JP2019036826A - VEHICLE DISPLAY METHOD AND VEHICLE DISPLAY DEVICE - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a display method for a vehicle capable of allowing an occupant to grasp the surrounding situation well. SOLUTION: In a vehicle display method for displaying an image seen from a virtual viewpoint set at a reference position with respect to a vehicle on a display device, when a vehicle enters an intersection, is there an object of caution such as another vehicle? Whether or not it is determined, the target position of the virtual viewpoint is set so that the image displayed on the display device is an image including the attention target, and the virtual viewpoint is moved from the reference position to the target position. [Selection diagram] FIG. 4

Description

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

  Patent Document 1 discloses a peripheral image in which a peripheral image displayed after switching is viewed from which viewpoint by a virtual viewpoint moving in a stepwise manner from a reference viewpoint overlooking a vehicle to a viewpoint of a peripheral image showing a state around the vehicle. Disclosed is an image display system that allows a user to grasp whether or not.

JP 2012-39341 A

  However, since the technique described in Patent Document 1 employs a virtual viewpoint that moves uniformly with respect to the vehicle, it is not possible to display an image including a range to be noted, such as a large intersection. It may be difficult to grasp.

  In view of the above problems, an object of the present invention is to provide a display method for a vehicle and a display device for a vehicle that allow a passenger to satisfactorily understand the surrounding situation.

  One aspect of the present invention is a display method for a vehicle that displays an image viewed from a virtual viewpoint set at a reference position with respect to a vehicle on a display device, and detects an attention object at an intersection where the vehicle enters and includes an attention object. The target position of the virtual viewpoint is set, and the virtual viewpoint is moved from the reference position to the target position.

  ADVANTAGE OF THE INVENTION According to this invention, the display method for vehicles and the display apparatus for vehicles which can make a passenger | crew grasp favorable surrounding conditions can be provided.

It is a block diagram explaining an example of composition of a driving support device provided with a display for vehicles concerning a 1st embodiment. It is a figure which shows an example of an HMI image. It is a block diagram which shows an example of the structure implement | achieved by the controller of FIG. It is a flowchart explaining an example of the vehicle display method using the display apparatus for vehicles which concerns on 1st Embodiment. It is a figure explaining the locus | trajectory of a virtual viewpoint. It is a figure explaining the range of the display image with respect to an intersection. It is a figure explaining the range of the display image with respect to the other example of an intersection. It is a figure explaining the locus | trajectory of a virtual viewpoint when another vehicle exists around. It is a figure explaining the other example of the locus | trajectory of a virtual viewpoint. It is a figure explaining the locus | trajectory of a virtual viewpoint when a succeeding vehicle exists. It is a figure explaining the locus | trajectory when not retreating a virtual viewpoint. It is a block diagram which shows an example of the structure implement | achieved by the controller of the display apparatus for vehicles which concerns on 2nd Embodiment. 10 is a flowchart for explaining an example of a vehicle display method using the vehicle display device according to the second embodiment. It is a figure explaining the extended range of the display image with respect to an intersection. It is a figure explaining the extended range of the display image with respect to the other example of an intersection. It is an example which illustrated the scene where the own vehicle is going to turn left at the intersection.

  Hereinafter, first and second embodiments of the present invention will be described with reference to the drawings. In the description of the drawings, the same or similar parts are denoted by the same or similar reference numerals, and redundant description is omitted. Each drawing is schematic and includes cases different from actual ones. The following embodiments exemplify apparatuses and methods for embodying the technical idea of the present invention, and the technical ideas of the present invention are specific to the apparatuses and methods illustrated in the following embodiments. It is not what you do. The technical idea of the present invention can be variously modified within the technical scope described in the claims.

  In this specification, the automatic driving means a driving state in which at least one of steering, braking, and driving of the host vehicle is automatically controlled by the driving support device 1. That is, the automatic driving in this specification includes not only the fully automatic driving in which all of the steering, braking and driving of the own vehicle are automatically controlled without involving the occupant (driver) but also the steering, braking and driving of the own vehicle. It includes driving assistance in which at least one of the drives is automatically controlled. The automatic driving may be preceding vehicle following control, inter-vehicle distance control, lane departure prevention control, or the like. On the other hand, the manual driving in this specification means a driving state in which all of steering, braking, and driving are operated by a driver's operation.

(First embodiment)
The vehicle display device according to the first embodiment of the present invention is realized as a part of the driving support device 1 as shown in FIG. The driving assistance device 1 performs automatic driving control of the own vehicle based on the traveling environment around the vehicle (hereinafter referred to as “own vehicle”) on which the driving assistance device 1 is mounted. The host vehicle can travel by automatic driving control by the driving support device 1 or by manual driving by the driver.

  The driving support device 1 includes an ambient environment sensor group 10, a positioning device 11, a high-precision map storage unit 12, a vehicle sensor group 20, a controller 30, a display device 31, and a vehicle control actuator group 40. Among these, for example, the ambient environment sensor group 10, the positioning device 11, the high-accuracy map storage unit 12, the controller 30, and the display device 31 may constitute the vehicle display device according to the first embodiment of the present invention.

  The ambient environment sensor group 10 is a sensor group that detects an ambient environment of the host vehicle, for example, an object around the host vehicle. The ambient environment sensor group 10 includes a distance measuring device 13, a camera 14, and a communication device 15. The distance measuring device 13 and the camera 14 include lane boundary lines, intersections, traffic lights, stop positions, etc. existing around the host vehicle, positions of moving objects such as other vehicles and pedestrians, moving directions, speeds, types, etc. The data of the surrounding environment of the vehicle is detected.

  The distance measuring device 13 may be, for example, a laser range finder (LRF) or a radar. The camera 14 may be a stereo camera, for example. The camera 14 may be a monocular camera, and may capture the same object from a plurality of viewpoints using a monocular camera and calculate the distance to the object. The distance measuring device 13 and the camera 14 output the ambient environment information, which is the detected ambient environment information, to the controller 30. The communication device 15 performs vehicle-to-vehicle communication with other vehicles, road-to-vehicle communication with roadside devices, or communication with a traffic information center, etc., so that the position, moving direction, and speed of moving objects such as other vehicles and pedestrians are communicated. The type and the like are received as the surrounding environment data of the host vehicle, and the received surrounding environment data is output to the controller 30.

    The positioning device 11 measures the current position of the host vehicle. The positioning device 11 may be, for example, a global positioning system (GPS) receiver. The positioning device 11 may measure the current position of the host vehicle based on satellite signals of other satellite positioning systems such as GLONASS (Global Navigation Satellite System). The positioning device 11 may be an inertial navigation device. The positioning device 11 outputs positioning information, which is information on the current position of the host vehicle, to the controller 30.

