Patent Publication Number: US-2021162865-A1

Title: Vehicle display device, vehicle display method and recording medium recording vehicle display program

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     This application is based on and claims priority under 35 USC 119 from Japanese Patent Application No. 2019-218243 filed on Dec. 2, 2019, the disclosure of which is incorporated by reference herein. 
     BACKGROUND 
     Technical Field 
     The present disclosure relates to a vehicle display device, a vehicle display method and a non-transitory recording medium recording a vehicle display program therein. 
     Related Art 
     Japanese Patent Application Laid-Open (JP-A) No. 2018-100867 discloses a display device that finds a route to guide a vehicle to a destination, and displays the route on a display. The display performed by the display device disclosed in JP-A No. 2018-100867 enables autonomous driving segments where the vehicle is autonomously driven to be differentiated from manual driving segments where manual driving is required. 
     However, in the display device disclosed in JP-A No. 2018-100867, a large amount of information is displayed by a display section, and so it might take some time for an occupant to ascertain a scheduled action of the vehicle. 
     SUMMARY 
     An aspect of the disclosure is a vehicle display device, that includes: a first display device provided inside a vehicle cabin; a second display device provided inside the vehicle cabin and separately from the first display device; a memory; and a processor connecting to the memory and being configured to: set a running plan of a vehicle, to display a scheduled action of the vehicle on the first display device based on the running plan, and to display the scheduled action on the second display device in a case in which at least one of a distance to, or a time interval until, the scheduled action has reached a prescribed value or less. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG. 1  is a schematic view illustrating a front section of the inside of a cabin of a vehicle applied with a vehicle display device according to an exemplary embodiment, as viewed from a vehicle rear side. 
         FIG. 2  is a block diagram illustrating a hardware configuration of a vehicle display device according to an exemplary embodiment. 
         FIG. 3  is a block diagram illustrating a functional configuration of a vehicle display device according to an exemplary embodiment. 
         FIG. 4A  is a diagram illustrating an example of a display on a second display device. 
         FIG. 4B  is a diagram illustrating an example of a display on a first display device. 
         FIG. 5A  is a diagram illustrating an example of a display on a second display device after advancing 500 m from the state in  FIG. 4A . 
         FIG. 5B  is a diagram illustrating an example of a display on a first display device after advancing 500 m from the state in  FIG. 4B . 
         FIG. 6A  is a diagram illustrating an example of a display on a second display device after advancing 600 m from the state in  FIG. 5A . 
         FIG. 6B  is a diagram illustrating an example of a display on a first display device after advancing 600 m from the state in  FIG. 5B . 
         FIG. 7  is a flowchart illustrating an example of a flow of display processing of an exemplary embodiment. 
     
    
    
     DESCRIPTION OF EMBODIMENTS 
     Explanation follows regarding a vehicle  12  applied with a vehicle display device  10  according to an exemplary embodiment, with reference to the drawings. Note that the vehicle  12  of the present exemplary embodiment is for example configured so as to be capable of switching between autonomous driving and manual driving. As illustrated in  FIG. 1 , an instrument panel  14  is provided at a front section of the inside of a cabin of the vehicle  12 . 
     The instrument panel  14  extends along a vehicle width direction. A steering wheel  16  is provided on a vehicle right side of the instrument panel  14 . Namely, in the present exemplary embodiment as an example, the vehicle is a right-hand drive vehicle in which the steering wheel  16  is provided on the right side and a driving seat is set on the vehicle right side. 
     Windshield glass  18  is provided at a front end portion of the instrument panel  14 . The windshield glass  18  extends along a vehicle vertical direction and the vehicle width direction so as to partition the cabin interior from the cabin exterior. 
     A vehicle right end portion of the windshield glass  18  is fixed to a front pillar  20  on the right side of the vehicle. The front pillar  20  extends along the vehicle vertical direction, and the windshield glass  18  is fixed to a vehicle width direction inner end portion of the front pillar  20 . A front end portion of front side glass  22  is fixed to a vehicle width direction outer end portion of the front pillar  20 . Note that a vehicle left end portion of the windshield glass  18  is fixed to a front pillar on the left side of the vehicle. 
