor 30 and a peripheral monitoring ECU (Electronic Control Unit) 31. The outside world sensor 30 detects obstacles that exist in the outside world of the own vehicle 2 and may collide with each other, such as other vehicles, artificial structures, humans and animals, and traffic displays existing in the outside world. The external world sensor 30 is one or a plurality of types, for example, sonar, radar, camera, and the like.

Specifically, the sonar is an ultrasonic sensor installed in, for example, a front portion or a rear portion of the own vehicle 2. The sonar detects an obstacle in the detection area and outputs a detection signal by receiving the reflected wave of the ultrasonic wave transmitted to the detection area in the outside world of the own vehicle 2. The radar is a millimeter-wave sensor or a laser sensor installed in, for example, a front portion or a rear portion of the own vehicle 2. The radar detects obstacles in the detection area and outputs a detection signal by receiving millimeter waves or quasi-millimeter waves transmitted to the detection area in the outside world of the own vehicle 2 or reflected waves of the laser. .. The camera is a monocular or compound eye camera installed in, for example, a rearview mirror or a door mirror in the own vehicle 2. By photographing the detection area in the outside world of the own vehicle 2, the camera detects an obstacle or a traffic display in the detection area and outputs an image signal.

The peripheral monitoring ECU 31 shown in FIG. 2 is mainly composed of a microcomputer having a processor and a memory, and is connected to an external sensor 30 and an in-vehicle network 6. The peripheral monitoring ECU 31 acquires sign information such as speed limit signs and lane signs, and lane marking information such as white lines and yellow lines based on the output signal of the external sensor 30. At the same time, the peripheral monitoring ECU 31 acquires obstacle information such as the type of obstacle and the relative relationship of the obstacle with respect to the own vehicle 2 based on the output signal of the outside world sensor 30. Here, as the obstacle information in particular, for example, the inter-vehicle distance and the relative speed between the front vehicle 8v (see FIGS. 9 to 11), which is a front obstacle, and the own vehicle 2 are acquired by the peripheral monitoring ECU 31.

The vehicle control system 4 includes a vehicle state sensor 40, an occupant sensor 41, and a vehicle control ECU 42. The vehicle condition sensor 40 is connected to the in-vehicle network 6. The vehicle state sensor 40 detects the running state of the own vehicle 2. The vehicle state sensor 40 is one or more of, for example, a vehicle speed sensor, a rotation speed sensor, a steering angle sensor, a fuel sensor, a water temperature sensor, a radio wave receiver, and the like.

Specifically, the vehicle speed sensor detects the vehicle speed of the own vehicle 2 and outputs a vehicle speed signal corresponding to the detection. The rotation speed sensor detects the engine rotation speed in the own vehicle 2 and outputs a rotation speed signal corresponding to the detection. The steering angle sensor detects the steering angle of the own vehicle 2 and outputs a steering angle signal corresponding to the detection. The fuel sensor detects the remaining amount of fuel in the fuel tank of the own vehicle 2 and outputs a fuel signal corresponding to the detection. The water temperature sensor detects the cooling water temperature of the internal combustion engine in the own vehicle 2 and outputs a water temperature signal corresponding to the detection. The radio wave receiver outputs a traffic signal by receiving output radio waves from, for example, a positioning satellite, another vehicle transmitter for vehicle-to-vehicle communication, and a roadside unit for road-to-vehicle communication. Here, the traffic signal is a signal representing traffic information related to the own vehicle 2 such as a traveling position, a traveling direction, a traveling road state, a speed limit, and the above obstacle information.

The occupant sensor 41 is connected to the in-vehicle network 6. The occupant sensor 41 detects the state or operation of the user who has boarded in the passenger compartment 2c of the own vehicle 2 shown in FIG. The occupant sensor 41 is, for example, one or a plurality of types of a power switch, a user status monitor, a display setting switch, a turn switch, and the like, and three types of an automatic control switch, a lane control switch, and a cruise control switch.

Specifically, the power switch is turned on by the user in the vehicle interior 2c to start the internal combustion engine or the electric motor of the own vehicle 2, and outputs a power signal corresponding to the operation. The user status monitor detects the user status and outputs an image signal by photographing the user status on the driver's seat 20 with an image sensor in the vehicle interior 2c. The display setting switch is operated by the user to set the display state in the vehicle interior 2c, and outputs a display setting signal corresponding to the operation. The turn switch is turned on by the user in the vehicle interior 2c to operate the direction indicator of the own vehicle 2, and outputs a turn signal corresponding to the operation.

The automatic control switch is turned on by the user in the vehicle interior 2c in order to command automatic control of the traveling state of the own vehicle 2, and outputs an automatic control signal corresponding to the operation. The lane control switch is turned on by the user in the vehicle interior 2c in order to command automatic control of the position in the width direction in the traveling lane in which the own vehicle 2 is traveling, so that a lane control signal corresponding to the operation is output. Output. The cruise control switch outputs a cruise control signal corresponding to the operation by being turned on by the user in the vehicle compartment 2c in order to instruct the automatic control of the cruise that maintains the inter-vehicle distance or the vehicle speed in the own vehicle 2. do.

The vehicle control ECU 42 shown in FIG. 2 is mainly composed of a microcomputer having a processor and a memory, and is connected to the in-vehicle network 6. The vehicle control ECU 42 mounted on the own vehicle 2 as an "automatic control unit" is one of an engine control ECU, a motor control ECU, a brake control ECU, a steering control ECU, an integrated control ECU, and the like, which includes at least one integrated control ECU. There are multiple types.

Specifically, the engine control ECU controls the operation of the throttle actuator and the fuel injection valve of the engine according to the operation of the accelerator pedal 26 in the passenger compartment 2c shown in FIG. 1 or automatically, thereby controlling the vehicle speed of the own vehicle 2. Accelerate or decelerate. The motor control ECU accelerates / decelerates the vehicle speed of the own vehicle 2 by controlling the operation of the motor generator according to the operation of the accelerator pedal 26 in the vehicle interior 2c or automatically. The brake control ECU accelerates / decelerates the vehicle speed of the own vehicle 2 by controlling the operation of the brake actuator according to the operation of the brake pedal 27 in the vehicle interior 2c or automatically. The steering control ECU adjusts the steering angle of the own vehicle 2 by automatically controlling the operation of the electric power steering according to the operation of the steering handle 24 in the vehicle interior 2c. The integrated control ECU synchronously controls the operation of the other control ECU based on, for example, the output signals of the sensors 40 and 41, the information acquired by the peripheral monitoring ECU 31, and the control information of the other control ECU of the vehicle control ECU 42.

Here, in particular, the integrated control ECU is a lane keeping assist that regulates deviation from a lane marking such as a white line or a yellow line by executing lane control that automatically controls the position in the width direction of the own vehicle 2 in the traveling lane of the traveling path. (LKA: Lane Keeping Assist) is realized. The integrated control ECU mounted on the own vehicle 2 as a "lane control unit" that realizes this LKA controls the operation of the steering control ECU based on the information acquired by the peripheral monitoring ECU 31 and the output signal of the radio wave receiver. At this time, the integrated control ECU sets the scheduled route Rp (see FIGS. 6 to 8 and 10 to 12) scheduled for the own vehicle 2 at any time, so that the lane control follows the route Rp.

Such lane control by LKA starts when the lane control switch is turned on while the automatic control switch and the cruise control switch are turned on, as shown in each segment (a) of FIGS. 14 to 16. Turns on. On the other hand, as shown in each of FIGS. 14 and 15, when the lane control switch is turned off in a state where the automatic control switch and the cruise control switch are turned on, for example, in response to the disappearance of a lane marking or the like. Lane control is temporarily terminated and ready for use. Further, as shown in FIGS. 15 and 16, when the automatic control switch is turned off regardless of the lane control switch and the cruise control switch, the lane control is completely terminated and turned off. ..

Further, the integrated control ECU of the present embodiment is fully controlled by executing cruise control that automatically controls the cruise of the own vehicle 2 during follow-up traveling or independent traveling according to the presence or absence of the preceding vehicle 8v in the outside world scenery 8. Full Speed Range Adaptive Cruise Control (FSRA) that maintains the inter-vehicle distance or vehicle speed in the vehicle speed range is also realized. The integrated control ECU mounted on the own vehicle 2 as a "cruise control unit" that realizes this FSRA operates the engine control ECU or the motor control ECU based on the information acquired by the peripheral monitoring ECU 31 and the output signal of the radio wave receiver. And the operation of the brake control ECU are controlled.

As shown in each segment (b) of FIGS. 14 to 16, such cruise control by FSRA starts and turns on when the cruise control switch is turned on while the automatic control switch is turned on. Become. On the other hand, as shown in each of FIGS. 15 and 16, the cruise control switch is turned off in a state where the automatic control switch is turned on, for example, in response to braking of the own vehicle 2 following the operation of the brake pedal 27. When activated, cruise control is temporarily terminated and ready to go. Further, as shown in each of FIGS. 15 and 16, when the automatic control switch is turned off regardless of the cruise control switch, the cruise control is completely terminated and turned off.

As shown in FIG. 2, the display system 5 is mounted on the own vehicle 2 for visually presenting information. The display system 5 includes a HUD 50, an MFD (Multi Function Display) 51, a combination meter 52, and an HCU (HMI (Human Machine Interface) Control Unit) 54.