  The high-accuracy map information stored in the high-accuracy map storage unit 12 is, for example, map information with higher accuracy than conventional navigation map information, and includes lane-unit information that is more detailed than road-unit information. For example, the high-accuracy map information includes, as lane unit information, lane node information indicating a reference point on a lane reference line (for example, the center line) and lane link information indicating a lane section mode between lane nodes. Including. The lane node information includes the identification number of the lane node, the position coordinates, the number of connected lane links, and the identification number of the connected lane link. The lane link information includes an identification number of the lane link, a lane type, a lane boundary type, a lane shape, and a lane reference line shape.

  The high-precision map information includes the size and shape of the intersection. High-precision map information further corresponds to the type and position coordinates of features such as traffic lights, stop lines, signs, buildings, utility poles, curbs, pedestrian crossings, walls, etc. that exist on or in the vicinity of the lane, and the position coordinates of the features It includes information on features such as the identification number of the lane node to be performed and the identification number of the lane link. The controller 30 reads high-accuracy map information around the host vehicle from the high-accuracy map storage unit 12 based on the positioning information of the host vehicle.

  The vehicle sensor group 20 includes a sensor that detects a traveling state of the vehicle and a sensor that detects a driving operation by the driver. Sensors that detect the traveling state of the vehicle include a vehicle speed sensor 21, an acceleration sensor 22, and a gyro sensor 23. Sensors that detect driving operations include a steering angle sensor 24, an accelerator sensor 25, and a brake sensor 26.

  The vehicle speed sensor 21 detects the wheel speed of the host vehicle and calculates the speed of the host vehicle based on the wheel speed. The acceleration sensor 22 detects the longitudinal acceleration, the vehicle width direction acceleration, and the vertical direction acceleration of the host vehicle. The gyro sensor 23 detects the angular velocity of the rotation angle of the host vehicle around three axes including the roll axis, the pitch axis, and the yaw axis.

  The steering angle sensor 24 detects a current steering angle that is a current rotation angle (a steering operation amount) of a steering wheel that is a steering operator. The accelerator sensor 25 detects the accelerator opening of the vehicle. For example, the accelerator sensor 25 detects the amount of depression of the accelerator pedal of the vehicle as the accelerator opening. The brake sensor 26 detects the amount of brake operation by the driver. For example, the brake sensor 26 detects the depression amount of the brake pedal of the vehicle as a brake operation amount. Information on the speed, acceleration, angular velocity, steering angle, accelerator opening, and brake operation amount of the host vehicle detected by each sensor of the vehicle sensor group 20 is collectively referred to as “vehicle information”. The vehicle sensor group 20 outputs vehicle information to the controller 30.

  The controller 30 is an electronic control unit (ECU) that controls the operation of the host vehicle. The controller 30 includes a processor 32 and peripheral components such as a storage device 33. The processor 32 may be, for example, a CPU (Central Processing Unit) or an MPU (Micro-Processing Unit). The storage device 33 may include any one of a semiconductor storage device, a magnetic storage device, and an optical storage device. The storage device 33 may include a register, a cache memory, and a memory such as a ROM (Read Only Memory) and a RAM (Random Access Memory) used as a main storage device. The controller 30 may be realized by a functional logic circuit set in a general-purpose semiconductor integrated circuit. For example, the controller 30 may include a programmable logic device (PLD) such as a field programmable gate array (FPGA).

  The controller 30 can switch between an automatic driving mode in which automatic driving control of the host vehicle is executed and a manual driving mode in which all of steering, braking and driving are operated by the driver. In the automatic operation mode, the controller 30 generates a travel locus for running the host vehicle based on the ambient environment information input from the ambient environment sensor group 10 and the vehicle information input from the vehicle sensor group 20. The controller 30 automatically drives the vehicle by driving the vehicle control actuator group 40 so that the host vehicle travels along the generated travel locus. Note that the controller 30 may generate a travel locus based on the positioning information input from the positioning device 11 and the high-accuracy map information read from the high-accuracy map storage unit 12 in addition to the surrounding environment information and the vehicle information. .

  The vehicle control actuator group 40 operates the steering wheel, the accelerator opening degree, and the brake device of the host vehicle according to the control signal from the controller 30 to generate the vehicle behavior of the host vehicle. The vehicle control actuator group 40 includes a steering actuator 41, an accelerator opening actuator 42, and a brake control actuator 43. The steering actuator 41 controls the steering direction and amount of steering of the host vehicle. The accelerator opening actuator 42 controls the accelerator opening of the host vehicle. The brake control actuator 43 controls the braking operation of the brake device of the host vehicle.

  On the other hand, in the manual operation mode, the controller 30 drives the vehicle control actuator group 40 according to the steering angle, the accelerator opening, and the brake operation amount detected by the vehicle sensor group 20, for example, according to the driver's operation. Vehicle behavior is generated. The controller 30 may end the automatic operation mode and switch to the manual operation mode by detecting the operation of the occupant.

  Further, the controller 30 generates an HMI (Human Machine Interface) image that informs the driver of information around the host vehicle. For example, the HMI image G is generated as shown in FIG. 2 when the host vehicle is traveling along the travel route R during automatic driving and turns left at an intersection. The display image G may include a display (own vehicle icon) H of the host vehicle, a display R of the travel route, a display K of the travel lane, a display J of the lane boundary line, and the like. Although illustration is omitted, the HMI image G may include a display of another vehicle (another vehicle icon) when there is another vehicle around the host vehicle.

  The HMI image G is an image viewed from a virtual viewpoint that is set at a predetermined position with respect to the host vehicle and has a predetermined angle of view (field of view), for example. The virtual viewpoint is a viewpoint set in a virtual space based on the host vehicle. The line-of-sight direction from the virtual viewpoint is mainly directed toward the own vehicle. The HMI image G may be a bird's-eye view of viewing the host vehicle from a virtual viewpoint set obliquely above the host vehicle, or may be a bird's-eye view of viewing the host vehicle from a virtual viewpoint set immediately above the host vehicle. . The HMI image G may include a virtual image such as a computer graphics (CG) image, or may include an image of a real environment captured by the camera 14 or the like.

  The controller 30 displays the generated HMI image on the display device 31. The display device 31 may be, for example, a display device of a navigation device mounted on the host vehicle, a display device arranged on a meter panel of the host vehicle, or a head-up display (HUD) device.

