Patent Description:
Patent Application Laid-Open (<CIT> recites a display device for a vehicle that, when a lane change is conducted by autonomous driving (driving control) of the vehicle, displays information relating to the lane change.

This display device for a vehicle displays an image of an arrow or the like showing a direction from a lane in which the vehicle is running to a lane of the intended change. The display device for a vehicle displays the image of the arrow in different forms in states before and after the lane change is started. Thus, a vehicle occupant may be aware of the lane change destination lane, the state before the lane change starts and the state after the lane change starts.

However, with the technology recited in <CIT>, a vehicle occupant may not be aware of whether or not the vehicle can perceive conditions of the lane change destination lane. As a result, the vehicle occupant may feel unsafe during the lane change. The document <CIT> is considered to be the closest prior-art document.

In consideration of the matter described above, the present invention is to provide a display device for a vehicle, according to claim <NUM>, a display method, according to independent claim <NUM>, and a non-transitory storage medium storing a program executable by a computer, according to independent claim <NUM>, that may provide a sense of safety to a vehicle occupant when a lane change is conducted by autonomous driving of the vehicle. The dependent claims define further optional features.

A display device for a vehicle according to the present invention includes: a display section provided in a cabin of a vehicle that is capable of autonomous driving; and a control section that, before conducting a lane change by autonomous driving from a first lane in which the vehicle is running to a second lane that is distinct from the first lane, causes the display section to display a lane display corresponding to the first lane and the second lane and a confirmation display relating to confirmation of a condition of the second lane.

In the display device for a vehicle according to the invention, the display section is provided in the vehicle cabin. The display device for a vehicle also includes the control section. Before the vehicle changes lane by autonomous driving from a first lane in which the vehicle is running to a second lane that is distinct from the first lane, the control section causes the display unit to display the lane display corresponding to the first lane and the second lane. Therefore, by looking at the display section, a vehicle occupant may identify the second lane that is the lane change destination.

The control section causes the display section to display the confirmation display relating to confirmation of the condition of the second lane. Therefore, by seeing the display unit, the vehicle occupant may understand that the condition of the second lane has been confirmed by the vehicle before the lane change. Thus, the vehicle occupant may be provided with a sense of safety.

The meaning of the term "autonomous driving" as used herein is intended to include a running mode of the vehicle in which some or all of operations of acceleration, braking, direction indication, steering and the like are conducted autonomously.

In the display device for a vehicle according to the present invention, the control section may cause the display section to display the confirmation display regardless of whether or not another vehicle that is distinct from the vehicle is present in the second lane.

Therefore, by seeing the display unit, the vehicle occupant may understand that the condition of the second lane has been confirmed, regardless of a state of congestion of the road. Thus, the vehicle occupant may be provided with an even greater sense of safety.

In the display device for a vehicle according to the present invention, the control section causes the display section to display a second confirmation display as the confirmation display, the second confirmation display depicting a goal position of the vehicle after the lane change.

In the display device for a vehicle according to the invention, by seeing the second confirmation display, the vehicle occupant can understand that the vehicle has confirmed the goal position after the lane change. Thus, the vehicle occupant can be provided with a sense of safety.

In the display device for a vehicle according to the present invention, the control section may cause the display section to display a first confirmation display as the confirmation display before the second confirmation display, the first confirmation display depicting a start of acquisition of vicinity information including the condition of the second lane.

Therefore, by seeing the first confirmation display, the vehicle occupant may understand that the vehicle is acquiring vicinity information before the lane change, and be provided with a sense of safety and, by looking at the display section, the vehicle occupant may understand the progress of the vehicle in deciding the goal position while checking the condition of the lane change destination lane.

In the display device for a vehicle according to the present invention, , after the first confirmation display is displayed, the control section may acquire a determination result from an autonomous driving control section that determines whether or not a goal position is available based on the vicinity information, and when a determination result that a goal position is available is acquired, may cause the display section to display the second confirmation display based on the determination result.

Thus, the second confirmation display may be displayed when the goal position has been decided on the basis of the vicinity information. Therefore, in this display device for a vehicle, the display of the first confirmation display followed by the display of the second confirmation display at the display section may reliably reflect control steps relating to autonomous driving.

In the display device for a vehicle according to the present invention, the control section causes the display section to display another vehicle display superposed with the lane display, the other vehicle display corresponding to another vehicle that is distinct from the vehicle in the second lane, and the second confirmation display being displayed at a position that does not overlap with a front side or a rear side of the other vehicle display.

Thus, the other vehicle display corresponding to another vehicle in the second lane is displayed at the display unit, superposed on the lane display. The second confirmation display is displayed at a position that does not overlap with the front side or rear side of the other vehicle display. Therefore, by looking at the display section, the vehicle occupant can understand that the goal position after the lane change has been confirmed by the vehicle with consideration for the presence of other vehicles. Thus, the vehicle occupant can be provided with a sense of safety.