The HUD 50 is installed on the instrument panel 22 in the vehicle interior 2c shown in FIGS. 1 and 3. The HUD 50 projects a display image 56 formed by a display device 50i such as a liquid crystal panel or a projector through an optical system 50o onto a front windshield 21 as a “projection member” in the own vehicle 2. Here, the front windshield 21 is formed of translucent glass so as to transmit the outside scenery 8 existing in front of the own vehicle 2 outside the vehicle interior 2c. As a result, the luminous flux of the display image 56 reflected by the front windshield 21 and the luminous flux from the outside landscape 8 transmitted through the shield 21 are perceived by the user on the driver's seat 20. As described above, the virtual image of the display image 56 formed in front of the front windshield 21 is superimposed and displayed on a part of the outside world landscape 8 as shown in FIGS. 1, 4 to 13, and the driver's seat 20 is displayed. It will be visible to the user above. At this time, since the displayed image 56 is displayed as a semi-transparent virtual image, it is possible to visually recognize the superimposed portion of the image 56 in the external landscape 8.

The display image 56 thus displayed as a virtual image by the HUD 50 has a route image 560, a start image 561, an end image 562, and an emphasis image 563 as a plurality of types of images related to the traveling state of the own vehicle 2, as shown in FIGS. 4 to 13. 564 and working images 565 and 566 are included. These images 560, 561, 562, 563, 564, 565, 566 are displayed as virtual images in any one of the periods Tnol, Tpel, Tpsl, Troll, Trdl, Troc, and Trdc shown in the operation examples of FIGS. 14 to 16. It will be.

As shown in FIGS. 6 to 8 and 10 to 12, the route image 560 is imaged in the first virtual image display region A1 superimposing on the front traveling path 8r in the external landscape 8. As a result, in the first virtual image display area A1, the route image 560 shows the planned route Rp to be followed by the own vehicle 2 by the lane control by LKA, superimposed on the front traveling path 8r. The first virtual image display area A1 (see FIGS. 1 and 3) is set at a position separated from the driver's seat 20 forward by, for example, about 15 m.

The route image 560 is intermittently displayed as a virtual image during a predetermined period of time when the lane control is turned on (see FIGS. 14 to 16). Here, the route image 560 when the own vehicle 2 travels independently is repeatedly formed in a moving image shape gradually extending from the vehicle 2 side toward the horizon 8h side in the front as shown in FIGS. 6 and 7. Will be done. On the other hand, the route image 560 during the follow-up running in which the own vehicle 2 follows the rear of the front vehicle 8v and gradually extends from the vehicle 2 side toward the front vehicle 8v side as shown in FIGS. It is repeatedly formed in the form of moving images.

In any of these runs, the route image 560 is formed straight as shown in FIGS. 7, 11 and 12 when the planned route Rp is straight, while the route image is formed as shown in FIG. 8 when the planned route Rp is a curve. The 560 is curved and formed. Further, the display color of the route image 560 is set according to the state of the lane control during any of the traveling.

Specifically, during the normal on-period Tnol (see FIGS. 14 to 16) from the start of the lane control to the scheduled temporary end or complete end of the control, the numbers increase to the right in FIGS. 6 to 8, 10 and 11. The display color of the route image 560 is set to, for example, light blue with hatching. On the other hand, the scheduled end period Tpel (see FIGS. 14 to 16) from the scheduled end or complete end of the lane control to the realization is shown in FIG. 12 with left-up hatching, for example, an amber color or the like. The display color of the route image 560 is set to a color different from the normal on-period Tnol. Further, when the lane control is in the ready state due to the temporary end or the lane control is turned off due to the complete end, the display itself of the route image 560 ends as shown in FIGS. 4 and 13.

As shown in FIG. 4, the start image 561 is imaged in the first virtual image display region A1 superimposing on the front traveling path 8r in the outside world landscape 8, similarly to the path image 560. As a result, in the first virtual image display area A1, the start image 561 shows the scheduled start position Ps where the start of the lane control is scheduled to be superimposed on the forward traveling path 8r.

The start image 561 is provided at the position Ps on the forward traveling path 8r during the scheduled start period Tpsl (see FIGS. 14 to 16) from the start of the lane control to the arrival of the own vehicle 2 at the scheduled start position Ps. It is continuously superimposed and displayed as a virtual image. At this time, the start image 561 is formed in a moving shape in which the upper bottom and the lower base expand the trapezoidal figure along the horizon 8h as the own vehicle 2 approaches the scheduled start position Ps, as shown in FIG. Further, at this time, the display color of the start image 561 is set to the same color as the path image 560 of the normal on-period Tnol, for example, light blue, which is shown by hatching upward to the right in FIG. On the other hand, when the own vehicle 2 reaches the scheduled start position Ps, the display itself of the start image 561 ends as shown in FIG.

As shown in FIG. 12, the end image 562 is imaged in the first virtual image display region A1 superimposing on the front traveling path 8r in the outside world landscape 8, similarly to the path image 560. As a result, in the first virtual image display area A1, the end image 562 shows the scheduled end position Pe where the end of the lane control is scheduled to be superimposed on the forward traveling path 8r.

The end image 562 is displayed at the position Pe on the forward traveling path 8r during the scheduled end period Tpel (see FIGS. 14 to 16) from the scheduled end of the lane control to the arrival of the own vehicle 2 at the scheduled end position Pe. It is continuously superimposed and displayed as a virtual image. At this time, the end image 562 is formed as a moving image in which a trapezoidal figure whose upper and lower bases are along the horizon 8h is enlarged as the own vehicle 2 approaches the scheduled end position Pe, as shown in FIG. Further, at this time, the display color of the end image 562 is set to the same color as the path image 560 of the intersynchronous Tpel, such as an amber color shown by hatching to the left in FIG. That is, the display color of the end image 562 is set to a color different from that of the start image 561. On the other hand, when the own vehicle 2 reaches the scheduled end position Pe, the display itself of the end image 562 ends as shown in FIG.

As shown in FIGS. 5 to 7, 9 to 11, and 13, the emphasized images 563 and 564 are imaged in the first virtual image display area A1 superimposing on the forward traveling path 8r in the outside world scenery 8 as in the route image 560. To. As a result, in the first virtual image display area A1, the enhanced image 563 and 564 superimposes on the front traveling path 8r to emphasize the presence or absence of the front vehicle 8v to which the own vehicle 2 is made to follow by the cruise control by FSRA. become.

The highlighted images 563 and 564 are intermittently displayed as virtual images during the actual on-period Troc (see FIGS. 14 to 16) in which the cruise control is turned on. Here, the detection-enhanced image 563 gradually moves from the vehicle 2 side to the horizon 8h side of the front as shown in FIGS. 5 to 7 in the actual on-period Troc when the own vehicle 2 travels independently. It is repeatedly formed like a moving image. At this time, the detection-enhanced image 563 is formed in the shape of an elongated bar along the horizon 8h. Further, at this time, the display color of the detection-enhanced image 563 is set to the same color as the path image 560 of the normal on-period Tnol, for example, light blue, which is shown with hatching rising to the right in FIGS. 5 to 7, 13. Further, the vehicle-enhanced image 564 is not formed in the actual on-period Troc when traveling alone.

On the other hand, as shown in FIGS. It is repeatedly formed in the form of a moving image that gradually moves toward. Also at this time, the detection-enhanced image 563 is formed in the shape of an elongated bar along the horizon 8h. Also at this time, the display color of the detection-enhanced image 563 is set to the same color as the path image 560 of the normal on-period Tnol, for example, light blue, which is shown with hatching rising to the right in FIGS. That is, the display color of the detection-enhanced image 563 is the same color when traveling alone and when traveling following.

Further, in the actual on-period Troc during the follow-up running, the detection-enhanced image 563 moves to the vehicle in front 8v in front of the horizon 8h as shown in FIG. Image 564 is formed. At this time, the vehicle-enhanced image 564 is formed in an annular shape surrounding the vehicle in front 8v, particularly in a continuous arc ring around the vehicle 8v except for the lower part in the present embodiment. Further, at this time, the display color of the vehicle-enhanced image 564 is also set to the same color as the route image 560 of the normal on-period Tnol, such as light blue, which is shown by hatching upward to the right in FIG. That is, the display color of the detection-enhanced image 563 and the display color of the vehicle-enhanced image 564 are the same color during the follow-up running. Such a vehicle-enhanced image 564 is temporarily displayed and then erased, so that the next highlighted images 563 and 564 are repeatedly displayed. In such an embodiment, after the moving image-like detection-enhanced image 563 that gradually moves to the vehicle in front 8v is formed, the detection-enhanced image 563 is changed to the annular vehicle-enhanced image 564 surrounding the vehicle 8v. become.

As shown in FIGS. 4 to 13, the operation images 565 and 566 are imaged in the second virtual image display area A2 below the first virtual image display area A1 and superimposing on the front traveling path 8r on the own vehicle 2 side. As a result, in the second virtual image display area A2, the lane operation image 565 shows the state of lane control superimposed on the front traveling path 8r as the operation state of the integrated control ECU of the vehicle control ECU 42. Further, in the cruise operation image 566 formed below the lane operation image 565 in the second virtual image display area A2, the cruise control state is set to the forward traveling path 8r as the operation state of the integrated control ECU in the vehicle control ECU 42. It will be shown superimposed. The second virtual image display area A2 (see FIGS. 1 and 3) is set at a position separated from the driver's seat 20 by, for example, about 2 m.

The lane operation image 565 is continuously displayed as a virtual image during a predetermined period of time when the lane control is on or ready (see FIGS. 14 to 16). Here, the lane operation image 565 is formed so that lane control can be imagined by imitating the steering handle 24 for maintaining the traveling lane of the own vehicle 2 as shown in FIGS. 5 to 13. At this time, the display color of the lane operation image 565 is set according to the state of the lane control.

