JP7151653B2 - In-vehicle display controller - Google Patents

Description

The present invention relates to an in-vehicle display control device.

In a head-up display (HUD) system that realizes so-called augmented reality (AR) display, the position is superimposed according to the stop line, pedestrian crossing, and surrounding targets on the road where the vehicle passes. There is technology to display. In particular, for road signs such as stop lines and pedestrian crossings, a system has been devised based on detailed map data to display them in a superimposed manner.

However, since there are no road signs such as stop lines at intersections where traffic rules do not exist in the first place, there is no superimposed display of road signs such as stop lines by the HUD system. If the driver trusts this display state, there is a possibility that an accident will occur when the driver tries to pass the intersection without slowing down.

JP 2018-63517 A

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and its object is to display a guideline such as a vehicle stop near the boundary of an intersection at an intersection without a road sign such as a stop line to prevent an accident. An object of the present invention is to provide an in-vehicle display control device capable of suppressing the occurrence of such a problem.

In the in-vehicle display control device described in claim 1, when a vehicle enters an intersection where a stop line is not arranged, the content of the boundary front line is displayed on the display device a predetermined distance ahead of the boundary position of the intersection. is displayed, a boundary position line content display is displayed at the boundary position.

According to the in-vehicle display control device described above, the boundary position line content display and the boundary near side content display are displayed at the boundary position of an intersection where there is no road sign such as a stop line, and at a predetermined distance before the boundary position. It is possible to suppress the occurrence of automobile accidents such as collision accidents at crossings at intersections without road signs such as road signs.

1 is a block diagram showing a schematic configuration of an in-vehicle display control device according to an embodiment; A diagram showing a schematic configuration of a display device Schematic flow diagram of processing in an in-vehicle display control device Diagram showing an example of content display Schematic diagram showing an example of content display displayed on a display device A diagram showing the layout of content displayed on a map in a parking lot Schematic diagram showing an example of content display displayed on a display device Schematic diagram showing an example of content display displayed on a display device Schematic diagram showing an example of content display displayed on a display device Schematic diagram showing an example of content display displayed on a display device Schematic diagram showing an example of content display displayed on a display device Schematic diagram showing an example of content display displayed on a display device Schematic diagram showing an example of content display displayed on a display device Schematic diagram showing an example of content display displayed on a display device Schematic diagram showing an example of content display displayed on a display device Schematic diagram showing an example of content display displayed on a display device

An in-vehicle display control device according to an embodiment of the present invention will be described below with reference to the drawings. In the following description, the same reference numerals or names are given to the same elements as those described above, and the description thereof will be omitted.

An in-vehicle display control device 1 according to an embodiment will be described below with reference to the drawings. As shown in FIG. 1, an in-vehicle display control device 1 according to the embodiment is used for a mobile object such as a vehicle traveling on a road, and includes an HMI system 2 (HMI: Human Machine Interface), an ADAS locator 3 (ADAS: Advanced Driver Assistance Systems), peripheral monitoring sensor 4, vehicle control ECU 5 (ECU: Electronic Control Unit), driving support ECU 6 (ECU: Electronic Control Unit), DCM (Data Communication Module) 13, and the like. The HMI system 2, the ADAS locator 3, the surroundings monitoring sensor 4, the vehicle control ECU 5, and the driving support ECU 6 are each connected to, for example, an in-vehicle LAN (LAN: Local Area Network) mounted on the vehicle. The in-vehicle display control device 1 also includes a data center 15 that is communicably connected via a wireless communication network 14 .

The ADAS locator 3 includes a GNSS receiver 30 (GNSS: Global Navigation Satellite System), an inertial sensor 31, a map database 32, and the like. The map database 32 is hereinafter referred to as a map DB 32 . The GNSS receiver 30 receives positioning signals from multiple satellites. The inertial sensor 31 includes, for example, a gyro sensor and an acceleration sensor. The ADAS locator 3 combines the positioning signal received by the GNSS receiver 30 and the sensing result of the inertial sensor 31 to sequentially locate the vehicle position of the own vehicle on which the in-vehicle display control device 1 is mounted. Then, the ADAS locator 3 outputs the determined vehicle position via the in-vehicle LAN.

In this case, the vehicle position is represented by a coordinate system consisting of latitude and longitude. In this coordinate system, for example, the X axis indicates longitude and the Y axis indicates latitude. It should be noted that positioning of the vehicle position can be performed, for example, on the basis of mileage information obtained based on the sensing results of a vehicle speed sensor mounted on the vehicle. configuration can be adopted.