In the display device for a vehicle according to the present, the control section causes the display section to display a third confirmation display as the confirmation display, the third confirmation display depicting that the lane change to the goal position is possible.

Thus, by seeing the third confirmation display, the vehicle occupant can understand that preparation for the lane change is ready at the vehicle side. Therefore, the vehicle occupant can be prepared for the lane change. Thus, the vehicle occupant can be provided with an even greater sense of safety before the lane change.

In the display device for a vehicle according to the present invention, the second confirmation display displayed at the display section is a line-shaped graphic extending in a road width direction on the lane display corresponding to the second lane, and the third confirmation display displayed at the display section is a quadrilateral area-shaped graphic with a predetermined size on the lane display corresponding to the second lane.

Consequently, the line-shaped graphic indicates the goal position after the lane change, and the area-shaped graphic indicates that the lane change is possible. Thus, a sense of presence of the confirmation display can be progressively strengthened by the change of display from the line-shaped graphic to the area-shaped graphic. Therefore, the vehicle occupant can intuitively understand the phased confirmation operations associated with the lane change. That is, when other vehicles are running in the lane change destination lane and distances between vehicles must be thoroughly assured before the lane change, the vehicle occupant may be advised, by the display of the third confirmation display as an area-shaped graphic, that a space into which the vehicle can conduct the lane change is available in the lane being changed to. Therefore, the vehicle occupant may intuitively understand the phased confirmation operations associated with the lane change.

In the display device for a vehicle according to the present invention, after the second confirmation display is displayed, the control section may cause the display section to display the third confirmation display depicting that the lane change to the goal position is possible.

Thus, the third confirmation display may be displayed after the second confirmation display. Therefore, by looking at the display section, the vehicle occupant may understand the progress of the vehicle in confirming the possibility of the lane change to the goal position while checking the condition of the lane change destination lane.

In the display device for a vehicle according to the present invention, after the second confirmation display is displayed, the control section may acquire a determination result from an autonomous driving control section that determines whether or not the lane change to the goal position is possible, and when a determination result that the lane change to the goal position is possible is acquired, may cause the display section to display the third confirmation display based on the determination result.

Thus, the third confirmation display may be displayed when the determination result indicating that the lane change to the destination location is possible is acquired by the autonomous driving control section. Therefore, in this display device for a vehicle, the display of the second confirmation display followed by the display of the third confirmation display at the display section may reliably reflect control steps relating to autonomous driving.

In the display device for a vehicle according to the present invention, the control section may cause the display section to delete the confirmation display and display an execution display when the vehicle is conducting the lane change to the second lane, the execution display depicting the vehicle conducting the lane change to the second lane.

Therefore, by seeing the execution display, the vehicle occupant may understand that the lane change is being conducted. Thus, according to the display device for a vehicle, the vehicle occupant may understand the phases of confirmation of vicinity conditions by the vehicle and execution of the lane change that are associated with the lane change of the vehicle, and the vehicle occupant may understand control of the vehicle associated with the lane change in more detail. Thus, the vehicle occupant may be provided with a sense of safety.

In the display device for a vehicle according to the present invention, the display section may be at least one of an instrument display of an instrument display apparatus provided at an instrument panel to the vehicle front of a driver seat or a projection screen at the vehicle upper side of the instrument display, which projection screen is projected onto by a head-up display device.

Thus, because the display section may be the instrument display provided to the vehicle front of the driver seat, the projection screen at the vehicle upper side of the instrument cluster, or the like, an occupant of the driver seat may check the display unit without greatly moving their eyeline. Therefore, because both a vista to the vehicle front side and control of the vehicle associated with the lane change may be checked easily, the vehicle occupant may be provided with an even greater sense of safety.

According to the present invention, a vehicle occupant may be provided with a sense of safety when a lane change is conducted by autonomous driving of a vehicle.

A display device for a vehicle <NUM> according to an exemplary embodiment is employed in a vehicle <NUM>, which is described with reference to the drawings. As an example, the vehicle <NUM> according to the present exemplary embodiment is configured to be switchable between autonomous driving and manual driving. The meaning of the term "autonomous driving" as used herein is intended to include a running mode of the vehicle in which some or all of operations of acceleration, braking, direction indication, steering and the like are conducted autonomously. The meaning of the term "manual driving" is intended to include a running mode of the vehicle in which a driver executes all driving operations (operations of acceleration, braking, direction indication, steering and the like). As shown in <FIG>, an instrument panel <NUM> is provided at a front portion of a cabin interior of the vehicle <NUM>.