Specifically, the actual on-period Troll (see FIGS. 14 to 16) from the start of the lane control to the temporary end or the complete end is shown in FIGS. 5 to 12 with an upward-sloping hatch, for example, light blue or the like. The display color of the lane operation image 565 is set to the same color as the path image 560 of the normal on-period Troll. On the other hand, during the preparation period Trdl (see FIGS. 14 and 15) from when the lane control is in the ready state due to the temporary termination to when it is restarted or completely terminated, for example, an amber color or the like shown with left-up hatching in FIG. , The display color of the lane operation image 565 is set to the same color as the route image 560 of the scheduled end period Tpel. Further, when the lane control is turned off by the complete end, the display itself of the lane operation image 565 ends as shown in FIGS. 1 and 4. As described above, in the present embodiment, the display color of the lane operation image 565 is changed according to the switching of the lane control state between the on state and the ready state.

In contrast to the above lane operation image 565, the cruise operation image 566 is continuously displayed as a virtual image during a predetermined period of time when the cruise control is on or ready (see FIGS. 14 to 16). Here, the cruise operation image 566 is formed so that the cruise control can be imagined by combining figures and characters as shown in FIGS. 4 to 13. At this time, the display color of the cruise operation image 566 is set according to the state of the cruise control.

Specifically, the actual on-period Troll (see FIGS. 14 to 16) from the start of the cruise control to the temporary end or the complete end is shown in FIGS. 5 to 13 with an upward-sloping hatch, for example, light blue, etc. The display color of the cruise operation image 566 is set to the same color as the lane operation image 565 of the actual on-period Troll. On the other hand, the preparation period Trdc (see FIGS. 15 and 16) from the preparation state due to the temporary termination to the start or complete termination of the cruise control is shown in FIG. 4 with left-up hatching, for example, amber color or the like. , The display color of the cruise operation image 566 is set to the same color as the lane operation image 565 of the preparation period Trdl. Further, when the cruise control is turned off due to the complete termination, the display itself of the cruise operation image 566 ends as shown in FIG. As described above, in the present embodiment, the display color of the cruise operation image 566 is changed according to the switching of the cruise control state between the on state and the ready state.

In addition to the above images 560,561,562,563,564,565,566, the virtual image display by the HUD50 includes, for example, the running state of the own vehicle 2, navigation information, sign information, obstacle information, and the like. Of these, the display of the image 56 showing one type or a plurality of types of information may be adopted. Here, FIGS. 1, 4 to 13 show an example in which the virtual image of the display image 56 showing the vehicle speed is displayed in the second virtual image display area A2 below the first virtual image display area A1. Further, by using a translucent combiner arranged on the instrument panel 22 and transmitting the outside world scenery 8 in cooperation with the front windshield 21, a virtual image display can be realized by projecting the display image 56 on the combiner. Is possible. Furthermore, the above navigation information can be acquired, for example, in the HCU 54 described in detail later, based on the map information stored in the memory 54m and the output signal of the sensor 40.

The MFD 51 is installed in the center console 23 in the passenger compartment 2c shown in FIG. The MFD 51 visually displays a real image of an image formed on one or a plurality of liquid crystal panels so as to show predetermined information by a user on the driver's seat 20. As the real image display by the MFD 51, the display of an image showing one type or a plurality of types of information among navigation information, audio information, video information, communication information, and the like is adopted.

The combination meter 52 is installed on the instrument panel 22 in the vehicle interior 2c. The combination meter 52 visually displays vehicle information about the own vehicle 2 by the user on the driver's seat 20. The combination meter 52 is a digital meter that displays vehicle information by an image formed on a liquid crystal panel, or an analog meter that indicates a scale by a pointer and displays vehicle information. The display by the combination meter 52 includes, for example, one type or a plurality of vehicle speeds, engine speeds, remaining fuel, cooling water temperature, and operating states of turn switches, automatic control switches, lane control switches, and cruise control switches. A display showing the type of information is adopted.

As shown in FIG. 2, the HCU 54 is mainly composed of a microcomputer having a processor 54p and a memory 54m, and is connected to the display elements 50, 51, 52 of the display system 5 and the in-vehicle network 6. The HCU 54 synchronously controls the operation of the display elements 50, 51, 52. At this time, the HCU 54 executes operation control thereof based on, for example, the output signals of the sensors 40 and 41, the acquired information in the ECU 31, the control information in the ECU 42, the stored information in the memory 54 m, the acquired information in the HCU 54 itself, and the like. .. The memory 54m of the HCU 54 and the memories of various other ECUs are each configured by using one or a plurality of storage media such as a semiconductor memory, a magnetic medium, an optical medium, and the like.

Here, particularly in the present embodiment, the HCU 54 that reads out the images 560, 561, 562, 563, 564, 565, 566 stored in the memory 54 m as data and displays them as a virtual image on the HUD 50 functions as a "vehicle display control device". do. Specifically, the HCU 54 realizes the plurality of flows shown in FIGS. 17 to 22 by executing the display control program by the processor 54p. As for the image storage means for storing the display image 56, one of the memories of the built-in ECUs of the display elements 50, 51, and 52, or the joint use of a plurality of memories of the respective memories and the memory 54 m of the HCU 54. Of course, it may be realized. Further, each flow is started in response to an on operation of the power switch as the occupant sensor 41 and ends in response to an off operation of the switch. Furthermore, "S" in each flow means each step.

First, the lane control state check flow shown in FIG. 17 will be described. In the lane control state check flow, it is assumed that the lane control state flag Fl of the memory is set to "OFF" in the memory 54 m with the start or end according to the operation of the power switch.

In S101 of the lane control state check flow, control information in the integrated control ECU of the vehicle control ECU 42 is acquired as "operation information" related to lane control. In the following S102, it is determined whether or not the automatic control switch is turned on based on the information acquired in S101. As a result, when a negative determination is made, the process proceeds to S103, so that the lane control state flag Fl is set to "OFF" indicating that the lane control is in the OFF state, and then the process returns to S101. On the other hand, if an affirmative determination is made, the process proceeds to S104.

In S104, whether or not the lane control is on is determined based on the information acquired in S101. As a result, if an affirmative determination is made, the process proceeds to S105, so that the lane control state flag Fl is set to "ON" indicating that the lane control is in the ON state, and then the process returns to S101. On the other hand, if a negative determination is made, the process proceeds to S106, so that the lane control state flag Fl is set in "READY" indicating that the lane control is in the ready state, and then the process returns to S101.

Next, the lane control schedule check flow shown in FIG. 18 will be described. In the lane control schedule check flow, it is assumed that the lane control schedule flag Fp stored in the memory 54 m is set to "OFF" with the start or end according to the operation of the power switch.

In S201 of the lane control schedule check flow, control information in the integrated control ECU of the vehicle control ECU 42 is acquired as "start information" related to the scheduled start position Ps where the lane control is scheduled to start. In the following S202, it is determined whether or not the lane control is scheduled to start based on the information acquired in S201. As a result, if an affirmative determination is made, the process proceeds to S203, and the lane control schedule flag Fp is set in "START" indicating that the lane control is scheduled to start, and then the process returns to S201. On the other hand, if a negative determination is made, the process proceeds to S204.

In S204, control information in the integrated control ECU is acquired as "end information" related to the scheduled end position Pe where the lane control is scheduled to end. In the following S205, it is determined whether or not the lane control is scheduled to end based on the information acquired in S201. As a result, if an affirmative determination is made, the process proceeds to S206, so that the lane control schedule flag Fp is set in "END" indicating that the lane control is scheduled to end, and then the process returns to S201. On the other hand, if a negative determination is made, the process proceeds to S207, so that the lane control schedule flag Fp is set to "OFF" indicating that there is no lane control start schedule or end schedule, and then the process returns to S201.

Next, the cruise control state check flow shown in FIG. 19 will be described. In the cruise control state check flow, it is assumed that the cruise control state flag Fc stored in the memory 54 m is set to "OFF" with the start or end according to the operation of the power switch.

In S301 of the cruise control state check flow, control information in the integrated control ECU of the vehicle control ECU 42 is acquired as "operation information" related to cruise control. In the following S302, it is determined whether or not the automatic control switch is turned on based on the information acquired in S301. As a result, when a negative determination is made, the process proceeds to S303, so that the cruise control state flag Fc is set to "OFF" indicating that the cruise control is in the OFF state, and then the process returns to S301. On the other hand, if an affirmative determination is made, the process proceeds to S304.

In S304, it is determined whether or not the cruise control is on based on the information acquired in S301. As a result, if an affirmative determination is made, the process proceeds to S305, so that the cruise control state flag Fc is set to "ON" indicating that the cruise control is on, and then the process returns to S301. On the other hand, if a negative determination is made, the process proceeds to S306, so that the cruise control state flag Fc is set in "READY" indicating that the cruise control is in the ready state, and then the process returns to S301.

Next, the first virtual image display flow will be described as a display flow in the first virtual image display area A1 shown in FIGS. 20 and 21.

As shown in FIG. 20, in S401 of the first virtual image display flow, the setting contents of the lane control state flag Fl are acquired. In the following S402, the setting contents of the cruise control state flag Fc are acquired. Further in S403, the setting content of the lane control state flag Fl acquired in S401 is "OFF" or "READY", and the setting content of the cruise control state flag Fc acquired in S402 is "OFF" or "OFF". It is determined whether or not it is "READY". As a result, when an affirmative determination is made, the process proceeds to S404 to erase the display of the images 560, 561, 562, 563, 564 in the first virtual image display area A1, and then returns to S401. On the other hand, if a negative determination is made, the process proceeds to S405.