  As shown in FIG. 3, the controller 30 includes a host vehicle position calculation unit 50, an intersection detection unit 51, an intersection information detection unit 52, a virtual viewpoint calculation unit 53, a display image drawing unit 54, an HMI drawing unit 55, and an image composition unit 56. Is provided. The functions of the vehicle position calculation unit 50, the intersection detection unit 51, the intersection information detection unit 52, the virtual viewpoint calculation unit 53, the display image drawing unit 54, the HMI drawing unit 55, and the image composition unit 56 are performed by the processor 32 of the controller 30. It may be realized by executing a computer program stored in the storage device 33.

  The own vehicle position calculation unit 50 calculates the current position of the own vehicle on the high-accuracy map information based on the positioning information obtained by the positioning device 11 and the high-accuracy map information stored in the high-accuracy map storage unit 12. To do.

  The intersection detection unit 51 detects an intersection where the host vehicle is scheduled to enter from the high accuracy map information stored in the high accuracy map storage unit 12 and the current position calculated by the host vehicle position calculation unit 50. The intersection detection unit 51 may detect the nearest intersection in the traveling direction of the host vehicle, or may detect an intersection within a predetermined distance range from the current position of the host vehicle in the traveling direction of the host vehicle. Alternatively, when a travel route from the current position of the host vehicle to the destination is set, the intersection detection unit 51 may detect an intersection existing on the travel route.

  The intersection information detection unit 52 detects intersection information regarding the intersection detected by the intersection detection unit 51. The intersection information includes the size of the intersection and the attention object at the intersection. For example, the intersection information detection unit 52 detects an intersection, a stop position for a vehicle at the intersection, a pedestrian crossing, a traffic light, and the like as a target of attention from the high-accuracy map information stored in the high-accuracy map storage unit 12. The intersection information detection unit 52 may detect the attention object using at least one of the distance measuring device 13, the camera 14, and the communication device 15 instead of the high-precision map information. In addition, the intersection information detection unit 52 uses the surrounding environment sensor group 10 to detect other vehicles entering the intersection, other vehicles around the own vehicle, intersections, pedestrians around the own vehicle, and the like as caution targets. It may be.

  The virtual viewpoint calculation unit 53 sets a target position that is the position of the virtual viewpoint that is an image including the attention object detected by the intersection information detection unit 52. In other words, the image seen from the virtual viewpoint located at the target position includes the attention object detected by the intersection information detection unit 52. For example, when the attention object is an intersection, the height of the target position of the virtual viewpoint X varies depending on the size of the intersection. The virtual viewpoint calculation unit 53 calculates the locus of the virtual viewpoint that moves from the current position (reference position) of the virtual viewpoint to the vehicle to the target position. While moving from the reference position to the target position, the image viewed from the virtual viewpoint can always include the display H of the host vehicle. Further, the target position c may be set based on the distance from the host vehicle V to the attention object. The virtual viewpoint is moved, for example, by changing the angle of the host vehicle with respect to the horizontal direction and the distance to the host vehicle, with the line-of-sight direction always directed toward the host vehicle, with the host vehicle as the center of rotation.

  The display image drawing unit 54 moves the virtual viewpoint along the trajectory calculated by the virtual viewpoint calculation unit 53, and sequentially draws the display image seen from the virtual viewpoint between the reference position and the target position. The display image drawing unit 54 uses, for example, a predetermined icon or texture in a two-dimensional or three-dimensional virtual space on the basis of the high-accuracy map information stored in the high-accuracy map storage unit 12. Draw features such as surrounding roads, lane boundaries, crossing reports and traffic lights. The display image drawing unit 54 superimposes a moving object such as another vehicle or a pedestrian and the own vehicle on the virtual space in which the feature is drawn based on the data of the surrounding environment detected by the surrounding environment sensor group 10. And draw. Further, the display image drawing unit 54 sequentially draws a display image in which the virtual space is viewed from the virtual viewpoint while moving from the reference position to the target position.

  The display image drawing unit 54 corrects the distortion of the image of the real environment captured by the camera 14, maps it to a two-dimensional or three-dimensional projection plane based on the host vehicle, and moves from the reference position to the target position. In the meantime, it is possible to sequentially draw a display image when the projection plane is viewed from a virtual viewpoint. The image of the real environment may be acquired via the communication device 15 from, for example, a camera provided on a roadside device or a camera of another vehicle in addition to the camera 14. Alternatively, the display image drawing unit 54 may draw an image in which a virtual image and a real environment image are mixed as a display image viewed from a virtual viewpoint. For example, the display image drawing unit 54 includes an image of a feature around an intersection acquired by a camera provided in a roadside machine, and an icon of a moving object such as another vehicle or a pedestrian detected by the surrounding environment sensor group 10. May be used to draw a display image that can be seen from a virtual viewpoint.

  For example, the HMI drawing unit 55 displays an HMI image (see FIG. 2) in which the front of the host vehicle is viewed from the virtual viewpoint set at the rear and upper position (reference position) of the host vehicle. Draw based on the accuracy map information. The HMI drawing unit 55 sequentially generates an HMI image indicating a situation ahead of the host vehicle as the host vehicle progresses.

  As described above, the display image drawing unit 54 and the HMI drawing unit 55 are detected by the own vehicle, the ambient environment sensor group 10 and the like by using the high-precision map information received by the high-precision map storage unit 12. In addition, it is possible to express a positional relationship with a moving object such as another vehicle every moment.

  The image composition unit 56 synthesizes the display image drawn by the display image drawing unit 54 and the HMI image drawn by the HMI drawing unit 55 so as to correspond to each other, and outputs them to the display device 31. For example, the image composition unit 56 outputs the HMI image to the display device 31 while the display image drawing unit 54 is not drawing the display image, and displays the display image while the display image drawing unit 54 is drawing the display image. Is output to the display device 31. The image synthesized by the image synthesis unit 56 is an image viewed from one virtual viewpoint including a process of continuously moving.

<Vehicle display method>
An example of the vehicle display method by the vehicle display device according to the first embodiment of the present invention will be described with reference to the flowchart of FIG.

  In step S101, the controller 30 determines whether or not automatic driving is in progress. If it is determined that the vehicle is not in automatic operation, the process is completed. If it is determined that automatic operation is being performed, the process proceeds to step S102.