     A first display device  24  is provided to the instrument panel  14 . The first display device  24  is provided to the instrument panel  14  so as to be located at the vehicle front side of the driving seat, and is provided at a position that falls within the field of view of a driver in a state in which the driver is directing their gaze toward the vehicle front side. 
     A projection surface projected onto by a second display device  26  is provided on the windshield glass  18 . The second display device  26  is set at the vehicle upper side of the first display device  24 , and is configured by a head up display device  44  (see  FIG. 2 ) that projects onto the projection surface. To explain this in more detail, the head up display device  44  is provided further toward the vehicle front side than the instrument panel  14 , and an image from the head up display device  44  is projected onto the windshield glass  18 . 
     Hardware Configuration of Vehicle Display Device  10   
     An electronic control unit (ECU)  28 , serving as a control section, is provided to the vehicle  12 .  FIG. 2  is a block diagram illustrating a hardware configuration of the vehicle display device  10 . As illustrated in  FIG. 2 , the ECU  28  of the vehicle display device  10  is configured including a central processing unit (CPU: processor)  30 , read only memory (ROM)  32 , random access memory (RAM)  34 , storage  36 , a communication interface  38 , and an input/output interface  40 . The respective configurations are connected together so as to be capable of communicating with each other through a bus  42 . 
     The CPU  30  is a central processing unit that executes various programs and controls various sections. Namely, the CPU  30  reads a program from the ROM  32  or the storage  36 , and executes the program using the RAM  34  as a workspace. The CPU  30  controls the above-mentioned configurations and performs various computation processing based on the program recorded in the ROM  32  or the storage  36 . 
     The ROM  32  holds various programs and various data. The RAM  34  acts as a workspace to temporarily store programs and data. The storage  36  is configured by a hard disk drive (HDD) or a solid state drive (SSD), and holds various programs including an operating system, as well as various data. In the present exemplary embodiment, a program, various data, and the like for performing display processing are held in the ROM  32  or the storage  36 . 
     The communication interface  38  is an interface enabling the vehicle display device  10  to communicate with a server and other equipment, and employs a protocol such as LTE, FDDI, or Wi-Fi (registered trademark). 
     The first display device  24 , the head up display device  44  that projects images onto the second display device  26 , and actuators  46  are connected to the input/output interface  40 . The actuators  46  are configured including a steering actuator, an accelerator actuator, and a brake actuator. The steering actuator performs steering of the vehicle  12 . The accelerator actuator performs acceleration of the vehicle  12 . The brake actuator controls the brakes to perform deceleration of the vehicle  12 . Note that various sensors, a GPS device, and the like employed during autonomous running of the vehicle  12  are also connected to the input/output interface  40 . 
     Functional Configuration of Vehicle Display Device  10   
     The vehicle display device  10  implements various functions using the above-described hardware resources. Explanation follows regarding functional configurations implemented by the vehicle display device  10 , with reference to  FIG. 3 . 
     As illustrated in  FIG. 3 , the vehicle display device  10  is configured including a communication section  50 , a running plan setting section  52 , an autonomous driving control section  54 , a first display instruction section  56 , a second display instruction section  58 , and an emphatic display section  60  as functional configuration. The respective functional configurations are implemented by the CPU  30  reading and executing a program stored in the ROM  32  or the storage  36 . 
     The communication section  50  exchanges data with an external server and other equipment through the communication interface  38 . Examples of the data exchanged include map data and traffic conditions that are held on the server. The communication section  50  may be configured to perform vehicle-to-vehicle communication with vehicles in the surroundings. 
     The running plan setting section  52  sets a running plan for the vehicle  12 . To explain this in more detail, when an occupant inputs a destination, the running plan setting section  52  sets a running plan from the current location to the destination. 
     The autonomous driving control section  54  causes the vehicle  12  to run autonomously according to the set running plan while taking into consideration position information and environmental information regarding the surroundings of the vehicle  12 . To explain this in more detail, the autonomous driving control section  54  controls the actuators  46  so as to cause the vehicle  12  to run autonomously. 
     The first display instruction section  56  displays scheduled actions of the vehicle  12  on the first display device  24  based on the running plan set by the running plan setting section  52 . Explanation follows regarding the functionality of the first display instruction section  56 , with reference to  FIG. 4B ,  FIG. 5B , and  FIG. 6B . 
