JP6838626B2 - Display control device and display control program - Google Patents

Description

The disclosure according to this specification relates to a display control technique for controlling the display of a virtual image.

Conventionally, for example, Patent Document 1 discloses a vehicle navigation system in which an information transmitter used for presenting information such as route guidance is displayed as a virtual image in the foreground of a driver by a head-up display. In Patent Document 1, when the information transmitter displayed as a virtual image overlaps with an obstacle such as a preceding vehicle, the portion of the information transmitter that overlaps with the obstacle is locally erased.

Japanese Patent No. 4085928

In the virtual image display of Patent Document 1, when the overlap between the obstacle and the information transmitter becomes large, the information transmitter cannot maintain the display mode in which the information can be presented to the driver due to the enlargement of the erased portion. As described above, in the virtual image display of Patent Document 1 in which a part of the information transmitter is locally erased, it may not be possible to continue presenting the information to the driver.

An object of the present disclosure is to provide a display control device and a display control program capable of continuously presenting information to a driver while maintaining the driver's attention to an object in the foreground.

In order to achieve the above object, one disclosed aspect is a display control device used in the vehicle (A) and controlling the display of a virtual image (Vi) superimposed on the driver's foreground, to the driver. A display generation unit (74) that generates an information display image (80) used for presenting information, and an overlap determination unit (71) that determines an overlap state between an information display image displayed as a virtual image and an object in the foreground. As map data used to generate an information display image in the display generation unit, a map data acquisition unit (70) that acquires low-precision map data (NM) and high-precision map data (DM) having different accuracy from each other. When a specific object (IO) that overlaps with the information display image is specified by the overlap determination unit, the display generation unit has a shielding range (83) that overlaps with the specific object in the information display image displayed as a virtual image. When the visibility of the is reduced and the information display image is generated using the high-precision map data, the transmission control that lowers the visibility of the shielding range is performed, and the information display image using the high-precision map data is generated. If it cannot be done, it is a display control device that stops the transmission control.
Further, one disclosed aspect is a display control device used in the vehicle (A) and controlling the display of a virtual image (Vi) superimposed on the foreground of the driver, and is used for presenting information to the driver. A display generation unit (74) for generating an information display image (80) and an overlap determination unit (71) for determining an overlap state between an information display image displayed as a virtual image and an object in the foreground are provided and displayed. When the overlap determination unit identifies a specific object (IO) that overlaps with the information display image, the generation unit determines the visibility of the shielding range (83) that overlaps with the specific object in the information display image displayed as a virtual image. It is a display control device that displays an alternative display image (88) having a display size smaller than that of the information display image when the ratio of the shielding range in the information display image exceeds the upper limit threshold (THh).
Further, one disclosed aspect is a display control device used in the vehicle (A) and controlling the display of a virtual image (Vi) superimposed on the foreground of the driver, and is used for presenting information to the driver. The display generation unit (74) that generates the information display image (80), the overlap determination unit (71) that determines the overlap state between the information display image displayed as a virtual image and the object in the foreground, and the display generation unit As map data used to generate an information display image, a display generation unit is provided with a map data acquisition unit (70) for acquiring low-precision map data (NM) and high-precision map data (DM) having different accuracy from each other. When a specific object (IO) that overlaps with the information display image is specified by the overlap determination unit, the visibility of the shielding range (83) that overlaps with the specific object in the information display image displayed as a virtual image is lowered. , When the ratio of the shielding range in the information display image exceeds the upper limit threshold, an alternative display image (88) having a display size smaller than that of the information display image is displayed, and high-precision map data is acquired by the map data acquisition unit. If not, it is a display control device that sets the upper limit threshold lower than when high-precision map data is acquired.
Further, one disclosed aspect is a display control device used in the vehicle (A) and controlling the display of a virtual image (Vi) superimposed on the foreground of the driver, and is used for presenting information to the driver. The display generation unit (74) that generates the information display image (80), the overlap determination unit (71) that determines the overlapping state of the information display image displayed as a virtual image and the object in the foreground, and the information display image A display weight determination unit (73) for determining the importance of the displayed information is provided, and the display generation unit is a virtual image when a specific object (IO) that overlaps with the information display image is specified by the overlap determination unit. Among the information display images displayed as, the visibility of the shielding range (83) that overlaps with the specific object is reduced, and the visibility of the shielding range is increased based on the importance determined for the information display image by the display weight determination unit. It is a display control device that determines whether or not to reduce the value.
Further, one disclosed aspect is a display control device used in the vehicle (A) and controlling the display of a virtual image (Vi) superimposed on the foreground of the driver, and is used for presenting information to the driver. A display generation unit (74) that generates an information display image (80), an overlap determination unit (71) that determines an overlap state between an information display image displayed as a virtual image and an object in the foreground, and an information display image. The risk estimation unit (72,372), which sets the risk to the vehicle for a specific object (IO) in the overlapping foreground as a risk estimation value, and the importance of the information displayed as the information display image are determined as the display weight level. The display weight determination unit (73) is provided, and the display generation unit has a shielding range that overlaps with the specific object in the information display image displayed as a virtual image when the specific object is specified by the overlap determination unit. It is possible to refer to the display generation map in which the visibility of 83) is lowered and the risk estimation value and the display weight level are associated with the display mode of the information display image, and the risk estimation value and the display weight set by the risk estimation unit can be referred to. It is a display control device that applies the display weight level determined by the determination unit to the display generation map and determines whether or not to reduce the visibility of the shielding range.
Further, one disclosed aspect is a display control device used in the vehicle (A) and controlling the display of a virtual image (Vi) superimposed on the foreground of the driver, and is used for presenting information to the driver. A display generation unit (74) for generating an information display image (80) and an overlap determination unit (71) for determining an overlap state between an information display image displayed as a virtual image and an object in the foreground are provided and displayed. When the overlap determination unit identifies a specific object (IO) that overlaps with the information display image, the generation unit determines the visibility of the shielding range (83) that overlaps with the specific object in the information display image displayed as a virtual image. It is a display control device that lowers the contour portion (84) that forms the contour of the information display image from the shielding range, and makes the visibility of the contour portion higher than the shielding range.

Further, one disclosed aspect is a display control program used in the vehicle (A) and controlling the display of a virtual image (Vi) superimposed on the driver's foreground, and includes at least one processing unit (61). , A display generation unit (74) that generates an information display image (80) used for presenting information to the driver, and an overlap determination unit that determines the overlapping state of the information display image displayed as a virtual image and an object in the foreground. (71), Map data acquisition unit (70) that acquires low-precision map data (NM) and high-precision map data (DM) with different accuracy as map data used by the display generation unit to generate an information display image. , And when a specific object (IO) that overlaps with the information display image is specified by the overlap determination unit, the visibility of the shielding range (83) that overlaps with the specific object in the information display image displayed as a virtual image. When the information display image is generated using the high-precision map data, the transmission control that lowers the visibility of the shielding range is performed, and the information display image using the high-precision map data cannot be generated. is the so that to stop the transmission control, is a display control program to further function display generation unit.
Further, one disclosed aspect is a display control program used in the vehicle (A) and controlling the display of a virtual image (Vi) superimposed on the foreground of the driver, and a display control program for at least one processing unit (61). , A display generation unit (74) that generates an information display image (80) used for presenting information to the driver, and an overlap determination unit that determines the overlapping state of the information display image displayed as a virtual image and an object in the foreground. (71), and when a specific object (IO) that overlaps with the information display image is specified by the overlap determination unit, the shielding range (83) that overlaps with the specific object in the information display image displayed as a virtual image. Display generation so as to display an alternative display image (88) having a display size smaller than that of the information display image when the ratio of the shielding range in the information display image exceeds the upper limit threshold (THh). It is a display control program that makes the unit function further.
Further, one disclosed aspect is a display control program used in the vehicle (A) and controlling the display of a virtual image (Vi) superimposed on the driver's foreground, and includes at least one processing unit (61). , A display generation unit (74) that generates an information display image (80) used for presenting information to the driver, and an overlap determination unit that determines the overlapping state of the information display image displayed as a virtual image and an object in the foreground. (71), Map data acquisition unit (70) that acquires low-precision map data (NM) and high-precision map data (DM) with different accuracy as map data used by the display generation unit to generate an information display image. , And when a specific object (IO) that overlaps with the information display image is specified by the overlap determination unit, the visibility of the shielding range (83) that overlaps with the specific object in the information display image displayed as a virtual image. When the ratio of the shielding range in the information display image exceeds the upper limit threshold, an alternative display image (88) having a display size smaller than that of the information display image is displayed, and the map data acquisition unit displays high-precision map data. Is a display control program that further functions the display generation unit so that the upper limit threshold value is set lower than when the high-precision map data is acquired.
Further, one disclosed aspect is a display control program used in the vehicle (A) and controlling the display of a virtual image (Vi) superimposed on the foreground of the driver, and a display control program for at least one processing unit (61). , A display generation unit (74) that generates an information display image (80) used for presenting information to the driver, and an overlap determination unit that determines the overlapping state of the information display image displayed as a virtual image and an object in the foreground. (71), When a specific object (IO) that overlaps with the information display image is specified by the overlap determination unit by functioning as a display weight determination unit (73) that determines the importance of the information displayed as the information display image. In addition, the visibility of the shielding range (83) that overlaps with the specific object in the information display image displayed as a virtual image is reduced, and the shielding range is determined based on the importance determined for the information display image by the display weight determination unit. It is a display control program that further functions the display generation unit so as to determine whether or not to reduce the visibility.
Further, one disclosed aspect is a display control program used in the vehicle (A) and controlling the display of a virtual image (Vi) superimposed on the foreground of the driver, and a display control program for controlling at least one processing unit (61). , A display generation unit (74) that generates an information display image (80) used for presenting information to the driver, and an overlap determination unit that determines the overlapping state of the information display image displayed as a virtual image and an object in the foreground. (71), the risk estimation unit (72,372) that sets the risk to the vehicle for a specific object (IO) in the foreground that overlaps with the information display image as a risk estimation value, and the importance of the information displayed as the information display image. Is functioned as a display weight determination unit (73) that determines as a display weight level, and when a specific object is specified by the overlap determination unit, a shield that overlaps with the specific object in the information display image displayed as a virtual image. It is possible to refer to the display generation map in which the visibility of the range (83) is reduced and the risk estimation value and the display weight level are associated with the display mode of the information display image, and the risk estimation value and the risk estimation value set by the risk estimation unit can be referred to. It is a display control program that further functions the display weight determination unit so as to apply the display weight level determined by the display weight determination unit to the display generation map and determine whether or not to reduce the visibility of the shielding range. ..
Further, one disclosed aspect is a display control program used in the vehicle (A) and controlling the display of a virtual image (Vi) superimposed on the foreground of the driver, and a display control program for at least one processing unit (61). , A display generation unit (74) that generates an information display image (80) used for presenting information to the driver, and an overlap determination unit that determines the overlapping state of the information display image displayed as a virtual image and an object in the foreground. (71), and when a specific object (IO) that overlaps with the information display image is specified by the overlap determination unit, the shielding range (83) that overlaps with the specific object in the information display image displayed as a virtual image. The contour portion (84) forming the contour of the information display image is excluded from the shielding range, and the display generation unit is further functioned so as to make the visibility of the contour portion higher than the shielding range. It is a display control program.