The instrument panel <NUM> extends in the vehicle width direction, and a steering wheel <NUM> is provided at the vehicle right side of the instrument panel <NUM>. That is, the present exemplary embodiment is an example of a right-hand drive car in which the steering wheel <NUM> is provided at the right side and a driver seat is set at the vehicle right side.

A windshield glass <NUM> is provided at a front end portion of the instrument panel <NUM>. The windshield glass <NUM> extends in the vehicle vertical direction and the vehicle width direction, dividing the cabin interior from the cabin exterior.

A vehicle right side end portion of the windshield glass <NUM> is fixed to a vehicle right side front pillar <NUM>. The front pillar <NUM> extends in the vehicle vertical direction, and the windshield glass <NUM> is fixed to a vehicle width direction inner side end portion of the front pillar <NUM>. A front end portion of a front side glass <NUM> is fixed to a vehicle width direction outer side end portion of the front pillar <NUM>. A vehicle left side end portion of the windshield glass <NUM> is fixed to a vehicle left side front pillar, which is not shown in the drawings.

A first display unit <NUM> that serves as a display section is provided at the instrument panel <NUM>. The first display unit <NUM> is constituted by an instrument display provided at the instrument panel <NUM> to the vehicle front of the driver seat. The instrument display structures a portion of an instrument display apparatus, which is not shown in the drawings, connected to various instruments installed in the vehicle <NUM>. The first display unit <NUM> is provided at a location within a field of view of the driver in the state in which the eyeline of the driver is oriented to the vehicle front.

A second display unit <NUM> is provided at the windshield glass <NUM>. The second display unit <NUM> is provided at the vehicle upper side relative to the first display unit <NUM>. The second display unit <NUM> is constituted by a projection screen that is projected onto by a head-up display (HUD) device <NUM> (see <FIG>). Specifically, the head-up display device <NUM> is provided at the vehicle front side relative to the instrument panel <NUM>, and the head-up display device <NUM> is structured to project images onto the second display unit <NUM> of the windshield glass <NUM>.

An electronic control unit (ECU) <NUM> that serves as a control section is provided at the vehicle <NUM>. <FIG> is a block diagram showing hardware structures of the display device for a vehicle <NUM>. As shown in <FIG>, the ECU <NUM> of the display device for a vehicle <NUM> includes a central processing unit (CPU) <NUM>, read-only memory (ROM) <NUM>, random access memory (RAM) <NUM>, storage <NUM>, a communications interface <NUM> and an input/output interface <NUM>. These structures are connected to be capable of communicating with one another via a bus <NUM>. The CPU <NUM> is an example of a processor, and the RAM <NUM> is an example of memory.

The CPU <NUM> is a central arithmetic processing unit that executes various programs and controls respective parts. That is, the CPU <NUM> reads a program from the ROM <NUM> or the storage <NUM>, and executes the program using the RAM <NUM> as a workspace. The CPU <NUM> performs control of the structures described above and various kinds of computational processing in accordance with programs recorded in the ROM <NUM> or the storage <NUM>.

The ROM <NUM> stores various programs and various kinds of data. The RAM <NUM> serves as a workspace, temporarily memorizing programs and data. The storage <NUM> includes a hard disk drive (HDD) or solid state drive (SSD). The storage <NUM> stores various programs, including an operating system, and various kinds of data. In the present exemplary embodiment, the ROM <NUM> or the storage <NUM> stores a program for implementing display processing, and various kinds of data and the like.

The communications interface <NUM> is an interface for the display device for a vehicle <NUM> to communicate with a server and other equipment, which are not shown in the drawings. The communications interface <NUM> employs a standard such as, for example, Ethernet (registered trademark), LTE, FDDI, Wi-Fi (registered trademark) or the like.

The input/output interface <NUM> is connected with the first display unit <NUM>, the head-up display device <NUM> that projects images onto the second display unit <NUM>, and actuators <NUM>. The actuators <NUM> include a steering actuator, an accelerator actuator and a brake actuator. The steering actuator conducts steering of the vehicle <NUM>. The accelerator actuator conducts acceleration of the vehicle <NUM>. The brake actuator conducts deceleration of the vehicle <NUM> by controlling a brake. Sensors, a GPS device and the like for allowing autonomous driving of the vehicle <NUM>, which are not shown in the drawings, are connected to the input/output interface <NUM>.

The display device for a vehicle <NUM> uses the hardware resources described above to realize various functions. The functional structures realized by the display device for a vehicle <NUM> are described with reference to <FIG>.

As shown in <FIG>, the display device for a vehicle <NUM> includes, as functional structures, a communication section <NUM>, an acquisition section <NUM>, a driving plan specification section <NUM>, an autonomous driving control section <NUM>, an image generation section <NUM>, a display command section <NUM> and a display emphasis section <NUM>. These functional structures are realized by the CPU <NUM> reading and executing a program memorized in the ROM <NUM> or the storage <NUM>.

