JP7184083B2 - VEHICLE DISPLAY DEVICE, VEHICLE DISPLAY CONTROL METHOD, VEHICLE DISPLAY CONTROL PROGRAM - Google Patents

Description

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

2. Description of the Related Art Conventionally, in relation to a vehicle display device using a head-up display device, it has been proposed to display a virtual image in front of a driver. Such a vehicle display device can display various images in the field of view of the driver looking forward through the windshield.

Regarding such a vehicle display device, Patent Literature 1 discloses a configuration that forms a display that emphasizes the lane markings with a virtual image so as to overlap the lane markings on both sides of the vehicle, thereby improving the visibility of the lane markings. It is
Further, Patent Literature 2 discloses a configuration for displaying a steering mark by displaying a virtual image of a marker indicating a predicted travel position.

JP-A-2000-211452 JP-A-8-241493

However, in the configurations disclosed in Patent Documents 1 and 2, the driver is ultimately required to drive while visually confirming the left and right marking lines of the driving lane, thereby reducing the burden on the driver. However, in terms of practical use, there is still an insufficient problem.

The present invention has been made in consideration of the above points, and provides a vehicle display device, a vehicle display device control method, and a vehicle display device control program that can reduce the burden on the driver as compared with the prior art. The purpose is to propose

In order to solve the problem, the vehicle display device according to the invention of claim 1 includes:
In a vehicle display device that displays an image as a virtual image in the space ahead of the driver,
a display unit that displays the image;
a lane marking detection unit that detects left and right lane markings of the vehicle;
a running state detection unit that detects the position of the own vehicle with respect to the lane marking detected by the lane marking detection unit;
A display control unit that controls the display unit,
The display control unit
setting one of the marking lines detected by the marking line detection unit to a fixed display of the guide line, and setting the other marking line to the movable display of the guide line;
In the fixed display of the guide line, the guide line is displayed at a fixed position with respect to the one division line as seen from the driver,
In the movable display of the guide line, the guide line is displayed by varying the interval to the other lane marking according to the running position of the own vehicle based on the detection result of the running state detection unit.

According to the configuration of claim 1, the distance between the other marking line and the guide line is changed according to the traveling position of the vehicle, so that the marking line and the guide line are displayed at a constant distance. It is possible to steer and drive in the driving lane. That is, even if the two marking lines on the left and right in the actual scene are not necessarily confirmed, the position of the vehicle can be roughly grasped by visually recognizing the display of one of the marking lines on the left and right and the guide line. This allows the driver to concentrate his attention on the other marking line side while driving.
On the other hand, by displaying the guide line at a fixed position, it is possible to easily grasp the position of the marking line. As a result, it is possible to reduce the time and frequency of checking the lane markings in the actual scene.
As a result, the burden on the driver can be reduced compared to the conventional system.

A vehicle display device according to the invention of claim 2,
In the configuration of claim 1,
A line-of-sight detection unit that detects the driver's line of sight,
The display control unit
Based on the detection result of the line-of-sight detection unit, the division line in the line-of-sight direction of the driver is set to be movably displayed on the guide line.

According to the configuration of claim 2, the marking line that the driver uses as a reference for steering can be set to the movable display of the guide line, thereby surely reducing the burden on the driver.

A vehicle display device according to the invention of claim 3,
In the configuration of claim 1,
A line-of-sight detection unit that detects the driver's line of sight,
The display control unit
calculating the degree of concentration of the driver's line of sight for each lane marking detected by the lane marking detection unit based on the detection result of the line of sight detection unit;
Based on the result of the calculation, the division line on the side of the higher line of sight concentration in the unit time is set to the movable display of the guide line.

According to the configuration of claim 3, the marking line that the driver uses as a reference for steering can be set as a movable display of the guide line, thereby reliably reducing the burden on the driver.