According to these aspects, when the virtual image of the information display image used for information presentation and the object in the foreground overlap, the visibility of the shielding range overlapping the object in the information display image is lowered. Therefore, the object is less likely to be obscured by the information display image displayed as a virtual image, and at least a part of the object can be easily perceived by the driver. On the other hand, since the display of the shielding range can be continued even in the state where the visibility is lowered, the information display image can maintain the display mode in which the information can be presented to the driver. Based on the above, it is possible to continue presenting information to the driver while maintaining the driver's attention to the object in the foreground.

The reference numbers in parentheses are merely examples of the correspondence with the specific configuration in the embodiment described later, and do not limit the technical scope at all.

It is a block diagram which shows the whole image of the information presentation system including the display generator by 1st Embodiment of this disclosure. It is a figure which shows the display example of the TbT image which is displayed as a virtual image as one of the information display images. It is a figure which shows an example of the drawing process which sets the shielding range in an information display image. It is a figure which shows the detail of the display generation map which is referred by the display generation part. It is a figure which shows an example of the information display image when the shielding range is hidden. It is a figure which shows an example of the information presentation icon which is displayed in place of the information display image. It is a figure which shows an example of the information display image at the time of not performing the visibility reduction of a shielding range in a state where a specific object is distant. It is a flowchart which shows the detail of the display adjustment processing performed by a display generator. It is a figure which shows the information display image at the time of traveling by the ACC function as an example of the information display image which is out of control to reduce the visibility of a shielding range. As an example of an information display image that is not subject to control that reduces the visibility of the shielding range, it is a diagram showing an information display image that is displayed for support when visibility is poor. It is a block diagram which shows the whole image of the information presentation system including the display control device by the 2nd Embodiment of this disclosure. It is a figure which shows the details of a plurality of display generation maps referred to by the display generation part of 2nd Embodiment together with FIG. It is a figure which shows the details of a plurality of display generation maps referred to by the display generation part of 2nd Embodiment together with FIG. It is a flowchart which shows the detail of the display adjustment process of 2nd Embodiment. It is a block diagram which shows the whole image of the information presentation system including the display generation apparatus of the modification 1. It is a flowchart which shows the detail of the display adjustment processing of the modification 2. It is a figure which shows the TbT image of the modification 4. It is a figure which shows the TbT image of the modification 5. It is a figure which shows that the information display image such as a TbT image is displayed in a normal shape when the detected peripheral object is out of the road surface range. It is a figure which shows an example of the information display image including the shielding range when a specific object is a falling object.

Hereinafter, a plurality of embodiments of the present disclosure will be described with reference to the drawings. In addition, duplicate description may be omitted by assigning the same reference numerals to the corresponding components in each embodiment. When only a part of the configuration is described in each embodiment, the configuration of the other embodiment described above can be applied to the other parts of the configuration. Further, not only the combination of the configurations specified in the description of each embodiment, but also the configurations of a plurality of embodiments can be partially combined even if the combination is not specified. Further, it is assumed that the unspecified combination of the configurations described in the plurality of embodiments and modifications is also disclosed by the following description.

(First Embodiment)
The function of the display control device according to the first embodiment of the present disclosure is realized by the display generation device 100 shown in FIG. The display generator 100 is one of a plurality of electronic control units mounted on the vehicle A. The display generation device 100, together with the display management device 40, the HUD (Head-Up Display) device 50, and the like, constitutes an information presentation system used in the vehicle A.

The display management device 40 is, for example, an HCU (HMI (Human Machine Interface) Control Unit), and controls information presentation to the driver by display and voice in an integrated manner. The display management device 40 is directly or indirectly electrically connected to the peripheral monitoring device 10, the navigation device 17, the driver monitoring device 20, the vehicle control device 30, and the like.

The peripheral monitoring device 10 is an electronic control unit that monitors the surrounding state of the vehicle A. The peripheral monitoring device 10 is electrically connected to the autonomous sensor 11, the locator 12, the external communication device 13, and the like. The autonomous sensor 11 has a configuration including a front camera, millimeter-wave and quasi-millimeter-wave radar, a rider, sonar, and the like. The autonomous sensor 11 detects an object from around the vehicle A, particularly from a range in front of the vehicle A. The autonomous sensor 11 sequentially outputs the detection information of the object to the peripheral monitoring device 10.

The locator 12 has a configuration including a GNSS (Global Navigation Satellite System) receiver, an inertial sensor, and the like, and a high-precision map database 12a. The GNSS receiver receives positioning signals transmitted from a plurality of artificial satellites. The high-precision map database 12a is a storage medium that stores a large amount of high-precision map data DM. The high-precision map data DM is map data that holds detailed information at least for information in the height (z) direction. The high-precision map data DM includes information that can be used for advanced driving support and automatic driving, such as three-dimensional shape information of a road, information on the number of lanes, and information indicating an allowable traveling direction for each lane. Further, the high-precision map data includes information on node points indicating the positions of both ends of a road marking such as a white line. The locator 12 positions the current position of the vehicle A based on the positioning signal received by the GNSS receiver. The locator 12 sequentially outputs the position information of the vehicle A and the high-precision map data DM around the vehicle A and the traveling direction read from the high-precision map database 12a toward the peripheral monitoring device 10.

The out-of-vehicle communication device 13 is, for example, a vehicle-mounted V2X communication device. The out-of-vehicle communication device 13 transmits / receives information by wireless communication between an in-vehicle communication device mounted on another vehicle and a roadside device installed on the side of the road. The out-of-vehicle communication device 13 can receive position information, speed information, and the like of another vehicle by vehicle-to-vehicle communication or road-to-vehicle communication. The out-of-vehicle communication device 13 sequentially outputs the received information on other vehicles in the vicinity to the peripheral monitoring device 10.

By combining the information acquired from the autonomous sensor 11, the locator 12, and the external communication device 13, the peripheral monitoring device 10 uses the size and shape of the object, the relative position (direction and distance), and the relative position (direction and distance) as the object information around the vehicle A. Also, grasp the relative speed and so on. The peripheral monitoring device 10 can at least detect pedestrians, cyclists, motorcycles, other vehicles, and the like. The peripheral monitoring device 10 sequentially outputs the detected peripheral object detection information to the display management device 40.

The navigation device 17 is an in-vehicle device that provides route guidance to a destination set by a user such as a driver. The navigation device 17 guides a person to go straight, turn left or right, change lanes, or the like at an intersection, a turnout point, a merging point, or the like by displaying a screen on a display or playing a voice.

The navigation device 17 has a navigation map database 18. The navigation map database 18 is a storage medium that stores a large amount of navigation map data NM. The navigation map data includes information such as link data, node data, and shape data for roads. The navigation device 17 can provide the navigation map data NM around the vehicle A and the traveling direction read from the navigation map database 18 to the display management device 40 together with the guidance route information and the like.

The navigation map data NM and the high-precision map data DM are map data having different accuracy from each other. For a specific range, the information recorded in the high-precision map data DM is more accurate and denser than the information recorded in the navigation map data NM. On the other hand, while the range of high-precision map data DM is limited to specific types of roads (for example, highways, etc.), navigation map data NM is general, although it is low-precision map data. It is comprehensively maintained over a wide area including roads.

Here, instead of the navigation device 17, a user terminal such as a smartphone may be connected to the display management device 40, the display generation device 100, or the like. In the application executed on the user terminal, a route to the destination is set based on the user operation of the driver or the like. Similar to the navigation device 17, the user terminal can provide map data corresponding to the navigation map data NM to the display management device 40 and the like together with the guidance route information.

The driver monitoring device 20 is an electronic control unit that monitors the state of the driver of the vehicle A. The driver monitoring device 20 is electrically connected to the driver camera 21 and the like. The driver camera 21 has a near-infrared light source and a near-infrared camera. The driver camera 21 has an image pickup element that detects near infrared rays, and is arranged in a posture in which the image pickup surface of the image pickup element is directed toward the driver's seat, for example, on the upper surface of an instrument panel or the like. The driver camera 21 uses an image sensor to photograph the upper body of the driver irradiated with near-infrared light by the near-infrared light source. The driver camera 21 sequentially outputs the photographed driver's face image to the driver monitoring device 20.

The driver monitoring device 20 analyzes the face image taken by the driver camera 21 and grasps the state of the driver. The driver monitoring device 20 detects the eye position (eye point), the contour of the eye, the center position of the black eye, and the like by analyzing the face image of the driver camera 21. The driver monitoring device 20 calculates the line-of-sight direction, the degree of eye opening, and the like based on these positional relationships and states. By combining these information, the driver monitoring device 20 determines the driver's inattentive state, drowsiness state (alertness), drowsiness state, state of performing a task other than driving, and the like. The driver monitoring device 20 sequentially outputs such a determination result to the display management device 40 as driver status information together with the position information of the eye point and the like.

The vehicle control device 30 is an electronic control unit that controls the traveling state of the vehicle A. The vehicle control device 30 is electrically connected to the wheel speed sensor 31 and the like. The wheel speed sensor 31 is provided at the hub portion of each wheel of the vehicle A, and outputs a vehicle speed signal indicating the rotation speed of each wheel. The vehicle control device 30 calculates the traveling speed of the vehicle A based on the vehicle speed signal acquired from the wheel speed sensor 31. The vehicle control device 30 sequentially outputs vehicle speed information and the like to the display management device 40 as information indicating the state of the own vehicle.

The display management device 40 integrates detection information of peripheral objects acquired from the peripheral monitoring device 10, driver status information acquired from the driver monitoring device 20, vehicle speed information acquired from the vehicle control device 30, and the like to the driver. Control the presentation of information. The display management device 40 determines the content to be displayed as a virtual image by the HUD device 50 based on the acquired information. The display management device 40 instructs the display generation device 100 to generate the video data PS including the determined content by the display command output to the display generation device 100. The display management device 40 instructs the display generation device 100 to display contents such as route guidance, automatic driving information (or driving support control information), contact caution, and pre-collision warning. In addition, the display management device 40 sequentially outputs the drawing information necessary for generating the video data PS out of the above-mentioned acquired information to the display generation device 100.

The HUD device 50 constitutes a virtual image display system together with the display generation device 100. The HUD device 50 superimposes and displays the virtual image Vi in front of the driver of the vehicle A. As an example, the virtual image Vi is imaged on a virtual image plane IS located in a space about 15 m ahead of the eye point. The imaging position of the virtual image Vi may be appropriately changed within a range of, for example, about 10 to 20 m in front of the vehicle A.