The communication section <NUM> sends and receives data to and from the external server and other equipment via the communications interface <NUM>. For example, the communication section <NUM> sends and receives data such as map data, traffic data and the like stored in a server. The communication section <NUM> is also configured to conduct vehicle-to-vehicle communications with vehicles in the vicinity.

Via the input/output interface <NUM>, the acquisition section <NUM> acquires a running environment of the vehicle <NUM> that serves as vicinity information from external sensors, which are not shown in the drawings. The external sensors include cameras that image predetermined ranges, millimeter-wave radar that transmits probing waves in a predetermined range, and lidar (light detection and ranging/laser imaging detection and ranging) that scans a predetermined range. The vicinity information includes, for example, a width of a road on which the vehicle <NUM> is running, other vehicles running near the vehicle <NUM>, obstacles and so forth.

The driving plan specification section <NUM> specifies a driving plan of the vehicle <NUM>. More specifically, a destination location is entered by a vehicle occupant and the driving plan specification section <NUM> specifies a driving plan from a current location to the destination location.

The autonomous driving control section <NUM> causes autonomous driving of the vehicle <NUM> in accordance with the specified driving plan, taking account of position information and environment information of the vicinity of the vehicle <NUM>. More specifically, the vehicle <NUM> is autonomously driven by control of the actuators <NUM>.

The image generation section <NUM> generates images for display at the first display unit <NUM>. In the present exemplary embodiment in particular, the image generation section <NUM> displays confirmation displays at the first display unit <NUM> when a lane change of the vehicle <NUM> is to be conducted by autonomous driving in accordance with the driving plan specified by the driving plan specification section <NUM>. The confirmation displays are displays relating to confirmation of conditions in a lane change destination lane. The confirmation displays include a first confirmation display P1, a second confirmation display P2 and a third confirmation display P3, which are described below.

The display command section <NUM> includes a function for displaying images generated by the image generation section <NUM> at the first display unit <NUM>, and a function for deleting images displayed at the first display unit <NUM>. Below, functions of the image generation section <NUM> and display command section <NUM> are described with reference to <FIG>.

As shown in <FIG>, lane displays L relating to the shape of a road and lane information, a present vehicle display V1, and other vehicle displays V2 and V3 are displayed at a central portion of a display region of the first display unit <NUM>. The lane displays L are images representing a lane in which the present vehicle is running and lanes to which the present vehicle may change from the lane in which the present vehicle is running. The present vehicle display V1 is an image representing the present vehicle. The other vehicle displays V2 and V3 are images representing vehicles running in the vicinity of the present vehicle, which are other vehicles distinct from the present vehicle. Looking at the display example in <FIG>, it can be seen from the lane displays L, the present vehicle display V1 and the other vehicle displays V2 and V3 that the present vehicle is running along the central lane of three running lanes. It can also be seen that the other vehicles are running diagonally forward-right of the present vehicle and in front of the present vehicle. The lane displays L, the present vehicle display V1 and the other vehicle displays V2 and V3 are respectively displayed on the basis of information detected from any or a combination of the GPS device, map data, and the various sensors installed in the vehicle <NUM>. For example, the position of the present vehicle may be detected by the GPS device installed in the vehicle <NUM>. As sensors that detect the vicinity vehicles, sensors such as stereo cameras, an ultrasonic sensor, the millimeter-wave radar, laser radar and the like may be used in combination. Alternatively, the position of the present vehicle and the positions of vehicles in the vicinity may be identified by vehicle-to-vehicle communications with the vehicles in the vicinity.

An intended running route R of the present vehicle is displayed superposed with the lane displays L at the central portion of the display region of the first display unit <NUM>. The intended running route R is an image schematically showing a route of the vehicle <NUM> that is predicted on the basis of the driving plan specified by the driving plan specification section <NUM>. The intended running route R is shown as, for example, a belt-shaped graphic extending along the lane displays L. Plural dots are displayed in perspective, disposed at equally spaced positions on the route.

Now, confirmation displays that are displayed before a lane change of the vehicle <NUM> is conducted by autonomous driving are described in specific terms with reference to <FIG>. As an example, these drawings illustrate a situation in which the present vehicle conducts a lane change from the central lane of the three running lanes to the right side lane. In the present exemplary embodiment, as examples of the confirmation displays, the first confirmation display P1, second confirmation display P2 and third confirmation display P3 are displayed.