  In step S102, the display device 31 displays a normal HMI image G, for example, as shown in FIG. In other words, the HMI drawing unit 55 automatically determines from a virtual viewpoint set at a predetermined position behind and above the host vehicle in a virtual space relative to the host vehicle based on the high-precision map information and the current position of the host vehicle. A normal HMI image of the front of the vehicle is generated. When the image composition unit 56 outputs the HMI image drawn by the HMI drawing unit 55 to the display device 31, the display device 31 displays a normal HMI image.

  In step S103, the intersection detection unit 51 detects the intersection within a predetermined distance range from the own vehicle in the traveling lane of the own vehicle from the high-accuracy map information and the current position of the own vehicle, so that the own vehicle is scheduled to enter. It is determined whether or not the intersection of If it is determined that the intersection is approaching, the process proceeds to step S104. If it is determined that the intersection is not approaching, the process returns to step S102.

  In step S104, the intersection information detection unit 52 detects intersection information regarding the intersection detected in step S103. The intersection information detection unit 52 detects the size of the intersection and the attention object at the intersection from the high accuracy map information stored in the high accuracy map storage unit 12. As an attention object of an intersection, an intersection, a stop position for a vehicle at the intersection, a pedestrian crossing, a traffic light, or the like can be adopted.

  In step S105, the intersection information detection unit 52 uses the surrounding environment sensor group 10 to detect other vehicles around the host vehicle as the surrounding situation. The intersection information detection unit 52 detects the position of another vehicle existing within a predetermined distance range from the host vehicle based on, for example, an image acquired by the camera 14.

  In step S106, the virtual viewpoint calculation unit 53 determines whether there is another vehicle around the host vehicle based on the detection result of the other vehicle in step S105. The virtual viewpoint calculation unit 53 may determine whether another vehicle that travels in the traveling lane of the host vehicle exists around the host vehicle. If there is no other vehicle around the host vehicle, the process proceeds to step S107. If another vehicle exists around the host vehicle, the process proceeds to step S109.

  In step S107, the virtual viewpoint calculation unit 53 calculates the height of the virtual viewpoint that becomes an image in the range corresponding to the intersection detected in step S103, and sets it as the target position. The virtual viewpoint is set above the host vehicle in a virtual space relative to the host vehicle. The virtual viewpoint calculation unit 53 calculates the locus of the virtual viewpoint that moves from the virtual viewpoint position (reference position) of the HMI image displayed in step S102 to the target position set in step S107. For example, the movement locus of the virtual viewpoint is calculated linearly so that the vehicle is always included in the field of view from the reference position before the movement to the target position.

  For example, as shown in FIG. 5, the trajectory of the virtual viewpoint X may be a trajectory that sequentially moves from the reference position a to a position d just above the host vehicle V and further to a position c above. The reference position a that is the starting point of the trajectory of the virtual viewpoint X is set behind and above the host vehicle V in a virtual space with the host vehicle V as a reference. The position d is a state in which the distance to the host vehicle V is maintained from the reference position a. For example, the view direction of the virtual viewpoint X (for example, the center line of the angle of view) and the horizontal direction ( This is the position where the virtual viewpoint X is rotated so that the angle formed by the plane direction perpendicular to the yaw axis is about 90 °. The position c is the end point of the trajectory of the virtual viewpoint X and is the target position.

  In step S108, the display image drawing unit 54 moves the virtual viewpoint to the target position along the movement locus calculated in step S107. The display image drawing unit 54 sequentially draws a display image that can be seen from the virtual viewpoint between the reference position and the target position. The display image seen from the virtual viewpoint that has reached the target point includes the entire area of the intersection detected in step S104 and the attention object at the intersection.

  For example, as shown in FIG. 6, in a scene where the host vehicle V enters the intersection P1, the intersection information detection unit 52 pays attention to the entire area of the intersection P1 and the stop positions (stop lines) T1 and T2 at the intersection P1. Detect as. In this case, when the host vehicle V is positioned in front of the intersection P1, the virtual viewpoint calculation unit 53 sets the target position of the virtual viewpoint so that the display image corresponds to the range Q1 including the intersection P1 and the stop positions T1 and T2. Set. The image displayed on the display device 31 continuously changes from a normal HMI image to a display image corresponding to the range Q1 as the virtual viewpoint moves.

  As shown in FIG. 7, when stop positions T1 to T4 are provided in all the lanes entering the intersection P2, it is detected as the stop positions T1 to T4 as caution targets and includes all the stop positions T1 to T4. The target position of the virtual viewpoint may be set so that a display image corresponding to Q2 is obtained. The attention object may include all of the pedestrian crossings U1 to U4 of the intersection P2, or may include other vehicles F around the intersection P2. In addition, the pedestrian crossings U1 to U4 do not necessarily have to cover the entire range. For example, when the travel route R is set for the host vehicle V, a range corresponding to a lane where the host vehicle exits from the intersection P2 may be selectively set as a target of attention. Further, the attention object may include a place where the host vehicle V and the pedestrian approach, which are calculated based on the moving direction and speed of the pedestrian and the traveling direction of the host vehicle V.

  In step S109, the virtual viewpoint calculation unit 53 calculates a movement locus of the virtual viewpoint when there is another vehicle around the host vehicle. In step S109, as shown in FIG. 5, there are other vehicles in the vicinity of the host vehicle V, the preceding vehicle W1 and the following vehicle W2. In this case, when the virtual viewpoint X is at the position d, there is a possibility that the preceding vehicle W1 and the succeeding vehicle W2 once out of the frame from the angle of view θ of the virtual viewpoint X. Thereby, a passenger | crew may become anxious whether the driving assistance device 1 recognizes another vehicle, or may feel uncomfortable. Furthermore, there is a possibility that the occupant cannot recognize that the other vehicle that has entered the frame again and the other vehicle before the frame out are the same vehicle.

  On the other hand, as shown in FIG. 8, the virtual viewpoint calculation unit 53 temporarily moves from the reference position a, which is the position of the virtual viewpoint X of the normal HMI image, to the rear position b, and then the target position c. The trajectory to move to is calculated. More specifically, the position b is increased in the distance to the host vehicle V (zoomed out) while maintaining the angle formed by the line-of-sight direction of the virtual viewpoint X at the reference position a and the horizontal direction of the host vehicle V. ) Position. The target position c is a position where the angle formed by the line-of-sight direction of the virtual viewpoint X and the horizontal direction of the host vehicle V is increased to about 90 ° while maintaining the distance to the host vehicle V from the position b. As a result, the time during which the preceding vehicle W1 and the succeeding vehicle W2 are continuously included in the angle of view becomes long, so that it is easy to grasp the same vehicle continuously.