The map DB 32 is composed of, for example, a non-volatile memory, and stores detailed map data including various data such as link data, node data, and road shape data. The link data includes link identification data that identifies links that form roads on the map, link length data that indicates the length of the link, link orientation data that indicates the orientation of the link, and link traveling time data that indicates the time required for traveling the link. , node coordinate data indicating the coordinates of nodes forming the start point and end point of a link, and link attribute data indicating road attributes.

The node data includes node identification data that identifies a node existing on the map, node coordinate data that indicates the coordinates of the node, node name data that indicates the name of the node, node type data that indicates the type of node such as an intersection, Contains various data such as connecting link data that identifies connecting links. The road shape data is data indicating the shape of roads existing on the map. The road shape data includes data indicating the altitude of the road, the cross slope of the road, the longitudinal slope of the road, and the like.

Map data such as detailed map data and probe map data is acquired from a data center 15 via a DCM 13 functioning as a communication module mounted on a vehicle and a wireless communication network 14, for example, and the probe map data is stored in a storage unit. The detailed map data is stored in the map DB 32 at 13a. The detailed map data and the probe map data are three-dimensional map data including point groups such as feature points of road shapes and feature points of structures existing on the map. When using detailed map data or probe map data, the ADAS locator 3 uses this detailed map data, probe map data, LIDAR (Light Detection and Ranging / Laser Imaging Detection and Ranging) 42 for detecting point groups, etc. The vehicle position of the own vehicle may be specified using the sensing result of the vehicle.

The surroundings monitoring sensor 4 is a sensor that monitors the surrounding environment of the own vehicle, and in this case, is provided as an autonomous sensor that operates autonomously. The surroundings monitoring sensor 4 detects, for example, a human such as a pedestrian, an animal other than a human, a dynamic target moving around the own vehicle such as a vehicle other than the own vehicle, a fallen object existing on a road, a road Detect objects existing around the vehicle, such as guardrails, curbs, trees, and other stationary objects around the vehicle.

In addition, the surroundings monitoring sensor 4 can monitor traffic lane lines, stop lines, pedestrian crossings, instructional signs such as "stop", and stop signs displayed at the boundaries of intersections, which are provided on the roads around the vehicle. Road markings such as lines can be detected. Then, the periphery monitoring sensor 4 sequentially outputs the obtained sensing data to the in-vehicle LAN. The surroundings monitoring sensor 4 includes, for example, a surroundings monitoring camera that captures a predetermined range around the vehicle, a millimeter wave radar, a sonar, and a detection wave sensor such as LIDAR 42 that outputs a detection wave to a predetermined range around the vehicle. .

The survey wave sensor sequentially outputs scanning results based on received signals obtained by receiving reflected waves reflected by an object to the in-vehicle LAN as sensing data. More specifically, the probe wave sensor measures the distance from the probe wave sensor to the object based on the time from when the probe wave is transmitted to when the reflected wave reflected by the object is received.

Also, the probe wave sensor measures the azimuth of the object with respect to the probe wave sensor based on the angle at which the reflected wave is received. The azimuth can be represented, for example, by an azimuth angle. For example, with the front direction of the host vehicle as a reference, clockwise rotation can be expressed as a positive azimuth angle, and counterclockwise rotation can be expressed as a negative azimuth angle.

In this case, the peripheral monitoring sensor 4 includes at least a front camera 41 whose imaging range is a predetermined range in front of the vehicle, and a LIDAR 42 capable of analyzing the distance to a distant target and the properties of the target. , has become a configuration. The front camera 41 may be provided, for example, on the rearview mirror of the vehicle or on the upper surface of the instrument panel.

Also, the LIDAR 42 may be provided, for example, on the front grill or the front bumper of the own vehicle. The LIDAR 42 can analyze the distance to an object at a long distance and the properties of the object by measuring scattered light in response to pulsed laser irradiation. A central line or the like drawn on the road is recognized by the LIDAR 42 .

The sensing range of the front camera 41 and the sensing range of the LIDAR 42 may or may not match. At least a part of the sensing range of the front camera 41 and the sensing range of the LIDAR 42 may or may not overlap. Also, a plurality of perimeter monitoring sensors 4 may be provided at different locations of the own vehicle.

The vehicle control ECU 5 is an electronic control unit for controlling the acceleration and deceleration of the own vehicle, steering control, braking control, etc., for example, by operating the steering wheel, brake, accelerator, etc. of the own vehicle. The vehicle control ECU 5 includes a power unit control ECU that controls acceleration and deceleration of the vehicle, a steering control ECU that controls steering of the vehicle, a brake control ECU that controls braking of the vehicle, and the like.

The vehicle control ECU 5 is based on detection signals output from various sensors such as an accelerator position sensor, a brake depression force sensor, a steering angle sensor, and a wheel speed sensor mounted on the own vehicle. It outputs control signals to various driving control system devices such as an EPS motor (EPS: Electric Power Steering). Further, the vehicle control ECU 5 can output detection signals obtained from various sensors to the in-vehicle LAN.