The HUD device 50 can display the superimposed content CTs (see FIG. 5) and the non-superimposed content CTn (see FIG. 6) as virtual images Vi, and can present various information related to the vehicle A to the driver. The superimposed content CTs are AR display objects that are superimposed and displayed on the actual view in front of the vehicle (hereinafter, “foreground”) and display augmented reality (hereinafter, “Augmented Reality: AR”). The display position of the superimposed content CTs is associated with a specific superimposed object existing in the foreground, such as a specific position on the road surface, a vehicle in front, a pedestrian, and a road sign. The superimposed content CTs are superimposed and displayed on a specific superimposed object in the foreground, and can be moved in the appearance of the driver following the superimposed object so as to be relatively fixed to the superimposed object. That is, the relative positional relationship between the driver's eye point, the superimposed object in the foreground, and the superimposed content CTs is continuously maintained. Therefore, the shape of the superimposed content CTs is continuously updated at a predetermined cycle according to the relative position and shape of the superimposed object. The superimposed content CTs are displayed in a posture closer to horizontal than the non-superimposed content CTn, and have a display shape extended in the depth direction as seen from the driver, for example.

As an example, the HUD device 50 displays the virtual image Vi of the turn-by-turn (TbT) image 81 as superimposed content CTs (see FIG. 2). The TbT image 81 is an information display image 80 for route guidance, and is superimposed and displayed on the road surface such as the own vehicle lane, which is the planned traveling route, on the appearance of the driver. The TbT image 81 presents the driver a route to the destination based on the route guidance information acquired from the navigation device 17.

The non-superimposed content CTn is a non-AR display object excluding the superimposed content CTs among the display objects superimposed and displayed in the foreground. Unlike the superimposed content CTs, the non-superimposed content CTn is displayed superimposed on the foreground without specifying the superimposed target. The display position of the non-superimposed content CTn is not associated with a specific superimposition target. The display position of the non-superimposed content CTn is a fixed position in the projection area PA (angle of view VA). Therefore, the non-superimposed content CTn is displayed as if it is relatively fixed to the vehicle configuration such as the windshield WS. In addition, the shape of the non-superimposed content CTn is substantially constant. Due to the positional relationship between the vehicle A and the superposed target, even if the non-superimposed content CTn is used, a timing may occur in which the superposed content CTs are superposed and displayed.

The HUD device 50 includes a projector 51 and a catadioptric system 53 as a configuration for realizing the AR display as described above. The projector 51 emits the light of the optical image Pi imaged as a virtual image Vi toward the reflection optical system 53 based on the image data PS input from the display generation device 100. A laser projector, an EL projector, a liquid crystal projector, or the like can be adopted as the projector 51, and in the first embodiment, a liquid crystal projector is used as an example. The projector 51 has a backlight in which a plurality of light emitting diodes are arranged two-dimensionally, and a liquid crystal panel in which RGB sub-pixels are arranged two-dimensionally.

The catadioptric system 53 includes a reflective screen and a reflecting mirror. The screen and the reflector are formed by depositing a metal such as aluminum on the surface of a colorless and transparent base material made of synthetic resin or glass. An optical image Pi is drawn on the screen by the emitted light of the projector 51. The reflector projects the light image Pi drawn on the screen onto the projection area PA defined by the windshield WS. The light projected on the windshield WS is reflected toward the driver by the projection area PA and reaches an eye box predetermined to be located around the driver's head. The driver who positions the eye point in the eye box can visually recognize the light of the optical image Pi as a virtual image Vi superimposed on the foreground.

An angle of view VA is set in the above HUD device 50. Assuming that the virtual range in the space where the virtual image Vi can be imaged by the HUD device 50 is the image plane IS described above, the angle of view VA is a virtual line connecting the driver's eye point and the outer edge of the image plane IS. It is a viewing angle defined based on. The angle of view VA is an angle range in which the driver can visually recognize the virtual image Vi when viewed from the eye point. In the HUD device 50, the horizontal angle of view in the horizontal direction is larger than the vertical angle of view in the vertical direction. When viewed from the eye point, the front range that overlaps with the image plane IS is the range within the angle of view VA.

The display generation device 100 generates the video data PS used for displaying the virtual image of the HUD device 50 based on the display command and the drawing information acquired from the display management device 40. The display generation device 100 controls the display of the virtual image Vi by the HUD device 50 as shown in FIGS. 1 and 2 by sequentially outputting the generated video data PS toward the projector 51.

The control circuit 60 of the display generator 100 includes a processor 61, a RAM 62, a memory device 63, an input / output interface, and the like. The processor 61 is hardware for arithmetic processing combined with the RAM 62, and can execute various programs. The RAM 62 may be configured to include a video RAM for video generation. The memory device 63 has a configuration including a non-volatile storage medium, and stores various programs executed by the processor 61. The program stored in the memory device 63 includes at least a display control program that controls the display of the virtual image Vi superimposed on the foreground of the driver. The display generation device 100 executes a display control program by the processor 61, and implements functional units such as a map data determination unit 70, an overlap determination unit 71, a risk estimation unit 72, a display weight determination unit 73, and a display generation unit 74.

The map data determination unit 70 can acquire navigation map data NM and high-precision map data DM having different accuracy from each other as map data used to generate the information display image 80. When the high-precision map data DM is stored in the high-precision map database 12a for the road on which the vehicle A is currently traveling, the map data determination unit 70 acquires the high-precision map data DM through the display management device 40. On the other hand, when the vehicle A is traveling on an undeveloped road of the high-precision map data DM, the map data determination unit 70 acquires the navigation map data NM from the display management device 40 instead of the high-precision map data DM. To do.

The map data determination unit 70 determines whether the acquired map data is the navigation map data NM or the high-precision map data DM, in other words, whether or not the high-precision map data DM can be acquired. The map data determination unit 70 may acquire the navigation map data NM together with the high-precision map data DM even when the high-precision map data DM can be acquired.

When the superimposed content CTs are displayed as a virtual image as the information display image 80, the overlap determination unit 71 simulates the display layout of the superimposed content CTs based on the drawing information and the like. In addition, the overlap determination unit 71 determines the overlap state between the information display image 80 displayed as a virtual image and the object in the foreground in terms of appearance from the driver, based on the simulation result of the display layout.

The overlap determination unit 71 reproduces the traveling environment around the own vehicle including the road model and the like in the virtual space by fusion processing of the position information, the map data, the detection information, and the like of the vehicle A included in the drawing information. In addition, the overlap determination unit 71 lays out a virtual object corresponding to the shape of the information display image 80 to be displayed as the superimposed content CTs on the road model. For example, when the TbT image 81 is superimposed and displayed on the own vehicle lane, a virtual object indicating a planned travel route is laid out on the own vehicle lane of the road model.

The overlap determination unit 71 sets a virtual viewpoint position in the virtual space for visually recognizing the virtual object laid out on the road model based on the position information of the eye point. In addition, the overlap determination unit 71 refers to the coordinate information of the image plane IS with respect to the vehicle A, and sets the image plane IS in the virtual space. The overlap determination unit 71 calculates the shape of the virtual object projected onto the image plane IS along the virtual line of sight from the virtual viewpoint position toward the virtual object as the display shape of the virtual image Vi.

Based on the detection information, the overlap determination unit 71 grasps the positional relationship with the own vehicle (vehicle A) and the shape, size, and the like of at least one peripheral object. The overlap determination unit 71 arranges an object model in a form corresponding to the peripheral object on the road model corresponding to the relative position of the peripheral object. The overlap determination unit 71 determines whether or not the virtual image Vi whose display shape on the image plane IS is overlapped with at least one object model when viewed from the virtual viewpoint position. Then, the overlap determination unit 71 identifies the specific object IO that overlaps with the information display image 80 from the peripheral objects in the foreground when the foreground is viewed from the eye point.

When the virtual image Vi and the object model overlap, the overlap determination unit 71 projects the object model onto the image plane IS along the virtual line of sight from the virtual viewpoint position to the object model, and calculates the projected shape. The overlap determination unit 71 simplifies the projected shape of the object model to, for example, a rectangular shape. The overlap determination unit 71 is based on the display shape of the virtual image Vi and the projected shape of the object model, and is a range that overlaps with the projected shape in the total area of the virtual image Vi on the image plane IS (in the “shielding range 83” described later). The area ratio occupied by (corresponding) (hereinafter referred to as "shielding ratio Rb") is calculated.

When the specific object IO is specified by the overlap determination unit 71, the risk estimation unit 72 sets the risk for the own vehicle (vehicle A) of the specific object IO. The risk estimation unit 72 calculates the risk level of the specific object IO as a risk estimation value. The risk estimate is calculated as a discrete value such as level 1, level 2, ... As an example. The higher the risk of the specific object IO, the larger (higher) the risk estimate becomes. When a plurality of specific object IOs are recognized by the overlap determination unit 71, the risk estimation unit 72 individually sets the risk estimation value of each specific object IO.

The risk estimation unit 72 uses the object detection information, the driver's state information, the vehicle speed information, and the like to calculate the risk estimation value of the specific object IO. Specifically, the risk estimation unit 72 is based on the vehicle speed of the own vehicle (vehicle A), the relative distance and relative speed to the specific object IO that is the risk target, and the state information such as the driver's arousal level and inattentive state. , Determine risk estimates.

The display weight determination unit 73 determines the importance of the information of the information display image 80 instructed to be displayed by the display management device 40 as the display weight level. The display weight level is associated with each information display image 80 in advance. A larger (higher) display weight level is set for the information display image 80 in which the importance, necessity, urgency, etc. of the presented information are high. Among the contents illustrated above, the highest display weight level is associated with the pre-collision warning. Then, the display weight level becomes smaller (lower) in the order of contact caution, automatic driving information, route guidance immediately before the intersection, and route guidance along the road (see FIG. 4). The information presented in the information display image 80 is not limited to the above, and may be appropriately selected.

The display generation unit 74 is a drawing unit that draws the video data PS. The video data PS is composed of a large number of frame images (for example, 30 to 120 frames per second) that are continuous in time series. In each frame image, the original image of the display image is drawn as a light image Pi, which is emitted and displayed on the screen, and is imaged in space as a virtual image Vi. As an example, when the navigation device 17 mounted on the vehicle A provides route guidance to the destination, the above-mentioned TbT image 81 is used as the original image of the virtual image Vi used for presenting information to the driver. It is drawn on the frame image. The display generation unit 74 generates a TbT image 81 to be displayed as a virtual image by drawing the TbT image 81 on each frame image. The display color of the TbT image 81 is a single color such as blue or light blue.

When the specific object IO is specified by the overlap determination unit 71 and the risk estimation unit 72, the display generation unit 74 changes the mode of virtual image display so as not to interfere with the visibility of the specific object IO. The display generation unit 74 performs transmission control that reduces the visibility of the shielding range 83 that overlaps with the specific object IO in the information display image 80 displayed as the virtual image Vi. The visibility of the shielding range 83 is lower than that of the entire information display image 80 before the display adjustment and the normal range 82 after the display adjustment.