A vehicle display device according to the invention of claim 4,
In the configuration of claim 2 or claim 3,
The display control unit
When the degree of concentration of the line of sight detected by the line of sight detection unit is equal to or greater than a determination reference value, the visibility of the guide line associated with the movable display of the guide line is reduced.

According to the configuration of claim 4, it is possible to prevent the driver from feeling annoyed by the guide line of the demarcation line used as a reference for steering.

A display device for a vehicle according to the invention of claim 5,
In any one of claims 1, 2, 3, and 4,
The display control unit
The visibility of the guide line associated with the movable display of the guide line is reduced according to the distance from the center of the lane to the center of the vehicle.

According to the configuration of claim 5, by reducing the visibility of the guide line related to the movable display of the guide line according to the distance from the center of the lane, the driver does not feel annoyed when deviating from the center of the lane. Depending on the amount, the driver's attention can be aroused, contributing to safe driving.

The invention of claim 6 is
In a control method for a vehicle display device that displays an image as a virtual image in a space ahead of a driver,
a lane marking detection step for detecting left and right lane markings of the vehicle;
a running state detection step of detecting the position of the own vehicle with respect to the lane marking detected in the lane marking detection step;
A display control step of controlling a display unit that displays the image,
The display control step includes:
setting one of the marking lines detected in the marking line detection step to a fixed guide line display, and setting the other marking line to a movable display of the guide line;
In the fixed display of the guide line, the guide line is displayed at a fixed position with respect to the one division line as seen from the driver,
In the movable display of the guide line, the guide line is displayed by varying the interval to the other lane marking according to the running position of the own vehicle based on the detection result of the running state detection step.

According to the configuration of claim 6, the distance between the other marking line and the guide line changes according to the traveling position of the vehicle, so that the marking line and the guide line are displayed at a constant interval. It is possible to steer and drive in the driving lane. That is, even if the two marking lines on the left and right in the actual scene are not necessarily confirmed, the position of the vehicle can be roughly grasped by visually recognizing the display of one of the marking lines on the left and right and the guide line. This allows the driver to concentrate his attention on the other marking line side while driving.
On the other hand, by displaying the guide line at a fixed position, it is possible to easily grasp the position of the marking line. As a result, it is possible to reduce the time and frequency of checking the lane markings in the actual scene.
As a result, the burden on the driver can be reduced compared to the conventional system.

The invention of claim 7 is
In a control program for a vehicle display device that causes a predetermined processing procedure to be executed by execution in an arithmetic processing circuit,
The vehicular display device
A vehicle display device that displays an image as a virtual image in the space ahead of the driver,
The processing procedure is
a lane marking detection step for detecting left and right lane markings of the vehicle;
a running state detection step of detecting the position of the own vehicle with respect to the lane marking detected in the lane marking detection step;
A display control step of controlling a display unit that displays the image,
The display control step includes:
setting one of the marking lines detected in the marking line detection step to a fixed guide line display, and setting the other marking line to a movable display of the guide line;
In the fixed display of the guide line, the guide line is displayed at a fixed position with respect to the one division line as seen from the driver,
In the movable display of the guide line, the guide line is displayed by varying the interval to the other lane marking according to the running position of the own vehicle based on the detection result of the running state detection step.

According to the configuration of claim 7, the distance between the other marking line and the guide line changes according to the traveling position of the vehicle, so that the marking line and the guide line are displayed at a constant interval. It is possible to steer and drive in the driving lane. That is, even if the two marking lines on the left and right in the actual scene are not necessarily confirmed, the position of the vehicle can be roughly grasped by visually recognizing the display of one of the marking lines on the left and right and the guide line. This allows the driver to concentrate his attention on the other marking line side while driving.
On the other hand, by displaying the guide line at a fixed position, it is possible to easily grasp the position of the marking line. As a result, it is possible to reduce the time and frequency of checking the lane markings in the actual scene.
As a result, the burden on the driver can be reduced compared to the conventional system.