The driving assistance ECU 6, for example, cooperates with the vehicle control ECU 5 to calculate a target value for driving control and assists the driving operation by the driver. The support by the driving support ECU 6 also includes an automatic driving function that automatically controls the running of the own vehicle. The driving support ECU 6 obtains the vehicle position of the own vehicle from the ADAS locator 3, the detailed map data stored in the map DB 32, etc., the probe map data stored in the storage unit 13a, and the sensing data obtained from the peripheral monitoring sensor 4. Based on such as, the driving environment of the own vehicle is recognized. The map data includes detailed map data or probe map data that the DCM 13 acquires from the data center 15 and stores in the storage unit 13a.

More specifically, the driving support ECU 6 recognizes the position, shape, movement state, etc. of objects existing in the vicinity of the own vehicle based on sensing data acquired from the surroundings monitoring sensor 4, for example. It is possible to recognize the position, size, content, etc. of the road markings existing around the road. Then, the driving support ECU 6 combines the information thus recognized with information such as map data and the vehicle position of the own vehicle to create a virtual space in which the actual driving environment around the own vehicle is reproduced in three dimensions. It is possible to generate

Further, the driving support ECU 6 generates a driving plan for automatically driving the own vehicle by the automatic driving function based on the recognized driving environment. As the travel plan, a long-term travel plan and a short-term travel plan can be generated. In the short-term driving plan, the generated virtual space around the vehicle is used to perform acceleration/deceleration control to maintain a target distance from the preceding vehicle, steering control for lane following and lane changes, and collision avoidance. braking control and the like for

In the long- and medium-term travel plan, a recommended route and a travel schedule for the vehicle to reach its destination are determined. The driving support ECU 6 may generate either one of the short-term driving plan and the long-term driving plan, for example, only the short-term driving plan.

An example of an automatic driving function executed by the driving support ECU 6 is an ACC function ( ACC: Adaptive Cruise Control). In addition, there is an AEB function (AEB: Autonomous Emergency Braking) that forcibly decelerates the vehicle by generating a braking force based on the result of sensing ahead of the vehicle. Note that the ACC function and the AEB function are merely examples, and the driving assistance ECU 6 may be configured to include other functions.

The HMI system 2 includes an HCU 20 (Human Machine Interface Control Unit), a display device 23, and the like. The HMI system 2 receives input operations by the driver, who is the user of the vehicle, and presents various types of information to the driver of the vehicle.

The display device 23 is an example of a display unit, and is configured as a head-up display (HUD) 230 in this case. Hereinafter, the head-up display 230 is called HUD230. As illustrated in FIG. 2, the HUD 230 is provided, for example, on the instrument panel 11 of the host vehicle. The HUD 230 forms a display image based on image data output from the HCU 20 by a projector 231 such as a liquid crystal type or a scanning type, for example. The display image is, for example, image content representing information related to vehicle route guidance.

As shown in FIG. 2, the HUD 230 projects a display image formed by a projector 231 onto the front windshield 10, which is an example of a projection section, via an optical system 232 having, for example, a concave mirror. The front windshield 10 is provided with a projection area R shown in FIG. The projection area R is provided so as to be positioned in front of the driver's seat, particularly in front of the driver seated in the driver's seat.

The luminous flux of the display image projected onto the front windshield 10 is perceived or visually recognized by the driver seated in the driver's seat. The front windshield 10 is made of, for example, a translucent glass material or the like, and the scenery in front of the vehicle, that is, the light flux in the foreground is also perceived or visually recognized by the driver sitting in the driver's seat. be.

As a result, the driver can visually recognize the virtual image of the display image formed in front of the front windshield 10 as the virtual image content 100 superimposed on a part of the foreground. That is, the HUD 230 realizes so-called AR display by superimposing the virtual image content 100 on the foreground of the host vehicle. The virtual image content 100 is content that visually represents at least information related to driving support for the host vehicle, that is, driving support related information.

Driving support related information includes, for example, route guidance related information that indicates the direction of travel of the vehicle on the guidance route, automatic driving related information that indicates the course when the vehicle is automatically controlled, and lane information that the vehicle is traveling on. lane information that indicates a curve ahead of the vehicle in the direction of travel; pedestrian information that indicates that there is a pedestrian ahead of the vehicle in the direction of travel; Various types of information can be applied as long as it is information that is useful for driving support of the own vehicle, such as stop line information that conveys the existence of the vehicle.