     As illustrated in  FIG. 4B , a set cruise control speed and the current speed of the vehicle  12  are displayed in an upper part of a display region of the first display device  24 . The set speed and the current vehicle speed are displayed in a vehicle width direction central part of the display region of the first display device  24 . The set speed is displayed in a smaller font in a lower row, and is set to 120 km/h as an example. The current vehicle speed is displayed in an upper row, and is displayed as 58 km/h. The vehicle  12  is thereby set to run at a speed of up to 120 km/h while maintaining a constant inter-vehicle distance from a vehicle in front. 
     An image V 1  representing the device-installed vehicle, and an image V 2  and an image V 3  representing peripheral vehicles are displayed at a central part of the display region of the first display device  24 . It can be understood from looking at the image V 1  that the device-installed vehicle is running in the centermost lane out of three traffic lanes. The image V 2  and the image V 3  are both displayed based on information detected by various sensors mounted to the vehicle  12 . It can be understood from looking at the image V 2  and the image V 3  that vehicles are respectively running at the oblique front-right of the device-installed vehicle, and in front of the device-installed vehicle. Note that the position of the device-installed vehicle may be detected by the GPS device installed in the vehicle  12 . A combination of sensors, such as a stereo camera, an ultrasound sensor, millimeter-wave radar, and laser radar, are employed as the sensors to detect peripheral vehicles. Alternatively, the position of the device-installed vehicle and the positions of vehicles in the surroundings may be ascertained by vehicle-to-vehicle communication with the vehicles in the surroundings. 
     Scheduled actions of the vehicle  12  are displayed in a right end part of the display region of the first display device  24  by the first display instruction section  56 . In the present exemplary embodiment as an example, a first scheduled action P 1 , a second scheduled action P 2 , and a third scheduled action P 3  are displayed in bottom-up sequence. Three items of information are displayed for each of the scheduled actions, these being a distance from the current position to the position of the scheduled action, a scheduled running path, and a driving category. The driving category refers to whether the action is to be manually performed by the driver, or is to be performed by autonomous driving. In the present exemplary embodiment as an example, setting is made such that only three impending scheduled actions are displayed, and subsequent scheduled actions are not displayed. However, there is no limitation thereto. For example, four or more scheduled actions may be displayed on the first display device  24 . Alternatively, the number of scheduled actions displayed on the first display device  24  may be freely settable. 
     Detailed explanation follows regarding the first scheduled action P 1 , the second scheduled action P 2 , and the third scheduled action P 3 . “1.4 km” is displayed at the left of the first scheduled action P 1  to indicate that this action will be performed approximately 1400 m ahead of the current position. A graphic representation of a path merging with a main road from a side road on the right is displayed at the center of the first scheduled action P 1 , enabling the scheduled running path to be ascertained from the graphic representation. “AUTO” is displayed at the right of the first scheduled action P 1  to indicate that this action will be performed by autonomous driving. 
     The second scheduled action P 2  is displayed above the first scheduled action P 1 . “2.0 km” is displayed at the left of the second scheduled action P 2  to indicate that this action will be performed approximately 2000 m ahead of the current position. A graphic representation of a lane change from a left-hand lane to a right-hand lane is displayed at the center of the second scheduled action P 2 , enabling the scheduled running path to be ascertained from the graphic representation. “MANUAL” is displayed at the right of the second scheduled action P 2  to indicate that this action will be performed by manual driving. Namely, a temporary handover from autonomous driving to manual driving will be performed before 2000 m has been run. Note that in the present exemplary embodiment as an example, the occupant only performs the lane change, and a switch is made back to autonomous driving after changing lanes. 
     The third scheduled action P 3  is displayed above the second scheduled action P 2 . “2.6 km” is displayed at the left of the third scheduled action P 3  to indicate that this action will be performed approximately 2600 m ahead of the current position. A graphic representation of a lane change from a left-hand lane to a right-hand lane is displayed at the center of the third scheduled action P 3 , enabling the scheduled running path to be ascertained from the graphic representation. “AUTO” is displayed at the right of the third scheduled action P 3  to indicate that this action will be performed by autonomous driving. 