According to the vehicular display device, the control method of the vehicular display device, and the control program for the vehicular display device of the present invention, it is possible to reduce the burden on the driver as compared with the prior art.

1 is a block diagram showing a vehicle display device according to an embodiment of the present invention; FIG. It is a figure where it uses for description of the display of a guide line. It is a figure which shows the case where it drive|works in the lane center. FIG. 10 is a diagram showing another example of movable display of guide lines; It is a figure where it uses for description of the setting of the movable display by eyes|visual_axis. FIG. 11 is a diagram for explaining another example of setting movable display based on the line of sight; FIG. 11 is a diagram for explaining another example of setting movable display based on the line of sight; It is a figure where it uses for description of the fall of the visibility of a guide line. FIG. 10 is a diagram for explaining another example of deterioration of the visibility of the guide line; FIG. 10 is a diagram for explaining another example of deterioration of the visibility of the guide line;

[First Embodiment]
FIG. 1 is a diagram showing a vehicle display device 1 according to a first embodiment of the present invention.
This vehicular display device 1 is a vehicular display device based on a head-up display device, and displays various images as virtual images in the space ahead of the driver who views the front through the windshield. The vehicular display device 1 reduces the burden on the driver by image display using this virtual image.
The vehicular display device 1 may be installed in the vehicle and arranged in the vehicle, or may be configured by a portable information terminal carried by the driver.
Moreover, the display device 1 for vehicles can widely apply various structures which can display an image in the visual field of the driver who visually recognizes the front through a windshield, such as a head-mounted display device.

The vehicle display device 1 includes a display unit 2 , a vehicle information acquisition unit 3 , a line of sight detection unit 4 , a lane detection unit 5 and an image generation unit 6 . The image generation unit 6 also includes a display control unit 6A, a marking line detection unit 6B, a running state detection unit 6C, and a line-of-sight information detection unit 6D.
The vehicular display device 1 executes a control program for the vehicular display device in an arithmetic processing circuit provided in the image generation unit 6, thereby controlling the display control unit 6A, the lane marking detection unit 6B, the driving state detection unit 6C, the line of sight, and the like. A functional block of the information detection unit 6D is configured.
As a result, the processing procedure for executing this control program includes a display control step for executing the corresponding processing corresponding to the display control unit 6A, the marking line detection unit 6B, the running state detection unit 6C, and the line-of-sight information detection unit 6D. A marking line detection step, a running state detection step, and a line-of-sight information detection step are provided.

The display unit 2 is a portion for forming a virtual image for display, and is formed by an image display panel, peripheral circuits of the image display panel, an optical system for emitting light emitted from the image display panel toward the windshield, and the like. be done.
Various configurations such as a DMD (Digital Mirror Device), a liquid crystal display panel, an organic EL (Electro Luminescence) panel, and the like can be widely applied to the image display panel.

The vehicle information acquisition unit 3 is an interface for acquiring vehicle information such as vehicle speed, remaining amount of fuel, and various warnings from the vehicle, and outputs the acquired vehicle information to the image generation unit 6 .

The line-of-sight detection unit 4 is configured to detect the driver's line of sight, and is composed of an imaging device that captures an image of the driver's face and outputs the imaged result.

The lane detection unit 5 captures an image of the vehicle's driving lane along with the division lines on both sides of the driving lane (lane boundary line, roadway outer boundary line, and roadway center line) extending along the driving lane, and outputs the imaging result. It is composed of an imaging device that As will be described later, the vehicle display device 1 displays a guide line at a fixed position with respect to the demarcation line of the driving lane as seen from the driver based on the imaging result of the lane detection unit 5 . is placed near the driver's eyes (for example, above the driver's seat). However, according to the position of the driver's eyes relative to the installation position of the lane detection unit 5, the position information of the lane marking obtained from the imaging result of the lane detection unit 5 is corrected, and the guide is guided to a certain position with respect to the lane marking as seen from the driver. It is also possible to display lines, so that the lane detector 5 can be arranged in various positions.

