JP2022020688A - Display control device for vehicle, display control method for vehicle, and control program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent, when virtual images are superposed on and displayed on an image of an environment ahead of the vehicle by projecting images onto a projection member, the intended content of each of images from being made less likely to be grasped even in a case where a plurality of images of different display items are projected onto a common projection member to integrally display respective virtual images on an image of an environment ahead of the vehicle.

SOLUTION: An HCU 20 for controlling an HUD device 220, comprises: a determination information acquisition unit 201 that acquires content determination information for determining a content of an image to be drawn on a display; and a drawing control unit 211 by which a plurality of groups of images categorized in a plurality of groups including a kinetic object group, a stationary object group, and a road surface group are drawn on the one display having separate layers for respective groups, according to the content determination information acquired by the determination information acquisition unit 201. The drawing control unit 211 draws images on the display such that the images are different in visibility according to a layer used for drawing an image on the display.

SELECTED DRAWING: Figure 3

COPYRIGHT: (C)2022,JPO&INPIT

Description

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

Conventionally, a head-up display (hereinafter referred to as HUD) is known in which a virtual image is superimposed and displayed on the foreground of a vehicle by projecting an image onto a projection member such as a windshield. For example, Patent Document 1 discloses a technique for displaying an information transmitter such as a guide arrow as travel guidance information on a head-up display so as to overlap the road at an intersection. Further, in Patent Document 1, when an obstacle existing in front of a vehicle and an information transmitter overlap, the position where the information transmitter is displayed is shifted, or a portion of the display of the information transmitter that overlaps with the obstacle. The technique of erasing is disclosed.

Japanese Patent No. 40859228

However, in the technique disclosed in Patent Document 1, although it is assumed that the display positions of the information transmitters overlap with the obstacles existing in front of the vehicle, it is assumed that the display positions of a plurality of types of information transmitters overlap. Not. Therefore, in the technique disclosed in Patent Document 1, when the display positions of a plurality of types of information transmitters overlap, the images are mixed and it becomes difficult to distinguish between them, and the intended content of each display is transmitted to the driver. It may be difficult.

One object of this disclosure is that when a virtual image is superimposed and displayed on the foreground of a vehicle by projecting an image on a projection member, a plurality of images having different types of display items are projected onto a common projection member to display the foreground of the vehicle. Provided are a vehicle display control device, a vehicle display control method, and a control program that prevent the intended content of each image from being difficult to be transmitted to the driver even when each virtual image is displayed in a complex manner. There is something in it.

The above object is achieved by a combination of the features described in the independent claims, and the sub-claims provide for further advantageous embodiments of the disclosure. The reference numerals in parentheses described in the claims indicate, as one embodiment, the correspondence with the specific means described in the embodiments described later, and do not limit the technical scope of the present disclosure. ..

In order to achieve the above object, the vehicle display control device of the present disclosure is a head-up display device used in a vehicle and superimposing a virtual image on the foreground of the vehicle by projecting an image drawn on the display onto a projection member. A decision information acquisition unit (201) that acquires content determination information, which is information for determining the content of an image to be drawn on a display, and a determination information acquisition unit, which is a display control device for a vehicle that controls Depending on the content determination information to be acquired, the display unit includes a group of images for dynamic targets, a group of images for static targets, and a group of images for road surfaces in units of display item types. It is provided with a drawing control unit (211) that draws images of a plurality of groups classified into a plurality of groups on one display by dividing the layers into groups, and the drawing control unit is for each layer that draws an image on the display. Draw so that the visibility of the image is different.

In order to achieve the above object, the vehicle display control method of the present disclosure is used in a vehicle, and is a head-up display device that superimposes and displays a virtual image on the foreground of the vehicle by projecting an image drawn on a display onto a projection member. It is a display control method for vehicles that controls the acquisition of content determination information, which is information for determining the content of an image to be drawn on the display, and displays it on the display according to the content determination information to be acquired. Multiple groups of images classified into multiple groups, including a group of images for dynamic targets, a group of images for static targets, and a group of images for road surfaces, by item type. The layers are divided and drawn on one display, and the image is drawn on the display so that the visibility of the image is different for each layer.

In order to achieve the above object, the control program of the present disclosure is a head-up display device in which a computer is used in a vehicle and a virtual image is superimposed and displayed on the foreground of the vehicle by projecting an image drawn on a display onto a projection member. Display according to the content determination information acquired by the determination information acquisition unit (201) that acquires the content determination information, which is the information for determining the content of the image to be drawn on the display of. Multiple groups of images classified into multiple groups, including a group of images for dynamic targets, a group of images for static targets, and a group of images for road surfaces, on a container by type of display item. Is divided into layers for each group and drawn on one display, and also functions as a drawing control unit (211) for drawing the image on the display so that the visibility of the image is different for each layer on which the image is drawn.

According to these, a plurality of images including at least a group of images for dynamic targets, a group of images for static targets, and a group of images for road surfaces, which are classified into a plurality of groups according to the type of display item. The image of the group is divided into layers for each group, and the images are drawn on one display so that the visibility of the image is different for each layer. Therefore, even when a plurality of images having different types of display items are projected onto a common projection member to display each virtual image in the foreground of the vehicle in a complex manner, at least a group of images for a dynamic target, The driver can distinguish and recognize a group of images for static targets and a group of images for road surfaces. The classification of a group of images for dynamic targets, a group of images for static targets, and a group of images for road surfaces adds the perspective of the front space of the vehicle, which is unique to the superimposed display on the foreground of the vehicle. It is divided into groups. Therefore, at least each of the groups including the viewpoint of the front space of the vehicle can be distinguished and recognized by the driver, so that the driver can easily recognize the intended content of each image in the superimposed display. As a result, when a virtual image is superimposed and displayed on the foreground of the vehicle by projecting an image on the projection member, a plurality of images having different types of display items are projected onto a common projection member to display each virtual image on the foreground of the vehicle. Even when displaying in a complex manner, it is possible to prevent the intended content of each image from being difficult to convey to the driver.