In S405, whether the setting content of the lane control state flag Fl acquired in S401 is "OFF" or "READY" and the setting content of the cruise control state flag Fc acquired in S402 is "ON". Judge whether or not. As a result, if an affirmative judgment is made, the process proceeds to S406.

In S406, the setting contents of the lane control schedule flag Fp are acquired. In the following S407, it is determined whether or not the setting content of the lane control schedule flag Fp acquired in S406 is "START". As a result, when a negative determination is made, the process proceeds to S408 to acquire control information in the integrated control ECU of the vehicle control ECU 42 as "front information" related to the vehicle in front 8v. Further, in S409, it is determined based on the information acquired in S408 whether or not there is a vehicle in front 8v that is following the own vehicle 2 by cruise control. As a result, if a negative determination is made, the process proceeds to S410, while if an affirmative determination is made, the process proceeds to S411.

In S410, which is a case where the own vehicle 2 is traveling alone without the preceding vehicle 8v, the detection enhanced image 563 is formed in the display color of the actual on-period Troc and displayed in the first virtual image display area A1. Here, in particular, in S410 of the present embodiment, a moving image-like detection-enhanced image 563 that moves to the horizon 8h side is formed based on the control information in the integrated control ECU acquired in S408. At the same time, in S410, the display of the images 560, 561, 562, 564 in the first virtual image display area A1 is erased.

On the other hand, in S411 in which the vehicle in front 8v exists and the own vehicle 2 is following and traveling, the detection-enhanced image 563 and the vehicle-enhanced image 564 are sequentially formed in the display color of the actual on-period Troc to form the first virtual image. It is displayed in the display area A1. Here, in particular, in S411 of the present embodiment, after forming a moving image-like detection-enhanced image 563 that moves to the front vehicle 8v side based on the control information in the integrated control ECU acquired in S408, the vehicle is the same. An annular vehicle-enhanced image 564 surrounding 8v is formed. At the same time, in S411, the display of the images 560, 561, 562 in the first virtual image display area A1 is erased. After the execution of S411 and S410 is completed, the process returns to S401.

When a negative determination is made in S407, the subsequent processing is S408 to S411 described above, whereas when an affirmative determination is made in S407, the process proceeds to S412. In S412, control information in the integrated control ECU is acquired as "start information" related to the scheduled start position Ps and "front information" related to the vehicle in front 8v. In the following S413, it is determined based on the information acquired in S412 whether or not there is a front vehicle 8v that is following the own vehicle 2 by cruise control. As a result, if a negative determination is made, the process proceeds to S414, while if an affirmative determination is made, the process proceeds to S415.

In S414, in which the own vehicle 2 is traveling alone, the start image 561 is formed in the display color of the scheduled start period Tpsl and displayed in the first virtual image display area A1. Here, particularly in S414 of the present embodiment, the start image 561 superimposed and displayed on the scheduled start position Ps is formed based on the control information in the integrated control ECU acquired in S412. At the same time, in S414, the detection-enhanced image 563 is formed in the same manner as in S410 above and displayed in the first virtual image display area A1 based on the control information in the integrated control ECU acquired in S412. Further, in S414, the display of the images 560, 562, 564 in the first virtual image display area A1 is erased.

On the other hand, in S415 in which the own vehicle 2 is following and traveling, the start image 561 is formed in the same manner as in S414 above based on the control information in the integrated control ECU acquired in S412. It is displayed in the virtual image display area A1. At the same time, in S415, the detection enhanced image 563 and the vehicle enhanced image 564 are formed in the same manner as in the above S411 in the first virtual image display area A1 based on the control information in the integrated control ECU acquired in S412. Display. Further, in S415, the display of the images 560 and 562 in the first virtual image display area A1 is erased. After the execution of S415 and S414 is completed, the process returns to S401.

The subsequent processing when an affirmative judgment is made in S405 is the above S406 to S415, whereas when a negative judgment is made in S405, the process proceeds to S416 as shown in FIG. 21. .. That is, when the setting content of the lane control state flag Fl acquired in S401 is "ON" and the setting content of the cruise control state flag Fc acquired in S402 is "ON", the process goes to S416. Transition.

In S416, the setting contents of the lane control schedule flag Fp are acquired. In the following S417, it is determined whether or not the setting content of the lane control schedule flag Fp acquired in S416 is "END". As a result, when a negative judgment is made, by shifting to S418, the control information in the integrated control ECU is used as "route information" related to the planned route Rp and "front information" related to the vehicle in front 8v. To get. Further, in S419, it is determined based on the information acquired in S418 whether or not there is a front vehicle 8v that is following the own vehicle 2 by cruise control. As a result, if a negative determination is made, the process proceeds to S420, while if an affirmative determination is made, the process proceeds to S421.

In S420, where the own vehicle 2 is traveling alone, the route image 560 is formed in the display color of the normal on-period Tnol and displayed in the first virtual image display area A1. Here, particularly in S420 of the present embodiment, a route image 560 superimposed and displayed on the planned route Rp is formed based on the control information in the integrated control ECU acquired in S418. At the same time, in S420, the detection-enhanced image 563 is formed in the same manner as in S410 above and displayed in the first virtual image display area A1 based on the control information in the integrated control ECU acquired in S418. Further, in S420, the display of the images 561, 562, 564 in the first virtual image display area A1 is erased.

On the other hand, in S421, which is the case where the own vehicle 2 is following and traveling, the route image 560 is formed in the same manner as in the above S420 based on the control information in the integrated control ECU acquired in S418. It is displayed in the virtual image display area A1. At the same time, in S421, the detection enhanced image 563 and the vehicle enhanced image 564 are formed in the same manner as in the above S411 in the first virtual image display area A1 based on the control information in the integrated control ECU acquired in S418. Display. Further, in S421, the display of the images 561 and 562 in the first virtual image display area A1 is erased. After the execution of S421 and S420 is completed, the process returns to S401.

The subsequent processing when a negative determination is made in S417 is S418 to S421 described above, whereas when an affirmative determination is made in S417, the process proceeds to S422. In S422, control information in the integrated control ECU is acquired as "route information" related to the planned route Rp, "end information" related to the scheduled end position Pe, and "front information" related to the vehicle in front 8v. .. In the following S423, it is determined based on the information acquired in S422 whether or not there is a front vehicle 8v that is following the own vehicle 2 by cruise control. As a result, if a negative determination is made, the process proceeds to S424, while if an affirmative determination is made, the process proceeds to S425.

In S424 in which the own vehicle 2 is traveling alone, the route image 560 is formed in the display color of the scheduled end period Tpel and displayed in the first virtual image display area A1. At the same time, in S424, the end image 562 is formed in the display color of the scheduled end period Tpel and displayed in the first virtual image display area A1. Here, particularly in S424 of the present embodiment, the route image 560 superimposed and displayed on the scheduled route Rp and the scheduled end position on the route Rp are based on the control information in the integrated control ECU acquired in S422. It forms the end image 562 superimposed and displayed on Pe. Further, in S424, the detection-enhanced image 563 is formed in the same manner as in S410 above and displayed in the first virtual image display area A1 based on the control information in the integrated control ECU acquired in S422. In addition, in S424, the display of the images 561 and 564 in the first virtual image display area A1 is erased.

On the other hand, in S425 where the own vehicle 2 is following and traveling, the route image 560 and the end image 562 are displayed in the same manner as in the above S424 based on the control information in the integrated control ECU acquired in S422. It is formed and displayed in the first virtual image display area A1. At the same time, in S425, the detection-enhanced image 563 and the vehicle-enhanced image 564 are formed in the same manner as in S411 above in the first virtual image display area A1 based on the control information in the integrated control ECU acquired in S422. Display. Further, in S425, the display of the image 561 in the first virtual image display area A1 is erased. After the execution of S425 and S424 is completed, the process returns to S401.

Next, a second virtual image display flow will be described as a display flow in the second virtual image display area A2 shown in FIG.

In S501 of the second virtual image display flow, the setting contents of the lane control state flag Fl are acquired. In the following S502, it is determined whether or not the setting content of the lane control state flag Fl acquired in S501 is "OFF". As a result, when an affirmative determination is made, the process shifts to S503 to erase the display of the lane operation image 565 in the second virtual image display area A2. On the other hand, if a negative determination is made, the process proceeds to S504.

In S504, it is determined whether or not the setting content of the lane control state flag Fl acquired in S501 is "ON". As a result, when an affirmative determination is made, the lane operation image 565 is formed in the display color of the actual on-period Troll and displayed in the second virtual image display area A2 by shifting to S505. At this time, the display color of the actual on-period Troll is based on the setting content of the lane control state flag Fl. That is, the display color of the actual on-period Troll is a color based on the control information acquired as "operation information" related to the lane control in order to set the lane control state flag Fl in the lane control state check flow.

On the other hand, when a negative determination is made in S504, the lane operation image 565 is formed in the display color of the preparation period Trdl and displayed in the second virtual image display area A2 by shifting to S506. At this time, the display color of the preparation period Trdl is based on the setting content of the lane control state flag Fl. That is, the display color of the preparation period Trdl is a color based on the control information acquired as "operation information" related to the lane control in order to set the lane control state flag Fl in the lane control state check flow. After the execution of S506 and the above S503 and S505 is completed, the process proceeds to S507.

In S507, the setting contents of the cruise control state flag Fc are acquired. In the following S508, it is determined whether or not the setting content of the cruise control state flag Fc acquired in S507 is "OFF". As a result, if an affirmative determination is made, the process shifts to S509 to erase the display of the cruise operation image 566 in the second virtual image display area A2. On the other hand, if a negative determination is made, the process proceeds to S510.