In <FIG>, when a lane change of the vehicle <NUM> is intended, the first confirmation display P1 of the vehicle <NUM> is displayed by the image generation section <NUM>. The first confirmation display P1 is a display depicting that the vehicle <NUM> has started to acquire vicinity information, including conditions in the lane change destination lane (in <FIG>, the right side lane). The first confirmation display P1 is displayed superposed on the corresponding lane display L between the central lane in which the vehicle <NUM> is running and the right side lane. The first confirmation display P1 is an image representing a wave pattern spreading radially toward the right side lane from the present vehicle display V1 in the central lane. The first confirmation display P1 depicts that vicinity information to the right side relative to the present vehicle is being acquired, focusing on conditions in the right side lane. With a view to showing the direction of the lane change clearly, the first confirmation display P1 is preferably an animation moving from the present vehicle display V1 toward the right side lane, but may be a still image.

In <FIG> and <FIG>, the second confirmation display P2 of the vehicle <NUM> is displayed by the image generation section <NUM>. The second confirmation display P2 displays a goal position of the vehicle <NUM> after the lane change. The goal position after the lane change is computed by the autonomous driving control section <NUM> on the basis of the vicinity information acquired by the acquisition section <NUM>. On the basis of information from the acquisition section <NUM> and the autonomous driving control section <NUM>, the image generation section <NUM> displays the second confirmation display P2 at a corresponding position of the display region of the first display unit <NUM>.

The second confirmation display P2 is displayed superposed with the lane displays L corresponding to the lane change destination lane. The second confirmation display P2 is an image of a line-shaped graphic extending in the road width direction of the lane change destination lane. Respective triangular shapes emphasizing length direction end portions of the line-shaped graphic are disposed at both ends of the line-shaped graphic. When another vehicle is running in the lane change destination lane, the second confirmation display P2 is displayed at a position that does not overlap with the other vehicle display corresponding to the another vehicle. Looking at the display example in <FIG> and <FIG>, the goal position after the lane change is at the rear side of the another vehicle running in the right side lane diagonally forward-right of the present vehicle. The second confirmation display P2 is displayed at the rear side of the other vehicle display V3, at a position that does not overlap with the other vehicle display V3. If the other vehicle display V3 is relatively moving away from (or approaching) the present vehicle display V1, the second confirmation display P2 is displayed so as to move in accordance with movement of the other vehicle display V3. Because of this specification, even when the lane change destination lane is crowded, relationships between other vehicles running near the present vehicle and the goal position after the lane change may be displayed in a form that is easy to understand. In the display example shown in <FIG> and <FIG>, the second confirmation display P2 is displayed at the rear side of the other vehicle display V3, but this is not limiting. The second confirmation display may be displayed at the front side of the other vehicle display V3. The first confirmation display P1 is deleted when the second confirmation display P2 is displayed at the first display unit <NUM>.

In <FIG>, the third confirmation display P3 of the vehicle <NUM> is displayed by the image generation section <NUM>. The third confirmation display P3 depicts that the lane change to the goal position after the lane change is possible. A determination as to whether the lane change to the goal position is possible or not is made by the autonomous driving control section <NUM>. The third confirmation display P3 is a quadrilateral area-shaped image whose longest direction is in the direction of extension of the lane. The third confirmation display P3 is displayed in a form with a predetermined area in line with the lane displays L. Thus, the third confirmation display P3 has greater presence in the first display unit <NUM> than the second confirmation display P2. Therefore, a vehicle occupant can easily understand visually that phased confirmation operations associated with the lane change are progressing. Looking at <FIG>, the quadrilateral third confirmation display P3 is displayed at the rear side of the other vehicle display V3 with a size corresponding to a single vehicle display. Therefore, a vehicle occupant may instinctively verify that space for the present vehicle to run in is assured at the rear side of the another vehicle running in the right side lane. The second confirmation display P2 is deleted when the third confirmation display P3 is displayed at the first display unit <NUM>.

As described above, before the vehicle <NUM> changes lane, the first confirmation display P1, second confirmation display P2 and third confirmation display P3 are displayed in the first display unit <NUM>. These displays show to a vehicle occupant that confirmation of conditions in the lane change destination lane proceeds in steps through three phases: "starting confirmation", "confirming a goal position" and "confirmation that distances from other vehicles are assured at the goal position".

In <FIG>, the intended running route R is displayed by the image generation section <NUM>, showing a running route from the lane in which the present vehicle is running to the lane change destination lane. This intended running route R is equivalent to an "execution display" of the present disclosure. Looking at <FIG>, the intended running route R curves from the middle lane to the right side lane. Thus, the lane change of the present vehicle from the middle lane to the right side lane can be seen. All the confirmation displays are deleted when the intended running route R is displayed at the first display unit <NUM>.

Now, operation of the present exemplary embodiment is described.

An example of display processing for displaying a lane change of the vehicle <NUM> in accordance with a driving plan is described using the flowchart shown in <FIG>. This display processing is implemented by the CPU <NUM> reading a display program from the ROM <NUM> or storage <NUM>, loading the display program into the RAM <NUM>, and executing the program.