It is a figure which shows an example of the schematic structure of the vehicle system 1. It is a figure which shows the example of mounting the HUD device 220 in a vehicle. It is a figure which shows an example of the schematic structure of HCU 20. It is a figure which shows an example of the type of a display item. It is a figure which shows an example of grouping of display items. It is a figure which shows an example of superimposition display. It is a figure which shows an example of superimposition display. It is a figure for demonstrating an example of the composition processing which synthesizes the image drawn on each layer. It is a flowchart which shows an example of the flow of the virtual image display control-related processing in HCU20.

A plurality of embodiments for disclosure will be described with reference to the drawings. For convenience of explanation, the parts having the same functions as the parts shown in the drawings used in the previous description may be designated by the same reference numerals and the description thereof may be omitted among the plurality of embodiments. be. For the parts with the same reference numerals, the description in other embodiments can be referred to.

(Embodiment 1)
<Outline configuration of vehicle system 1>
Hereinafter, this embodiment will be described with reference to the drawings. The vehicle system 1 is used in a vehicle traveling on a road such as an automobile. As an example, the vehicle system 1 includes an HMI (Human Machine Interface) system 2, an ADAS (Advanced Driver Assistance Systems) locator 3, a peripheral monitoring sensor 4, a vehicle status sensor 5, a vehicle control ECU 6, and a navigation device, as shown in FIG. 7 and the automatic operation ECU 8 are included. It is assumed that the HMI system 2, the ADAS locator 3, the peripheral monitoring sensor 4, the vehicle state sensor 5, the vehicle control ECU 6, the navigation device 7, and the automatic driving ECU 8 are connected to, for example, an in-vehicle LAN.

The ADAS locator 3 includes a GNSS (Global Navigation Satellite System) receiver and an inertial sensor. The GNSS receiver receives positioning signals from a plurality of artificial satellites. The inertial sensor includes, for example, a gyro sensor and an acceleration sensor. The ADAS locator 3 sequentially positions the vehicle position of its own vehicle by combining the positioning signal received by the GNSS receiver and the measurement result of the inertial sensor. For the positioning of the vehicle position, the mileage obtained from the detection results sequentially output from the vehicle speed sensor mounted on the own vehicle may be used. Then, the positioned vehicle position is output to the in-vehicle LAN.

The ADAS locator 3 may be configured to include, as map data, a map database (hereinafter, map DB) that stores a three-dimensional map composed of point clouds of road shapes and feature points of structures. When the ADAS locator 3 uses this 3D map, the ADAS locator 3 detects the 3D map and the point cloud of the feature points of the road shape and the structure without using the GNSS receiver, and LIDAR (Light Detection and Ranging / Laser Imaging). It may be configured to specify the vehicle position of the own vehicle by using the detection result by the peripheral monitoring sensor 4 such as Detection and Ranging). The map data of this three-dimensional map may be acquired from the outside of the own vehicle via the communication module.

The peripheral monitoring sensor 4 is an autonomous sensor that monitors the surrounding environment of the own vehicle. As an example, the peripheral monitoring sensor 4 is a moving dynamic target such as a pedestrian, a non-human animal, a vehicle other than the own vehicle, and a stationary static object such as a falling object, a guardrail, a curb, and a tree on the road. Detects obstacles around the vehicle such as target targets. In addition, it detects road markings such as driving lane markings around the vehicle. The peripheral monitoring sensor 4 is, for example, a sensor such as a peripheral monitoring camera that captures a predetermined range around the vehicle, a millimeter wave radar that transmits exploration waves to a predetermined range around the vehicle, sonar, and LIDAR. The peripheral surveillance camera sequentially outputs the captured images to be sequentially captured as sensing information to the in-vehicle LAN. Sensors that transmit exploration waves such as sonar, millimeter-wave radar, and LIDAR sequentially output scanning results based on the received signal obtained when the reflected wave reflected by the detection target is received to the in-vehicle LAN as sensing information.

The vehicle state sensor 5 is a group of sensors for detecting various states of the own vehicle. The vehicle state sensor 5 includes a vehicle speed sensor that detects the vehicle speed of the own vehicle, a steering sensor that detects the steering angle of the own vehicle, an accelerator position sensor that detects the opening degree of the accelerator pedal of the own vehicle, and a depression of the brake pedal of the own vehicle. There is a brake pedal force sensor that detects the amount. The vehicle state sensor 5 outputs the detected sensing information to the in-vehicle LAN. The sensing information detected by the vehicle state sensor 5 may be output to the in-vehicle LAN via the ECU mounted on the own vehicle.

The vehicle control ECU 6 is an electronic control device that performs acceleration / deceleration control and / or steering control of the own vehicle. The vehicle control ECU 6 includes a steering ECU that performs steering control, a power unit control ECU that performs acceleration / deceleration control, a brake ECU, and the like. The vehicle control ECU 6 acquires detection signals output from each sensor such as an accelerator position sensor, a brake pedal force sensor, a steering angle sensor, and a wheel speed sensor mounted on the own vehicle, and has an electronically controlled throttle, a brake actuator, and an EPS (Electric). Power Steering) Outputs control signals to each driving control device such as a motor. Further, the vehicle control ECU 6 can output the detection signals of the above-mentioned sensors to the in-vehicle LAN.

The navigation device 7 is provided with a map DB that stores map data, searches for a route that satisfies conditions such as time priority and distance priority to a set destination, and provides route guidance according to the searched route. The map DB may be a non-volatile memory and may store map data such as link data, segment data, node data, and road shape. The map data may include a three-dimensional map consisting of a road shape and a point cloud of feature points of a structure.

By controlling the vehicle control ECU 6, the automatic driving ECU 8 executes an automatic driving function that substitutes for a driving operation by a driver. The automatic driving ECU 8 travels the own vehicle based on the vehicle position of the own vehicle acquired from the ADAS locator 3, the map data of the three-dimensional map, the sensing information in the peripheral monitoring sensor 4, and the map data acquired from the navigation device 7. Recognize the environment. As an example, the shape and moving state of an object around the own vehicle are recognized from the sensing information of the peripheral monitoring sensor 4, and the shape of the road marking around the own vehicle is recognized. Then, by combining it with the vehicle position and map data of the own vehicle, a virtual space that reproduces the actual driving environment in three dimensions is generated.