As an example, as shown in FIG. 3, the display generation unit 74 generates a TbT image 81 in which the visibility of the shielding range 83 is reduced by a process of superimposing a plurality of image layers. The display generation unit 74 sets the first image layer Ly1 and the second image layer Ly2. The drawing object (see the shaded area) drawn on the first image layer Ly1 is defined in a drawing mode based on the projected shape of the object model projected onto the image plane IS in the virtual space. On the other hand, the drawing object (see the shaded area) drawn on the second image layer Ly2 is defined in a drawing mode based on the display shape of the virtual image Vi in which the virtual object is projected on the image plane IS. The display generation unit 74 sets the first image layer Ly1 as a layer higher than the second image layer Ly2, and superimposes the first image layer Ly1 on the second image layer Ly2. It should be noted that each drawn object is appropriately subjected to a process of preliminarily correcting distortion due to reflection by the catadioptric system 53 and the windshield WS.

By the above layer processing, the original image of the TbT image 81 obtained by subtracting the drawn object of the first image layer Ly1 from the drawn object of the second image layer Ly2 is drawn. In the TbT image 81, a shielding range 83 is formed in a range where overlap with the specific object IO is expected. As shown in FIG. 2, the shielding range 83 is defined to be slightly larger than the specific object IO in terms of the driver's appearance (see FIG. 2). As a result, the outer edge of the shielding range 83 is located outside the outer edge of the specific object IO by a specific margin 86. The margin 86 is set in both the horizontal (left-right) direction and the vertical (vertical) direction with respect to the outer edge of the specific object IO. Further, the information display image 80 has a normal range 82 and a contour portion 84. The normal range 82 is a range of the information display image 80 that deviates from the shielding range 83 and does not reduce the visibility. The contour portion 84 is a portion of the information display image 80 that is excluded from the target to be the shielding range 83, and is a portion that forms the contour of the information display image 80.

The display generation unit 74 determines whether or not to reduce the visibility of the shielding range 83 based on the risk estimation value estimated by the risk estimation unit 72 and the display weight level determined by the display weight determination unit 73. .. For such processing, as shown in FIGS. 1 and 4, the display generation unit 74 refers to the display generation map CdM.

The display generation map CdM is created at the design stage of the information presentation system and stored in the memory device 63. In the display generation map CdM, the risk estimate value and the display weight level are associated with the display mode of the information display image 80. The display generation map CdM is a two-dimensional map having a risk estimated value and a display weight level as two axes, and outputs a display mode corresponding to the risk estimated value and the display weight level.

The display generation map CdM defines a normal display area An and a display correction area Ac. The normal display area An is an area that determines the implementation of the normal display that is substantially the same as the case where the specific object IO is not specified. The normal display area An is defined on the side having a higher display weight level with respect to the display correction area Ac. That is, in the display generation map CdM, the region exceeding a predetermined threshold value THw for the display weight level is defined as the normal display region An.

The display correction area Ac is an area for performing display in a mode different from the normal display. The display correction area Ac is defined on the lower side of the display weight level with respect to the normal display area An. The area where the display weight level is equal to or less than the predetermined threshold value THw is the display correction area Ac. The display correction area Ac includes a non-display area Ac1, a contour display area Ac2, and an intensity reduction area Ac3.

The non-display area Ac1 and the contour display area Ac2 are areas for hiding at least a part of the information display image 80. The non-display area Ac1 is an area for determining a temporary display interruption of the entire information display image 80. The non-display area Ac1 is defined on the side with the highest risk estimation value in the display correction area Ac.

The contour display area Ac2 is an area in which the shielding range 83, which is a part of the information display image 80, is temporarily hidden. In this case, the normal range 82 and the contour portion 84 excluding the shielding range 83 are drawn as usual, and the virtual image Vi including the normal range 82 and the contour portion 84 is superimposed and displayed on the specific object IO and the front road surface as the superimposed content CTs ( (See FIG. 5). The contour display area Ac2 is defined so as to surround the side having a lower risk estimation value than the non-display area Ac1 and the side having a higher display weight risk than the non-display area Ac1 in an L shape.

The intensity reduction region Ac3 is a region for determining the implementation of normal transmission control in which the visibility of the shielding range 83 is reduced. In this case, the shielding range 83 is not completely hidden (see FIG. 2). The intensity reduction region Ac3 is defined on the side of the display correction region Ac having the lowest risk estimation value, and is a region associated with the risk estimation value of a predetermined threshold value THr or less in the display correction region Ac. is there.

The display generation unit 74 applies the risk estimation value estimated by the risk estimation unit 72 and the display weight level determined by the display weight determination unit 73 to the display generation map CdM. Then, the display generation unit 74 determines the display mode of the information display image 80 based on the current risk estimation value and the display weight level by referring to the display generation map CdM.

The display generation unit 74 can refer to the two display generation maps CdM. On the other hand, the display generation map CdM is a display generation map CdM (hereinafter, “main generation map CdM1”) that is referred to when the high-precision map data DM can be acquired. The other display generation map CdM is a display generation map CdM (hereinafter, “sub-generation map CdM2”) that is referred to when only the navigation map data NM can be acquired. The display generation unit 74 switches one of the main generation map CdM1 and the sub generation map CdM2 to be referred to based on the determination result of the map data being acquired by the map data determination unit 70. In the main generation map CdM1 and the sub generation map CdM2, at least one set value of each threshold value THw and THr is different from each other.

Further, the display generation unit 74 changes the transmission control based on the shielding ratio Rb calculated by the overlap determination unit 71. The display generation unit 74 prepares an upper limit threshold value THh and a lower limit threshold value THs as threshold values to be compared with the shielding ratio Rb.

As shown in FIGS. 1 and 6, when the shielding ratio Rb of the shielding range 83 in the information display image 80 exceeds the upper limit threshold value THh (for example, 80%), the display generation unit 74 presents information as an alternative display image. The icon 88 is displayed as a virtual image. More precisely, the display generation unit 74 displays the information presentation icon 88 when the state in which the shielding ratio Rb exceeds the upper limit threshold value THh continues for a predetermined time. The display generation unit 74 interrupts the display of the information display image 80 (see the alternate long and short dash line), and displays the information presentation icon 88 instead of the information display image 80.

The information presentation icon 88 is a non-superimposed content CTn for which a superimposition target is not specified. The information presentation icon 88 can present information that is substantially the same as the information display image 80 by the driver. The display size of the information presentation icon 88 is smaller than that of the information display image 80. The display position of the information presentation icon 88 is defined near the outer edge of the angle of view VA so as not to overlap the specific object IO in the foreground. As described above, for example, when the vehicle in front is a large freight vehicle, the display generation unit 74 can give up the information presentation by the superimposed content CTs and switch to the information presentation by the non-superimposed content CTn.

The display generation unit 74 corrects the upper limit threshold value THh based on whether or not the map data determination unit 70 has acquired the high-precision map data DM. When the high-precision map data DM is not acquired, the display generation unit 74 changes the upper limit threshold value THh to a lower value (for example, 60%) than when the high-precision map data DM is acquired. As a result, when only the navigation map data NM is acquired, the switching timing from the superimposed content CTs to the non-superimposed content CTn is accelerated as compared with the case where the high-precision map data DM is acquired.

Here, in the scene where the own vehicle (vehicle A) approaches the specific object IO such as the vehicle in front, both the increase in the risk estimation value and the increase in the shielding ratio Rb occur. Therefore, the display generation unit 74 may switch the content from the information display image 80 to the information presentation icon 88 by using the threshold value of the display generation map CdM (see FIG. 4) instead of the upper limit threshold value THh. Good. For example, the display generation unit 74 hides the information display image 80 and displays the information presentation icon 88 when it is specified as the non-display area Ac1 or when it is specified as the contour display area Ac2. Even with such display control, the information presentation icon 88 can be displayed when the ratio of the shielding range 83 exceeds the upper limit threshold value.

As shown in FIGS. 1 and 7, when the shielding ratio Rb of the shielding range 83 in the information display image 80 is less than the lower limit threshold THs (for example, 10%), the display generation unit 74 has visibility of the shielding range 83. To maintain. That is, the display generation unit 74 stops the transparency control and normally displays the information display image 80. As described above, the information display image 80 having a normal shape is superimposed and displayed so as to overlap the specific object IO in the distance. As with the upper limit threshold THh, the lower limit threshold THs may be corrected based on the presence or absence of acquisition of the high-precision map data DM.

The display generation unit 74 appropriately adjusts the shape and size of the shielding range 83 according to the distance from the own vehicle (vehicle A) to the specific object IO. The display generation unit 74 rapidly expands the shielding range 83 when the specific object IO is close to the own vehicle so as not to hide the specific object IO as much as possible. On the other hand, when the specific object IO moves away from the own vehicle, the display generation unit 74 may slowly reduce the shielding range 83. In other words, the shape followability of the shielding range 83 with respect to the specific object IO is set higher when the specific object IO is approaching than when the specific object IO is separated.

The details of the display adjustment process as described above will be described with reference to FIGS. 1 and 4 to 7 based on FIG. The display generation device 100 starts the display adjustment process shown in FIG. 8 based on the start of drawing the information display image 80 by the display generation unit 74, and continues until the display of the information display image 80 is completed. To carry out.

In S101, the display command and drawing information necessary for generating the video data PS are acquired from the display management device 40, and the process proceeds to S102. In S102, the overlap between the information display image 80 and the object in the foreground is determined by using the information acquired in S101, and the process proceeds to S103. In S102, when there is a peripheral object that overlaps with the information display image 80, the shielding ratio Rb is also calculated. In S103, it is determined whether or not there is a specific object IO that overlaps with the information display image 80. If it is determined in S103 that there is no specific object IO, the process proceeds to S104. In S104, a drawing state is set in which an information display image 80 having a normal shape is generated. As described above, the information display image 80 having a normal shape is displayed as a virtual image by the HUD device 50.

On the other hand, if it is determined in S103 that there is a specific object IO, the process proceeds to S105. In S105, the display generation map CdM and the threshold values THh and THs are set based on the presence or absence of acquisition of the high-precision map data DM, and the process proceeds to S106. In S106, the threshold values THh and THs read in S105 are compared with the shielding ratio Rb calculated in S102. When it is determined in S106 that the shielding ratio Rb is less than the lower limit threshold value THs, the process proceeds to S104 to display the information display image 80 having a normal shape (see FIG. 7).

If it is determined in S106 that the shielding ratio Rb is equal to or higher than the upper limit threshold value THh, the process proceeds to S107. In S107, the generation of the information display image 80 is stopped, and the drawing state is set to generate the information presentation icon 88. As described above, the information presentation icon 88 is displayed as a virtual image at a position avoiding the specific object IO (see FIG. 6).

If it is determined in S106 that the shielding ratio Rb is less than the upper limit threshold value THh and equal to or more than the lower limit threshold value THs, the process proceeds to S108. In S108, the risk estimate value of the specific object IO is calculated, and the process proceeds to S109. In S109, the display weight level of the information display image 80 indicated by the display command is determined, and the process proceeds to S110. In S110, the risk estimation value calculated in S108 and the display weight level determined in S109 are applied to the display generation map CdM to determine the display mode of the information display image 80. Then, the drawing state is set so as to generate the information display image 80 of the determined display mode. As described above, the information display image 80 of the normal shape or the corrected shape is displayed as a virtual image by the HUD device 50, or the virtual image display of the information display image 80 is temporarily interrupted.