The image generating section 6 is a section that generates an image to be displayed and controls the display section 2, and includes an arithmetic processing circuit, a memory used for processing by the arithmetic processing circuit, a graphics display controller, and the like.

In the image generation unit 6 , the lane marking detection unit 6</b>B detects the lane markings on both sides of the driving lane 11 by performing image processing on the imaging result obtained by the lane detection unit 5 .

The running state detector 6C detects the position of the own vehicle with respect to the lane markings detected by the lane marking detector 6B. More specifically, the running state detection unit 6C detects the lane center of the traveling lane from the lane marking detected by the lane marking detection unit 6B, and further detects the center position of the vehicle with respect to the lane center. Detects the position of the vehicle relative to

The line-of-sight information detection unit 6</b>D detects the line of sight of the driver by image-processing the imaging result of the line-of-sight detection unit 4 .

The display control unit 6A controls the display of the display unit 2 according to the detection results of the lane marking detection unit 6B, the running state detection unit 6C, and the line-of-sight information detection unit 6D.
That is, the display control unit 6A displays the vehicle information acquired by the vehicle information acquiring unit 3 under the control of the display unit 2. FIG.
Furthermore, the display control unit 6A displays the guide lines in addition to the vehicle information when the driver instructs the display of the guide lines.
Here, the guide line is a display of a mark arranged along the division line.

FIG. 2 is a diagram for explaining the display of the guide lines, and is a diagram showing the foreground of the driver. 2, the display of vehicle information is omitted.
In the example of FIG. 2, a displayable area 2A by the vehicle display device 1 is formed in an area corresponding to all or part of the windshield in front of the driver. The traffic lane 11 and the division lines 12 and 13 on the left and right of the traffic lane 11 can be seen.
If the road on which the vehicle is traveling has two opposite lanes, the lane markings 12 and 13 are the boundary line outside the roadway and the center line of the roadway, respectively. Also, when the road on which the vehicle is traveling has two or more lanes in one direction and the vehicle is traveling in the leftmost lane, the division lines 12 and 13 are the outside boundary line and the lane boundary line, respectively, and the vehicle is traveling in the rightmost lane. If so, the lane markings 12 and 13 are the lane boundary line and the roadway center line, respectively. Further, when the vehicle is traveling in the center lane on a road with three or more lanes, both the division lines 12 and 13 are lane boundary lines.
Note that the demarcation lines are formed by white lines, yellow lines, a plurality of white lines, etc. that are interrupted at regular intervals, but are indicated by solid lines in FIG.

The display control unit 6A sets one of the lane markings 12 and 13 detected on the left and right sides of the driving lane 11 to a fixed guide line display, and sets the other lane marking 12 to a movable guide line display. .

In the fixed display of the guide line, the display control unit 6A displays the guide line 15 at a fixed position with respect to the demarcation line 13 as seen from the driver. In the example of FIG. 2, the guide line is displayed inside the marking line 13 so that the outside of the guide line touches the inside of the marking line.
Note that the fixed position related to this fixed display is such that the guide line is displayed so that the inside of the guide line is in contact with the outside of the division line 12, and when the guide line is displayed outside the division line 12, the guide line is displayed so as to overlap the division line 12. In this case, various forms can be applied, such as a case where guide lines are displayed inside or outside the marking lines 12 at a certain distance from the marking lines 12, and further modified as appropriate. good too.

In the movable display of the guide line, the display control unit 6A varies the distance D to the lane marking 12 according to the running position of the vehicle based on the detection result of the running state detection unit 6C. display.
More specifically, in the example of FIG. 2, the display control unit 6A detects the lane center LC, which is the amount of deviation from the lane center LC, based on the vehicle center CC with respect to the lane center LC detected by the lane marking detection unit 6B. A distance D from the LC to the center CC of the own vehicle is detected, and a guide line 16 related to variable display is displayed at a position displaced by the distance D from the display position when the guide line is displayed by fixed display. .