As shown in <FIG>, in step S100, the CPU <NUM> makes a determination as to whether a destination location is specified. A destination location may be entered into the vehicle <NUM> directly by a vehicle occupant, and may be entered indirectly via a portable terminal or the like.

When the CPU <NUM> determines in step S100 that a destination location has been specified, the CPU <NUM> proceeds to the processing of step S110. Alternatively, when the CPU <NUM> determines in step S100 that a destination location has not been specified, the CPU <NUM> ends the display processing.

In step S110, the CPU <NUM> specifies a driving plan of the vehicle <NUM>. More specifically, by the functioning of the driving plan specification section <NUM>, the CPU <NUM> specifies a driving plan from the current location to the destination location. While specifying the driving plan, the CPU <NUM> may acquire and incorporate information relating to traffic conditions and accidents. The driving plan may also be specified such that more of the driving is autonomous, depending on preferences of a vehicle occupant that are entered beforehand.

In step S120, the CPU <NUM> makes a determination as to whether a lane change is to be conducted. More specifically, by the functioning of the driving plan specification section <NUM>, the CPU <NUM> makes a determination as to whether the vehicle <NUM> has passed a location at which a distance to a lane change target location is less than a predetermined distance.

When the CPU <NUM> determines in step S120 that there is to be a lane change, the CPU <NUM> proceeds to the processing of step S130. Alternatively, when the CPU <NUM> determines in step S120 that there is to be no lane change, the CPU <NUM> returns to step S120 and repeats the processing thereof.

In step S130, the CPU <NUM> executes lane change display processing and displays various displays relating to the lane change at the first display unit <NUM>. The lane change display processing is executed regardless of whether or not another vehicle is present in the lane change destination lane. Details of the lane change display processing are described below.

In step S140, the CPU <NUM> makes a determination as to whether all lane changes have been completed. More specifically, the CPU <NUM> makes a determination as to whether the lane changes are complete on the basis of the functioning of the autonomous driving control section <NUM>.

When the CPU <NUM> determines in step S140 that the lane changes are complete, the CPU <NUM> ends the display processing. Alternatively, when the CPU <NUM> determines in step S140 that the lane changes are not complete, the CPU <NUM> returns to step S120 and repeats the processing.

Now, an example of the lane change display processing is described with reference to <FIG>. This lane change display processing is implemented by the CPU <NUM> reading the display program from the ROM <NUM> or storage <NUM>, loading the display program into the RAM <NUM>, and executing the program.

As shown in <FIG>, in step S201, the CPU <NUM> acquires vicinity information of the vehicle <NUM>. More specifically, by the functioning of the acquisition section <NUM>, the CPU <NUM> acquires information relating to the shape and width of the road on which the vehicle <NUM> is running, the presence or absence of a lane into which the vehicle <NUM> may conduct a lane change, the presence of other vehicles running near the vehicle <NUM>, and so forth.

In step S202, the CPU <NUM> displays the first confirmation display P1 at the first display unit <NUM>. More specifically, by the functioning of the image generation section <NUM> and the display command section <NUM>, the CPU <NUM> displays the present vehicle display V1, the other vehicle displays V2 and V3, and the first confirmation display P1 that is superposed on the lane displays L at the first display unit <NUM> as illustrated in <FIG>, showing conditions in the vicinity of the vehicle <NUM>.

In step S203, the CPU <NUM> makes a determination as to whether a goal position after the lane change of the vehicle <NUM> is available. More specifically, by the functioning of the acquisition section <NUM> and the autonomous driving control section <NUM>, the CPU <NUM> makes a determination as to whether a predetermined space is available in the lane change destination lane near the vehicle <NUM>.

When the CPU <NUM> determines in step S203 that a goal position is available, the CPU <NUM> proceeds to the processing of step S204. Alternatively, when the CPU <NUM> determines in step S203 that no goal position is available, the CPU <NUM> returns to step S201 and repeats the processing.

In step S204, the CPU <NUM> activates a timer, and then proceeds to the processing of step S205. In step S205, the CPU <NUM> displays the second confirmation display P2 at the first display unit <NUM>. More specifically, by the functioning of the image generation section <NUM> and the display command section <NUM>, the CPU <NUM> displays the second confirmation display P2 at a position corresponding with the goal position in the display region of the first display unit <NUM>. As shown in <FIG> and <FIG>, the CPU <NUM> deletes the first confirmation display P1 from the first display unit <NUM> and displays the second confirmation display P2 instead.