       FIG. 5B  illustrates an image displayed on the first display device  24  in a state in which the vehicle  12  has run approximately 500 m from the state in  FIG. 4B . As illustrated in  FIG. 5B , the display at the left of the first scheduled action P 1  has changed to “0.9 km”, and the display at the left of the second scheduled action P 2  has changed to “1.5 km”. The display at the left of the third scheduled action P 3  has changed to “2.1 km”. Other display contents are the same as those in  FIG. 4B . 
       FIG. 6B  illustrates an image displayed on the first display device  24  in a state in which the vehicle  12  has run approximately 600 m from the state in  FIG. 5B . As illustrated in  FIG. 6B , the display at the left of the first scheduled action P 1  has changed to “0.3 km”, and the display at the left of the second scheduled action P 2  has changed to “0.9 km”. The display at the left of the third scheduled action P 3  has changed to “1.5 km”. Other display contents are the same as those in  FIG. 5B . Note that in the present exemplary embodiment as an example, the display of distance for each scheduled action is set so as to change in decrements of 0.1 km as the vehicle  12  approaches the scheduled action. 
     As illustrated in  FIG. 3 , the functional configuration of the vehicle display device  10  includes the second display instruction section  58 . Of the scheduled actions displayed on the first display device  24  by the first display instruction section  56 , the second display instruction section  58  displays on the second display device  26  a scheduled action for which at least one out of a distance or a time interval to the action has reached a prescribed value or less. In cases in which there is no scheduled action for which at least one out of the distance or the time interval to the action has reached the prescribed value or less, the second display instruction section  58  displays on the second display device  26  the most imminent scheduled action out of the scheduled actions displayed on the first display device  24  by the first display instruction section  56 . Note that in the present exemplary embodiment as an example, the second display instruction section  58  displays a scheduled action on the second display device  26  in cases in which the distance to the scheduled action has come to within 1000 m. 
     In cases in which the distance to a scheduled action has come to within 1000 m, the emphatic display section  60  emphasizes display of this scheduled action on the second display device  26 . Moreover, in cases in which plural scheduled actions are displayed on the second display device  26 , the emphatic display section  60  emphasizes display of the closest scheduled action over the other scheduled actions on the second display device  26 . Explanation follows regarding the functionality of the second display instruction section  58  and the emphatic display section  60 , with reference to  FIG. 4A ,  FIG. 5A , and  FIG. 6A . 
     As illustrated in  FIG. 4A , the set cruise control speed and the current speed of the vehicle  12  are displayed in a lower part of a display region of the second display device  26 . The set speed and the current vehicle speed are displayed in a vehicle width direction central part of the display region of the second display device  26 . The set speed is displayed in a smaller font on the right, and is set to 120 km/h as an example. The current vehicle speed is displayed on the left, and is displayed as 58 km/h. The vehicle  12  is thereby set to run at a speed of up to 120 km/h while maintaining a constant inter-vehicle distance from the vehicle in front. Note that the display of the set speed and the current vehicle speed are synchronized with the contents of the first display device  24 . 
     The first scheduled action P 1  of the vehicle  12  is displayed at a right end part of the display region of the second display device  26  by the second display instruction section  58 . Note that as illustrated in  FIG. 4B , since the distance to the most imminent scheduled action is greater than 1000 m, the second display instruction section  58  displays the first scheduled action P 1 , this being the most imminent scheduled action, on the second display device  26 . 
     In the illustration of  FIG. 5A , the distance to the first scheduled action P 1  displayed by the second display instruction section  58  has become 900 m. In cases in which the distance to the scheduled action is within 1000 m as in this case, the first scheduled action P 1  is emphatically displayed by the emphatic display section  60 . 
     In  FIG. 6A , the distance to the second scheduled action P 2  has become 900 m. In cases in which plural scheduled actions have come to within 1000 m as in this case, the second display instruction section  58  displays both the first scheduled action P 1  and the second scheduled action P 2  on the second display device  26 . Moreover, the emphatic display section  60  emphatically displays the first scheduled action P 1  that is scheduled most imminently. To explain this in more detail, the first scheduled action P 1  is displayed with a larger size than the second scheduled action P 2 . 
     Note that when the vehicle  12  has run 300 m or more from the state in  FIG. 6  so as to pass the location of the first scheduled action P 1 , the first scheduled action P 1  is cleared from the first display device  24  and the second display device  26 . 