When the guide lines are fixedly displayed or variably displayed in this way, the distance between the lane marking 12 and the guide line 16 changes according to the traveling position of the vehicle. It is possible to drive in the driving lane by steering so that the display and the display are at a constant interval. In other words, even if the two marking lines 12 and 13 on the left and right in the actual scene are not necessarily confirmed, the position of the vehicle can be roughly grasped by visually recognizing the display of either one of the marking lines 12 on the left or right and the guide line 16. . This allows the driver to concentrate his attention on the other marking line 12 side while driving.
Also, in the example of FIG. 2, the guide line 16 is displayed shifted outward with respect to the demarcation line 12 in the actual scene because the vehicle's running position is biased to the left. In this case, the driver feels a sense of incongruity, and unconsciously steers the vehicle so that the guide line 16 is displaced toward the lane marking 12, thereby steering the vehicle toward the right side. As a result, it is possible to assist the driver in driving so as not to deviate from the lane, thereby contributing to safe driving.
In addition, regarding the marking line 13 related to the fixed display, the position of the marking line 13 can be easily grasped by displaying the guide line 15 at a fixed position. As a result, it is possible to reduce the time and frequency of checking the lane markings 13 in the actual scene.
Further, on the fixed display side, the guide line 15 is held at a fixed position with respect to the marking line 13, so that the driver can be provided with a sense of security, which can also contribute to safe driving.
As a result, in this embodiment, it is possible to reduce the burden on the driver with respect to the lane markings as compared with the conventional art.

In the example of FIG. 2, although the guide lines 16 and 15 are displayed on the lane markings 12 and 13 on both sides of the driving lane 11, the marking lines of the adjacent lanes outside the lane markings 12 and 13 are also displayed as guide lines. A fixed display of lines may be applied to display guide lines.
In this way, the relationship with the adjacent lanes can be more easily grasped, and safety can be further improved.

FIG. 3 is a diagram showing an example in which the own vehicle is traveling in the center of the driving lane in comparison with FIG.
In this case, the lane markings 12 associated with the movable display are displayed with the guide lines 16 substantially identical to the lane markings 13 associated with the fixed display, so that the driver can confirm the running of the lane center LC. .

Here, the guide lines 15 and 16 are formed in the same belt-like shape so that they can be seen to have a constant width in the extending direction of the demarcation lines 13 and 12. Various configurations can be widely applied, such as the case of arranging and forming band shapes by the thickness at regular intervals.
Also, the guide lines 15 and 16 may be appropriately changed in shape according to road conditions and corresponding lane markings.
Furthermore, the guide lines 15 and 16 may have different shapes and colors.

Further, in the movable display of the guide line, the display position of the guide line 16 may be appropriately changed from the position corresponding to the traveling position of the vehicle. Specifically, for example, when an overtaking vehicle is detected, the display position of the guide line may be temporarily changed so as to approach the side on which the overtaking vehicle will pass, and the host vehicle may be controlled to travel along the ideal line. Conversely, when overtaking another vehicle, the display position of the guide line may be similarly changed so that the own vehicle travels along the ideal line in this case as well.
In this way, it is possible to further reduce the burden on the driver.

In addition, in the movable display of the guide lines, the display position of the guide lines 16 is displayed so as to create a sense of perspective by decreasing the distance between the guide lines 16 and the corresponding lane markings as the distance from the vehicle increases (FIGS. 2 and 3). 3) As shown in FIG. 4 for comparison with FIG. 2, the marking lines 12 may be displayed at regular intervals in the extending direction of the marking lines 12 so that the marking lines 12 and the guide lines 16 are parallel to each other on a straight road. .