Further, the automatic driving ECU 8 generates a driving plan for automatically driving the own vehicle by the automatic driving function based on the recognized driving environment. As a running plan, a long- and medium-term running plan and a short-term running plan are generated. The long- and medium-term driving plan defines the route for directing the vehicle to the set destination. For the long- and medium-term travel plans, the route searched by the navigation device 7 may be used. In the short-term travel plan, the planned travel locus for realizing the travel according to the long- to medium-term travel plan is defined by using the generated virtual space around the own vehicle. Specifically, the execution of steering for lane following and lane change, acceleration / deceleration for speed adjustment, and sudden braking for collision avoidance is determined based on a short-term driving plan.

The HMI system 2 includes an HCU (Human Machine Interface Control Unit) 20, an operation device 21, and a display device 22, and accepts input operations from a driver who is a user of the own vehicle, or directs the driver of the own vehicle. Present information. The operation device 21 is a group of switches operated by the driver of the own vehicle. The operation device 21 is used to make various settings. For example, as the operation device 21, there is a steering switch or the like provided on the spoke portion of the steering of the own vehicle. As the display device 22, a head-up display (HUD) device 220 is used. Here, the HUD device 220 will be described with reference to FIG.

As shown in FIG. 2, the HUD device 220 is provided on the instrument panel 12 of the own vehicle and has a display 221, a flat mirror 222, and a concave mirror 223. The HUD device 220 projects an image onto the front windshield 10 under the control of the HCU 20. The HUD device 220 projects the display image formed by the display 221 onto a projection area defined by the front windshield 10 as a projection member through optical systems such as a flat mirror 222 and a concave mirror 223. More specifically, the image displayed on the display 221 (that is, the displayed image) is reflected by the planar mirror 222, then enlarged by the concave mirror 223 and projected onto the projection area defined by the front windshield 10. .. The projection area is assumed to be located in front of the driver's seat, for example. The display 221 is, for example, a TFT liquid crystal panel, and outputs the light of the display image to be drawn on the liquid crystal panel by transmitting the light from the backlight.

The luminous flux of the display image reflected on the vehicle interior side by the front windshield 10 is perceived by the driver sitting in the driver's seat. Further, the luminous flux from the foreground as a landscape existing in front of the own vehicle, which is transmitted through the front windshield 10 formed of the translucent glass, is also perceived by the driver sitting in the driver's seat. As a result, the driver can visually recognize the virtual image 100 of the display image formed in front of the front windshield 10 by superimposing it on a part of the foreground. That is, the HUD device 220 superimposes and displays the virtual image 100 on the foreground of the own vehicle, and realizes a so-called AR (Augmented Reality) display.

As the display image, there are an image of a movement attribute that changes the position according to an object in the foreground to be superimposed and displayed, and an image of a fixed attribute whose position is fixed regardless of the foreground. The details of the image of the movement attribute will be described later. Images of fixed attributes include an image showing the information of the instrument of the own vehicle, an image showing the setting state of the function of the own vehicle such as the automatic driving function, an image showing the operating state of the automatic driving function, and a traffic sign of the road on which the vehicle is traveling. There are images showing the contents of, and images showing the monitoring status of the driver. Examples of the image showing the information of the instrument of the own vehicle include an image showing the value of the vehicle speed. As an image showing the setting state of the own vehicle function such as the automatic driving function, an icon image showing whether the automatic driving function such as the ACC (Adaptive Cruise Control) function is on / off or the route guidance function is on / off is used. Can be mentioned. Examples of the image showing the operating state of the automatic driving function include an icon image showing the presence or absence of the operation of the automatic driving function. Examples of the image showing the regulation information of the traveling road include an icon image showing the contents of the road sign such as the speed regulation sign of the traveling road. Examples of the image showing the monitoring state of the driver include an icon image showing whether or not the driver holds the steering wheel. The fixed attribute display is not limited to the example given here.

In the present embodiment, by tilting the display 221 with respect to an optical system such as a planar mirror 222 and a concave mirror 223, the virtual image 100 is arranged so that the upper side of the virtual image 100 can be seen more easily on the distal side than the lower side when viewed from the driver. The explanation will be given by taking as an example the case where the display is tilted in the front-rear direction of the own vehicle. This eliminates the need for two indicators, one for displaying the virtual image 100 so that it can be seen on the proximal side of the driver and the other for displaying the virtual image 100 so that it can be seen on the distal side of the driver. Also, it becomes easier to make it appear that the virtual image 100 is displayed from the proximal side to the distal side. The configuration is not limited to this, and the virtual image 100 may be displayed without being tilted in the front-rear direction of the own vehicle.

In the present embodiment, the following description will be given by taking the case where the display 221 is a TFT liquid crystal panel as an example, but the present invention is not necessarily limited to this. For example, as long as the display image can be drawn, another type of display may be used, and the optical system is not limited to the above-mentioned one such as using a reflective screen instead of the plane mirror 222. The projection member on which the HUD device 220 projects the display image is not limited to the front windshield 10, and may be a translucent combiner. Further, as the display device 22, in addition to the HUD device 220, a device for displaying an image may be used. Examples include a combination meter display, a CID (Center Information Display), and the like.

The HCU 20 is mainly composed of a microcomputer including a processor, a volatile memory, a non-volatile memory, an I / O, and a bus connecting them, and is connected to the HUD device 220. The HCU 20 controls the display on the HUD device 220 by executing a control program stored in the non-volatile memory. This HCU 20 corresponds to a vehicle display control device. Executing this control program by the processor corresponds to executing the vehicle display control method corresponding to the control program. The memory referred to here is a non-transitory tangible storage medium that stores programs and data that can be read by a computer non-transitoryly. Further, the non-transitional substantive storage medium is realized by a semiconductor memory, a magnetic disk, or the like. The configuration of the HCU 20 regarding the control of the display by the HUD device 220 will be described in detail below.