Next, two specific scenes in which the display weight level is equal to or higher than the threshold value THw and the automatic driving information or the like is presented by the information display image 80 having a normal shape will be described in order based on FIGS. 9 and 10. In these scenes, even if there is a vehicle LV in front, normal display is performed without lowering the visibility of the portion overlapping the vehicle LV in front.

In the scene shown in FIG. 9, the vehicle A follows the vehicle LV (for example, a two-wheeled vehicle) in front by the ACC (Adaptive Cruise Control) function. The information display image 80 includes an ACC image 87a showing an execution state of the ACC function and a weighted image 89 that emphasizes the vehicle LV ahead. The ACC image 87a is superimposed and displayed on the road surface of the own vehicle lane. The highlighted image 89 is superimposed and displayed so as to surround the vehicle LV in front, and shows the tracking target recognized by the ACC function.

In the scene shown in FIG. 10, the vehicle A is traveling in an environment with poor visibility due to thick fog. The information display image 80 includes a lane display image 87b for supporting poor visibility and a weighted image 89 that emphasizes the vehicle LV ahead. The lane display image 87b is superimposed and displayed inside the left and right lane markings on the road surface of the own vehicle lane, and indicates the range of the own vehicle lane to the driver. The weighted image 89 calls attention to the vehicle LV in front of the vehicle traveling ahead.

In the first embodiment described so far, when the virtual image Vi of the information display image 80 and the specific object IO in the foreground overlap, the visibility of the shielding range 83 overlapping the specific object IO in the information display image 80 is reduced. Will be done. Therefore, the specific object IO in the foreground is less likely to be obscured by the information display image 80 displayed as a virtual image Vi, and at least a part of the specific object IO may be easily perceived by the driver. On the other hand, since the display of the shielding range 83 is continued even when the visibility is lowered, the information display image 80 can maintain a display mode in which information can be presented to the driver. Based on the above, it is possible to continue presenting information to the driver while maintaining the driver's attention to the specific object IO in the foreground.

In addition, in the first embodiment, when the shielding ratio Rb of the shielding range 83 in the information display image 80 exceeds the upper limit threshold value THh, the display generation unit 74 switches to the display of the information presentation icon 88. Based on the above, it is possible to avoid a situation in which the driver has difficulty in understanding the content of the information presented by the information display image 80 due to the setting of the shielding range 83.

Further, in the first embodiment, the value of the upper limit threshold value THh is changed based on the presence or absence of acquisition of the high-precision map data DM. Specifically, when there is no high-precision map data DM, the upper limit threshold value THh is set low, and switching to the information presentation icon 88 is carried out at an early stage. According to the above, even if the position shift of the superimposed content CTs is likely to occur due to insufficient accuracy of the map data, the situation where the specific object IO is hidden by the information display image 80 is unlikely to occur.

Further, in the first embodiment, when the shielding ratio Rb is less than the lower limit threshold value THs, the transmission control is avoided and the visibility of the shielding range 83 is maintained. Therefore, when the distance to the specific object IO is long, the information display image 80 with reduced visibility is displayed, and the situation that causes the driver to feel uncomfortable is avoided.

In addition, in the first embodiment, a determination is made as to whether or not to reduce the visibility of the shielding range 83 based on the risk estimate. Based on the above, the display adjustment for lowering the visibility of the shielding range 83 can be performed in a limited manner in a scene in a risk state in which it is desired to maintain attention to the specific object IO while continuing to present information. As a result, the information presentation by the information display image 80 is less likely to be annoying to the driver.

Specifically, in the first embodiment, when the risk estimation value is less than the threshold value THr (see FIG. 4), the display adjustment that reduces the visibility of the shielding range 83 is performed. On the other hand, when the risk estimation value exceeds the threshold value THr, the information display image 80 hides the entire or the shielding range 83. With such a setting, the information display image 80 can present information so as not to block the driver's attention before the risk of the specific object IO increases. Based on the above, the information presentation using the information display image 80 can be effectively performed in many driving scenes.

Further, in the first embodiment, it is determined whether or not to reduce the visibility of the shielding range 83 based on the display weight level. Based on the above, the display adjustment for lowering the visibility of the shielding range 83 can be performed in a limited manner when presenting information that allows attention to the specific object IO. As a result, the information presentation by the information display image 80 can surely present important information to the driver.

Specifically, in the first embodiment, the information display image 80 whose display weight level exceeds the threshold value THw (see FIG. 4) is an object for reducing the visibility of the shielding range 83, as shown in FIGS. 9 and 10. It does not become. With such a setting, it is possible to prevent the occurrence of a situation in which the information presented by the information display image 80 becomes difficult for the driver to recognize due to the decrease in visibility of the shielding range 83.

Further, in the first embodiment, it is determined whether or not the visibility of the shielding range 83 is reduced by the process of applying the risk estimation value and the display weight level to the display generation map. According to the above, since complicated arithmetic processing is not required, the display generation unit 74 can quickly determine the display mode of the information display image 80 based on the risk estimation value and the display weight level. As a result, the transition of the display mode based on the risk estimate value and the display weight level can be easily performed according to the driving scene.

Further, in the first embodiment, the contour portion 84 is excluded from the shielding range 83, and the visibility of the contour portion 84 is set higher than the shielding range 83. In such a display mode, even if the shielding range 83 is set, it is unlikely that one information display image 80 will be divided into a plurality of pieces. Therefore, the overall shape of the information display image 80 can be recognized by the driver. Therefore, it is possible to prevent a situation in which it becomes difficult to understand the meaning of the presented information of the information display image 80 due to the display adjustment of the shielding range 83.

In addition, in the first embodiment, a margin 86 is secured between the outer edge of the specific object IO seen by the driver and the outer edge of the shielding range 83. An error may occur in the apparent size of the specific object IO grasped by the display generation device 100 due to the attitude change occurring in the vehicle A, the measurement error of the autonomous sensor 11, and the like. Therefore, according to the setting in which the margin 86 is provided in advance, the deviation of the shielding range 83 with respect to the specific object IO is allowed. As a result, the information display image 80 can more reliably visually recognize the entire specific object IO from the driver.

In the first embodiment, the processor 61 corresponds to the "processing unit", the map data determination unit 70 corresponds to the "map data acquisition unit", and the information presentation icon 88 corresponds to the "alternative display image". Further, the navigation map data NM corresponds to "low-precision map data", and the display generation device 100 corresponds to "display control device".

(Second Embodiment)
The second embodiment of the present disclosure shown in FIGS. 11 to 14 is a modification of the first embodiment. The information presentation system of the second embodiment is provided with a display control device 200 as a configuration corresponding to the display management device 40 (see FIG. 1) and the display generation device 100 (see FIG. 1) of the first embodiment. .. The display control device 200 is electrically connected to the peripheral monitoring device 10, the navigation device 17, the driver monitoring device 20, the vehicle control device 30, the HUD device 50, and the like, and presents substantially the same information as in the first embodiment. .. When the display control program is executed by the processor 61 in the control circuit 60 of the display control device 200, the display control device 200 is in addition to the functional units (70 to 74) substantially the same as those in the first embodiment. The display management unit 75 is further constructed. Similar to the display management device 40, the display management unit 75 determines the content to be displayed as a virtual image by the HUD device 50 based on the acquired information.

The risk estimation unit 72 of the second embodiment estimates the risk level of the specific object IO and calculates the risk estimation value without using the driver's state information. On the other hand, the risk estimation unit 72 sets the driver's state level (hereinafter, “driver state level”) based on the state information acquired from the driver monitoring device 20 separately from the calculation of the risk estimate value for the specific object IO. presume. The driver state level is calculated based on information such as the driver's viewpoint, inattentive state, arousal level, and absent-mindedness. The driver state level becomes larger (higher) as the driver pays more attention to driving. The risk estimation unit 72 calculates the risk estimation value of the specific object IO (see S207) in the display adjustment process (see FIG. 14) described later, and then performs an operation to calculate the driver's state level (see S208). ..

The display generation unit 74 can refer to a plurality of display generation maps stored in the memory device 63. Each display generation map has different driver state levels associated with it. That is, a driver state level N (standard state) display generation map, a driver state level N + 1 (high attention state) display generation map, a driver state level N + 2 (higher attention state) display generation map, and the like are defined in advance. There is.

The display generation unit 74 selects from a plurality of display generation maps corresponding to the driver state level calculated by the risk estimation unit 72. The display generation unit 74 applies the risk estimation value calculated by the risk estimation unit 72 (see S207) and the display weight level determined by the display weight determination unit 73 (see S209) to the selected display generation map. , The display mode of the information display image 80 is determined (see S210).

The details of the above-mentioned plurality of display generation maps will be further described.

In a plurality of display generation maps, the higher the associated driver state level, the larger the display correction area Ac is on the normal display area An side. The display weight level, which is the threshold value of the display correction area Ac and the normal display area An, rises to THw2 in the high caution state with respect to THw1 in the standard state (see FIG. 12), and goes to THw3 in the higher attention state. (See FIG. 13).

In addition, in each display generation map, the area where the display weight level exceeds a predetermined value (threshold value THw3) is set as the normal display area An regardless of the driver state level. Therefore, even if the driver state level is high, the information display image 80 having a high display weight level is normally displayed without deteriorating the visibility of the shielding range 83.

Further, in the plurality of display generation maps, the higher the associated driver state level, the lower the boundary between the contour display area Ac2 and the intensity reduction area Ac3 is changed to the side with the lower risk estimation value. The risk estimate, which is the threshold value of the contour display area Ac2 and the intensity reduction area Ac3, is lowered to THr2 in the high-attention state with respect to THr1 in the high-attention state (see FIG. 13). As a result, the contour display region Ac2 is expanded to the low risk estimated value side, while the intensity reduction region Ac3 is narrowed to the low risk estimated value side.

Further, in each display generation map, the region where the risk estimation value is less than the predetermined value (threshold value THr2) is outside the non-display region Ac1 and is the intensity reduction region Ac3 regardless of the driver state level. Therefore, when the risk estimation value is not large, the information display image 80 is displayed as a virtual image in a mode in which the brightness of the shielding range 83 is reduced without being switched to non-display.

Next, the details of the display adjustment process of the second embodiment will be described with reference to FIGS. 11 and 5 based on FIG.

In S201, drawing information is acquired from the peripheral monitoring device 10, the navigation device 17, the driver monitoring device 20, the vehicle control device 30, and the like, and the process proceeds to S202. In S202, the type of map data acquired by the map data determination unit 70 is determined, and the process proceeds to S203. In S203, with reference to the determination result of S202, it is determined whether or not the high-precision map data DM is acquired. If it is determined in S203 that the high-precision map data DM has not been acquired and only the navigation map data NM has been acquired, the process proceeds to S204, and the information display image 80 having a normal shape is displayed by the HUD device 50.