The virtual image content 100 also includes information indicating operation timing for operating the vehicle, that is, content indicating operation timing information, and information indicating an operation area for operating the vehicle, that is, content indicating operation area information. Boundary position line content displays 8, 8a to 8c, and a boundary front line content display 9, which will be described later, are superimposed and displayed on the road surface in the foreground viewed in the forward line of sight of the driver as the virtual image content 100 described above.

The operation timing information includes, for example, accelerator-on information indicating the timing of operating the accelerator pedal on the road ahead of the vehicle, accelerator-off information indicating the timing of releasing the accelerator pedal, and brake-on information indicating the timing of operating the brake pedal. Various information can be applied as long as it is information indicating timing related to operation of the vehicle, such as information and brake-off information indicating the timing of releasing the brake pedal.

The HCU 20 is mainly composed of a microcomputer including, for example, a processor, a volatile memory, a nonvolatile memory, an input/output circuit, and a bus connecting these. HCU20 is connected to HUD230 and in-vehicle LAN. The HCU 20 functions as a display control device according to the present disclosure, and controls display by the HUD 230 by executing a control program stored in a storage medium such as a nonvolatile memory. This control program includes a display control program according to the present disclosure.

Also, the HCU 20 performs the display control method according to the present disclosure by executing the control program. Note that the memory is, for example, a non-transitory tangible storage medium that non-temporarily stores computer-readable programs and data. Also, the non-transitional material storage medium can be realized by, for example, a semiconductor memory, a magnetic disk, or the like.

The wireless communication network 14 is a so-called Internet communication network. The data center 15 includes a control unit, a file server, a web server, and the like (not shown). The data center 15 verifies and integrates probe data obtained from a plurality of vehicles via the wireless communication network 14 in the control unit to generate probe map information and stores the generated probe map information in a file server. The data center 15 can distribute probe map information to the DCM 13 of each vehicle via the wireless communication network 14 in response to a request from the DCM 13 of each vehicle. Furthermore, the accumulated probe map information is verified and integrated to generate detailed map data, which is stored in the file server. The data center 15 can distribute detailed map data to the DCM 13 of each vehicle via the wireless communication network 14 in response to a request from the DCM 13 of each vehicle. The distributed probe map information is stored in the storage unit 13a. The distributed detailed map data is stored in the map DB 32 .

Next, a processing flow in the HCU 20 will be described with reference to FIGS. 3 to 16. FIG. In this case, the HCU 20 functions as a display control device that controls display of various contents on the display device 23 . That is, the HCU 20 performs the following processes in the in-vehicle display control device 1 . As shown in FIG. 3, the HCU 20 first identifies the position of the own vehicle and determines whether or not the identified position of the own vehicle is within the parking lot (S1). The position of the own vehicle is recognized by the ADAS locator 3 .

When the HCU 20 determines that the vehicle is located within the parking lot (S1: YES), it displays one of the content displays according to pattern 1 on the display device 23 (S5). The content display according to pattern 1 and the display mode of the content display will be described later.

In the following description, the lane in which the own vehicle travels is referred to as the own lane 70a, the road including the own lane 70a is referred to as the own vehicle road 70, and the road intersecting the own road is referred to as the intersecting road 71. The intersection means the area where the vehicle road and the cross road 71 intersect, and the boundary position means the position of the boundary between the intersection and the vehicle road 70 or the cross road 71 . Note that the control performed by the in-vehicle display control device 1 described below is the control performed when the vehicle approaches an intersection where no stop line is arranged.

When the own vehicle is not located in the parking lot (S1: NO), the HCU 20 determines whether or not a stop line exists at the boundary position of the own lane 70a on the road (S2). If a stop line exists at the boundary position of own lane 70 a ( S<b>2 : YES), HCU 20 displays content display according to pattern 4 on display device 23 . The content display according to pattern 4 and the display mode of the content display will be described later. If a stop line exists at the boundary position of own lane 70a (S2: YES), it means that own lane 70a is not a priority road.

If there is no stop line in the own lane 70a (S2: NO), the HCU 20 determines which of the own lane 70a and the crossroad 71 has priority at the intersection where the own vehicle road 70 and the crossroad 71 intersect. It is determined whether or not it is understood (S3). When the HCU 20 does not know which lane has priority (S3: NO), the HCU 20 displays content display according to Pattern 1 (S5). It should be noted that the HCU 20 determines whether or not one of the lanes has priority based on the detailed map data provided in the map database 32 and the road conditions acquired from the LIDAR 42 . If it can be determined, it is known which road has priority, and if it cannot be determined, it is unknown whether any road has priority.

A priority road is defined as a road marked with a center line or vehicle traffic zone by road signs, etc. to restrict vehicle traffic on the road at the intersection, or designated as a priority road by road signs, etc. do. For example, a center line road sign is installed at an intersection, a center line road sign is drawn inside the intersection, a vehicle traffic lane road sign is drawn, and a road sign indicating a priority road is installed. A road that intersects a road that has been installed, a road that has a "priority road ahead" auxiliary sign installed, and a road that intersects a road that has a road sign indicating a stop is determined as a priority road.