     Operation 
     Explanation follows regarding operation of the present exemplary embodiment. 
     Display Processing 
     Explanation follows regarding an example of the display processing to display scheduled actions of the vehicle  12  based on a running plan, with reference to the flowchart illustrated in  FIG. 7 . The display processing is executed by the CPU  30  reading a display program from the ROM  32  or the storage  36  and expanding and executing the display program in the RAM  34 . 
     As illustrated in  FIG. 7 , at step S 102 , the CPU  30  determines whether or not a destination has been set. The destination may be input to the vehicle  12  directly by an occupant, or may be input indirectly using a portable terminal or the like. 
     In cases in which the CPU  30  determines that the destination has been set at step S 102 , processing transitions to step S 104 . In cases in which the CPU  30  determines that the destination has not been set at step S 102 , the display processing is ended. 
     At step S 104 , the CPU  30  sets a running plan of the vehicle  12 . To explain this in more detail, the CPU  30  uses the functionality of the running plan setting section  52  to set a running plan from the current location to the destination. Information relating to traffic conditions, accidents, and the like may be acquired and reflected when setting the running plan. Moreover, the running plan may be set so as to include a large degree of autonomous driving according to preferences of an occupant that have been input in advance. 
     At step S 106 , the CPU  30  displays scheduled actions on the first display device  24 . To explain this in more detail, the CPU  30  uses the functionality of the first display instruction section  56  to display scheduled actions of the vehicle  12  on the first display device  24  based on the running plan. As illustrated in  FIG. 4B  as an example, the CPU  30  displays three scheduled actions, these being the first scheduled action P 1 , the second scheduled action P 2 , and the third scheduled action P 3 , in the right end part of the display region of the first display device  24 . 
     As illustrated in  FIG. 7 , at step S 108 , the CPU  30  determines whether or not there is no scheduled action within a prescribed distance L. The distance L is set to 1000 m as an example, and so at step S 108  the CPU  30  determines whether or not there is no scheduled action within 1000 m. In cases in which there is no scheduled action within 1000 m, the CPU  30  transitions to the processing of step S 110 . In cases in which there is a scheduled action within 1000 m, the CPU  30  transitions to the processing of step S 112 . 
     At step S 110 , the CPU  30  performs standard display of only the most imminent scheduled action on the second display device  26 . To explain this in more detail, the CPU  30  uses the functionality of the second display instruction section  58  to display on the second display device  26  only the most imminent scheduled action out of the scheduled actions displayed on the first display device  24 . Note that the standard display referred to here is a display format that is not emphatic display, and refers to a state such as that illustrated in  FIG. 4A , in which only the first scheduled action P 1  is displayed on the second display device  26 , using the standard display. 
     In cases in which there is a scheduled action within 1000 m, the CPU  30  transitions to the processing of step S 112 . At step S 112 , the CPU  30  determines whether or not there are plural scheduled actions within 1000 m. In cases in which there are plural scheduled actions within 1000 m amongst the scheduled actions displayed on the first display device  24 , the CPU  30  transitions to the processing of step S 116 . In cases in which there is only one scheduled action within 1000 m, the CPU  30  transitions to the processing of step S 114 . 
     In cases in which there is only one scheduled action within 1000 m, at step S 114 , the CPU  30  emphatically displays this scheduled action on the second display device  26 . To explain this in more detail, as illustrated in  FIG. 5A , the CPU  30  uses the functionality of the second display instruction section  58  and the emphatic display section  60  to enlarge the display of the first scheduled action P 1  on the second display device  26 . 
     In cases in which there are plural scheduled actions within 1000 m, at step S 116 , the CPU  30  emphatically displays the most imminent scheduled action, and performs standard display of the other scheduled actions. To explain this in more detail, as illustrated in  FIG. 6A , the CPU  30  uses the functionality of the second display instruction section  58  and the emphatic display section  60  to enlarge the display of the first scheduled action P 1  on the second display device  26 . The CPU  30  also performs standard display of the second scheduled action P 2  above the first scheduled action P 1  on the second display device  26 . The second scheduled action P 2  is thereby displayed in a smaller size than the first scheduled action P 1 . 