In S510, it is determined whether or not the setting content of the cruise control state flag Fc acquired in S507 is "ON". As a result, when an affirmative determination is made, the process proceeds to S511 to form the cruise operation image 566 in the display color of the actual on-period Troc and display it in the second virtual image display area A2. At this time, the display color of the actual on-period Troc is based on the setting content of the cruise control state flag Fc. That is, the display color of the actual on-period Troc is a color based on the control information acquired as "operation information" related to the cruise control in order to set the cruise control state flag Fc in the cruise control state check flow.

On the other hand, when a negative determination is made in S510, by shifting to S512, the cruise operation image 566 is formed in the display color of the preparation period Trdc and displayed in the second virtual image display area A2. At this time, the display color of the preparation period Trdc is based on the setting content of the cruise control state flag Fc. That is, the display color of the preparation period Trdc is a color based on the control information acquired as "operation information" related to the cruise control in order to set the cruise control state flag Fc in the cruise control state check flow. After the execution of S512 and the above S509 and S511 is completed, the process returns to S501.

From the above, in the first embodiment, the portion of the HCU 54 that executes S101 to S106, S401, S418, and S422 corresponds to the "route information acquisition means" constructed by the processor 54p, and of the HCU 54, S403 to S405 and S407. , S409 to S411, S413 to S415, S417, S419 to S421, S423 to S425 correspond to "path image forming means" constructed by the processor 54p. Further, in the first embodiment, S101 to S106, S401, S418, and S422 correspond to the "route information acquisition step" executed by the processor 54p, and correspond to S403 to S405, S407, S409 to S411, S413 to S415, S417. , S419 to S421 and S423 to S425 correspond to the "path image forming step" executed by the processor 54p.

Further, in the first embodiment, the portion of the HCU 54 that executes S201 to S207, S406, and S412 corresponds to the "start information acquisition means" constructed by the processor 54p, and of the HCU 54, S403 to S405, S407, and S409 to. The portion that executes S411, S413 to S415, S417, S419 to S421, S423 to S425 corresponds to the "start image forming means" constructed by the processor 54p. Further, in the first embodiment, the portion of the HCU 54 that executes S201 to S207, S416, and S422 corresponds to the "end information acquisition means" constructed by the processor 54p, and of the HCU 54, S403 to S405, S407, and S409. The portion that executes S411, S413 to S415, S417, S419 to S421, S423 to S425 corresponds to the "end image forming means" constructed by the processor 54p.

In addition, in the first embodiment, the portion of the HCU 54 that executes S301 to S306, S402, S408, S421, S418, and S422 corresponds to the "forward information acquisition means" constructed by the processor 54p, and the portion of the HCU 54 that executes S403. The portion that executes S405, S407, S409 to S411, S413 to S415, S417, S419 to S421, S423 to S425 corresponds to the "enhanced image forming means" constructed by the processor 54p. Further, in the first embodiment, the portion of the HCU 54 that executes S101 to S106, S301 to S306, S501, and S507 corresponds to the "operation information acquisition means" constructed by the processor 54p, and of the HCU 54, S502 to S506. , S508 to S512 are executed, which corresponds to the "operation image forming means" constructed by the processor 54p.

(Action effect)
The effects of the first embodiment described so far will be described below.

According to the first embodiment, the route image 560 as the display image 56 is imaged by the HUD 50 in the first virtual image display region A1 that overlaps with the front traveling path 8r of the own vehicle 2. At this time, the route image 560 is based on the control information in the integrated control ECU related to the route Rp so as to indicate the planned route Rp scheduled for the own vehicle 2 by the lane control in the integrated control ECU of the vehicle control ECU 42. By being formed, it is superimposed on the front traveling path 8r. As a result, the user can intuitively and in advance grasp the correctness of the planned route Rp from the degree of superimposition with the forward traveling path 8r, so that it is possible to bring a sense of security.

Further, in the first embodiment, the route image 560 is formed so as to show the planned route Rp to follow the own vehicle 2 by the lane control by the integrated control ECU, and is superimposed on the front traveling path 8r. This makes it possible for the user to intuitively and in advance grasp the correctness of the planned route Rp by the lane control, and to bring a sense of security.

Furthermore, in the first embodiment, the route image 560 is repeatedly formed in the form of a moving image gradually extending from the side of the own vehicle 2 toward the front. As a result, the user can intuitively and quickly grasp not only the correctness of the scheduled route Rp by the lane control but also the correct continuation of the lane control. Therefore, it is possible to increase the sense of security.

By the way, in the first virtual image display area A1 that overlaps with the front traveling path 8r of the own vehicle 2 in the first embodiment, the start image 561 is also imaged by the HUD 50 together with the route image 560 as the display image 56. .. At this time, the start image 561 is formed based on the control information in the integrated control ECU related to the position Ps so as to indicate the scheduled start position Ps in which the lane control in the integrated control ECU is scheduled to start. It is superimposed on the running path 8r. As a result, the user can intuitively and in advance understand not only the correctness of the planned route Rp but also the start of lane control. Therefore, it is possible to increase the sense of security.

Further, in the first virtual image display area A1 superimposed on the front traveling path 8r of the own vehicle 2 in the first embodiment, the end image 562 is also imaged by the HUD 50 together with the route image 560 as the display image 56. .. At this time, the end image 562 is formed based on the control information in the integrated control ECU related to the position Pe so as to indicate the scheduled end position Pe that is scheduled to end after the lane control in the integrated control ECU starts. , It is superimposed on the front traveling path 8r. As a result, the user can intuitively and in advance know not only the correctness of the scheduled route Rp but also the end of the started lane control. Therefore, it is possible to increase the sense of security.

Furthermore, according to the first embodiment in which the display color of the end image 562 is different from the display color of the start image 561, the user is made to correctly understand whether the lane control in the integrated control ECU starts or ends. be able to. Therefore, such a change in the display color is effective in increasing the user's sense of security.

Furthermore, in the first embodiment, the display color of the route image 560 is set to the same color as the display color of the end image 562 in the scheduled end period Tpel in which the end image 562 is formed. According to this, the transmission that the lane control by the integrated control ECU is completed can be realized by using not only the end image 562 but also the route image 560, so that the effect of making the user correctly and in advance grasp is increased. Therefore, it is particularly effective in increasing the user's sense of security.

In addition, in the first virtual image display area A1 that overlaps with the front traveling path 8r of the own vehicle 2 in the first embodiment, the enhanced image 563 and 564 are imaged by the HUD 50 together with the route image 560 as the display image 56. It will be. At this time, the enhanced images 563 and 564 are based on the control information in the integrated control ECU related to the vehicle 8v so as to emphasize the existence or nonexistence of the front vehicle 8v that follows the own vehicle 2 by the cruise control in the integrated control ECU. By being formed, it is superimposed on the front traveling path 8r. As a result, the user can intuitively and quickly grasp not only the correctness of the planned route Rp but also the presence or absence of the vehicle in front 8v as the tracking target of the own vehicle 2 by the cruise control. Therefore, it is possible to increase the sense of security.

Further, in the first embodiment, the detection-enhanced image 563 is repeatedly formed in the form of a moving image that gradually moves from the side of the own vehicle 2 toward the front. As a result, the user can intuitively and quickly grasp not only the correctness of the planned route Rp but also the presence or absence of the vehicle in front 8v is correctly and continuously reflected in the cruise control. can. Therefore, it is possible to increase the sense of security.

Furthermore, the detection-enhanced image 563 according to the first embodiment is repeatedly formed in a moving motion shape gradually moving from the vehicle 2 side to the front vehicle 8v side, particularly when the own vehicle 2 is following the vehicle. As a result, the user can intuitively and quickly grasp not only the correctness of the planned route Rp but also the correctness of the front vehicle 8v to be followed by the cruise control. Therefore, it is possible to increase the sense of security.

Here, in the first embodiment, the detection-enhanced image 563 during follow-up travel gradually moves to the vehicle in front 8v in a moving manner, and then changes to the annular vehicle-enhanced image 564 surrounding the vehicle 8v. As a result, the user can surely and quickly grasp the front vehicle 8v to be followed by the cruise control, and such changes in the emphasized images 563 and 564 are effective in enhancing the sense of security. ..

On the other hand, the detection-enhanced image 563 according to the first embodiment is repeatedly formed in the form of a moving image that gradually moves from the vehicle 2 side toward the horizontal line 8h side of the front traveling path 8r, particularly when the own vehicle 2 is traveling alone. .. As a result, the user can intuitively and quickly grasp not only the correctness of the planned route Rp but also the absence of the front vehicle 8v to be followed by the cruise control. Therefore, it is possible to increase the sense of security.

In addition to the above, in the first embodiment, the second setting is set below the first virtual image display area A1 in which the path image 560 superimposed on the front traveling path 8r of the own vehicle 2 is formed and on the own vehicle 2 side. In the virtual image display area A2, the operation images 565 and 566 as the display image 56 are imaged by the HUD 50. Here, the operation images 565 and 566 are formed from the route image 560 by being formed based on the control information in the integrated control ECU related to the state so as to show the state of the lane control or the cruise control in the integrated control ECU. Is also displayed downward and on the side of the own vehicle 2 as a virtual image. As a result, the operation images 565 and 566 deviate downward from the path image 560 where the user's gaze points are gathered, but can be visually recognized at a position closer to the user side. From the above, it is possible to increase the sense of security for the user because not only the correctness of the planned route Rp but also the state of lane control or cruise control can be intuitively and quickly grasped. Become.