<Outline configuration of HCU20>
Here, the schematic configuration of the HCU 20 will be described with reference to FIG. As shown in FIG. 3, the HCU 20 includes an information processing block 200 and a display control block 210 as functional blocks for display control in the HUD device 220. In the following, for convenience, the description of the display control of the fixed attribute image among the moving attribute image and the fixed attribute image will be omitted, and the display control of the moving attribute image will be described. In addition, a part or all of the functions executed by the HCU 20 may be configured in terms of hardware by one or a plurality of ICs or the like. Further, a part or all of the functional blocks included in the HCU 20 may be realized by a combination of software execution by a processor and hardware components.

The information processing block 200 selectively acquires information necessary for display control in the display control block 210 from various information output to the in-vehicle LAN. In addition, the information processing block 200 performs a process of converting the acquired information into a state suitable for display control. As shown in FIG. 3, the information processing block 200 includes a determination information acquisition unit 201 as a sub-functional block.

The decision information acquisition unit 201 acquires information necessary for determining the content to be displayed on the HUD device 220. In other words, information for determining the content of the image to be drawn on the display 221 of the HUD device 220 (hereinafter, content determination information) is acquired. As an example of the content determination information, the vehicle position output from the ADAS locator 3, the route searched by the navigation device 7, the map data stored in the map DB, the driving environment recognized by the automatic driving ECU 8, and the automatic driving ECU 8 There are travel plans to be generated, operation input information in the operation device 21, setting of the automatic operation function in the automatic operation ECU 8, operation information, and the like.

The display control block 210 controls the display on the HUD device 220 (that is, display control) based on the information acquired by the information processing block 200. As shown in FIG. 3, the display control block 210 includes a drawing control unit 211 and an arbitration unit 217 as sub-functional blocks.

The drawing control unit 211 generates image data of an image to be drawn on the display 221 of the HUD device 220 based on the information acquired by the information processing block 200. The drawing control unit 211 draws an image of the movement attribute on the display 221 by outputting the generated image data to the display 221. The drawing control unit 211 changes the content and arrangement of the displayed image according to the content determination information acquired by the determination information acquisition unit 201.

The drawing control unit 211 draws images of a plurality of groups classified into a plurality of groups according to the type of display item on one display 221 by dividing layers for each group. As shown in FIG. 3, the drawing control unit 211 has an emergency-related unit 212, a dynamic target-related unit 213, a static target-related unit 214, a road surface-related unit 215, and an extended information-related unit 216. The related part 212, the dynamic target related part 213, the static target related part 214, the road surface related part 215, and the extended information related part 216 draw images of different groups. That is, the emergency-related part 212, the dynamic target-related part 213, the static target-related part 214, the road surface-related part 215, and the extended information-related part 216 are drawn on different layers.

Here, a plurality of groups classified by type of display items will be described with reference to FIGS. 4 to 7. First, as shown in FIG. 4, the types of display items are roughly classified into warning system, response system, and information system. The warning display items are display items that display the contents that the driver needs to take immediate action to avoid danger. The display items of the warning system are further subdivided into "Emergency", "Warning", and "Caution" according to the degree of urgency. For the display items "Urgent", "Warning", and "Caution", the urgency of "Urgent" is the highest, followed by the urgency of "Warning", and the urgency of "Caution" is the lowest.

The display item "emergency" is a display that prompts the driver to operate, for example, by giving an emergency warning to the driver. One example is a display requesting the driver to perform a driving operation for crisis avoidance, such as a warning in the collision damage mitigation braking function and a warning in the forward collision prediction warning function.

The display item "warning" is a display that warns the driver about information that may cause an accident, for example. One example is the highlighting of information according to the distance to the nearest dangerous obstacle such as interruption of another vehicle from a blind spot or approach of a pedestrian.

The display item "Caution" is, for example, a display that calls attention to the driver. One example is a warning display for information that is presumed to be out of the driver's consciousness, such as an area that the driver has neglected to check, as detected by the driver monitoring system. The display items of the warning system may be displayed, for example, in or near the area targeted for crisis avoidance.

The display item of the response system is a display item that conveys the reaction to the operation of the driver. Response-type display items are less urgent than warning-type display items. As a display item of the response system, there is "Response". As an example of the display item "response", there is a display for notifying the change of the inter-vehicle distance setting in the ACC (Adaptive Cruise Control) function. In this case, the display for notifying the change in the inter-vehicle distance setting may be displayed on the preceding vehicle, displayed in the traveling lane of the own vehicle, or displayed in the area between the own vehicle and the preceding vehicle.

The display item of the notification system is a display item in which the content that the driver does not need to take immediate action for avoiding danger or the content that is not related to avoiding danger is displayed. Notification-type display items are less urgent than emergency-type display items and response-type display items. The display items of the notification system are further subdivided into "Notice" and "Information" according to the degree of urgency. The display item "information" is less urgent than the display item "notification".

The display item "notification" is a display of contents that are related to the movement of the own vehicle and safe driving, but do not require the driver to take immediate action to avoid danger. It is a display to be performed. The display item "notification" is further subdivided into "Dynamic", "Static", and "Road" according to the spatial viewpoint in front of the vehicle. ..

The display item "dynamic target" is a display with a large change in time, and is a display for dynamic targets such as surrounding vehicles and pedestrians. As an example, as a display for notifying the existence of a dynamic target such as a surrounding vehicle or a pedestrian, a display indicating the dynamic target, a ripple-shaped display extending along the road surface centered on the dynamic target, etc. Can be mentioned. In addition, there is a display of information indicating the time between vehicles in front, which is displayed in the preceding vehicle, between the own vehicle and the preceding vehicle, in the traveling lane of the own vehicle, and the like. In addition, there is a display showing the pedestrian recognition result in the night vision system that points to or surrounds the pedestrian.

The display item "static target" is a display with a small change in time, and is a display for static targets such as signs, roadside objects, and falling objects. As an example, as a display for notifying the existence of a static target, a display indicating the static target, a display surrounding the static target, and the like can be mentioned.