On the other hand, when it is determined in S203 that the high-precision map data DM is acquired, in S205 proceeding to S205, the information display image 80 and the object in the foreground are used by using various information acquired in S201. The overlap is determined, and the process proceeds to S206. In S206, it is determined whether or not there is a specific object IO that overlaps with the information display image 80. If it is determined in S206 that there is no specific object IO, the process proceeds to S204. On the other hand, if it is determined in S206 that there is a specific object IO, the process proceeds to S207.

In S207 to S210, as described above, the risk estimation value, the driver state level, and the display weight level are calculated or determined in order, and the display mode of the information display image 80 is determined based on these values. As described above, the display of the information display image 80 of the normal shape or the corrected shape is started by the HUD device 50.

In the second embodiment described so far, the same effect as that of the first embodiment is obtained, and the driver's attention to the specific object IO in the foreground is maintained by the display adjustment that reduces the visibility of the shielding range 83. , Information presentation to the driver can be continued.

Further, in the second embodiment, when only the navigation map data NM can be acquired, the information display image 80 is displayed in the normal shape even if the specific object IO exists. That is, the implementation of the display adjustment that reduces the visibility of the shielding range 83 is limited to the period during which the high-precision map data DM can be acquired. When only the navigation map data NM can be used to generate the superimposed content CTs, the superimposed content CTs are likely to be displaced with respect to the superimposed object. Therefore, the risk that the shielding range 83 shifts with respect to the specific object IO also increases. Therefore, when the accuracy of the map data is low, the transmission control of the shielding range 83 should be stopped so that the deviation of the shielding range 83 with respect to the specific object IO does not cause discomfort to the driver.

In addition, in the second embodiment, the display generation map referred to by the display generation unit 74 is switched based on the driver state level. Therefore, the display generation unit 74 can adjust the display of the virtual image Vi according to the driver's attention state. According to the above, it becomes easier to realize both the suppression of the troublesomeness of the virtual image display and the securing of the visibility of the virtual image display.

Further, in the second embodiment, the display generation unit 74 selects a display generation map in which the display correction area Ac is enlarged toward the normal display area An side as the driver state level becomes higher. As a result, when the driving condition of the driver is good, the area for reducing the display intensity is expanded. According to the above, it becomes easier to both reduce the annoyance of the driver and secure the visibility of the virtual image Vi.

Further, in the second embodiment, the display generation unit 74 selects a display generation map in which the intensity reduction region Ac3 is narrowed to the lower side of the risk estimation value as the driver state level becomes higher. As a result, when the driving condition of the driver is good, the area where the shielding range 83 is hidden is expanded. According to the above, it becomes easier to reduce the annoyance of the driver and to secure the visibility of the virtual image Vi.

In addition, in the second embodiment, the information display image 80 having a high display weight level is normally displayed regardless of the driver state level. Therefore, the information display image 80 that presents important information can be displayed as a virtual image in a state where sufficient visibility is ensured without degrading the visibility. According to the above, even in the form of performing display adjustment that reduces the visibility of the shielding range 83, the recognition of important information by the driver is not likely to be hindered.

Further, in the second embodiment, the information display image 80 is not hidden when the risk estimation value is not large even if the driver state level is high. Therefore, the information display image 80 can be displayed as a virtual image in a display mode in which at least minimum visibility is ensured. In the second embodiment, the threshold values THw3 and THr2 correspond to "predetermined values".

(Other embodiments)
Although the plurality of embodiments of the present disclosure have been described above, the present disclosure is not construed as being limited to the above embodiments, and is applied to various embodiments and combinations without departing from the gist of the present disclosure. can do.

In the information presentation system of the first embodiment shown in FIG. 15, the risk calculation unit 41 is mounted on the control circuit 40a of the display management device 40. The risk calculation unit 41 has the same function as the risk estimation unit 72 (see FIG. 1) of the first embodiment, and calculates a risk estimation value for an object around the vehicle A. The display management device 40 provides the display generation device 300 with the risk estimation value of each object calculated by the risk calculation unit 41 as drawing information.

In the control circuit 60 of the display generator 300, a risk setting unit 372 is mounted instead of the risk estimation unit 72 (see FIG. 1) of the first embodiment. The control circuit 60 is further equipped with a map data determination unit 70, an overlap determination unit 71, a display weight determination unit 73, and a display generation unit 74, which are substantially the same as those in the first embodiment. The risk setting unit 372 acquires the risk estimated value estimated by the risk calculation unit 41 instead of the arithmetic processing for calculating the risk estimated value of the specific object IO, and the specific object IO specified by the overlap determination unit 71. Perform the process of associating with (see FIG. 2). By such processing, the risk estimate value of the specific object IO is set also in the modified example 1. In the first modification, the risk setting unit 372 corresponds to the “risk estimation unit”.

In the second modification of the first embodiment, the function of the display generator is built in the HUD device. That is, the control circuit provided in the HUD device executes the display control program and has functional units such as an overlap determination unit, a risk estimation unit, a display weight determination unit, and a display generation unit. Even with the configurations of the first modification and the second modification as described above, the same effect as that of the first embodiment can be obtained.

In the modified example 3 of the first embodiment shown in FIG. 16, the display generation unit 74 reduces the visibility of the shielding range 83 and the normal state in which the deterioration of the visibility of the shielding range 83 is interrupted. It is appropriately switched between the adjusted state and the adjusted state. More specifically, the display generation unit 74 does not reduce the visibility of the shielding range 83 even if the superimposed content CTs and the specific object IO overlap in the first period when the display of the information display image 80 is started. Further, the display generation unit 74 once displays the superimposed content CTs whose visibility of the shielding range 83 is lowered, and then stops the transmission control again at a predetermined timing.

According to the above modification 3, for example, when performing route guidance, the display generator first displays the TbT image 81 (see FIG. 7) having a normal shape, and then lowers the visibility of the shielding range 83. The TbT image 81 (see FIG. 2) is displayed. After that, the TbT image 81 is returned to the normal shape at a predetermined timing when the TbT image 81 approaches a guide point (for example, an intersection).

In the display adjustment process of the third modification, it is determined in S302 whether or not the current time corresponds to a predetermined timing based on the drawing information or the like acquired in S301. As described above, the predetermined timing is the first period immediately after the start of display or the period after approaching the guide point. When it is determined in S302 that the current timing is a predetermined timing, the process proceeds to S303 to display the information display image 80 having a normal shape. On the other hand, if it is determined that the timing is not the predetermined timing, the process proceeds to S304 or higher, and the visibility of the shielding range 83 is appropriately reduced. The processes of S304 to S308 are substantially the same as the processes of S205 to S207, S209, and S210 (see FIG. 14) in the second embodiment.

In the modified example 4 of the first embodiment shown in FIG. 17, the shielding range 83 is not set for the entire specific object IO, but is set locally for a particularly important range of the specific object IO. Will be done. As an example, the shielding range 83 of the modified example 4 is defined in the information display image 80 in the vicinity range including the lights at the rear of the vehicle in front, specifically, at least one of the brake lamp and the tail lamp. The shielding range 83 is set to, for example, a circular shape or a rectangular shape. According to the above setting of the shielding range 83, at least the superimposed content CTs that do not hide the lights of the vehicle in front are displayed.

When the shielding ratio Rb exceeds the upper limit threshold value THh, the display generation unit 74 changes from the shielding range 83 of the shape including the entire specific object IO to the shielding range 83 of the shape including only the specific part of the specific object IO. And, the shape of the shielding range 83 may be changed.

In the modified example 5 of the first embodiment shown in FIG. 18, the entire range excluding each contour portion 84 in the information display image 80 is set as the shielding range 83. In this way, the shielding range 83 may be expanded to the maximum extent to the range excluding the contour portion 84. Based on the above, the situation where the specific object IO is hidden by the information display image 80 is less likely to occur.

In the modification 6 of the above embodiment, it is assumed that the overlap determination unit overlaps with the specific object IO in terms of the driver's appearance when a virtual image is displayed among a large number of pixels forming the information display image 80. The shield pixel to be shielded is selected, and the range of the shield pixel is set as the shield range 83. The display generation unit 74 sets the emission brightness of the shielding range 83 lower than that of the normal range 82, and lowers the visibility of the shielding range 83 relative to the normal range 82. As an example, the display generation unit 74 lowers the emission brightness of each light emitting diode that illuminates the shielding pixel in the backlight formed by arranging the light emitting diodes in an array. At this time, the state (gradation value) of each of the RGB sub-pixels on the liquid crystal panel is maintained.

As described above, the entire shielding range 83 emits surface light with substantially uniform and low emission brightness. Further, the display generation unit 74 sets the emission brightness of the contour portion 84 so as to be substantially the same as the emission brightness of the normal range 82. As a result, the visibility of the contour portion 84 is higher than that of the shielding range 83, and is substantially the same as that of the normal range 82.

In the above modification 6, the display generation unit 74 sets the visibility of the shielding range 83 to be low by correcting the emission brightness of the shielding range 83 to be lower than that of the normal range 82. According to the decrease in the emission brightness of the shielding range 83, the driver can easily recognize the specific object IO that overlaps with the shielding range 83. Further, by adjusting only the emission brightness and maintaining the emission color, it is possible to avoid a situation in which the driver is misunderstood that the meaning of the information presented by the information display image 80 has changed.

Further, in the modification 7 of the above embodiment, in the display adjustment for reducing the visibility of the shielding range 83, the control of changing the emission color by changing the gradation value of each sub-pixel is performed together with the brightness adjustment of the hack light. May be done.

Further, in the modified examples 8 and 9 of the above embodiment, as a display adjustment for reducing the visibility of the shielding range 83, the light emitting area per unit area in the shielding range 83 is made smaller than the light emitting area per unit area in the normal range. The control is performed by the display generation unit 74. According to the above control, since the light emitting portion and the non-light emitting portion are generated in the shielding range 83, the average brightness of the shielding range 83 is lower than the average brightness of the normal range. As a result, the visibility of the shielding range 83 is reduced.

Specifically, in the modified example 8, the entire normal range 82 is surface-emitted substantially uniformly. On the other hand, a dot pattern is displayed in the shielding range. In the modified example 8, each dot is a light emitting portion, and the blank area excluding the dots is a non-light emitting portion. Each dot is the size of a plurality of pixels. The emission brightness of each dot is substantially the same as the emission brightness of the normal range and the contour portion.

A shaded pattern is displayed in the shielding range 83 of the modification 9. In the modified example 9, each line forming the shading is a light emitting portion, and a blank area between the lines is a non-light emitting portion. The emission brightness of each line is substantially the same as that of the normal range 82 and the contour portion 84. The light emitting portion and the non-light emitting portion in the modified examples 8 and 9 may be interchanged.

Further, in the modification 10, the shielding range 83 blinks in a brightness range lower than the normal range 82. The maximum brightness during the blinking period is set to be about the same as or slightly lower than the emission brightness in the normal range. The minimum brightness during the blinking period is slightly brighter than when the backlight is off.