     As illustrated in  FIG. 7 , after the corresponding step S 110 , step S 114 , or step S 116 , the CPU  30  transitions to the processing of step S 118 . At step S 118 , the CPU  30  determines whether or not the vehicle  12  has passed the location of the relevant scheduled action. To explain this in more detail, the CPU  30  determines whether or not the vehicle  12  has passed the location of the relevant scheduled action based on a relationship between the position of the device-installed vehicle as identified by the GPS device and the location of the scheduled action as set in map data based on the running plan. In cases in which determination is made that the vehicle  12  has passed the location of the scheduled action, the CPU  30  transitions to the processing of step S 120 . In cases in which determination is made that the vehicle  12  has not passed the location of the scheduled action at step S 118 , namely, in cases in which determination is made that the location of the scheduled action has not yet been reached, the CPU  30  returns to the processing of step S 108 . 
     At step S 120 , the CPU  30  clears the corresponding scheduled action from the first display device  24  and the second display device  26  and ends the display processing. To explain this in more detail, when the location of the scheduled action has been passed, the CPU  30  clears display of the scheduled action from the first display device  24  and the second display device  26 . For example, in cases in which the vehicle  12  has run approximately 400 m or more from the state in  FIG. 6A  and  FIG. 6B , display of the first scheduled action P 1  is cleared from the first display device  24  and the second display device  26 . 
     When this is performed, since the first scheduled action P 1  has been cleared from the first display device  24 , the second scheduled action P 2  is displayed at the bottom, and the third scheduled action P 3  is displayed above the second scheduled action P 2 . The functionality of the first display instruction section  56  is used to display a scheduled action following on from the third scheduled action P 3  above the third scheduled action P 3 . 
     Since the first scheduled action P 1  is cleared from the second display device  26 , the second scheduled action P 2  is displayed at the bottom. Moreover, since the distance to the second scheduled action P 2  is within 1000 m, the functionality of the emphatic display section  60  is used to enlarge the display of the second scheduled action P 2 . Note that since the distance to the third scheduled action P 3  is greater than 1000 m, the third scheduled action P 3  is not displayed on the second display device  26 . 
     As described above, in the vehicle display device  10  according to the present exemplary embodiment, scheduled actions of the vehicle are displayed on the first display device  24  based on the set running plan. This enables the occupant to ascertain the running plan by looking at the first display device  24 . 
     Moreover, of the scheduled actions displayed on the first display device  24 , a scheduled action for which at least one out of the distance or the time interval to the action has reached a prescribed value or less (within 1000 m in this case) is displayed on the second display device  26 . This enables the occupant to check just impending scheduled actions of the vehicle by looking at the second display device  26 . This enables the occupant to rapidly ascertain the scheduled actions of the vehicle. 
     Furthermore, in the present exemplary embodiment, impending scheduled actions of the vehicle  12  are displayed by being projected by the second display device  26  on the projection surface located above the first display device  24  in the vehicle. This enables the occupant to check the impending scheduled actions of the vehicle  12  without greatly altering their gaze while driving. Namely, the occupant is able to easily ascertain the impending scheduled actions of the vehicle. 
     Furthermore, in the present exemplary embodiment, the occupant is able to ascertain the most imminent scheduled action by looking at the content that is emphatically displayed. Namely, this enables the occupant to check information regarding the most imminent scheduled action in an intuitive manner. 
     Moreover, in the present exemplary embodiment, in addition to displaying the distance of the vehicle  12  from the action and the scheduled running path of the vehicle, whether the action is to be performed manually by the driver or whether the action is to be performed by autonomous driving is also displayed for the scheduled action. This enables the occupant to ascertain at a glance whether or not they will need to perform driving themselves. Namely, in the vehicle  12  that is configured so as to be capable of switching between autonomous driving and manual driving, the occupant is not left uncertain as to whether or not they will need to perform driving themselves. 
     Furthermore, in the present exemplary embodiment, clearing completed scheduled actions from the second display device  26  enables the amount of information displayed on the second display device  26  to be kept to the minimum required. This enables the amount of information displayed on the second display device  26  to be reduced compared to cases in which completed scheduled actions are not cleared for a specific duration. This eliminates the need for the occupant to spend a long time looking at the second display device  26 . 