That is, if the distance between the lane marking and the corresponding lane marking is reduced as the distance from the vehicle is increased, and the distance is displayed to create a sense of perspective, it is possible to recognize that the vehicle is deviating from the center of the lane. It may be difficult to adequately communicate if this deviation can be corrected by
However, when the guide lines 16 are displayed in parallel with the lane markings 12 in this way, the driver can intuitively grasp that the driving position of the own vehicle should be shifted to the right by simply operating the steering wheel. It is possible to appropriately transmit the correction method and improve usability.
Further, by doing so, the processing in the display control section 6A can be simplified, thereby simplifying the overall configuration.

[Setting fixed display and movable display]
FIG. 5 is a diagram for explaining the setting of fixed display and movable display in comparison with FIG. 4 .
The display control unit 6A sets the fixed display or movable display of the guide line based on the detection result of the line-of-sight information detection unit 6D.

Specifically, as shown in FIG. 5, the display control unit 6A determines on which side of the lane center LC of the driving lane 11 the locations where the line of sight stays for a certain time or longer are concentrated. The direction of the line of sight of the driver is detected by the determination.
In addition, the division lines in the line-of-sight direction are set to movable display of guide lines, and the remaining division lines are set to fixed display of guide lines.
Here, in the example of FIG. 5, a line-of-sight concentration area AR where the line of sight is concentrated on the outside area of the left-side marking line 12 is detected, thereby guiding the left-side marking line 12 closer to the line-of-sight concentration area AR. The movable display of the line is set, and the left partition line 13 is set to the fixed display of the guide line.
Even when the line-of-sight concentration area AR is formed outside the marking line 12, the guide line 16 of the marking line 12 is grasped by the driver's peripheral vision, and thus the marking line 12 is visible. Even if the line of sight is not concentrated, the driver can grasp the running state of the own vehicle from the display of the guide line 16. - 特許庁

In this way, the division line which the driver is watching and which the driver uses as a reference for steering can be set to the movable display of the guide line, thereby surely reducing the burden on the driver.
In this case, for example, when the driver's line of sight repeatedly moves left and right by repeating right and left curves, it is possible to switch between fixed display and movable display so as to follow this line of sight movement. can reduce the burden on

Instead of this, the degree of concentration of the driver's line of sight is calculated for each of the left and right lane markings, and based on the calculation results, the marking line on the side where the driver's gaze concentration is high in a unit time is set as a movable display of the guide line. may

6A and 6B are diagrams for explaining the setting of the movable display for the marking lines on the side of high line-of-sight concentration.
In this case, the display control unit 6A sets a line-of-sight detection area for each of the right-side marking line 13 and the left-side marking line 12, and measures the dwell time of the line-of-sight whose dwell time is longer than a predetermined time in each area. The degree of concentration of is calculated for each lane line.
Here, FIG. 6A shows the case where the line-of-sight concentration area ARL is formed on the left marking line 12, and in this case, the marking line 12 is set for movable display.
FIG. 6B shows a case where the line-of-sight concentration area ARR is formed on the right marking line 13, and in this case, the marking line 13 is set to be movable display.

In this way, even if there is a difference in the concentration of the line of sight between a right-hand drive car and a left-hand drive car, or even if there are individual differences in the concentration of the line of sight, the marking line on the visually recognized side can be reliably moved. can be displayed. As a result, it is possible to reliably set the marking line, which the driver uses as a reference for steering, to the movable display of the guide line, further reducing the burden on the driver.

When the movable display and the fixed display are set according to the line-of-sight concentration in this way, the movable display and the fixed display are switched according to the change of the line-of-sight concentration. In this case, the display may be switched instantaneously by the determination of the switching, or a certain delay time may be provided from the determination of the switching to the switching of the display. In addition, frequent switching may be prevented by providing hysteresis characteristics in the determination of switching. Alternatively, both of the division lines may be temporarily displayed in a fixed manner or displayed in a movable manner, and then the display may be switched.

The setting of fixed display and movable display is not limited to these, and various setting methods can be widely applied such as, for example, the case where the marking line on the side of the road shoulder with sufficient margin is set to the fixed display of the guide line. .