The display item "road surface" is a display with a small change in time, and is a display for the road surface such as a route and a lane. As an example, there is a linear or sheet-like display along the road surface of the planned travel route for indicating the planned travel route of the own vehicle on a turn-by-turn (hereinafter, TBT). In addition, for lane guidance that indicates the driving lane of the own vehicle, a display that simulates the lane marking of the planned driving lane, and a linear or sheet-like display that indicates the range within the lane along the shape of the planned driving lane. The display is mentioned.

The display item "information" is a display that gives information to the driver, and is a display of contents that are not directly related to danger avoidance. One example is the provision of information to the driver, such as information on surrounding facilities unrelated to the planned travel route and break proposals. In this case, the information of the surrounding facilities may be superimposed and displayed on the surrounding facilities, or may be superimposed and displayed on the facility that proposes the break proposal.

In the present embodiment, these display items are prioritized in addition to the urgency of the information itself and the spatial viewpoint in front of the vehicle, and are classified into five groups. As shown in FIG. 5, the five groups are an emergency group, a dynamic target group, a static target group, a road surface group, and an extended information group in descending order of priority.

An emergency group is a group of images of display items that are more urgent than other groups. Images of the warning display items "emergency", "response", and "caution", and images of the response display item "response" are classified into the emergency group. The emergency-related unit 212 is responsible for drawing images classified into emergency groups. The emergency-related unit 212 determines the display content to be displayed as an image classified into the emergency group based on the content determination information acquired by the determination information acquisition unit 201. As an example, when the content determination information includes information indicating that the pedestrian is approaching to a distance requiring a warning, an image of a warning mark (see Wa in FIG. 6) is placed at the position of the pedestrian. For example, the display content to be displayed is determined. FIG. 6 is a diagram showing an example of an image superimposed and displayed on the foreground, in which Vi indicates a projection area. The emergency-related unit 212 sends a display request requesting mediation of the display of the determined display content to the mediation unit 217. Information such as the type of group and the position of the target of the display content may be added to the display request.

The dynamic target group is a group of images about the dynamic target that the driver does not need to take immediate action to avoid danger. Images of the notification system display item "dynamic target" are classified into the dynamic target group. The dynamic target related unit 213 draws an image classified into the dynamic target group. The dynamic target-related unit 213 determines the display content to be displayed as an image classified into the dynamic target group based on the content determination information acquired by the determination information acquisition unit 201. As an example, when the content determination information includes information indicating the existence of a dynamic target such as a pedestrian who has not approached to a distance requiring a warning, the dynamic target of the pedestrian or the like is used. The display content for displaying a ripple-shaped image (see Om in FIG. 6) indicating the existence of this dynamic target at a position may be determined. The dynamic target-related unit 213 also sends a display request to the arbitration unit 217 in the same manner as the emergency-related unit 212.

A static target group is a group of images about static targets that the driver does not need to take immediate action to avoid danger. Images of the notification system display item "static target" are classified into the static target group. The static target related unit 214 draws an image classified into the static target group. The static target-related unit 214 determines the display content to be displayed as an image classified into the static target group based on the content determination information acquired by the determination information acquisition unit 201. As an example, when the content determination information includes information indicating the existence of a dynamic target such as a falling object that has not approached to a distance requiring a warning, the static target such as the falling object is used. The display content for displaying an image (see So in FIG. 7) indicating the existence of this static target at a position may be determined. The static target-related unit 214 also sends a display request to the arbitration unit 217 in the same manner as the emergency-related unit 212.

A road surface group is a group of images about a road surface that the driver does not need to take immediate action to avoid danger. Images of the notification system display item "road surface" are classified into the road surface group. The road surface-related unit 215 draws an image classified into a road surface group. The road surface-related unit 215 determines the display content to be displayed as an image classified into the road surface group based on the content determination information acquired by the determination information acquisition unit 201. As an example, when the content determination information includes information on the planned travel route of the own vehicle, the display content for displaying a sheet-shaped image (see Pa in FIG. 6) along the road surface of the planned travel route is determined. And so on. The road surface-related unit 215 also sends a display request to the arbitration unit 217 in the same manner as the emergency-related unit 212.

The dynamic target group, static target group, and road surface group are prioritized from the spatial viewpoint in front of the vehicle. Specifically, the road surface group is set to have a lower priority than the dynamic target group and the static target group because the road surface is located below the dynamic target and the static target. In addition, the dynamic target group has a higher priority than the static target group and the road surface group because the time change of the position of the dynamic index is larger than that of the road surface and the static target.

The extended information group is a group of images about information provision that is not directly related to risk avoidance. Images of the display item "information" of the notification system are classified into the extended information group. The extended information-related unit 216 draws an image classified into the extended information group. The extended information-related unit 216 determines the display content to be displayed as an image classified into the extended information group based on the content determination information acquired by the determination information acquisition unit 201. As an example, when the content determination information includes information on a peripheral facility that is preferable to the driver, a display content that displays an image (see Ei in FIG. 6) indicating the existence of the peripheral facility at the position of the peripheral facility. And so on. The extended information-related unit 216 also sends a display request to the arbitration unit 217 in the same manner as the emergency-related unit 212.

The arbitration unit 217 also includes display requests sent from the emergency-related unit 212, the dynamic target-related unit 213, the static target-related unit 214, the road surface-related unit 215, and the extended information-related unit 216 of the drawing control unit 211. Then, the images of each group are arbitrated, and the control instruction is returned to the drawing control unit 211. Specifically, based on the type of group given to the display request, a control instruction for enhancing the visibility of the image of the group having a high priority is returned to the drawing control unit 211.

For example, the higher priority group may be configured to return a control instruction to set the stacking order of the image layers to the upper layer, or the higher priority group layer has the image transmittance relative to other layers. It may be configured to be high, or these may be combined. The arbitration unit 217 may have a configuration in which the transmittance is relatively increased by increasing the transmittance of the image of the layer of the high priority group, or the transmittance of the image of the layer of the low priority group may be increased. It may be configured to raise the transmittance relatively by lowering it. It is more preferable to relatively increase the transmittance of the image of the layer of the high priority group by lowering the transmittance of the image of the layer of the low priority group.