  In particular, when the controller 30 performs automatic driving including preceding vehicle following control, the preceding vehicle W1 is continuously included in the angle of view, so that the occupant can display a display image indicating the preceding vehicle W1 on the display device 31. It can be visually recognized. For this reason, the occupant can grasp that the driving support apparatus 1 recognizes the preceding vehicle W1, and can reduce anxiety and uncomfortable feeling about the automatic driving. Similarly, when the controller 30 performs automatic driving in a scene such as merging, the occupant grasps that the driving support device 1 recognizes the preceding vehicle W1 by including the following vehicle W2 within the angle of view. It is possible to reduce anxiety and uncomfortable feeling about automatic driving. Furthermore, since the occupant can better understand the surrounding situation from the display image, if the automatic driving control by the driving support device 1 is different from the occupant's intention, the driver immediately starts the driving operation by operating the host vehicle V. be able to.

  In step S110, the display image drawing unit 54 moves the virtual viewpoint X to the rear position b so as to move the virtual viewpoint X along the locus calculated in this way, and in step S111, the virtual viewpoint X is moved. Move to the target position c. The line-of-sight direction of the virtual viewpoint X is always directed toward the host vehicle V side. The display image drawing unit 54 sequentially draws a display image that can be seen from the virtual viewpoint X between the reference position a and the target position c.

  Note that the series of processes in steps S109 to S111 are not necessarily executed. For example, as shown in FIG. 9, when the distance of the host vehicle V to the preceding vehicle W1 is short, the virtual viewpoint X is moved along, for example, a linear trajectory passing through the reference position a, the position e, and the target position c. May be. That is, the movement locus of the virtual viewpoint X may be a locus in which the preceding vehicle W1 or the following vehicle W2 is continuously included in the angle of view until the virtual viewpoint X moves to the target position c.

  In step S112, it is determined whether or not the other vehicle detected in step S106 exists in front of the host vehicle V. If the other vehicle is in front of the host vehicle V, the process proceeds to step S116. If the other vehicle is behind, the process proceeds to step S113. When another vehicle exists both in front and behind the host vehicle V, either one may be selected by the operation of the occupant, and it is determined whether or not the other vehicle closest to the host vehicle V is the front. It may be.

  In step S113, the display image drawing unit 54 converts the display image viewed from the virtual viewpoint X reaching the target position c into a mirror image having mirror image symmetry with the display image. That is, in step S114, the image viewed from the virtual viewpoint X is turned upside down to generate a mirror image.

  In step S115, the display image drawing unit 54 moves the virtual viewpoint X to the front of the host vehicle V. For example, as shown in FIG. 10, the virtual viewpoint X moves from a target position c to a position f in front of the host vehicle V, then moves to a position g near the host vehicle V, and is directed to the rear of the host vehicle V. . Specifically, the position f is, for example, a position obtained by rotating the virtual viewpoint X from the target position c to the front of the host vehicle V with the host vehicle V as the center of rotation. The position g is a distance obtained by shortening the distance to the host vehicle V from the position f. The position g and the position f may be set so that the display image viewed from the virtual viewpoint X includes the attention object detected in step S104. Each of the reference position a and the position g, the position b and the position f may pass through the host vehicle V and have mirror image symmetry with respect to a plane orthogonal to the front-rear direction of the host vehicle V.

  As shown in FIG. 11, when the virtual viewpoint X moves from the reference position a to the position d and the position h in order by rotating the vehicle V in front of the host vehicle V around the rotation center, for example, The car W2 may not be completely reflected in the display image until the virtual viewpoint X reaches the position h. On the other hand, as shown in FIG. 10, the display image drawing unit 54 can continuously include the display image of the subsequent vehicle W2 until the virtual viewpoint X moves from the position b to the position g. . Further, the display image is an image like a mirror image reflected in the rearview mirror, and the occupant can easily grasp the situation behind the host vehicle V. Thereby, for example, when the driving assistance device 1 is in automatic driving, the occupant can easily grasp that the driving assistance device 1 recognizes the following vehicle W2, and can reduce anxiety and discomfort with respect to the automatic driving.

  In step S116, the display image drawing unit 54 holds the virtual viewpoint X in a state where the movement is completed.

  In step S117, the display image drawing unit 54 determines whether or not the intersection detected in step S103 has been passed from the high-precision map information and the current position of the host vehicle V. If it is determined that the vehicle has passed the intersection, the process proceeds to step S118. If it is determined that the vehicle has not yet passed the intersection, the process returns to step S116. Passing the intersection may be defined as the rear end of the host vehicle reaching the end of the intersection, or may be defined as the front end of the host vehicle reaching the end of the intersection. The end of the intersection may be defined to have a predetermined difference with respect to the boundary of the periphery of the intersection.

  In step S118, the display image drawing unit 54 returns the virtual viewpoint X to the position (reference position) a before the movement. The trajectory where the virtual viewpoint X returns to the reference position a may be the reverse of the trajectory from the reference position a to the position in step S116, for example. That is, for example, when the driving support device 1 is performing automatic driving, it is preferable that the virtual viewpoint X moves along a trajectory passing through the target position c, the position b, and the reference position a shown in FIG. Thereby, the occupant can grasp that the driving support device 1 recognizes another vehicle, and can reduce anxiety and discomfort with respect to the automatic driving. However, when another vehicle no longer exists around the host vehicle V in the middle of drawing the display image, the locus for returning to the reference position a may be another locus.

  In step S119, the controller 30 determines whether or not the automatic operation has ended. If it is determined that the automatic operation has ended, the process is completed. On the other hand, when it determines with automatic driving | operation not being complete | finished, it returns to step S102.

<Effects of First Embodiment>
According to the vehicle display device according to the first embodiment, the target position of the virtual viewpoint X that is an image including the attention object at the intersection where the host vehicle V is scheduled to enter is set, and the virtual viewpoint is moved from the reference position before the movement. Move to the target position. Therefore, the image viewed from the virtual viewpoint includes the intersection where the vehicle enters and the attention object to be noted at the intersection. As a result, the occupant can easily grasp the attention object at the intersection where the vehicle passes, and can better grasp the surrounding situation of the vehicle.

  In addition, the vehicle display device according to the first embodiment can appropriately set the target position of the virtual viewpoint X so that the display image includes the attention object, based on the distance from the host vehicle V to the attention object. For this reason, the occupant can easily grasp the attention object at the intersection where the host vehicle V passes, and can better grasp the surrounding situation of the vehicle.

  Moreover, since the display apparatus for vehicles which concerns on 1st Embodiment detects the stop position of an intersection as caution object, a display image contains the stop position of an intersection. As a result, it becomes easy for the occupant to grasp other vehicles entering the intersection, so that the situation around the vehicle can be well understood.