In step S206, the CPU <NUM> makes a determination as to whether the lane change of the vehicle <NUM> to the predetermined goal position is possible. More specifically, by the functioning of the acquisition section <NUM> and the autonomous driving control section <NUM>, the CPU <NUM> makes a determination on the basis of the vicinity information of the vehicle <NUM> as to whether sufficient space is available for the vehicle <NUM> to conduct the lane change to the predetermined goal position. The space for which the determination is made in step S206 is, for example, larger than a predetermined space for the determination in step S203, and is a space including at least an area corresponding to the single vehicle <NUM> in plan view.

When the CPU <NUM> determines in step S206 that the lane change is possible, the CPU <NUM> proceeds to the processing of step S208. Alternatively, when the CPU <NUM> determines in step S206 that the lane change is not possible, the CPU <NUM> proceeds to the processing of step S207.

In step S207, the CPU <NUM> makes a determination as to whether a predetermined duration has passed since the activation of the timer in step S204.

When the CPU <NUM> determines in step S207 that the predetermined duration has passed, the CPU <NUM> returns to step S203, specifies a new goal position and repeats the processing. When the CPU <NUM> determines in step S207 that the predetermined duration has not passed, the CPU <NUM> returns to step S205 and continues to display the second confirmation display P2 corresponding to the predetermined goal position at the first display unit <NUM>.

Alternatively, when the CPU <NUM> determines in step S206 that the lane change is possible and proceeds to step S208, the CPU <NUM> displays the third confirmation display P3 at the first display unit <NUM>. More specifically, by the functioning of the image generation section <NUM> and the display command section <NUM>, the CPU <NUM> deletes the second confirmation display P2 over the lane displays L and displays the third confirmation display P3 instead, as illustrated in <FIG>.

In step S209, the CPU <NUM> executes the lane change of the vehicle <NUM>. Then, the CPU <NUM> advances to the processing of step S210 and displays the execution display at the first display unit <NUM>. More specifically, as illustrated in <FIG>, the CPU <NUM> deletes the third confirmation display P3 from the first display unit <NUM> and displays the intended running route R that serves as the execution display. The CPU <NUM> completes the processing of step S210 and ends the lane change display processing.

As described above, in the display device for a vehicle <NUM> according to the present exemplary embodiment, before a lane change from a lane in which the vehicle <NUM> is running to another lane, the lane displays L corresponding to the lane in which the vehicle <NUM> is running and the lane change destination lane are displayed at the first display unit <NUM>. Therefore, by looking at the display section, a vehicle occupant may identify the second lane that is the lane change destination.

Confirmation displays (P1 to P3) relating to confirmation of conditions of the lane change destination lane are displayed at the first display unit <NUM>. Therefore, by looking at the first display unit <NUM>, the vehicle occupant may understand that conditions of the lane change destination lane have been confirmed by the vehicle <NUM> before the lane change. Thus, the vehicle occupant may be provided with a sense of safety.

In the present exemplary embodiment, the confirmation displays are displayed at the first display unit <NUM> regardless of whether or not other vehicles are present in the lane change destination lane. Therefore, by looking at the first display unit <NUM>, the vehicle occupant may understand that conditions of the lane change destination lane have been confirmed, regardless of a state of congestion of the road. Thus, the vehicle occupant may be provided with an even greater sense of safety.

To describe this in more specific terms, by seeing the confirmation display P1 as shown in <FIG>, the vehicle occupant may understand that the vehicle <NUM> is acquiring vicinity information before the lane change. Thus, the vehicle occupant may be provided with a sense of safety.

When the vehicle occupant sees the second confirmation display P2, as illustrated in <FIG> and <FIG>, the vehicle occupant may understand that the vehicle <NUM> has confirmed a goal position after the lane change. Thus, the vehicle occupant may be provided with a sense of safety.

The second confirmation display P2 is displayed at a position that does not overlap with the front side (or rear side) of the other vehicle display V3. Therefore, by looking at the first display unit <NUM>, the vehicle occupant may understand that the goal position after the lane change has been confirmed by the vehicle <NUM> with consideration for the presence of other vehicles. Thus, the vehicle occupant may be provided with a sense of safety.

By seeing the third confirmation display P3 as illustrated in <FIG>, the vehicle occupant may understand that preparation for the lane change is ready at the vehicle <NUM> side. Therefore, the vehicle occupant may be prepared for the lane change. Thus, the vehicle occupant may be provided with an even greater sense of safety before the lane change.

In the present exemplary embodiment, according to the second confirmation display P2, the line-shaped graphic depicts the goal position after the lane change, and according to the third confirmation display P3, the area-shaped graphic depicts that the lane change is possible. Thus, the sense of presence of the confirmation display may be progressively strengthened by the change of display from the line-shaped graphic to the area-shaped graphic. Therefore, the vehicle occupant may intuitively understand the phased confirmation operations associated with the lane change. That is, when other vehicles are running in the lane change destination lane and distances between vehicles must be thoroughly assured before the lane change, the vehicle occupant may be advised, by the display of the third confirmation display P3 as an area-shaped graphic, that a space into which the vehicle can conduct the lane change is available in the lane being changed to. Therefore, the vehicle occupant may intuitively understand the phased confirmation operations associated with the lane change.