If the stacking order of the layers is different, the images of each group can be easily distinguished from each other, and the visibility of the images of each group is improved. The image of the group in which the layer stacking order is the upper layer is more visible on the upper layer side when superimposed on the foreground, so that the visibility is further improved. Further, if the transmittance of the images is different, the apparent brightness is different, so that the images of each group can be easily distinguished from each other, and the visibility of the images of each group is improved. The higher the transmittance, the higher the apparent brightness, and the higher the visibility. It should be noted that the reason why the apparent brightness of the image of each group is changed by changing the transmittance of the image is that the display 221 for displaying the image of each group is common and the backlight is common. This is because it is difficult to distinguish and switch the brightness of the backlight for each group of images.

Furthermore, the image for the object farther from the vehicle (hereinafter referred to as the distal object image) is displayed in a higher layer than the image for the object closer to the vehicle (hereinafter referred to as the proximal object image). In order to prevent a sense of discomfort in the display due to this, it is preferable that the arbitration unit 217 performs the following arbitration. The arbitration unit 217 has a higher priority than the group of the proximal target image when the group of the distal target image has a higher priority than the group of the proximal target image based on the position of the target of the display content in addition to the type of the group given to the display request. , Rather than making the layer of the distal target image higher than the stacking order of the layers of the proximal target image, it is visible by making the transparency of the distal target image relatively higher than that of the near-position target image. You just have to improve your sex. On the other hand, in the mediation section 217, when the group of the proximal target image has a higher priority than the group of the distal target image, the layer of the proximal target image is placed higher than the stacking order of the layers of the distal target image. The visibility may be improved by setting. Further, if the number of display requests sent is not a plurality, the arbitration unit 217 returns a control instruction for display permission without performing arbitration.

Then, according to the control instruction returned from the arbitration unit 217, the drawing control unit 211 has an emergency-related unit 212, a dynamic target-related unit 213, a static target-related unit 214, a road surface-related unit 215, and an extended information-related unit 216. Draw with. When the stacking order is specified by the control instruction, the drawing control unit 211 superimposes the layers of each group in the order according to the stacking order and draws the image of each group. Further, when the transmittance is instructed by the control instruction, the drawing control unit 211 draws by changing the transmittance of the image of each group layer according to the transmittance. As a result, the drawing control unit 211 draws the image on the display 221 so as to make the visibility of the image different for each layer on which the image is drawn.

As an example, a display request is sent from the dynamic target-related unit 213 and the road surface-related unit 215 of the drawing control unit 211 to the arbitration unit 217, and the stacking order of the layers of the dynamic target group is higher than that of the road surface group layer. When the control instruction to make the upper layer is returned to the drawing control unit 211, the layer of the dynamic target group is overlaid on the upper layer than the layer of the road surface group, and the image of the dynamic target group and the road surface group are displayed. The image will be drawn.

Further, the drawing control unit 211 performs a compositing process for synthesizing the images drawn on each layer when the layers of each group are overlapped and drawn. Here, an example of the synthesis process will be described with reference to FIG. Hi in FIG. 8 shows an image of a high-priority group (hereinafter, high-priority image), and Lo shows an image of a low-priority group (low-priority image).

The simplest compositing process is the simple "overwrite" shown in FIG. 8A. In a simple "overwrite", the transmittance is not changed between the high-priority image and the low-priority image, and the high-priority image is superimposed and drawn on the upper layer of the low-priority image. In this case, the low priority image that overlaps the high priority image is hidden by the high priority image.

Further, as a modification of "overwriting", there are "addition blend" of B, "edge removal" of C, and "transmittance change" of D. In "additive blending", the transmittance is not changed between the high-priority image and the low-priority image, and the high-priority image is superimposed and drawn on the upper layer of the low-priority image, and both are drawn in the area where both overlap. Draw by adding RGB values. It should be noted that a configuration may be used in which a “multiplication blend” is used in which both RGB values are multiplied and divided by 255 for drawing.

In "Borderless", the transmittance is not changed between the high-priority image and the low-priority image, the high-priority image is superimposed on the upper layer of the low-priority image and drawn, and the boundary portion of the area where both overlap is overlapped. The lower layer image that corresponds to this is drawn by removing it by whitening it. In the "transparency change", the high-priority image is superimposed on the upper layer of the low-priority image and drawn, and the high-priority image is drawn with the transmittance relatively higher than that of the low-priority image. This "transmittance change" may be combined with "addition blend", "multiplication blend", "edge removal" and the like.

Here, an example of drawing by superimposing a high-priority image on the upper layer of a low-priority image has been described, but the target of the low-priority image is closer to the vehicle than the target of the high-priority image. In this case, the low-priority image may be superimposed on the upper layer of the high-priority image, and the high-priority image may be drawn with the transmittance relatively higher than that of the low-priority image. In this case, it is preferable to make it easier to grasp the high priority image of the lower layer by the above-mentioned "addition blend" or "multiplication blend". Further, in order to suppress waste in the compositing process, the drawing control unit 211 does not perform the compositing process and does not perform the compositing process when the layers of each group are overlapped and drawn, and the display positions of the images for each layer do not overlap. It is preferable to draw by overlapping the layers of.

When drawing a plurality of images classified into the same group, the drawing control unit 211 draws the newly displayed image on the upper layer, or the image about the object whose distance to the own vehicle is short. It may be configured to be overlaid on the upper layer for drawing. Further, when the 3D graphic drawing process is performed as the drawing process, the hidden surface processing used as the 3D graphic technique may be used to erase and draw the image of the portion that cannot be seen from a specific viewpoint. When using the hidden surface processing, the eye point is set as a specific viewpoint, and among all the pixels of the image to be displayed, the hidden surface that cannot be seen from the eye point is obtained by, for example, the Z-buffer algorithm. The range visible to the driver may be estimated.

<Process related to virtual image display control in HCU20>
Subsequently, an example of the flow of the process related to the display control of the image of the movement attribute in the HUD device 220 in the HCU 20 (hereinafter, the virtual image display control related process) will be described with reference to the flowchart of FIG. The flowchart of FIG. 9 may be configured to start when the power of the HUD device 220 is turned on and the function of the HUD device 220 is turned on. The function of the HUD device 220 may be turned on and off according to the input operation received by the operation device 21. Further, the power supply of the HUD device 220 may be turned on and off according to the on / off of the switch for starting the internal combustion engine or the motor generator of the own vehicle (hereinafter referred to as the power switch).