  Moreover, since the display apparatus for vehicles which concerns on 1st Embodiment can detect all the stop positions of an intersection as caution object, a display image can include all the stop positions of an intersection. This makes it easier for the occupant to grasp all the other vehicles entering the intersection, so that the surrounding situation of the host vehicle can be well understood.

  Moreover, the display apparatus for vehicles which concerns on 1st Embodiment can detect the pedestrian who exists around the own vehicle as an attention object, and can set a target position based on a pedestrian. Thereby, since it becomes easy for a passenger | crew to grasp | ascertain the condition of the pedestrian who exists around the own vehicle, he can grasp | ascertain the surrounding condition of a vehicle favorably.

  Moreover, the display apparatus for vehicles which concerns on 1st Embodiment can detect the pedestrian crossing of an intersection as caution object, and can set a target position based on a pedestrian crossing. As a result, it becomes easy for the occupant to grasp the situation of the pedestrian crossing, so that the situation around the vehicle can be well understood.

  In the vehicular display device according to the first embodiment, after changing the distance from the host vehicle, the virtual viewpoint X is set to the reference position so as to change the angle formed by the gaze direction of the virtual viewpoint and the horizontal direction of the host vehicle. To the target position. Thereby, while the virtual viewpoint moves, other surrounding vehicles can be continuously displayed in the display image without being out of frame once. Therefore, since it becomes easy for the occupant to grasp the situation of other vehicles around the host vehicle, the situation around the vehicle can be well understood.

(Second Embodiment)
As shown in FIG. 12, the vehicle display device according to the second exemplary embodiment of the present invention is the first in that the controller 30 further includes a signal state detection unit 57, a preceding vehicle detection unit 58, and a stop possibility calculation unit 59. Different from the embodiment. Configurations, operations, and effects that are not described in the second embodiment are substantially the same as those in the first embodiment, and are omitted because they overlap.

  The signal state detection unit 57 detects the signal state that is the lighting state of the traffic light at the intersection detected by the intersection detection unit 51 from, for example, an image captured by the camera 14. The signal state detection unit 57 may detect the signal state based on information received from the roadside device via the communication device 15. The signal state may include a lighting time (lighting cycle) in addition to a lighting state of each color of the traffic light.

  For example, the preceding vehicle detection unit 58 detects information on the preceding vehicle of the host vehicle traveling in the traveling direction of the host vehicle from the data of the surrounding environment detected by the distance measuring device 13, for example. The preceding vehicle detection unit 58 detects the position, speed, number, and the like of the preceding vehicle existing within a predetermined distance range from the host vehicle as information on the preceding vehicle. Furthermore, the preceding vehicle detection unit 58 detects the congestion state of the preceding vehicle in the traveling lane of the host vehicle as information on the preceding vehicle. When the traveling direction of the host vehicle is determined, for example, when the traveling route R of the host vehicle is set in advance, the preceding vehicle detection unit 58 detects information on the preceding vehicle in the traveling direction of the host vehicle. For example, when the preceding vehicle detection unit 58 detects turning left at an intersection with a direction indicator of the host vehicle, the preceding vehicle detection unit 58 may detect information on the preceding vehicle on the left turn destination road.

  The stop possibility calculation unit 59 can stop the host vehicle in the intersection based on the surrounding state including the signal state detected by the signal state detection unit 57 and information on the preceding vehicle detected by the preceding vehicle detection unit 58. Calculate gender. That is, after the host vehicle enters the intersection, the stop possibility calculating unit 59 calculates the possibility that the vehicle cannot leave the intersection due to congestion due to the preceding vehicle in the traveling lane, and stops within the intersection. In addition to intersections where traffic control is performed by traffic lights etc., the possibility of stoppage calculation unit 59 is based on a preceding vehicle on a pedestrian crossing, a bicycle crossing, a railroad crossing, a section marked by a road marking of a stop prohibited part, etc. The possibility that the host vehicle will stop due to congestion may be calculated.

<Vehicle display method>
An example of a vehicle display method by the vehicle display device according to the second embodiment of the present invention will be described with reference to the flowchart of FIG. A series of processes in steps S201 to S204 in FIG. 13 is substantially the same as the series of processes in steps S101 to S104 in FIG.

  In step S205, the signal state detection unit 57 detects the lighting state of the traffic light at the intersection detected in step S203 (corresponding to step S103). The preceding vehicle detection unit 58 detects information on the preceding vehicle of the host vehicle that travels in the traveling direction of the host vehicle.

  In step S206, the stop possibility calculating unit 59 stops the host vehicle in the intersection based on the signal state detected by the signal state detecting unit 57 and the congestion state of the preceding vehicle detected by the preceding vehicle detecting unit 58. Calculate the possibility. That is, when the host vehicle enters the intersection, the stop possibility calculation unit 59 does not stop the host vehicle in the intersection because the preceding vehicle in the traveling lane is stopped in or near the intersection. Calculate the possibility that you cannot leave the intersection.

  In step S207, the stop possibility calculating unit 59 determines whether or not the possibility calculated in step S206 is higher than a predetermined threshold. If it is determined that the possibility of stopping in the intersection is higher than the threshold, the process proceeds to step S208. If it is determined that the possibility of stopping in the intersection is not higher than the threshold, the process proceeds to step S209.

  In step S208, the virtual viewpoint calculation unit 53 calculates the height (h2> h1) of the virtual viewpoint X that becomes an image of an extended range wider than the range corresponding to the intersection detected in step S203, and above the host vehicle. Set as target position c. The virtual viewpoint calculation unit 53 calculates the locus of the virtual viewpoint X that moves from the reference position a of the virtual viewpoint X of the HMI image displayed in step S202 (corresponding to step S102) to the target position c of height (h2). .

  In step S209, the virtual viewpoint calculation unit 53 calculates the height (h1) of the virtual viewpoint X that is an image in the range corresponding to the intersection detected in step S203, and sets it as the target position above the host vehicle. The virtual viewpoint calculation unit 53 calculates the trajectory of the virtual viewpoint X that moves from the reference position a of the virtual viewpoint X of the HMI image displayed in step S202 to the target position c of height (h1).