     A vehicle display device and program according to an exemplary embodiment have been explained above. However, various modifications may be implemented within a range not departing from the spirit of the present disclosure. For example, in the above exemplary embodiment the first display device  24  is provided to the instrument panel  14  so as to be at the vehicle front side of the driving seat, and the second display device  26  is configured by the head up display device  44  that projects onto the projection surface. However, there is no limitation thereto. Namely, the first display device may be a central display provided at a vehicle width direction central portion of the instrument panel  14 . A projection surface projected onto by the second display device may be provided on the instrument panel  14  so as to be at the vehicle front side of the steering wheel  16 . 
     Moreover, in the above exemplary embodiment, the second display instruction section  58  performs display on the second display device  26  in cases in which the distance to a scheduled action has come to within 1000 m. However, there is no limitation thereto. For example, the second display instruction section  58  may perform display on the second display device  26  in cases in which the distance to a scheduled action has come to within 1500 m, or may perform display on the second display device  26  in cases in which the distance to a scheduled action has come to within 500 m. Alternatively, for example, the second display instruction section  58  may perform display on the second display device  26  in cases in which the time interval to a scheduled action is less than a prescribed duration. In such cases, the time interval to the scheduled action may be computed based on the speed of the vehicle  12  and the distance to the scheduled action, and this time interval may be displayed on the first display device  24  and the second display device  26 . Furthermore, threshold values may be set for both the distance and the time interval to a scheduled action, and the second display instruction section  58  may display the scheduled action on the second display device  26  in cases in which either the distance or the time interval has reached the corresponding threshold value or less. 
     Furthermore, in the above exemplary embodiment, the emphatic display section  60  performs emphatic display by making the display larger than normal. However, there is no limitation thereto, and emphatic display may be performed by another method. For example, emphatic display may be performed by changing the color and tone. Alternatively, emphatic display may be performed by a method such as flashing or increasing the brightness of a section where the scheduled action is displayed. 
     Furthermore, in the above exemplary embodiment, three items of information, these being the distance to the action of the vehicle  12 , the scheduled running path of the vehicle, and the driving category, are displayed for each scheduled action. However, there is no limitation thereto. For example, information such as the speed limit may also be displayed. However, from the perspective of the ease of viewing of the display, display is preferably limited to only the three items of information mentioned above. Moreover, display of the scheduled running path is not limited to the graphic representations illustrated in  FIG. 4A  to  FIG. 6B , and display may be performed using other icons or the like. 
     Moreover, in the above exemplary embodiment, the second display instruction section  58  displays up to two impending scheduled actions on the second display device  26 . However, there is no limitation thereto. For example, the second display instruction section  58  may display three or more impending scheduled actions on the second display device  26 . 
     Note that the display processing executed by the CPU  30  reading and executing software (a program) in the above exemplary embodiment may be executed by various types of processor other than the CPU  30 . Such processors include programmable logic devices (PLD) that allow circuit configuration to be modified post-manufacture, such as a field-programmable gate array (FPGA), and dedicated electric circuits, these being processors including a circuit configuration custom-designed to execute specific processing, such as an application specific integrated circuit (ASIC). The display processing may be executed by any one of these various types of processor, or by a combination of two or more of the same type or different types of processor (such as plural FPGAs, or a combination of a CPU and an FPGA). The hardware structure of these various types of processors is more specifically an electric circuit combining circuit elements such as semiconductor elements. 
     Furthermore, in the above exemplary embodiment, the various data is stored in the storage  36 . However, there is no limitation thereto. A non-transitory recording medium such a compact disc (CD), a digital versatile disc (DVD), or universal serial bus (USB) memory may serve as a storage section. In such cases, the various programs, data, and so on are held in the non-transitory recording medium. 
     An object of the present disclosure is to obtain a vehicle display device, a vehicle display method and a non-transitory recording medium recording a vehicle display program therein that enable an occupant to rapidly ascertain a scheduled action of a vehicle. 
     A first aspect is a vehicle display device, that includes: a first display device provided inside a vehicle cabin; a second display device provided inside the vehicle cabin and separately from the first display device; a memory; and a processor connecting to the memory and being configured to: set a running plan of a vehicle, to display a scheduled action of the vehicle on the first display device based on the running plan, and to display the scheduled action on the second display device in a case in which at least one of a distance to, or a time interval until, the scheduled action has reached a prescribed value or less. 