Further, according to the first embodiment, the display color of the operation images 565 and 566 is changed according to the change of the state of the lane control or the cruise control so that the user can correctly grasp the change of the operation state. Can be done. Therefore, such a change in the display color is effective in increasing the user's sense of security.

(Second embodiment)
The second embodiment of the present invention is a modification of the first embodiment. As shown in FIGS. 23 to 28, the display image 56 of the second embodiment has a route image 2560, a start image 2561, an end image 2562, and an operation image 2565, 2566, 2567, which are different from those of the first embodiment. Included with enhanced images 563,564 similar to the morphology. Therefore, in the following, the route image 2560, the start image 2561, the end image 2562, and the operation images 2565, 2566, 2567 will be described.

The route images 2560 shown in FIGS. 23 to 27 are continuously displayed as virtual images in the scheduled start period Tpsl in addition to the normal on period Tnol and the scheduled end period Tpel. The planned route Rp is shown superimposed on. Here, a plurality of route images 2560 when the own vehicle 2 is traveling alone are formed in a form of dots arranged from the left and right sides of the vehicle 2 toward the front horizontal line 8h side as shown in FIGS. 23, 24, and 27. To. On the other hand, a plurality of route images 2560 during follow-up traveling of the own vehicle 2 are formed so as to be arranged in dots from the left and right sides of the vehicle 2 toward the front vehicle 8v side as shown in FIGS. 25 and 26.

During any of these travels, each route image 2560 is formed in a moving image that approaches the own vehicle 2 side according to the vehicle speed, so that each route image is positioned and superimposed on a predetermined location on the front travel path 8r. To. Further, in any of the traveling, when the planned route Rp is straight, the route images 2560 are formed in a straight line as shown in FIGS. 23 to 27, while when the planned route Rp is a curve (not shown). The arrangement direction of each route image 2560 is curved.

The display colors of each of these route images 2560 are the display colors of the switching points to the start image 2561 or the end image 2562, which will be described in detail later, in any of the periods Tpsl, Tnol, and Tpel during the single running and the following running. , The same color. For example, the display color of each route image 2560 is set to light blue or the like shown by hatching upward to the right in FIGS. 23 to 27. Further, when the lane control is in the standby state or the off state, the display itself of each route image 2560 ends as shown in FIG. 28.

The start image 2561 shown in FIG. 23 is continuously displayed as a virtual image together with the route image 256 during the scheduled start period Tpsl, so that the planned start position Ps is superimposed on the forward traveling path 8r in the first virtual image display area A1. show. Here, the start image 2561 is formed in a dot shape by switching from the pair of images 2560 displayed at the lowermost position among the route images 2560 displayed on both the left and right sides of the own vehicle 2. As a result, each start image 2561 becomes a moving image that approaches the own vehicle 2 side according to the vehicle speed. At this time, the display color of each start image 2561 is set to a color different from that of the route image 2561, such as green, which is shown with cross-hatching in FIG. 23. On the other hand, when the own vehicle 2 reaches the scheduled start position Ps, the display itself of each start image 2561 ends as shown in FIG. 24.

The end image 2562 shown in FIG. 27 is continuously displayed as a virtual image together with the route image 256 in the scheduled end period Tpel, so that the planned end position Pe is superimposed on the forward traveling path 8r in the first virtual image display area A1. show. Here, the end image 2562 is formed in a dot shape by switching from the pair of images 2560 displayed at the uppermost position among the route images 2560 displayed on both the left and right sides of the own vehicle 2. As a result, each end image 2562 becomes a moving image that approaches the own vehicle 2 side according to the vehicle speed. At this time, the display color of each end image 2562 is set to a color different from that of the path image 2560 and the start image 2561, such as an amber color shown by hatching to the left in FIG. 27. On the other hand, when the own vehicle 2 reaches the scheduled end position Pe, the display itself of each end image 2562 ends as shown in FIG. 28.

The lane operation images 2565 shown in FIGS. 24 to 28 are continuously displayed as virtual images in the actual on-period Troll and the preparation period Trdl, so that the lane control state is superimposed on the forward traveling path 8r in the second virtual image display area A2. Shown. Here, the lane operation image 2565 is formed so that the lane control can be imagined by imitating a dividing line by a pair of diagonal line figures separated from each other to the left and right. At this time, the display color of the lane operation image 2565 is set according to the state of lane control.

Specifically, in the actual on-period Troll, the display color of the lane operation image 2565 is set to the same color as the route image 2560, such as light blue shown by hatching to the right in FIGS. 24 to 27. On the other hand, in the preparation period Trdl, the display color of the lane operation image 2565 is set to the same color as the end image 2562 of the scheduled end period Tpel, such as an amber color shown by hatching to the left in FIG. 28. Further, when the lane control is turned off, the display itself of the lane operation image 2565 ends as shown in FIG. As described above, also in the second embodiment, the display color of the lane operation image 2565 is changed according to the switching of the lane control state between the on state and the ready state.

The cruise operation images 2566 shown in FIGS. 23 to 28 are continuously displayed as virtual images in the actual on-period Troc and the preparation period Trdc, so that the cruise control state is superimposed on the forward traveling path 8r in the second virtual image display area A2. Shown. Here, the cruise operation image 2566 is formed so that cruise control can be imagined by imitating a traveling lane by a plurality of trapezoidal figures arranged vertically between diagonal line figures of the lane operation image 2565. At this time, the display color of the cruise operation image 2566 is set according to the state of the cruise control.

Specifically, the display color of the cruise operation image 2566 is set to the same color as the lane operation image 2565 of the actual on period Troll, such as light blue, which is shown by hatching upward to the right in FIGS. To. On the other hand, in the preparation period Trdc, the display color of the cruise operation image 2566 is set to the same color as the lane operation image 2565 of the preparation period Trdl, such as an amber color shown by hatching to the left in FIG. Further, when the cruise control is turned off, the display of the cruise operation image 2566 ends. As described above, also in the second embodiment, the display color of the cruise operation image 2566 is changed according to the switching of the cruise control state between the on state and the ready state.

The follow-up operation images 2567 shown in FIGS. 25 and 26 are continuously displayed as a virtual image during the follow-up running during the actual on-period Troc, so that the second virtual image display area A2 travels forward in the state of the cruise control during the follow-up run. It is shown superimposed on the road 8r. Here, the follow-up operation image 2567 is formed so that cruise control during follow-up traveling can be imagined by imitating the vehicle in front 8v by a rectangular figure adjacent above the cruise operation image 2566. At this time, the display color of the follow-up operation image 2567 is set to the same color as the cruise operation image 2566 of the actual on-period Troc, such as light blue, which is shown by hatching upward to the right in FIGS. 25 and 26. Further, even when the cruise control is on, when the own vehicle 2 switches from the follow-up running to the independent running or the cruise control is turned off, the display itself of the follow-up operation image 2567 ends.

In the second embodiment described above, the HCU 54 realizes the same lane control state check flow, lane control schedule check flow, and cruise control state check flow as in the first embodiment, while the first virtual image different from the first embodiment. A display flow and a second virtual image display flow are realized. Therefore, in the following, the first virtual image display flow shown in FIGS. 29 to 31 and the second virtual image display flow shown in FIG. 32 will be described.

As shown in FIG. 29, in the first virtual image display flow of the second embodiment, S401 to S405 are performed by directly shifting to S408 when an affirmative judgment is made in S405 without executing S406 and S407. S408 to S411 are executed according to the first embodiment. Here, the processing in S401 to S405 and S408 to S411 is a processing in which the images 560, 561, 562 are replaced with the images 2560, 2561,562.

Further, in the first virtual image display flow of the second embodiment, when a negative determination is made in S405, S416 is executed as shown in FIG. 30, and then the process proceeds to S2417. In S2417, the setting content of the lane control schedule flag Fp acquired in S416 is determined. As a result, when the setting content of the lane control schedule flag Fp is "OFF", S418 to S421 are executed according to the first embodiment by shifting to S418. Here, the processing in S418 to S421 is a processing in which the images 560, 561, 562 are replaced with the images 256, 2561,562. Further, as a result of the determination in S2417, when the setting content of the lane control schedule flag Fp is "END", S422 to S425 are executed according to the first embodiment by shifting to S422. Here, the processing in S422 to S425 is a processing in which the images 560, 561, 562 are replaced with the images 256, 2561,562.

Further, in the first virtual image display flow of the second embodiment, when the setting content of the lane control schedule flag Fp is "START" as a result of the determination in S2417, the process proceeds to S2412 as shown in FIG. .. In S2412, the "route information" related to the planned route Rp, the "start information" related to the scheduled start position Ps, and the "front information" related to the front vehicle 8v are used in the integrated control ECU of the vehicle control ECU 42. Get control information. In the following S2413, it is determined based on the information acquired in S2412 whether or not there is a front vehicle 8v that is following the own vehicle 2 by cruise control. As a result, if a negative determination is made, the process proceeds to S2414, while if an affirmative determination is made, the process proceeds to S2415.

In S2414, in which the own vehicle 2 is traveling alone, the route image 2560 is formed in the display color of the scheduled start period Tpsl and displayed in the first virtual image display area A1. At the same time, in S424, the start image 2561 is formed in the display color of the scheduled start period Tpsl and displayed in the first virtual image display area A1. Here, particularly in S2414 of the present embodiment, the route image 2560 superimposed and displayed on the planned route Rp and the scheduled start position on the planned route Rp are based on the control information in the integrated control ECU acquired in S2412. It forms a start image 2561 superimposed and displayed on Ps. Further, in S2414, the detection-enhanced image 563 is formed in the same manner as in S410 described in the first embodiment by forming the detection-enhanced image 563 in the first virtual image display area A1 based on the control information in the integrated control ECU acquired in S2412. Display. In addition, in S2414, the display of the images 2562 and 564 in the first virtual image display area A1 is erased.