It should be noted that, in the process of displaying any content display of pattern 1 in step S5, the determination of the boundary between the vehicle road 70 and the cross road 71, the drawing of the boundary line, the boundary position line content display 8, and the boundary Each process of display of the front line content display 9 is executed. This processing is the same in steps S6, S7, and S8, which will be described later.

When the HCU 20 knows which lane has priority (S3: YES), the HCU 20 determines whether the road 70 for the vehicle is a priority road (S4). When the own vehicle road 70 is a priority road, the content display according to pattern 2 is displayed (S6). The content display according to pattern 2 and the display mode of the content display will be described later.

When the HCU 20 determines that the own vehicle road 70 is not prioritized (S4: NO), the HCU 20 displays content display according to Pattern 3 (S7). The content display according to pattern 3 and the display mode of the content display will be described later.

FIG. 4 is a two-dimensional map showing the traveling direction 12 of the own vehicle and road conditions on which the own vehicle travels. FIG. 4 is a diagram showing; FIG. 6 is a planar map showing the traveling direction 12 of the own vehicle when the own vehicle travels in the parking lot and the outline of the road conditions on which the own vehicle travels.

4 to 6, when the own vehicle is traveling along the traveling direction 12 indicated by the arrow on the road 7, the front of the own vehicle road 70 at the intersection 73 between the own vehicle road 70 and the cross road 71 It shows how the boundary position line content display 8 and the boundary front line content display 9 are displayed at the boundary position 72 . The maps shown in FIGS. 4 to 6 show road conditions when no stop line, stop sign or the like is installed at the intersection 73 . 4 and 5 show an example of road conditions in a residential area, and FIG. 6 shows an example of road conditions in a parking lot. FIG. 5 shows a boundary position line content display 8 and a boundary front line content display 9 as display examples of the aforementioned and virtual image content 100 visible in the projection area R of the front windshield 10 .

In FIG. 5, the boundary position line content display 8 is indicated by a solid line, and the boundary front line content display 9 is indicated by a broken line. Including the following explanation, when the content display is displayed with a solid line, it is assumed that the degree of caution required of the driver is high. Indicates that caution is required. For example, it shows a case where it is required to temporarily stop the vehicle at the solid line position. Also, when the content display is displayed with a dashed line, it is assumed that the degree of caution required of the driver is relatively low. is required for the driver. For example, it is assumed that the driver has enough attentiveness to decelerate or go slowly using the dashed line as a mark.

The boundary position line content display 8 is a content display displayed at a boundary position 72 on the front side of an intersection 73 on the own vehicle road 70, and indicates a position that serves as a guideline for stopping or decelerating the own vehicle. The boundary front line content display 9 is a content display displayed a predetermined distance in front of the boundary position 72, and indicates a position that serves as a guideline for decelerating or slowing down the own vehicle. The boundary front line content display 9 is displayed three meters before the boundary position line content display 8, for example.

The vehicle road 70, the intersection road 71, its boundary position 72, and the position of the intersection 73 between the vehicle road 70 and the intersection road 71 are determined by the probe map data stored in the storage unit 13a, the detailed map data stored in the map DB 32, the forward The HCU 20 determines based on road condition information acquired by the camera 41 and the LIDAR 42 . Whether or not the vehicle road 70 is a priority road is determined by the HCU 20 based on the road conditions acquired by the probe map data, the detailed map data, the front camera 41, the LIDAR 42, and the like.

As shown in FIG. 6, in the parking lot, an intersection 73 closest to the traveling direction 12 of the own vehicle and a far side intersection 74 located farther forward in the traveling direction 12 are shown. In this case, the boundary position line content display 8 is displayed at each of the boundary positions 72 of the intersection 73 and the far side intersection 74 . Here, an example is shown in which the boundary position line content display 8 is displayed at the nearest intersection 73 and the far side intersection 74, but for example, the boundary position line content display 8 is displayed only at the nearest intersection in the traveling direction of the vehicle. may be displayed, or the boundary position line content display 8 may be displayed at all visible intersections in the projection area R. In addition, although only the boundary position line content display 8 is shown in FIG. 6, the boundary front line content display 9 may be displayed a predetermined distance before.