Further, in the modification 11, the entire shielding range 83 is temporarily set to a non-light emitting state, and then the animation is displayed in the shielding range 83. In the modified example 11, for example, a thin band-shaped light emitting portion reciprocates within the shielding range like a wiper. The emission brightness of the light emitting portion is set to be about the same as or slightly lower than the emission brightness in the normal range. Even in the display modes such as the above modified examples 10 and 11, the same effect as that of the first embodiment can be exhibited.

In the above embodiment, when the display weight level is high, the information display image is always normally displayed regardless of the magnitude of the risk estimation value. However, when the estimated risk value is high, display adjustment for increasing the emission brightness of the information display image, display adjustment for blinking the information display image, or the like may be performed. The blinking display for such emphasis is a display in which the emission brightness is periodically changed. That is, the minimum brightness in the blinking display is set to be about the same as the normal emission brightness before the blinking is performed. On the other hand, the maximum brightness in the blinking display is set higher than the normal emission brightness.

The contour portion in the above embodiment has the same emission brightness as the normal range, but may be set to a lower brightness than the normal range. Further, the contour portion may be provided with a gradation that gradually reduces the emission brightness toward the inside where the shielding range is located. Alternatively, the contour portion may be provided with a gradation that gradually reduces the emission brightness as the distance from the normal range increases.

Further, a gradation may be provided in the margin portion. Specifically, the display mode may be such that the emission brightness continuously decreases in the marginal portion from the normal range to the center of the shielding range. It is not necessary to display the contour portion and secure the margin.

In the above embodiment, whether or not to reduce the visibility of the shielding range is determined according to the risk estimate value and the display weight level. However, such adjustments do not have to be made. Further, in the above embodiment, the display mode of the information display image is set by applying it to the display generation map, but for example, by applying AI technology, information is used by using a learner as a function generated by machine learning. The display mode of the display image may be determined.

In the above embodiment, a plurality of display generation maps CdM are used to determine the display shape of the information display image 80. However, the display generation unit 74 may set the display shape of the information display image 80 based on only one display generation map CdM.

In the above embodiment, the vehicle in front traveling in the same lane as the own vehicle is regarded as the specific object IO object. However, the specific object IO is not limited to other vehicles such as the vehicle in front. Obstacles that can be detected by the peripheral monitoring device, specifically, motorcycles, cyclists, pedestrians, etc. that exist on the road or move in the same lane as the own vehicle in the foreground, etc., are designated objects IO. May be selected. Further, the shape and size of the information display image may be appropriately changed according to the shape and size of the specific object.

On the other hand, peripheral objects that do not exist on the road, specifically, buildings on the side of the road, guardrails, pedestrians, etc. are not regarded as specific objects IO. Therefore, as shown in FIG. 19, the superimposed content CTs that provide route guidance are superimposed and displayed on the wall or the like of the building BO without avoiding the building BO.

On the other hand, for example, a falling object existing on the road is regarded as a specific object IO. Therefore, as shown in FIG. 20, the superimposed content CTs that provide route guidance are set with a shielding range 83 having a shape corresponding to a falling object on the road. Then, the superimposed content CTs are superimposed and displayed on the road surface of the own vehicle lane in a shape that avoids falling objects by adjusting the brightness of the shielding range 83 or the like.

In the above embodiment, the high-precision map data DM stored in the high-precision map database 12a is used to generate the superimposed content CTs. However, the high-precision map data DM received through the network may be used to generate the information display image 80.

The specific configuration of the HUD device can be changed as appropriate. For example, in the above embodiment, a single focus type HUD device that forms a virtual image at one focal point has been adopted. However, a bifocal HUD device that forms a far virtual image and a near virtual image at two focal points, a variable focus HUD device that can change the focal position in the front-rear direction of the vehicle, and the like may be adopted. When a bifocal HUD device is adopted, display adjustments that reduce the visibility of the shielding range are mainly applied to distant virtual images.

Further, the projector may be a DLP (Digital Light Processing, registered trademark) projector using a DMD (Digital Micromirror Device). Further, a projector using LCOS (Liquid Crystal On Silicon) or the like may be adopted. In addition, a holographic optical element may be adopted as one of the optical systems for displaying the virtual image Vi in the air.

In the above embodiment, the virtual image light formed as the superimposed content by using the position information of the eye point detected by the driver monitoring device so that the superimposed content is superimposed on the superimposed object from the driver's point of view. The projection shape and projection position of the above were controlled sequentially. However, without using the detection information of the driver monitoring device, the projection shape and the projection position of the virtual image light imaged as the superimposed content may be controlled by using the setting information of the center of the reference eye point set in advance.

In the above embodiment, each function provided by the control circuit of the display generator or the display control device is provided by the software and the hardware for executing the software, the hardware only, the hardware only, or a combination thereof. It is possible. Further, when such a function is provided by an electronic circuit which is hardware, each function can also be provided by a digital circuit including a large number of logic circuits or an analog circuit.

In addition, the specific configuration of the data processing related to the display control program and the like, and the processor (processing unit) that executes the instructions and codes can be changed as appropriate. The processor may be configured to include a GPU (Graphics Processing Unit) in addition to the CPU (Central Processing Unit). The processor may also include an FPGA (Field-Programmable Gate Array) and an accelerator specialized for learning and inferring AI (for example, a DSP (Digital Signal Processor)). Further, the processor may have a configuration implemented in an ASIC (Application Specific Integrated Circuit), an FPGA, or the like.

As a configuration for storing each program or the like, various non-transitory tangible storage media such as a flash memory and a hard disk can be adopted for each memory device. The form of such a storage medium may also be changed as appropriate. For example, the storage medium may be in the form of a memory card or the like, and may be inserted into a slot portion and electrically connected to a control circuit. Further, the storage medium is not limited to the above-mentioned in-vehicle device or memory device such as a server, and may be an optical disk as a copy base of a program to the memory device, a hard disk drive of a general-purpose computer, or the like.

The control unit and its method described in the present disclosure may be realized by a dedicated computer constituting a processor programmed to execute one or a plurality of functions embodied by a computer program. Alternatively, the apparatus and method thereof described in the present disclosure may be realized by a dedicated hardware logic circuit. Alternatively, the apparatus and method thereof described in the present disclosure may be realized by one or more dedicated computers configured by a combination of a processor that executes a computer program and one or more hardware logic circuits. Further, the computer program may be stored in a computer-readable non-transitional tangible recording medium as an instruction executed by the computer.

A vehicle, An normal display area, Ac display correction area, Ac1 non-display area, Ac3 intensity reduction area, DM high-precision map data, NM navigation map data (low-precision map data), IO specific object, THh upper limit threshold, THs lower limit Threshold, THw, THw1, THw2, THw3 (display weight level) threshold, THr, THr1, THr2 (risk estimated value) threshold, Vi imaginary image, 61 processor (processing unit), 70 map data judgment unit (map data acquisition unit) ), 71 Overlap determination unit, 72 Risk estimation unit, 372 Risk setting unit (risk estimation unit), 73 Display weight determination unit, 74 Display generation unit, 80 Information display image, 82 Normal range, 83 Shielding range, 84 Contour part, 86 Margin, 88 Information presentation icon (alternative display image), 100, 300 Display generator (display control device), 200 Display control device

Claims (31)