First, in step S1, the determination information acquisition unit 201 selectively acquires content determination information from various information output to the in-vehicle LAN. In step S2, based on the content determination information acquired in S1, the emergency-related unit 212, the dynamic target-related unit 213, the static target-related unit 214, the road surface-related unit 215, and the extended information-related unit 216 If at least one of them sends a display request to the arbitration unit 217 (YES in S2), the process proceeds to step S3. On the other hand, when the display request is not sent to the arbitration section 217 from any of the emergency-related section 212, the dynamic target-related section 213, the static target-related section 214, the road surface-related section 215, and the extended information-related section 216 ( In S2, NO), the process proceeds to step S8.

In step S3, when a plurality of the emergency-related unit 212, the dynamic target-related unit 213, the static target-related unit 214, the road surface-related unit 215, and the extended information-related unit 216 send a display request to the arbitration unit 217. In (YES in S3), the process proceeds to step S4. On the other hand, when only one of the emergency-related section 212, the dynamic target-related section 213, the static target-related section 214, the road surface-related section 215, and the extended information-related section 216 sends a display request to the arbitration section 217. In (YES in S3), the process proceeds to step S6.

In step S4, the arbitration unit 217 arbitrates the image of each group based on a plurality of sent display requests, and draws and controls a control instruction to enhance the visibility of the image of the high-priority type group. Return to unit 211. In step S5, the drawing control unit 211 performs a compositing process for synthesizing the images drawn on each layer according to the control instruction returned from the arbitration unit 217, performs drawing, and proceeds to step S8.

On the other hand, in step S6, the arbitration unit 217 returns a display permission control instruction for permitting the sent display request to the drawing control unit 211. In step S7, the drawing control unit 211 draws only one group of images for which the display request has been made according to the display permission control instruction returned from the arbitration unit 217, and proceeds to step S8.

In step S8, when it is the end timing of the virtual image display control-related process (YES in S8), the virtual image display control-related process is terminated. On the other hand, if it is not the end timing of the virtual image display control-related processing (NO in S8), the process returns to S1 and the processing is repeated. As an example of the end timing of the virtual image display control-related processing, there is a case where the power switch of the own vehicle is turned off, a case where the function of the HUD device 220 is turned off, and the like.

<Summary of Embodiment 1>
According to the configuration of the first embodiment, the images of the warning group, the dynamic target group, the static target group, the road surface group, and the extended information group, which are classified into a plurality of groups according to the type of the display item, are grouped. The layers are separated and drawn on one display 221 so that the visibility of the image is different for each layer. Therefore, even when a plurality of images having different types of display items are projected onto a common projection member to display each virtual image in the foreground of the vehicle in a complex manner, at least a warning group, a dynamic target group, and a static image are displayed. The image of the target target group, the road surface group, and the extended information group can be recognized separately by the driver. In particular, the classification of dynamic target group, static target group, and road surface group is a grouping that adds the viewpoint of the front space of the vehicle, which is unique to the superimposed display on the foreground of the vehicle. Therefore, at least each of the groups including the viewpoint of the front space of the vehicle can be distinguished and recognized by the driver, so that the driver can easily recognize the intended content of each image in the superimposed display. As a result, when a virtual image is superimposed and displayed on the foreground of the vehicle by projecting an image on the projection member, a plurality of images having different types of display items are projected onto a common projection member to display each virtual image on the foreground of the vehicle. Even when displaying in a complex manner, it is possible to prevent the intended content of each image from being difficult to convey to the driver.

Further, according to the configuration of the first embodiment, it is possible to make the visibility of the image different by making the transmittance of the image different for each group. Therefore, when the image of each group is drawn by one display 221. Even so, it is possible to easily switch the brightness of each appearance individually.

Although the description of the display control of the image of the fixed attribute is omitted in the first embodiment, the image of the fixed attribute may be drawn separately from the image of the movement attribute. In this case, basically, the layer of the image having the fixed attribute may be drawn as a layer higher than the image having the moving attribute. On the other hand, as an exception, when the image of the movement attribute contains urgent information that the driver should urgently respond to, the layer of the image of the movement attribute is drawn as a layer displayed above the image of the fixed attribute. It may be configured to be used.

(Embodiment 2)
In the first embodiment, a configuration is shown in which layers are divided into five groups of an emergency group, a dynamic target group, a static target group, a road surface group, and an extended information group, but the drawing is not necessarily limited to this. For example, the layer may be divided and drawn according to the type of display item. In this case, draw by type of display items such as "emergency", "warning", "attention", "response", "dynamic target", "static target", "road surface", and "information". The functional block for each type of display item may be configured to have the drawing control unit 211. In this case, the priority of the images for each display item is "emergency", "warning", "attention", "response", "dynamic target", "static target", and "road surface" in descending order. , "Information". Further, in this case, the display request may be configured to give the type of the display item.

(Embodiment 3)
In the first embodiment, the priority for enhancing the visibility is shown in the order of the dynamic target group, the static target group, and the road surface group, but the priority is not necessarily limited to this. For example, if the visibility of the images of the dynamic target group, the static target group, and the road surface group is different, the order of priority for improving the visibility is the dynamic target group and the static target group. ， It may be configured not in the order of the road surface group.

(Embodiment 4)
In the first embodiment, an example applied when the own vehicle has an automatic driving function has been described, but the present invention is not limited to this. For example, the own vehicle may be configured not to have an automatic driving function. In this case, the vehicle system 1 does not include the automatic driving ECU 8, and the driving environment may be recognized by another ECU.

(Embodiment 5)
In the first embodiment, the configuration related to the display control in the HUD device 220 is shown by the HCU 20 which is separate from the HUD device 220, but the configuration is not necessarily limited to this. For example, the function related to the control of the display on the HUD device 220 may be carried by the control circuit provided in the HUD device 220, or may be carried by the control circuit provided in the combination meter or the like.