     In the vehicle display device of the first aspect, the first display device is provided inside the vehicle cabin. The second display device is also provided inside the vehicle cabin, separately to the first display device. The vehicle display device sets the running plan of the vehicle, and displays the scheduled action of the vehicle on the first display device based on the running plan. This enables the occupant to ascertain the running plan by looking at the first display device. 
     The vehicle display device also displays the scheduled action on the second display device when at least one of the distance or the time interval to the action of this scheduled action has reached the prescribed value or less. This enables the occupant to check just impending scheduled actions of the vehicle by looking at the second display device. 
     A second aspect is the vehicle display device of the first aspect, wherein: the first display device is provided at an instrument panel, at a vehicle front side of a driving seat; and the second display device is a heads-up display device configured to project onto a projection surface at a vehicle upper side of the first display device. 
     In the vehicle display device of the second aspect, an impending scheduled action of the vehicle is displayed on the projection surface at the vehicle upper side of the first display device. This enables the occupant to check the impending scheduled action of the vehicle without greatly altering their gaze while driving. 
     A third aspect is the vehicle display device of the first or the second aspect, wherein, in a case in which a plurality of scheduled actions are displayed on the second display device, the earliest of the scheduled actions is displayed more emphatically than another of the scheduled actions. 
     In the vehicle display device of the third aspect, the occupant is able to ascertain the most imminent scheduled action by looking at the content that is emphatically displayed. 
     A fourth aspect is the vehicle display device of any one of the first to the third aspects, wherein: the vehicle is switchable between autonomous driving and manual driving; and with the scheduled action, whether the scheduled action is to be manually performed by a driver or to be performed by autonomous driving is displayed, in addition to the distance to the scheduled action and a scheduled running path of the vehicle. 
     The vehicle display device of the fourth aspect displays the distance of the vehicle from the action and the scheduled running path of the vehicle. The vehicle display device also displays whether the action is to be performed manually by the driver or whether the action is to be performed by autonomous driving. This enables the occupant to ascertain at a glance whether or not they will need to perform driving themselves. Note that “an action to be performed manually by the driver” is a concept not limited to cases in which a switch is made to full manual driving, and more broadly includes cases in which certain elements of a driving operation are performed manually during autonomous driving. For example, this includes cases in which actions relating only to lane changing, turning onto a different road, and merging are performed manually. 
     A fifth aspect is the vehicle display device of any one of the first to the fourth aspects, wherein the scheduled action is cleared from the second display device in a case in which a location or a timing of the scheduled action has been passed. 
     In the vehicle display device of the fifth aspect, clearing completed scheduled actions from the second display device enables the amount of information displayed on the second display device to be kept to the minimum required. 
     A sixth aspect is a non-transitory recording medium that records a program that is executable by a computer to perform processing, the processing including: setting a running plan of a vehicle; displaying a scheduled action of the vehicle on a first display device provided inside a vehicle cabin based on the running plan; and displaying the scheduled action on a second display device provided inside the vehicle cabin and separately from the first display device in a case in which at least one of a distance to, or a time interval until, the scheduled action has reached a prescribed value or less. 
     In the program of the sixth aspect, the scheduled action of the vehicle is displayed on the first display device based on the set running plan. Of the scheduled actions displayed on the first display device, a scheduled action for which at least one of the distance or the time interval to the action has reached a prescribed value or less is displayed on the second display device. This enables display of only impending scheduled actions of the vehicle on the second display device. 
     The vehicle display device of the first aspect enables an occupant to rapidly ascertain a scheduled action of the vehicle. 
     The vehicle display device of the second aspect enables the occupant to easily ascertain impending scheduled actions of the vehicle. 
     The vehicle display device of the third aspect enables the occupant to check information regarding the most imminent scheduled action in an intuitive manner. 
     The vehicle display device of the fourth aspect enables the occupant not to be left uncertain as to whether or not they will need to perform driving themselves in a vehicle configured so as to be capable of switching between autonomous driving and manual driving. 
     The vehicle display device of the fifth aspect enables the amount of information displayed on the second display device to be reduced compared to cases in which completed scheduled actions are not cleared for a specific duration. 
     The program of the sixth aspect enables an occupant to rapidly ascertain a scheduled action of the vehicle.