(basic content display at boundary position)
FIG. 7 is a diagram showing content display in the embodiment, and shows the scenery of the projection area R from the driver's line of sight. FIG. 8 shows a boundary position line content in front of own lane 70a when own vehicle road 70 has a road width that allows two vehicles to pass two-way, and when own vehicle travels on the left side of own vehicle road 70. FIG. 10 is a diagram showing a manner in which a display 8 and a front boundary content display 9 are displayed; FIGS. 9 to 16 below exemplify views equivalent to FIG. 7, but when the own vehicle road 70 has a road width that allows two vehicles to pass two-way, the boundary position line content display 8 is the same as in FIG. , the boundary front line content display 9 is displayed.

Note that the boundary position line content display 8 and the boundary front line content display 9 may be combined together. Also, the road from the boundary position line content display 8 to the boundary front line content display 9 may be expressed as being "solid" with respect to the road. This makes it possible to clearly indicate to the driver in which region the operation should be performed as well as the operation timing.

Further, in the embodiment, the boundary front line content display 9 is displayed a predetermined distance before the boundary position 72 on the front side of the intersection 73 in the traveling direction 12 of the host vehicle, and the boundary position line content display 8 is displayed at the boundary position 72. Is displayed. In this case, for example, the content display may be such that after the boundary front line content display 9 is displayed, the boundary position line content display 8 is displayed, or after the boundary front line content display 9 is displayed, the boundary front line content display is displayed. 9, the boundary position line content display 8 may be displayed when the own vehicle is decelerated by braking or decelerating the accelerator.

Furthermore, after displaying the boundary front line content display 9, the boundary position line content display 8 is not displayed when the own vehicle decelerates due to the brake or accelerator off in the boundary front line content display 9. You may do so. Furthermore, as for content display, the boundary position line content display 8 and the boundary front line content display 9 may be displayed at the same time.

Furthermore, after the boundary front line content display 9 is displayed, when the own vehicle stops in the boundary front line content display 9, the boundary front line content display 9 is erased, and then the boundary position line content display 8 is displayed. You may do so. Further, in these cases, the vehicle road 70 is the priority road, and when the content of pattern 2 is displayed, the boundary front line content display 9 may be hidden.

As described above, the basic content display at the boundary position 72 in the embodiment is to display the stop line in two stages of the boundary front line content display 9 and the boundary position line content display 8 . By displaying in this way, it is possible to prevent collision accidents at the intersection 73 .

The following display modes are available as basic content display at the boundary position. At this time, after the boundary front line content display 9 is displayed, when the vehicle stops at the display position of the boundary front line content display 9, the boundary front line content display 9 is erased and the boundary position line content display 8 is displayed.

Other display modes include the following. In the first display mode, the vehicle advances in the traveling direction 12, and the front boundary line content display 9 is displayed in front of the own lane 70a at a position a predetermined distance before the boundary position 72 with the intersection 73 of the own vehicle road 70. After that, the boundary position line content display 8 is displayed.

A second display mode is a mode in which, after the boundary front line content display 9 is displayed, when the vehicle brakes or decelerates at the display position of the boundary front line content display 9, the boundary position line content display 8 is displayed. . At this time, it is possible not to display the boundary position line content display 8 .

A third display mode is a mode in which the boundary position line content display 8 and the boundary front line content display 9 are displayed at the same timing. With these displays, a two-step stop line, the boundary position line content display 8 and the boundary front line content display 9, is displayed, thereby suppressing a head-on collision accident at an intersection 73 between vehicles and realizing safe driving of the vehicle. can do.

In the display mode described above, when the vehicle is running in a parking lot and there is another intersection 73 in the direction of the line of sight of the driver, that is, in the depth direction of the traveling direction 12, as shown in FIG. The boundary position line content display 8 and the boundary front line content display 9 are displayed at the boundary position 72 of 73 .

The boundary position line content display 8 and the boundary front line content display 9 are displayed at least partly from the left end to the right end of the road 7 when the road 7 has one lane and the road width is about one vehicle. If there is no road sign indicating the center line on the road 7 and the width of the road is such that two-way traffic is possible, at least part of the road 7 from the left end to the vicinity of the center, or the front of the travel area where the vehicle is expected to travel. A boundary position line content display 8 and a boundary front line content display 9 are displayed on at least a part of the . If the road 7 has two or more lanes, it is displayed on at least part of the width of the own lane 70a from the left end to the right end. The boundary position line content display 8 and the boundary front line content display 9 do not necessarily have to be strictly displayed from the left end to the right end or the center of the road 7, and may be displayed over at least part of the width of the own lane 70a. Just do it. For example, it may be displayed only in the central portion of the road ahead of the own lane 70a.

The position information of the road edge and the parking lot frame is the coordinate data of the high-precision map data stored in the map DB 32 and the probe map data stored in the storage unit 13a. It grasps by acquiring various sensor information acquired from the front camera 41 and LIDAR42 with which 4 is equipped. Also, when the HCU 20 uses the probe map data that the storage unit 13a of the DCM 13 acquires from the data center 15, the stop line positions of roads and parking lots are recommended based on the information on the stop positions included in this probe map data. A stop position can be determined, a boundary position line content display 8 can be displayed at this recommended stop position, and a boundary front line content display 9 can be displayed at a predetermined distance before the recommended stop position.