The present disclosure is not limited to the above-described embodiment, and various modifications can be made within the scope of the claims, and the present disclosure can be obtained by appropriately combining the technical means disclosed in the different embodiments. The embodiments are also included in the technical scope of the present disclosure.

1 Vehicle system, 2 HMI system, 3 ADAS locator, 4 Peripheral monitoring sensor, 5 Vehicle status sensor, 6 Vehicle control ECU, 7 Navigation device, 8 Automated driving ECU, 10 Front windshield (projection member), 20 HCU (for vehicle) Display control device), 100 imaginary image, 200 information processing block, 201 decision information acquisition unit, 210 display control block, 211 drawing control unit, 212 emergency-related part, 213 dynamic target-related part, 214 static target-related part , 215 Road surface related part, 216 Extended information related part, 217 Mediation part, 220 HUD device (head-up display device), 221 indicator

In order to achieve the above object, the vehicle display control device of the present disclosure is a head-up display device used in a vehicle and superimposing a virtual image on the foreground of the vehicle by projecting an image drawn on the display onto a projection member. The decision information acquisition unit (201) for acquiring the content determination information, which is the information for determining the content of the image to be drawn on the display, and the determination information acquisition unit. It is equipped with a drawing control unit (211) that draws images of a plurality of groups classified by the type of display item according to the information for determining the content to be acquired by dividing the layer into one display. The drawing control unit draws the image on the display so that the visibility of the image differs depending on the layer on which the image is drawn.

In order to achieve the above object, the display control method for a vehicle of the present disclosure is used in a vehicle, and is a head-up display device that superimposes and displays a virtual image on the foreground of the vehicle by projecting an image drawn on a display onto a projection member. It is a display control method for vehicles that controls, and acquires content determination information that is information for determining the content of the image to be drawn on the display, and types of display items according to the content determination information to be acquired. Images of a plurality of groups classified by a unit are drawn on one display by dividing layers into groups, and the images are drawn so as to have different visibility for each layer on which the image is drawn on the display.

In order to achieve the above object, the control program of the present disclosure is a head-up display device in which a computer is used in a vehicle and a virtual image is superimposed and displayed on the foreground of the vehicle by projecting an image drawn on a display onto a projection member. A table according to the content determination information acquisition unit (201) that acquires content determination information, which is information for determining the content of the image to be drawn on the display of, and the content determination information acquired by the determination information acquisition unit. Images of multiple groups classified by the type of the indicated item are drawn on one display by dividing the layers into groups, and the images are drawn on the display so that the visibility of the images is different for each layer. It functions as a drawing control unit (211).

Claims (10)

A display control device for a vehicle that controls a head-up display device used in a vehicle to superimpose a virtual image on the foreground of the vehicle by projecting an image drawn on a display onto a projection member.
A determination information acquisition unit (201) for acquiring content determination information, which is information for determining the content of an image to be drawn on the display, and a determination information acquisition unit (201).
According to the content determination information acquired by the determination information acquisition unit, a group of images for dynamic targets and a group of images for static targets are displayed on the display in units of display item types. And a drawing control unit (211) for drawing a plurality of groups of images classified into a plurality of groups including a group of images about the road surface on one display by dividing layers for each group.
The drawing control unit is a display control device for a vehicle that draws an image on the display so as to make the visibility of the image different for each layer. The vehicle display control device according to claim 1, wherein the drawing control unit makes the visibility of the image different for each layer that draws the image on the display according to the order in which the layers are overlapped. The vehicle display control device according to claim 2, wherein the drawing control unit superimposes the layer on which the image that enhances visibility is drawn. The one according to any one of claims 1 to 3, wherein the drawing control unit makes the visibility of the image different for each layer that draws the image on the display by making the transmittance of the layer different. Display control device for vehicles. The vehicle display control device according to claim 4, wherein the drawing control unit has a transmittance that is relatively higher than that of other layers as the layer that draws the image that enhances visibility. The drawing control unit draws the image group for the static target and the image group for the dynamic target so as to have higher visibility than the group of the image for the road surface, and draws the static target. The vehicle display control device according to claim 1, wherein the image group is drawn so that the visibility of the image group for the dynamic target is higher than that of the image group. When the display positions of the images for each layer overlap, the drawing control unit performs a process of synthesizing the images drawn on each layer, while the display positions of the images for each layer do not overlap. The vehicle display control device according to any one of claims 1 to 6, wherein the process of synthesizing the images drawn on each layer is not performed. In the images of a plurality of groups classified by the type of the display item, the display item related to the notification is the dynamic target, the urgency of the information contained in the image is lower than the display item related to the warning or alert. The display items relating to warnings or alerts are subdivided into groups of images about the static target, and groups of images about the road surface, while the display items relating to warnings or alerts are about the dynamic target. The vehicle display control device according to any one of claims 1 to 7, which is not subdivided into a group of images, a group of images of the static target, and a group of images of the road surface. A display control method for a vehicle, which is used in a vehicle and controls a head-up display device that superimposes and displays a virtual image on the foreground of the vehicle by projecting an image drawn on a display onto a projection member.
Acquire content determination information, which is information for determining the content of the image to be drawn on the display.
According to the content determination information to be acquired, a group of images for dynamic targets, a group of images for static targets, and a group of images for road surfaces are displayed on the display in units of display item types. Images of multiple groups classified into a plurality of groups including Display control method for vehicles to draw. Computer,
Information used in a vehicle to determine the content of an image drawn on the display of a head-up display device that superimposes and displays a virtual image on the foreground of the vehicle by projecting an image drawn on the display onto a projection member. The decision information acquisition unit (201) for acquiring the content determination information,
According to the content determination information acquired by the determination information acquisition unit, a group of images for dynamic targets and a group of images for static targets are displayed on the display in units of display item types. The images of a plurality of groups classified into a plurality of groups including the group of images about the road surface are divided into layers for each group and drawn on one display, and the images are drawn on the display for each layer. A control program for functioning as a drawing control unit (211) that draws images so as to have different visibility.

Images