In the present exemplary embodiment, by seeing the intended running route R illustrated in <FIG>, which is the execution display, the vehicle occupant may understand that the lane change is being conducted. Thus, according to the display device for a vehicle <NUM>, the vehicle occupant may understand the phases of confirmation of vicinity conditions by the vehicle and execution of the lane change that are associated with the lane change of the vehicle, and the vehicle occupant may understand control of the vehicle associated with the lane change in more detail. Thus, the vehicle occupant may be provided with a sense of safety.

According to the present exemplary embodiment, because the first display unit <NUM> is the instrument display provided to the vehicle front of the driver seat, the occupant of the driver seat may check the first display unit <NUM> without greatly moving their eyeline. Therefore, because both a vista to the vehicle front side and control of the vehicle <NUM> associated with the lane change may be checked easily, the vehicle occupant may be provided with an even greater sense of safety. The second display unit <NUM> that is the projection screen of the head-up display device <NUM> may also serve as the display section of the present disclosure, in which case the same effects may be exhibited as with the first display unit <NUM> of the present exemplary embodiment.

In the exemplary embodiment described above, the display device for a vehicle <NUM> is provided with the functions of the acquisition section <NUM>, the driving plan specification section <NUM> and the autonomous driving control section <NUM>, but the present disclosure is not limited thus. Some or all of these functions may be provided by an alternative control device. Therefore, although environment information of the vehicle <NUM>, determination results as to whether goal positions after lane changes are available, and determination results as to whether lane changes to goal positions are possible are acquired internally in the exemplary embodiment described above, configurations are possible in which these kinds of information and determination results are acquired via communication means from external equipment that includes the acquisition section <NUM>, the driving plan specification section <NUM>, the autonomous driving control section <NUM> and the like.

The exemplary embodiment described above is specified such that only one of the first confirmation display P1, the second confirmation display P2 and the third confirmation display P3 is displayed at the first display unit <NUM>, but this is not limiting. Specification is possible such that one or more different types of confirmation display may be displayed at the first display unit <NUM> at the same time.

The confirmation displays according to the exemplary embodiment described above-the first confirmation display P1, the second confirmation display P2 and the third confirmation display P3-are merely examples. The respective confirmation displays may take various forms and may be suitably altered as required.

The display processing and lane change display processing that, in the exemplary embodiment described above, are executed by the CPU reading software (a program) may be executed by various kinds of processor other than a CPU. Examples of processors in these cases include a PLD (programmable logic device) in which a circuit configuration can be modified after manufacturing, such as an FPGA (field programmable gate array) or the like, a dedicated electronic circuit which is a processor with a circuit configuration that is specially designed to execute specific processing, such as an ASIC (application-specific integrated circuit) or the like, and so forth. The display processing and lane change display processing may be executed by one of these various kinds of processors, and may be executed by a combination of two or more processors of the same or different kinds (for example, plural FPGAs, a combination of a CPU with an FPGA, or the like). Hardware structures of these various kinds of processors are, to be more specific, electronic circuits combining circuit components such as semiconductor components and the like.

Claim 1:
A display device (<NUM>) for a vehicle, comprising:
a display section (<NUM>,<NUM>) provided in a cabin of a vehicle that is capable of autonomous driving; and
a control section (<NUM>) that, before conducting a lane change by autonomous driving from a first lane in which the vehicle is running to a second lane that is distinct from the first lane, is configured to cause the display section (<NUM>,<NUM>) to display:
a lane display (L) corresponding to the first lane and the second lane, and
a confirmation display relating to confirmation of a condition of the second lane,
wherein the control section (<NUM>) is configured to cause the display section (<NUM>,<NUM>) to display another vehicle display superposed with the lane display, the other vehicle display corresponding to another vehicle that is distinct from the vehicle in the second lane, and the control section (<NUM>) is further configured to cause the display section (<NUM>,<NUM>) to display, as the confirmation display, a second confirmation display (P2) depicting a goal position of the vehicle after the lane change, which does not overlap with a front side or a rear side of the other vehicle display, and a third confirmation display (P3) depicting that the lane change to the goal position is possible;
the display device (<NUM>) being characterized in that:
the second confirmation display (P2) is a line-shaped graphic extending in a road width direction on the lane display (L) corresponding to the second lane; and
the third confirmation display (P3) is a quadrilateral area-shaped graphic with a predetermined size on the lane display corresponding to the second lane.