The recommended stop position information may be calculated by the HCU 20 of each vehicle based on the probe data acquired by the data center 15, or may be calculated in the data center 15 in advance and the HCU 20 may acquire the calculation result. can be Here, the information about the stop position included in the probe map data includes the position information of the positions where the vehicle stops frequently, the position information of the positions where the vehicle decelerates frequently, and the positions where the brake operation is frequently performed on the vehicle. position information, its speed information, acceleration/deceleration information, brake operation information, and the like.

(Content display of pattern 1)
9 to 12 are diagrams showing details of content display of pattern 1. FIG. In pattern 1, one of the content displays shown in FIGS. 9 to 12 is performed. The content display by pattern 1 is a city road or a parking lot, and there is no display of a stop line at the boundary position 72 of the road 7, and it is unclear which of the own vehicle road 70 or the cross road 71 has priority. is the content display displayed in the

As shown in FIG. 9, in the first content display of pattern 1, the boundary position line content display 8 displayed at the boundary position 72 located in front of the intersection 73 in the traveling direction 12 of the vehicle road 70 is Is displayed. By displaying the boundary position line content display 8 at the boundary position 72 in front of the intersection 73 toward the traveling direction 12 of the vehicle road 70, the vehicle can be stopped before the vehicle enters the intersection 73. can. In the first content display of pattern 1, the boundary position line content display 8 is displayed with a solid line. and is not intended to be limited to displaying in solid lines.

Also, here, the boundary position line content display 8 to be displayed at the boundary position 72 of the intersection 73 is shown as a representative and explained, but as with the basic content display at the boundary position explained with reference to FIGS. , one or both of the boundary front line content display 9 and the boundary position line content display 8 are displayed. This also applies to patterns 2, 3, and 4 described below.

Next, as shown in FIG. 10, in the second content display of pattern 1, the boundary position line content displayed at the boundary position 72 located in front of the intersection 73 in the traveling direction 12 of the vehicle road 70 is displayed. Display 8a is displayed. As a result, the same effect as the first content display of pattern 1 is obtained. In the second content display of pattern 1, the display line indicating the boundary position line content display 8 is displayed by the boundary position line content display 8a indicated by the dashed line. In view of the fact that it is not, it is illustrated as a display that gives an impression to the extent that it is approaching the intersection 73 where it is unknown which one has priority. This is intended to show the difference between the border nearer line content display 9 displayed in solid lines and the attention required of the driver, and is not intended to be limited to the display of the boundary position line content display 8a in dashed lines.

Next, as shown in FIG. 11, in the third content display of pattern 1, the boundary position line content displayed at the boundary position 72 located in front of the intersection 73 in the traveling direction 12 of the vehicle road 70 is displayed. The display 8 and the boundary position line content display 8b displayed at the boundary position 72 of the cross road 71 are displayed. As a result, the same effects as those of the first and second content displays of pattern 1 are obtained.

Next, as shown in FIG. 12, in the fourth content display of pattern 1, the boundary position line content displayed at the boundary position 72 located in front of the intersection 73 in the traveling direction 12 of the vehicle road 70 The display 8a and the boundary position line content display 8c displayed at the boundary position 72 of the cross road 71 are displayed. As a result, the same effects as those of the first and second content displays of pattern 1 are obtained. In the fourth content display of pattern 1, the boundary position line content displays 8a and 8c are displayed with dashed lines. This is exemplified as a display for impressing the driver to the extent that it calls attention to the fact that the vehicle is approaching an unknown intersection 73 . It is not intended to be limited to displaying the boundary position line content representations 8a and 8c with dashed lines.

(Content display of pattern 2)
13 and 14 are diagrams showing the details of pattern 2 content display. In pattern 2, either the fifth content display shown in FIG. 13 or the sixth content display shown in FIG. 14 is displayed. The content display by pattern 2 is an urban road or a parking lot, and no road sign such as a stop line is installed at the boundary position 72 of the road 7, but the vehicle road 70 is determined to be a priority road. This is the content display that is displayed when

In the fifth content display shown in FIG. 13, no content display is displayed at the boundary position 72 of the intersection 73 facing the traveling direction 12 of the vehicle road 70 because the vehicle road 70 is a priority road. A boundary position line content display 8b is displayed at the boundary position 72 between the intersection 73 and the intersecting road 71 . In the sixth content display shown in FIG. 14, in addition to the display contents of the fifth content display, a boundary position line content display 8a is displayed at the boundary position 72 between the vehicle road 70 and the intersection 73. FIG. Although the own vehicle road 70 is a priority road, this is to call the driver's attention just in case and encourage him to decelerate and go slowly.