  For example, as shown in FIG. 14, when the host vehicle V enters the intersection P1, the possibility that the stop possibility calculating unit 59 stops in the intersection P1 when the host vehicle enters the intersection P1 is higher than the threshold. Is determined. At this time, the virtual viewpoint calculation unit 53 sets an extended range Q1A wider than the range Q1 corresponding to the attention object at the intersection P1, and calculates the target position c of the virtual viewpoint X that becomes an image of the extended range Q1A. The extended range Q1A is, for example, a range extended by a distance B from the range Q in the direction of the road exiting from the intersection P1. The distance B is desirably a distance corresponding to at least one vehicle (for example, about 5 m). By displaying such a display image of the extended range Q1A on the display device 31, the occupant can grasp the surrounding situation indicating whether or not the vehicle has a space for exiting from the intersection P1.

  Further, the attention object may include another vehicle F existing in the oncoming lane. Thereby, the passenger | crew can grasp | ascertain presence of the other vehicle F which is waiting for a signal or waiting for a right turn. In addition, when the traveling direction of the host vehicle is determined such that the traveling route R of the host vehicle is set in advance, the other vehicles F1 to F3 existing in the lane where the host vehicle exits from the intersection P1 are selectively noted. It may be a target. Thereby, even if the occupant is a road with a poor visibility in the traveling direction, such as a single lane road, for example, the occupant can grasp the congestion situation due to the preceding vehicle in the traveling direction. You may make it change the height of the target position c with the width | variety of a road or a lane.

  Further, as shown in FIG. 15, in the scene where the host vehicle V enters the intersection P2, the possibility that the stop possibility calculation unit 59 stops in the intersection P2 when the host vehicle enters the intersection P2 is higher than the threshold value. Is determined. At this time, an extended range Q2A wider than the range Q2 including all the stop positions T1 to T4 of the intersection P2 is set, and the target position c of the virtual viewpoint that becomes an image of the extended range Q2A is calculated. The attention object may include all of the pedestrian crossings U1 to U4 at the intersection P2.

  Note that the movement trajectory calculated in step S208 or S209 may be a trajectory in which the virtual viewpoint moves linearly from the reference position a to the target position c, as in FIG. 9 of the first embodiment. Further, when there is a preceding vehicle or a succeeding vehicle around the host vehicle, the trajectory calculated in step S208 or S209 is once moved from the reference position a to the rear position b as shown in FIG. It may be a trajectory where the virtual viewpoint X moves to the target position c above the vehicle.

  In step S210, the display image drawing unit 54 moves the virtual viewpoint X along the locus calculated in step S208 or S209. The display image drawing unit 54 sequentially draws a display image that can be seen from the virtual viewpoint X between the reference position a and the target position c.

  In step S211, the display image drawing unit 54 determines whether or not the virtual viewpoint X has reached the target position c calculated in step S208 or S209. If it is determined that the virtual viewpoint X has reached the target position c, the process proceeds to step S212. If it is determined that the virtual point X has not yet reached the target position, the process returns to step S210.

  In step S212, the display image drawing unit 54 holds the virtual viewpoint X in a state where the movement is completed.

  In step S213, the display image drawing unit 54 determines whether or not the intersection detected in step S203 has passed from the high-precision map information and the current position of the host vehicle V. If it is determined that the vehicle has passed the intersection, the process proceeds to step S214. If it is determined that the vehicle has not yet passed the intersection, the process returns to step S212.

  In step S214, the display image drawing unit 54 returns the virtual viewpoint X to the reference position a that is the position before the movement. The trajectory where the virtual viewpoint X returns to the reference position a may be the reverse of the trajectory from the reference position a to the target position c, for example. Similar to the first embodiment, the trajectory returning to the reference position a is not necessarily the reverse of the trajectory moving to the target position c.

  In step S215, the controller 30 determines whether or not the automatic operation has ended. If it is determined that the automatic operation has ended, the process is completed. On the other hand, when it determines with automatic driving | operation not being complete | finished, it returns to step S202.

<Effects of Second Embodiment>
According to the vehicular display device according to the second embodiment, it is possible to detect a congestion situation due to a preceding vehicle on the lane in the traveling direction of the host vehicle, and to change the target position c of the virtual viewpoint X based on the congestion situation. . As a result, it becomes easy for the occupant to grasp the congestion situation in front of the host vehicle, so that the surrounding situation of the host vehicle can be well understood. In addition, when the driving assistance device 1 is performing the automatic driving, the occupant can grasp that the driving assistance device 1 recognizes the situation of the traveling direction of the own vehicle, and reduces anxiety and discomfort with respect to the automatic driving. be able to. Furthermore, since the surrounding situation of the own vehicle can be grasped, when the automatic driving control by the driving support device 1 is different from the intention of the occupant, the manual driving can be started by immediately performing the driving operation of the own vehicle V. it can.

  In addition, the vehicle display device according to the second embodiment calculates the possibility that the host vehicle will stop in the intersection and changes the target position of the virtual viewpoint based on the possibility of stopping. Thereby, when it is desirable to make a display image showing a wide range, the virtual viewpoint can be increased to expand the field of view of the display image, and the surrounding situation of the host vehicle can be grasped well.

(Other embodiments)
While embodiments of the present invention have been described as described above, it should not be understood that the description and drawings that form part of this disclosure limit the present invention. From this disclosure, various alternative embodiments, examples and operational techniques will be apparent to those skilled in the art.

  For example, as shown in FIG. 16, in a scene where the host vehicle V waits for a left turn at an intersection, other vehicles E1 to E3 around the intersection, other vehicles D1 to D3 that are two-wheeled vehicles, and other pedestrians and bicycles are subject to attention. Is detected. At this time, the intersection information detection unit 52 may calculate the expected trajectories t1 to t2 of the other vehicles E1 to E2, the expected trajectories u1 to u2 of the other vehicles D1 to D2, the expected trajectories v of pedestrians and bicycles, and the like. . The other vehicle E1 is a vehicle that is about to turn right from the oncoming lane. In particular, you may make it zoom in in the display image the attention object which may approach the own vehicle V. FIG. At this time, by moving the virtual viewpoint X to the target position c and then zooming in on the specific attention object, the position of the attention object can be easily grasped.

  The intersection information detection unit 52 may change the range Y for detecting the attention object according to the traveling direction of the host vehicle V such as the travel route R. Thereby, the range for detection by the ambient environment sensor group 10 can be selectively set, and the calculation load for detection can be reduced. For example, when the host vehicle V is about to turn right, the display image drawing unit 54 generates a display image by expanding the horizontal range of the intersection as viewed from the host vehicle, and when the host vehicle V is about to turn left, A display image may be generated by extending the range. As a result, it is possible to grasp the situation in the range to be noted when turning left or right.