A display control device used in a vehicle (A) that controls the display of a virtual image (Vi) superimposed on the driver's foreground.
A display generation unit (74) that generates an information display image (80) used for presenting information to the driver, and a display generation unit (74).
An overlap determination unit (71) for determining an overlap state between the information display image displayed as the virtual image and an object in the foreground,
As the map data used by the display generation unit to generate the information display image, a map data acquisition unit (70) that acquires low-precision map data (NM) and high-precision map data (DM) having different accuracy from each other, and a map data acquisition unit (70). With
The display generation unit,
When a specific object (IO) that overlaps with the information display image is specified by the overlap determination unit, the visibility of the shielding range (83) that overlaps with the specific object in the information display image displayed as the virtual image. Decrease ,
When the information display image is generated using the high-precision map data, transmission control for reducing the visibility of the shielding range is performed.
If you can not generate the information image using the high-precision map data, it cancels the transmittance controlled display control device. The display generation unit, when the ratio of the shielded area in the information display image exceeds the upper threshold (THh), claim than information image is displayed smaller alternative display image (88) of display size 1 The display control device described in. A display control device used in a vehicle (A) that controls the display of a virtual image (Vi) superimposed on the driver's foreground.
A display generation unit (74) that generates an information display image (80) used for presenting information to the driver, and a display generation unit (74).
An overlap determination unit (71) for determining an overlap state between the information display image displayed as the virtual image and an object in the foreground is provided.
The display generation unit,
When a specific object (IO) that overlaps with the information display image is specified by the overlap determination unit, the visibility of the shielding range (83) that overlaps with the specific object in the information display image displayed as the virtual image. Decrease ,
The information when the ratio of the shielded area in the display image exceeds the upper threshold (THh), the information display the display controller Ru is displayed smaller alternative display image (88) of the display size than images. As the map data used by the display generation unit to generate the information display image, a map data acquisition unit (70) that acquires low-precision map data (NM) and high-precision map data (DM) having different accuracy from each other is used. The display control device according to claim 3 , further comprising. The display generation unit
When the ratio of the shielding range in the information display image exceeds the upper limit threshold value, an alternative display image (88) having a display size smaller than that of the information display image is displayed.
When the map the high-precision map data in the data acquisition unit is not obtained, than if the high-precision map data is acquired, the display control device according to claim 1, setting a low upper limit threshold .. A display control device used in a vehicle (A) that controls the display of a virtual image (Vi) superimposed on the driver's foreground.
A display generation unit (74) that generates an information display image (80) used for presenting information to the driver, and a display generation unit (74).
An overlap determination unit (71) for determining an overlap state between the information display image displayed as the virtual image and an object in the foreground,
As the map data used by the display generation unit to generate the information display image, a map data acquisition unit (70) that acquires low-precision map data (NM) and high-precision map data (DM) having different accuracy from each other, and a map data acquisition unit (70). With
The display generation unit,
When a specific object (IO) that overlaps with the information display image is specified by the overlap determination unit, the visibility of the shielding range (83) that overlaps with the specific object in the information display image displayed as the virtual image. Decrease ,
When the ratio of the shielding range in the information display image exceeds the upper limit threshold value, an alternative display image (88) having a display size smaller than that of the information display image is displayed.
The map in the data acquisition unit when the high precision map data has not been acquired, than if the high-precision map data is acquired, to set lower the upper limit threshold value display control device. A display weight determination unit (73) for determining the importance of the information displayed as the information display image is further provided.
Any one of claims 1 to 6 , wherein the display generation unit determines whether or not to reduce the visibility of the shielding range based on the importance determined for the information display image by the display weight determination unit. The display control device described in the section. A display control device used in a vehicle (A) that controls the display of a virtual image (Vi) superimposed on the driver's foreground.
A display generation unit (74) that generates an information display image (80) used for presenting information to the driver, and a display generation unit (74).
An overlap determination unit (71) for determining an overlap state between the information display image displayed as the virtual image and an object in the foreground,
A display weight determination unit (73) for determining the importance of information displayed as the information display image is provided.
The display generation unit,
When a specific object (IO) that overlaps with the information display image is specified by the overlap determination unit, the visibility of the shielding range (83) that overlaps with the specific object in the information display image displayed as the virtual image. Decrease ,
The display weight determination unit by based on the importance which is determined with respect to the information image, the shielded area that determine the display control unit whether reducing the visibility of. As the map data used by the display generation unit to generate the information display image, a map data acquisition unit (70) that acquires low-precision map data (NM) and high-precision map data (DM) having different accuracy from each other is used. The display control device according to claim 8 , further comprising. The display according to any one of claims 1 to 9 , wherein the display generation unit maintains the visibility of the shielding range when the ratio of the shielding range in the information display image is less than the lower limit threshold value (THs). Control device. Further equipped with a risk estimation unit (72,372), which sets a risk to the vehicle for the specific object in the foreground,
Any of claims 1 to 10 , wherein the display generation unit determines whether or not to reduce the visibility of the shielding range based on the magnitude of the risk set for the specific object by the risk estimation unit. The display control device according to paragraph 1. A risk estimation unit (72,372) that sets the risk to the vehicle for the specific object in the foreground as a risk estimation value, and
A display weight determination unit (73) for determining the importance of the information displayed as the information display image as a display weight level is further provided.
The display generation unit
It is possible to refer to a display generation map in which the risk estimate value and the display weight level are associated with the display mode of the information display image.
Whether or not the risk estimation value set by the risk estimation unit and the display weight level determined by the display weight determination unit are applied to the display generation map to reduce the visibility of the shielding range. The display control device according to any one of claims 1 to 6 to be determined. A display control device used in a vehicle (A) that controls the display of a virtual image (Vi) superimposed on the driver's foreground.
A display generation unit (74) that generates an information display image (80) used for presenting information to the driver, and a display generation unit (74).
An overlap determination unit (71) for determining an overlap state between the information display image displayed as the virtual image and an object in the foreground,
A risk estimation unit (72,372) that sets a risk to the vehicle for a specific object (IO) in the foreground that overlaps with the information display image as a risk estimation value, and
A display weight determination unit (73) for determining the importance of information displayed as the information display image as a display weight level is provided.
The display generation unit,
If it is identified before Kitoku Jobutsu body by the overlap determining unit, it reduces the visibility of the shielded area overlapping the specific object among the information display image to be displayed as the virtual image (83),
It is possible to refer to a display generation map in which the risk estimate value and the display weight level are associated with the display mode of the information display image.
Whether or not the risk estimation value set by the risk estimation unit and the display weight level determined by the display weight determination unit are applied to the display generation map to reduce the visibility of the shielding range is determined. decision to that display controller. As the map data used by the display generation unit to generate the information display image, a map data acquisition unit (70) that acquires low-precision map data (NM) and high-precision map data (DM) having different accuracy from each other is used. The display control device according to claim 13 , further comprising. The risk estimation unit sets the driver's state as a state level, and sets the driver's state as a state level.
The display generation unit
A plurality of the display generation maps associated with the state level can be referenced and
12. Claim 12 that selects the display generation map corresponding to the state level determined by the risk estimation unit from a plurality of them, and applies the risk estimation value and the display weight level to the selected display generation map. The display control device according to any one of items to 14. In the display generation map, a display correction area (Ac) including an intensity reduction area (Ac3) that reduces the visibility of the shielding range is defined together with a normal display area (An).
The display control device according to claim 15 , wherein the display generation unit selects the display generation map in which the display correction area is enlarged toward the normal display area as the state level becomes higher. In the display generation map, the intensity reduction region is defined on the lower side of the display correction region where the risk estimate value is lower.
The display control device according to claim 16 , wherein the display generation unit selects the display generation map in which the intensity reduction region is narrowed to the lower side of the risk estimation value as the state level becomes higher. The display control device according to claim 16 or 17 , wherein a region in which the display weight level exceeds a predetermined value (THw3) in each display generation map is regarded as the normal display region regardless of the state level. In each display generation map, a non-display area (Ac1) for interrupting the display of the virtual image is defined on the side of the display correction area where the risk estimation value is high.
In each of the display generation maps, the region where the risk estimation value is less than the predetermined value (THr2) is excluded from the non-display region regardless of the state level. Any one of claims 16 to 18. The display control device described in. The display generation unit is a contour portion (84) forming a contour of said information image is excluded from the shielded area, any one of claims 1 to 19 for the visibility of the outline portion is higher than the shielded area The display control device according to paragraph 1. A display control device used in a vehicle (A) that controls the display of a virtual image (Vi) superimposed on the driver's foreground.
A display generation unit (74) that generates an information display image (80) used for presenting information to the driver, and a display generation unit (74).
An overlap determination unit (71) for determining an overlap state between the information display image displayed as the virtual image and an object in the foreground is provided.
The display generation unit,
When a specific object (IO) that overlaps with the information display image is specified by the overlap determination unit, the visibility of the shielding range (83) that overlaps with the specific object in the information display image displayed as the virtual image. Decrease ,
The outline portion forming a contour of the information display image (84) excluded from the shielded area, the display control unit the visibility of the outline portion you higher than the shielded area. As the map data used by the display generation unit to generate the information display image, a map data acquisition unit (70) that acquires low-precision map data (NM) and high-precision map data (DM) having different accuracy from each other is used. The display control device according to claim 21 , further comprising. The shielded area, the so margin with respect to the outer edge of the particular object as viewed from the driver (86) is secured, any one of claims 1 to 22, which is defined larger than the specific object The display control device described in. The display according to any one of claims 1 to 23 , wherein the display generation unit makes the brightness of the shielding range lower than the brightness of the normal range (82) excluding the shielding range in the information display image. Control device. The display generation unit is a light emitting area per unit area in the shielded area, than the light emitting area per unit area of the normal range, except for the shielding range of the information display images, according to claim 1-24 to reduce The display control device according to any one item. A display control program used in the vehicle (A) to control the display of a virtual image (Vi) superimposed on the driver's foreground.
At least one processing unit (61)
A display generator (74) that generates an information display image (80) used for presenting information to the driver.
An overlap determination unit (71) for determining an overlap state between the information display image displayed as the virtual image and an object in the foreground.
As the map data used by the display generation unit to generate the information display image, the map data acquisition unit (70) that acquires low-precision map data (NM) and high-precision map data (DM) having different accuracy from each other. Make it work,
When a specific object (IO) that overlaps with the information display image is specified by the overlap determination unit, the visibility of the shielding range (83) that overlaps with the specific object in the information display image displayed as the virtual image. Decrease ,
When the information display image is generated using the high-precision map data, transmission control for reducing the visibility of the shielding range is performed.
The high precision map data may not be able to generate the information image using the on so that to cancel the transmission control, the display control program to further function the display generation unit. A display control program used in the vehicle (A) to control the display of a virtual image (Vi) superimposed on the driver's foreground.
At least one processing unit (61)
A display generator (74) that generates an information display image (80) used for presenting information to the driver.
It functions as an overlap determination unit (71) for determining an overlap state between the information display image displayed as the virtual image and an object in the foreground.
When a specific object (IO) that overlaps with the information display image is specified by the overlap determination unit, the visibility of the shielding range (83) that overlaps with the specific object in the information display image displayed as the virtual image. Decrease ,
If the ratio of the shielded area in the information display image exceeds the upper threshold (THh), to so that display the smaller alternative display image (88) of the display size than the information image, the display generation unit A display control program that makes it work further. A display control program used in the vehicle (A) to control the display of a virtual image (Vi) superimposed on the driver's foreground.
At least one processing unit (61)
A display generator (74) that generates an information display image (80) used for presenting information to the driver.
An overlap determination unit (71) for determining an overlap state between the information display image displayed as the virtual image and an object in the foreground.
As the map data used by the display generation unit to generate the information display image, the map data acquisition unit (70) that acquires low-precision map data (NM) and high-precision map data (DM) having different accuracy from each other. Make it work,
When a specific object (IO) that overlaps with the information display image is specified by the overlap determination unit, the visibility of the shielding range (83) that overlaps with the specific object in the information display image displayed as the virtual image. Decrease ,
When the ratio of the shielding range in the information display image exceeds the upper limit threshold value, an alternative display image (88) having a display size smaller than that of the information display image is displayed.
When the map the high-precision map data in the data acquisition unit is not acquired, the high than when precision map data is acquired, the so that to set lower the upper limit threshold value, the display generator unit A display control program that makes it work further. A display control program used in the vehicle (A) to control the display of a virtual image (Vi) superimposed on the driver's foreground.
At least one processing unit (61)
A display generator (74) that generates an information display image (80) used for presenting information to the driver.
An overlap determination unit (71) for determining an overlap state between the information display image displayed as the virtual image and an object in the foreground.
It is made to function as a display weight determination unit (73) for determining the importance of the information displayed as the information display image.
When a specific object (IO) that overlaps with the information display image is specified by the overlap determination unit, the visibility of the shielding range (83) that overlaps with the specific object in the information display image displayed as the virtual image. Decrease ,
Wherein the display weight determination unit based on the determined importance to the information image, said on so that to determine whether lowering the visibility of the shielded area, the display control program to further function the display generator unit .. A display control program used in the vehicle (A) to control the display of a virtual image (Vi) superimposed on the driver's foreground.
At least one processing unit (61)
A display generator (74) that generates an information display image (80) used for presenting information to the driver.
An overlap determination unit (71) for determining an overlap state between the information display image displayed as the virtual image and an object in the foreground.
Risk estimation unit (72,372), which sets the risk to the vehicle for a specific object (IO) in the foreground that overlaps with the information display image as a risk estimation value.
The importance of the information displayed as the information display image is made to function as a display weight determination unit (73) for determining the importance as the display weight level.
If it is identified before Kitoku Jobutsu body by the overlap determining unit, it reduces the visibility of the shielded area overlapping the specific object among the information display image to be displayed as the virtual image (83),
It is possible to refer to a display generation map in which the risk estimate value and the display weight level are associated with the display mode of the information display image.
Whether or not the risk estimation value set by the risk estimation unit and the display weight level determined by the display weight determination unit are applied to the display generation map to reduce the visibility of the shielding range. in so that to determine a display control program to further function the display generation unit. A display control program used in the vehicle (A) to control the display of a virtual image (Vi) superimposed on the driver's foreground.
At least one processing unit (61)
A display generator (74) that generates an information display image (80) used for presenting information to the driver.
It functions as an overlap determination unit (71) for determining an overlap state between the information display image displayed as the virtual image and an object in the foreground.
When a specific object (IO) that overlaps with the information display image is specified by the overlap determination unit, the visibility of the shielding range (83) that overlaps with the specific object in the information display image displayed as the virtual image. Decrease ,
Excluding the contour portion (84) forming a contour of said information image from the shielded area, the visibility of the edge portion so that be higher than the shielded area, the display generation unit further functions to cause the display control program.

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