On the other hand, in S2415 in which the own vehicle 2 is following and traveling, the route image 2560 and the start image 2561 are displayed in the same manner as in the above S2414 based on the control information in the integrated control ECU acquired in S2412. It is formed and displayed in the first virtual image display area A1. At the same time, in S2415, the detection-enhanced image 563 and the vehicle-enhanced image 564 are formed in the same manner as in S411 described in the first embodiment based on the control information in the integrated control ECU acquired in S2412. It is displayed in the virtual image display area A1. Further, in S2415, the display of the image 2562 in the first virtual image display area A1 is erased. After the execution of S2415 and S2414 is completed, the process returns to S401.

As shown in FIG. 32, in the second virtual image display flow of the second embodiment, S501 to S512 are executed according to the first embodiment except that the transition to S2513 is performed after the execution of S511 is completed. Here, the processing in S501 to S512 is a processing in which the images 565 and 566 are replaced with the images 2565 and 2566.

In S2513, the control information in the integrated control ECU of the vehicle control ECU 42 is acquired as the "operation information" related to the cruise control. In the following S2514, it is determined based on the information acquired in S2513 whether or not there is a front vehicle 8v that is following the own vehicle 2 by cruise control. As a result, if a negative determination is made, the process returns to S501, while if an affirmative determination is made, the process proceeds to S2515.

In S2515, the follow-up operation image 2567 is formed in the display color of the actual on-period Troc and displayed in the second virtual image display area A2 based on the control information in the integrated control ECU acquired in S2513. After the execution of S2515 is completed, the process returns to S501.

From the above, in the second embodiment, the portion of the HCU 54 that executes S101 to S106, S401, S418, S422, and S2412 corresponds to the "route information acquisition means" constructed by the processor 54p, and of the HCU 54, S403 to S405. , S409 to S411, S419 to S421, S423 to S425, S2413 to S2415, and S2417 correspond to "path image forming means" constructed by the processor 54p. Further, in the first embodiment, S101 to S106, S401, S418, S422 and S2412 correspond to "route information acquisition steps" executed by the processor 54p, and correspond to S403 to S405, S409 to S411, S419 to S421 and S423. ~ S425, S2413 ~ S2415, S2417 correspond to the "path image forming step" executed by the processor 54p.

Further, in the first embodiment, the portion of the HCU 54 that executes S201 to S207, S416, and S2412 corresponds to the "start information acquisition means" constructed by the processor 54p, and of the HCU 54, S403 to S405 and S409 to S411. The portion that executes S419 to S421, S423 to S425, S2413 to S2415, and S2417 corresponds to the "start image forming means" constructed by the processor 54p. Further, in the first embodiment, the portion of the HCU 54 that executes S201 to S207, S416, and S422 corresponds to the "end information acquisition means" constructed by the processor 54p, and of the HCU 54, S403 to S405 and S409 to S411. , S419 to S421, S423 to S425, S2413 to S2415, and S2417 correspond to the "end image forming means" constructed by the processor 54p.

In addition, in the first embodiment, the portion of the HCU 54 that executes S301 to S306, S402, S408, S418, S422, and S2412 corresponds to the "forward information acquisition means" constructed by the processor 54p, and the portion of the HCU 54 that executes S403. The portion that executes S405, S409 to S411, S419 to S421, S423 to S425, S2413 to S2415, and S2417 corresponds to the "enhanced image forming means" constructed by the processor 54p. Further, in the first embodiment, the portion of the HCU 54 that executes S101 to S106, S301 to S306, S501, S507, and S2513 corresponds to the "operation information acquisition means" constructed by the processor 54p, and S502 of the HCU 54. The part that executes S506, S508 to S512, S2514, and S2515 corresponds to the "operation image forming means" constructed by the processor 54p.

According to the second embodiment described so far, the same action and effect as those of the first embodiment are obtained except for the action and effect of the gradually stretched moving image of the path image 560 and the action and effect of the images of the same color 560 and 562. It can be demonstrated. Further, the route image 2560 according to the second embodiment is formed into a moving image that approaches the own vehicle 2 side according to the vehicle speed by positioning and superimposing the route image 2560 on the front traveling path 8r. .. As a result, the user can intuitively and quickly grasp not only the correctness of the scheduled route Rp by the lane control but also the correct continuation of the lane control. Therefore, it is possible to increase the sense of security.

(Other embodiments)
Although the plurality of embodiments of the present invention have been described above, the present invention is not construed as being limited to those embodiments, and may be combined with various embodiments without departing from the gist of the present invention. Can be applied.

In the first modification regarding the first embodiment, the route image 560 may be displayed in the scheduled start period Tpsl. In the second modification with respect to the second embodiment, the display of the route image 2560 may be erased during the scheduled start period Tpsl. Here, in the modified example 2, the dot-shaped start image 2561 is displayed without displaying the route image 2560 in the scheduled start period Tpsl.

In the third modification with respect to the first embodiment, the longitudinal path image 560 may be continuously displayed so as to show the entire planned path Rp. In the modified example 4 relating to the second embodiment, the display in which the number of display of the route image 2560 formed in a dot shape is gradually increased from the own vehicle 2 side to the front may be repeated.

In the modification 5 regarding the first embodiment, the display color of the route image 560 may be set to the same color in the normal on period Tnol and the scheduled end period Tpel. In the modification 6 regarding the second embodiment, the display color of the route image 2560 may be different between the normal on period Tnol and the scheduled end period Tpel. Here, in the modified example 6, the display color of the route image 2560 may be further different between the normal on period Tnol, the scheduled end period Tpel, and the scheduled start period Tpsl.

In the modified example 7 relating to the first and second embodiments, at least one of the start image 561,2561 and the end image 562,2562 may not be displayed. In the modified example 8 relating to the first and second embodiments, the start image for showing the scheduled start position where the cruise control is scheduled to start and the end image for showing the scheduled end position where the cruise control is scheduled to end are shown. At least one of them may be displayed.

In the modified example 9 relating to the first and second embodiments, at least one of the start image 561,2561 and the end image 562,2562 may be blinked and displayed. In the modified example 10 relating to the first and second embodiments, the display color of the start image 561,2561 and the display color of the end image 562,2562 may be set to the same color.

In the modification 11 regarding the first embodiment, the display color of the start image 561 and the display color of the route image 560 may be different from each other. In the modification 12 regarding the second embodiment, the display color of the start image 2561 and the display color of the route image 2566 may be set to the same color.

In the modification 13 regarding the first embodiment, the display color of the end image 562 and the display color of the route image 560 may be different. In the modification 14 regarding the second embodiment, the display color of the end image 2562 and the display color of the route image 2560 may be set to the same color.

In the modified example 15 relating to the first and second embodiments, the vehicle-enhanced image 564 is displayed together with the detection-enhanced image 563 during follow-up driving, but the display of the vehicle-enhanced image 564 is erased together with the display of the detection-enhanced image 563 when traveling alone. May be good. In the modified example 16 relating to the first and second embodiments, the emphasized images 563 and 564 may be displayed only when the specific conditions are satisfied. Here, the specific conditions include, for example, switching between independent running and following running, and a change in the running line.

In the modified example 17 relating to the first and second embodiments, it is not necessary to display either the detection enhanced image 563 or the vehicle enhanced image 564 during the follow-up running. In the modified example 18 relating to the first and second embodiments, the emphasized images 563 and 564 may not be displayed. In the modified example 19 relating to the first and second embodiments, the display color of the emphasized image 563 and 564 and the display color of the route image 560 may be different from each other.

In the modified example 20 relating to the first and second embodiments, at least one of the lane operation image 565,2565 and the cruise operation image 566,2566 may not be displayed. In the modification 21 relating to the second embodiment, the follow-up operation image 2567 may not be displayed.

In the modification 22 relating to the first and second embodiments, the display color of the lane operation images 565 and 2565 may be set to a constant color regardless of the state of lane control. In the modified example 23 relating to the first and second embodiments, the display color of the cruise operation image 566, 2566 may be set to a constant color regardless of the state of the cruise control.

In the modified example 24 relating to the first and second embodiments, even if the operation image 565,566,2565,2566,2567 is displayed by at least one of the other display elements 51 and 52 in place of or in addition to the HDU50. good. In the modified example 25 relating to the first and second embodiments, the images 560, 561, 562, 563, 564, 565, 566, 2560, 2561,256, 2565, 2566, 2567 are displayed, erased, or the display color is changed. At the same time, notification by sound wave or voice may be executed. In the modification 26 relating to the first and second embodiments, the images 560, 561, 562, 563, 564, 565, 566, 256, 2561,256, 2565, 2566, 2567 are displayed, erased, or the display color is changed. At the same time, the user may be notified by applying vibration.

In the modification 27 relating to the first and second embodiments, when the automatic control switch is turned on, the lane control may be started and turned on by turning on the lane control switch regardless of the cruise control switch. .. In the modified example 28 relating to the first and second embodiments, it is not necessary to provide the automatic control switch as the occupant sensor 41. Here, in the modified example 28, the lane control switch is turned on while the automatic control switch is turned on, or the lane control switch as the occupant sensor 41 is turned on in combination with the modified example 27. , The lane control may be started and turned on. Further, in the modification 28, the cruise control may be started and turned on only by turning on the cruise control switch as the occupant sensor 41.