(Content display of pattern 3)
FIG. 15 is a diagram showing the details of the content display of pattern 3. As shown in FIG. In pattern 3, display of the seventh content display shown in FIG. 15 is performed. The content display by pattern 3 is an urban road or a parking lot, and there is no display of a stop line at the boundary position 72 of the road 7. Therefore, it is determined that the road 70 of the vehicle is not given priority and the cross road 71 is given priority. This is the content display that is displayed when

In the seventh content display shown in FIG. 15, the vehicle road 70 is not a priority road, but the intersection road 71 is a priority road. A boundary location line content display 8 is displayed. This is to alert the driver to a high degree and encourage the vehicle to stop at the boundary position line content display 8 .

(Content display when road signs such as stop lines exist)
FIG. 16 is a diagram showing an example of content display displayed when there is a road sign such as a stop line 75 or a traffic sign 76 at an intersection 73. As shown in FIG. In FIG. 16 , a stop line 75 is provided on the road 7 at a boundary position 72 between the vehicle road 70 and the cross road 71 . In this case, the HCU 20 displays the boundary position line content display 8 so as to be superimposed on the stop line 75 provided on the road 7 in the projection area R, as shown in FIG.

The in-vehicle display control device 1 according to the embodiment has the following effects.
The HCU 20 uses the high-precision map data stored in the map DB 32, the probe map data stored in the storage unit 13a, and various sensor information acquired from the front camera 41 and the LIDAR 42 provided in the surrounding monitoring sensor 4 to guide the vehicle to run in the parking lot. It is possible to determine whether the vehicle is in the middle, whether there is a stop line at the intersection, whether it is known which road is the priority road, and whether the own vehicle road 70 has priority. Thereby, the HCU 20 recognizes that the own vehicle has approached an intersection 73 without a road sign such as a stop line. In this case, in the projection area R, the HCU 20 superimposes the boundary position line content display 8 on the road 7 in the projection area R visually recognized by the driver at the boundary position 72 between the intersection 73 without a stop line and the vehicle road 70. display.

In addition, the boundary front line content display 9 is superimposed on the road 7 in the projection area R visually recognized by the driver and displayed at a position a predetermined distance in front of the boundary position 72 . A driver who visually recognizes the boundary position line content display 8 and the boundary front line content display 9 is alerted to a level corresponding to the content display, and the boundary position line content display 8 or the boundary front line content display 9 slows down, You will be prompted to brake, stop, slow down, etc. As a result, the occurrence of automobile accidents, such as a head-on collision at the intersection 73, can be suppressed.

Although the present disclosure has been described with reference to examples, it is understood that the present disclosure is not limited to such examples or structures. The present disclosure also includes various modifications and modifications within the equivalent range. In addition, various combinations and configurations, as well as other combinations and configurations, including single elements, more, or less, are within the scope and spirit of this disclosure.

1... In-vehicle display control device, 8... Boundary position line content display, 9... Boundary front line content display, 23... Display device, 72... Boundary position, 73... Intersection

Claims (8)

When a vehicle enters an intersection (73) where no stop line is arranged, a boundary front line content display (9) is displayed on a display device (23) at a predetermined distance before the boundary position (72) of the intersection. after displaying the boundary position line content display (8) at the boundary position. 2. The in-vehicle display control device according to claim 1, wherein the intersection includes a parking lot intersection. 3. The in-vehicle display control according to claim 1 or 2, wherein after displaying the boundary front line content display, the boundary position line content display is displayed when the vehicle decelerates at the display position of the boundary front line content display. Device. 4. The in-vehicle display control device according to any one of claims 1 to 3, wherein the display of the boundary position line content display is performed after the display of the boundary front line content display is turned off. 5. The method according to any one of claims 1 to 4, wherein after displaying the boundary front line content display, the boundary position line content display is not displayed when the vehicle decelerates at the display position of the boundary front line content display. The in-vehicle display control device described. 3. The in-vehicle display control device according to claim 1, wherein the display of the boundary front line content and the display of the boundary position line content are displayed at the same timing. 3. The in-vehicle display control according to claim 1 or 2, wherein after displaying the boundary front line content display, the boundary position line content display is displayed when the vehicle stops at the display position of the boundary front line content display. Device. when the vehicle road (70) on which the vehicle travels is a priority road, the boundary position line content display is displayed at the boundary position of the intersection where the vehicle road (70) and the cross road (71) intersect; 3. The in-vehicle display control device according to claim 1, wherein the boundary position line content display is hidden.

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