  Further, in the flowcharts of FIGS. 4 and 13, a series of processing is executed when the host vehicle is in the automatic driving mode, but a series of processing may be executed in the case of manual driving. Even if the driving support device 1 is in the manual driving mode, by displaying an image including the attention object on the display device 31, in the case of automatic driving, it becomes possible to grasp the surrounding situation. The occupant can easily grasp the attention object at the intersection where the host vehicle enters, and can better grasp the surrounding situation of the vehicle.

  In addition, the intersection information detection unit 52 may detect a target existing in the sight line direction of the occupant as a caution target by using a sensor that detects the sight line of the occupant. Furthermore, the intersection information detection unit 52 pays attention to a moving object that may approach the host vehicle V from the surrounding environment of the host vehicle such as the position, moving direction, speed, and type of the moving object such as another vehicle or a pedestrian. You may make it detect as a target.

  Further, the display image drawing unit 54 and the HMI drawing unit 55 may display an icon indicating the state of the traffic light on the image. Further, an arrow signal for turning left or right may be displayed. In particular, when there is no right turn arrow signal in Japan, it is possible to grasp the surrounding situation of the intersection as a material for determining whether or not a right turn is possible by widening the range of the display image.

  Further, in the second embodiment, the stop possibility calculating unit 59 calculates the possibility of stopping at a stop prohibited portion such as an intersection based on the congestion situation of pedestrians and bicycles existing on a pedestrian crossing or the like. May be.

  In the first and second embodiments, in the movement of the virtual viewpoint X from the reference position to the target position, the movement process may be displayed on the display device 31 or the like. As a result, the occupant can accurately grasp the relationship between the reference position and the target position, so that the surrounding situation can be accurately grasped even if the virtual viewpoint is moved to the target position.

The vehicle display devices according to the first and second embodiments store the movement locus from the reference position generated by the virtual viewpoint calculation unit 53 to the target position and the position of the host vehicle V that has generated the movement locus. When the position where the virtual viewpoint calculation unit 53 sets the reference position and the target position is equal to or less than a predetermined distance from the position where the movement locus is generated, the virtual viewpoint X is moved from the reference position to the target position using the stored movement locus. You may make it move to. As a result, the virtual viewpoint X can be moved at the position where the movement locus is generated by the previously used movement locus, that is, the consistent movement locus, so that it is possible to understand the surrounding situation of the occupant accompanying the movement of the virtual viewpoint X. Interfering can be suppressed.

  In addition, the vehicle display devices according to the first and second embodiments include the movement locus from the reference position to the target position generated by the virtual viewpoint calculation unit 53, and the reference position and the target position with respect to the host vehicle V in the movement locus. , And whether or not the reference position and target position set by the virtual viewpoint calculation unit 53 match the stored target position and reference position, respectively. Thus, the virtual viewpoint X may be moved from the reference position to the target position. As a result, when the reference position matches the target position, the virtual viewpoint can be moved by the previously used movement trajectory, that is, the consistent movement trajectory. Can prevent the understanding of

  In addition, of course, the present invention includes various embodiments that are not described here, such as configurations in which the respective configurations described in the above embodiments are arbitrarily applied. Therefore, the technical scope of the present invention is defined only by the invention specifying matters according to the scope of claims reasonable from the above description.

DESCRIPTION OF SYMBOLS 10 Ambient environment sensor group 11 Positioning apparatus 12 High precision map memory | storage part 20 Vehicle sensor group 30 Controller 51 Intersection detection part 52 Intersection information detection part 53 Virtual viewpoint calculation part 54 Display image drawing part 55 HMI drawing part 57 Signal state detection part 58 Previous Car detection part 59 Stop possibility calculation part a Reference position c Target positions D1 to D3, E1 to E3, F, F1 to F3 Other vehicles T1 to T2 Stop position (stop line)
U1-U4 Crosswalk V Own vehicle W1 Preceding vehicle W2 Subsequent vehicle X Virtual viewpoint

Claims (12)

A vehicle display method for displaying an image viewed from a virtual viewpoint set at a reference position with respect to a vehicle on a display device,
Detect an object of attention at the intersection where the vehicle enters,
Setting a target position of the virtual viewpoint to be the image including the attention object;
A display method for a vehicle, wherein the virtual viewpoint is moved from the reference position to the target position. Detecting a distance between the vehicle and the attention object;
The vehicle display method according to claim 1, wherein the target position is set based on a distance between the vehicle and the attention object.   The vehicle display method according to claim 1, wherein a stop position of the intersection is detected as the attention object.   The vehicle display method according to claim 3, wherein the target position that is the image including all stop positions of the intersection is set. Detecting the congestion status of the preceding vehicle in the direction lane of the vehicle
The vehicle display method according to claim 1, wherein the target position is changed based on the congestion state. Detecting pedestrians around the vehicle as the attention object,
The vehicle display method according to claim 1, wherein the target position is set based on the position of the pedestrian. As a cautionary object, a pedestrian crossing is detected,
The vehicle display method according to claim 1, wherein the target position is set based on the pedestrian crossing.   After changing the distance between the virtual viewpoint and the vehicle, the virtual viewpoint is moved from the reference position to the target position by changing an angle formed by the viewing direction of the virtual viewpoint and the horizontal direction of the vehicle. The vehicle display method according to claim 1, wherein:   The vehicle display method according to claim 1, wherein the movement process is displayed on the display device during movement from the reference position to the target position. Generating a movement trajectory from the reference position to the target position;
In the vehicle display method for storing the generated movement locus and the position where the movement locus is generated,
When the position where the reference position and the target position for the vehicle are set is equal to or less than a predetermined distance from the position where the movement locus is generated, the virtual viewpoint is moved from the reference position to the target position using the stored movement locus. The vehicle display method according to claim 1, wherein the vehicle display method is moved. Generating a movement trajectory from the reference position to the target position;
In the vehicle display method for storing the generated movement locus, and a reference position and a target position for the vehicle in the movement locus,
It is determined whether or not the set reference position and target position for the vehicle coincide with the stored reference position and target position of the movement locus, respectively.
10. The vehicle according to claim 1, wherein when it is determined that the two match each other, the virtual viewpoint is moved from the reference position to the target position using the stored movement trajectory. Display method. A vehicle display device that displays an image viewed from a virtual viewpoint set at a reference position for a vehicle,
An intersection information detection unit for detecting an attention object at an intersection where the vehicle enters;
A virtual viewpoint calculation unit that sets a target position of the virtual viewpoint to be the image including the attention object;
And the virtual viewpoint is moved from the reference position to the target position.

Images