In the modified example 29 relating to the first and second embodiments, the planned route Rp to be followed by the own vehicle 2 when the integrated control ECU as the vehicle control ECU 42 executes automatic control other than the lane control is set, and the route Rp is set. Path images 560 and 2560 may be formed according to the above. In the modified example 30 relating to the first and second embodiments, the integrated control ECU as the vehicle control ECU 42 automatically controls the position in the width direction of the own vehicle 2 in the traveling lane, thereby controlling the deviation from the division line and the division. You may switch between the state of changing lanes across the line.

In the modified example 31 relating to the first and second embodiments, the adaptive cruise control (ACC) that maintains the inter-vehicle distance or the vehicle speed in a specific vehicle speed range such as a high-speed range by automatically controlling the cruise of the own vehicle 2 May be realized by an integrated control ECU as a vehicle control ECU 42 instead of the FSRA. In the modification 32 relating to the first and second embodiments, the cruise control may not be executed by the integrated control ECU as the vehicle control ECU 42. Here, in the modified example 32, the modified example 18 is adopted in combination.

In the modified example 33 relating to the first and second embodiments, the HCU 54 may not be provided. In such a modification 33, for example, one or more of the ECUs 31 and 42 and the display ECUs provided for controlling the display elements 50, 51 and 52 may be made to function as a "vehicle display control device". .. That is, a "virtual image display control means" may be constructed by realizing the display control flow of each embodiment by a processor included in one type or a plurality of types of ECUs. Here, FIG. 33 shows a modified example 33 of the HUD 50 in which the ECU 50e having the processor 54p and the memory 54m fulfills the function of the “vehicle display control device”.

2 own vehicle, 8 outside scenery, 8h horizon, 8v front vehicle, 8r front road, 21 front windshield, 42 vehicle control ECU, 50 HUD, 50e ECU, 54 HCU, 54p processor, 56 display image, 560, 256 routes Image, 561,2561 start image, 562,2562 end image, 563 detection enhancement image, 564
Vehicle-enhanced image, 565, 2565 lane operation image, 566, 2566 cruise operation image, 2567 follow-up operation image, A1 first virtual image display area, A2 second virtual image display area, Pe scheduled end position, Ps scheduled start position, Rp scheduled route , Tnoll normal on period, Tpel end scheduled period, Tpsl start scheduled period, Trdc, Trdl preparation period, Troc, Troll actual on period

Claims (16)

A head-up display (head-up display) that superimposes a display image (56) related to the running state of the own vehicle (2) automatically controlled by the automatic control unit (42) on the outside world scenery (8) of the own vehicle and displays a virtual image. A vehicle display control device (54, 50e) that controls the virtual image display with respect to 50).
The route information acquisition means (S101 to S106, S401, S418, S422, S2412) for acquiring the route information related to the scheduled route (Rp) scheduled for the own vehicle by the control by the automatic control unit.
As the display image imaged by the head-up display in the virtual image display area (A1) superimposed on the forward traveling path (8r) in the outside world landscape, a route image (560, 2560) showing the planned route is displayed. Route image forming means (S403 to S405, S407, S409 to S411, S413 to S415, S417, S419 to S421, S423 to S425, S2413 to S2415, S2417) formed based on the route information acquired by the route information acquisition means. )When,
The end information acquisition means for acquiring the end information related to the scheduled end position (Pe) at which the automatic control of the own vehicle is scheduled to end, and the end information acquisition means.
After the start of the automatic control of the own vehicle by the automatic control unit, the end image showing the scheduled end position as the display image imaged by the head-up display in the virtual image display area superimposed on the front traveling path. (562,2562) is an end image forming means for forming (562,2562) based on the end information acquired by the end information acquisition means.
Prepared as a means built by at least one processor (54p)
When the end image forming means forms the end image, the path image forming means changes the route image so as to be separated from the end image so as to indicate the end schedule of the automatic control, and the end image is separated from the end image. A display control device for a vehicle, characterized in that it is superimposed on the front traveling path that is closer to the own vehicle than the display position . In order to control the virtual image display in the own vehicle equipped with the lane control unit that executes the lane control that automatically controls the position in the width direction in the traveling lane of the own vehicle as the automatic control unit.
The vehicle display control according to claim 1, wherein the route image forming means forms the route image showing the planned route followed by the own vehicle by the lane control in the lane control unit. Device. The vehicle display control device according to claim 2, wherein the route image forming means repeatedly forms the moving image of the route image (560) gradually extending from the own vehicle side toward the front. The route image forming means forms the moving image of the route image (2560) approaching the own vehicle side according to the vehicle speed by positioning and superimposing the route image forming means on the predetermined position on the front traveling road. The vehicle display control device according to claim 2. During the period (Tpel) in which the end image (562) is formed by the end image forming means, the route image forming means sets the display color of the route image (560) to be the same color as the display color of the end image. The vehicle display control device according to any one of claims 1 to 4, wherein the display control device is for a vehicle. The cruise control unit that executes cruise control that automatically controls the cruise of the own vehicle during the follow-up running or the independent running of the own vehicle according to the presence or absence of the preceding vehicle (8v) in the outside world scenery is described above. In order to control the virtual image display in the own vehicle mounted as an automatic control unit,
The front information acquisition means (S301 to S306, S402, S408, S421, S418, S422, S2412) for acquiring the front information related to the front vehicle.
As the display image imaged by the head-up display in the virtual image display area superimposed on the front traveling path, the presence or absence of the front vehicle to which the own vehicle follows by the cruise control by the cruise control unit is determined. The enhanced image forming means (S403 to S405, S407, S409 to S411, S413 to S415, S417, S419 to form) based on the forward information acquired by the forward information acquisition means to emphasize the enhanced image (563,564). S421, S423 to S425, S2413 to S2415, S2417)
The vehicle display control device according to any one of claims 1 to 5, further comprising as a means constructed by the at least one processor. The vehicle display control device according to claim 6, wherein the enhanced image forming means repeatedly forms the moving image of the enhanced image gradually moving from the own vehicle side to the front. The enhanced image forming means repeatedly forms a moving moving image that gradually moves from the own vehicle side to the front vehicle side during the follow-up running by the cruise control in the cruise control unit. The vehicle display control device according to claim 7. During the follow-up running by the cruise control in the cruise control unit, the enhanced image forming means forms the enhanced image in the form of a moving image gradually moving to the preceding vehicle, and then forms the enhanced image in an annular shape surrounding the preceding vehicle. The display control device for a vehicle according to claim 8, wherein the display control device is changed. The enhanced image forming means gradually moves from the own vehicle side toward the horizon (8h) side of the front traveling path during the independent traveling by the cruise control in the cruise control unit. The vehicle display control device according to any one of claims 7 to 9, wherein the display control device is repeatedly formed. Operation information acquisition means (S101 to S106, S301 to S306, S501, S507, S2513) for acquiring operation information related to the operation state of the automatic control unit.
The automatic image as the display image formed by the head-up display in the second virtual image display area (A2) set below the first virtual image display area as the virtual image display area and on the own vehicle side. An operation image forming means (S502 to S506, S508 to S512, S251, S2515) that forms an operation image showing the operation state of the control unit based on the operation information acquired by the operation information acquisition means.
The vehicle display control device according to any one of claims 1 to 10, further comprising as a means constructed by the at least one processor. The vehicle display control device according to claim 11, wherein the operation image forming means changes the display color of the operation image according to the switching of the operation state of the automatic control unit. The vehicle according to any one of claims 1 to 12, wherein the route image and the end image are superimposed on the same lane in the outside world scenery of the own vehicle at intervals. Display control device. The route image and the end image are superimposed on the outside scenery of the own vehicle.
The vehicle display control device according to any one of claims 1 to 13, wherein the end image is longer in the width direction of the lane than the route image in the outside world scenery. The vehicle display control device according to any one of claims 1 to 13, wherein the route image and the end image are formed in the same shape. A head-up display (head-up display) that superimposes a display image (56) related to the traveling state of the own vehicle (2) automatically controlled by the automatic control unit (42) on the outside world scenery (8) of the own vehicle and displays a virtual image. 50) is a display control method for vehicles that controls the virtual image display.
The route information acquisition steps (S101 to S106, S401, S418, S422, S2412) for acquiring the route information related to the planned route (Rp) scheduled for the own vehicle by the control by the automatic control unit.
As the display image imaged by the head-up display in the virtual image display area (A1) superimposed on the forward traveling path (8r) in the outside world landscape, a route image (560, 2560) showing the planned route is displayed. Route image forming steps (S403 to S405, S407, S409 to S411, S413 to S415, S417, S419 to S421, S423 to S425, S2413 to S2415, S2417) formed based on the route information acquired by the route information acquisition step. )When,
The end information acquisition step for acquiring the end information related to the scheduled end position (Pe) at which the automatic control of the own vehicle is scheduled to end, and the end information acquisition step.
After the start of the automatic control of the own vehicle by the automatic control unit, the end image showing the scheduled end position as the display image imaged by the head-up display in the virtual image display area superimposed on the front traveling path. (562,2562) is the end image forming step formed based on the end information acquired by the end information acquisition step.
Included as a step performed by at least one processor
In the path image forming step, when the end image is formed by the end image forming step, the path image is changed so as to be separated from the end image so as to indicate the end schedule of the automatic control, and the end image is displayed . A display control method for a vehicle, characterized in that the image is superimposed on the front traveling path that is closer to the own vehicle than the display position .

Images