[Setting the visibility of the guide line]
Furthermore, the display control unit 6A controls the display of the guide line associated with the movable display so that the visibility is lowered according to the degree of concentration of the line of sight, thereby preventing the user from feeling annoyed.

That is, the display control unit 6A determines the degree of concentration of the line of sight from the result of detection by the line-of-sight information detection unit 6D, using a determination reference value. A guide line 16 is displayed according to the luminance level.
On the other hand, when a judgment result equal to or higher than the judgment reference value is obtained, the guide line 16 is displayed with the luminance level lowered as shown in FIG. 7 by comparison with FIGS. 6A and 6B, thereby improving visibility. Lower.

Here, when the line of sight is concentrated in this way, the driver can determine that he or she is sufficiently recognizing the lane marking on which the line of sight is concentrated. Even if the visibility is lowered, the function of the movable display of the guide line can be sufficiently secured.
Moreover, in this case, the trouble caused by the display of the guide line can be reduced, and the burden on the driver can be further reduced.

Here, for the reduction in visibility, instead of or in addition to the reduction in luminance level, the resolution may be reduced, the color of the guide line may be changed, the width of the guide line may be reduced, or the like. They may be executed in combination.
Further, for example, the visibility may be set so that the farther side is less visible, and the nearer side is not less visible. In this way, the guide line can be kept in sight.

Alternatively or additionally, as shown in FIGS. 8A and 8B, the visibility of the guide line associated with the movable display is reduced according to the amount of displacement from the center of the lane to the center of the vehicle. may

That is, FIG. 8A shows a case where the amount of displacement from the lane center LC to the vehicle center CC is large.
Here, in this case, due to the large amount of displacement from the lane center LC to the vehicle center CC, the guide line 16 on the movable display side is displayed at a position farther apart than the corresponding marking line 12 . In this case, the guide line 16 can be displayed with sufficient visibility to sufficiently draw the driver's attention.

On the other hand, FIG. 8B shows a case where the amount of displacement from the lane center LC to the vehicle center CC is small, and in this case, the brightness level is lowered to display the guide line 16, thereby reducing visibility.
When the amount of displacement is small in this way, the guide line 16 on the movable display side is displayed at a position close to the corresponding marking line 12 . It can be said that the driver does not need to pay attention to the marking line 12 side as compared to when the displacement amount is large.
As a result, the driver's attention can be aroused as the amount of deviation from the center of the lane increases, thereby contributing to safe driving.
In addition, when the visibility is lowered in this way, it is possible to make the guide lines related to the movable display invisible when it is not necessary. It is possible to reduce the burden on the driver particularly effectively.
Note that the criteria for determining visibility reduction can be set by correcting the default value based on the driver's history of line of sight concentration in past driving, the driver's steering wheel operation history, and the like.

According to the above configuration, the fixed display of the guide line and the movable display of the guide line are set. In the movable display, by displaying the guide lines with the distance to the lane markings changed according to the running position of the own vehicle, the burden on the driver can be reduced compared to the conventional art.

Further, by setting the division lines in the direction of the driver's line of sight to the movable display of the guide lines, or by calculating the degree of concentration of the line of sight for each division line, the division line on the side of the high concentration of the line of sight is set to the movable display of the guide lines. By doing so, it is possible to set the demarcation line, which the driver uses as a reference for steering, to the movable display of the guide line, thereby surely reducing the burden on the driver.

In addition, if the degree of concentration of the line of sight exceeds the judgment standard value, the visibility of the guide line related to the movable display of the guide line is reduced, thereby reducing the inconvenience of the guide line that the driver uses as a reference for steering. You can make it so you don't feel it.

Furthermore, by reducing the visibility of the guide line related to the movable display of the guide line according to the distance from the center of the lane to the center of the vehicle, it is possible to reduce the amount of deviation from the center of the lane so as not to make people feel annoyed. Accordingly, the driver's attention can be aroused, contributing to safe driving.

[Other embodiments]
Although specific configurations suitable for implementing the present invention have been described in detail above, the present invention can be variously modified in the configuration of the above-described embodiments without departing from the scope of the present invention.

1 vehicle display device 2 display unit 2A displayable area 3 vehicle information acquisition unit 4 line-of-sight detection unit 5 lane detection unit 6 image generation unit 6A display control unit 6B lane marking detection unit 6C running state detection unit 6D line-of-sight information detection unit 11 running Lane 12, 13 Section line 15, 16 Guide line

Claims (7)

In a vehicle display device that displays an image as a virtual image in the space ahead of the driver,
a display unit that displays the image;
a lane marking detection unit that detects left and right lane markings of the vehicle;
a running state detection unit that detects the position of the own vehicle with respect to the lane marking detected by the lane marking detection unit;
A display control unit that controls the display unit,
The display control unit
setting one of the marking lines detected by the marking line detection unit to a fixed display of the guide line, and setting the other marking line to the movable display of the guide line;
In the fixed display of the guide line, the guide line is displayed at a fixed position with respect to the one division line as seen from the driver,
In the movable display of the guide line, the guide line is displayed by varying the interval to the other lane marking according to the running position of the own vehicle based on the detection result of the running state detection unit. display device. A line-of-sight detection unit that detects the driver's line of sight,
The display control unit
The vehicular display device according to claim 1, wherein a division line in the line-of-sight direction of the driver is set to be movable display of the guide line based on the detection result of the line-of-sight detection unit. A line-of-sight detection unit that detects the driver's line of sight,
The display control unit
calculating the degree of concentration of the driver's line of sight for each lane marking detected by the lane marking detection unit based on the detection result of the line of sight detection unit;
The vehicular display device according to claim 1, wherein a marking line on a side of high line-of-sight concentration in a unit time is set as a movable display of the guide line based on the calculation result. The display control unit
4. The vehicle according to claim 2 or 3, wherein when the degree of concentration of the line of sight detected by the line of sight detection unit is equal to or greater than a judgment reference value, the visibility of the guide line associated with the movable display of the guide line is reduced. display device. The display control unit
Any one of claims 1, 2, 3, and 4, wherein the visibility of the guide line associated with the movable display of the guide line is reduced according to the distance from the center of the lane to the center of the vehicle. 2. The vehicle display device according to . In a control method for a vehicle display device that displays an image as a virtual image in a space ahead of a driver,
a lane marking detection step for detecting left and right lane markings of the vehicle;
a running state detection step of detecting the position of the own vehicle with respect to the lane marking detected in the lane marking detection step;
A display control step of controlling a display unit that displays the image,
The display control step includes:
setting one of the marking lines detected in the marking line detection step to a fixed guide line display, and setting the other marking line to a movable display of the guide line;
In the fixed display of the guide line, the guide line is displayed at a fixed position with respect to the one division line as seen from the driver,
In the movable display of the guide line, the distance to the other lane marking is varied according to the running position of the own vehicle based on the detection result of the running state detection step, and the guide line is displayed. Display device control method. In a control program for a vehicle display device that causes a predetermined processing procedure to be executed by execution in an arithmetic processing circuit,
A vehicle display device
A vehicle display device that displays an image as a virtual image in the space ahead of the driver,
The processing procedure is
a lane marking detection step for detecting left and right lane markings of the vehicle;
a running state detection step of detecting the position of the own vehicle with respect to the lane marking detected in the lane marking detection step;
A display control step of controlling a display unit that displays the image,
The display control step includes:
setting one of the marking lines detected in the marking line detection step to a fixed guide line display, and setting the other marking line to a movable display of the guide line;
In the fixed display of the guide line, the guide line is displayed at a fixed position with respect to the one division line as seen from the driver,
In the movable display of the guide line, the distance to the other lane marking is varied according to the running position of the own vehicle based on the detection result of the running state detection step, and the guide line is displayed. Display device control program.

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