JP7400242B2 - Vehicle display control device and vehicle display control method - Google Patents

Description

The present invention relates to a vehicle display control device and a vehicle display control method that control a display device such as a head-up display device (hereinafter referred to as HUD) to display content superimposed on the foreground of the vehicle.

Conventionally, Patent Document 1 proposes a vehicle image display system that conveys information such as a guide route to a driver by displaying content superimposed on a road using a HUD device. In the vehicle image display system of Patent Document 1, route guidance information is conveyed by superimposing arrows of a planned travel route along the road on which the vehicle is traveling on the display screen of the windshield. Further, when changing lanes from the planned driving route, the arrow of the driving course of the lane change is displayed superimposed with the arrow of the planned driving route, and the driver is informed.

Japanese Patent Application Publication No. 2016-182891

However, when displaying a plurality of contents at the same time, such as when displaying a plurality of guidance routes at the same time to inform the driver, or when executing a plurality of applications, the display screen of the HUD device tends to become complicated. Therefore, there is a possibility that the driver may find it difficult to read the information instantly.

In view of the above points, it is an object of the present invention to provide a vehicular display control device and a vehicular display control method that allow a driver to easily understand a display when a plurality of contents are displayed simultaneously.

In order to achieve the above object, the invention according to claim 1 is a display control device for a vehicle that is applied to a vehicle and controls a display device (230) to display content superimposed on the foreground of the own vehicle, The device includes an information acquisition unit (204) that acquires information regarding predicted trajectory content that displays the predicted trajectory that the vehicle should travel; a display control unit (207) that superimposes and displays predicted trajectory content on the road of Avoidance routes for avoiding a preceding vehicle are simultaneously displayed, and an avoidance route with a high priority among a plurality of predicted locus contents is displayed superimposed on the planned travel route with a low priority.

In this way, as multiple predicted trajectory contents, the planned driving route and a new route different from the planned driving route, which is an avoidance route for avoiding the preceding vehicle, are displayed so as to overlap, while content with higher priority is displayed. The avoidance route is displayed above the planned travel route, which is low priority content. This results in a display that allows the driver to preferentially read the avoidance route, which is content with a higher priority. Therefore, when displaying a plurality of contents at the same time, it is possible to provide a vehicle display control device that can display information that is easy for the driver to understand.

The invention according to claim 11 is a display control method for a vehicle, which is applied to a vehicle and controls a display device (230) to display content superimposed on the foreground of the own vehicle, the method comprising: and displaying the predicted trajectory content on a display device to display the predicted trajectory content in a superimposed manner on the road in front of the own vehicle. In this case, the display device simultaneously displays a planned driving route of the own vehicle and a new route different from the planned driving route as a plurality of predicted trajectory contents, and an avoidance route for avoiding the preceding vehicle. An avoidance route with a high priority among the predicted trajectory contents is displayed in an overlapping manner on the planned travel route with a low priority.

In this way, as multiple predicted trajectory contents, the planned driving route and a new route different from the planned driving route, which is an avoidance route for avoiding the preceding vehicle, are displayed so as to overlap, while content with higher priority is displayed. The avoidance route is displayed above the planned travel route, which is low priority content. This results in a display that allows the driver to preferentially read the avoidance route, which is content with a higher priority. Therefore, when displaying a plurality of contents at the same time, it is possible to provide a display control method for a vehicle that can display information that is easy for the driver to understand.

Note that the reference numerals in parentheses attached to each component etc. indicate an example of the correspondence between the component etc. and specific components etc. described in the embodiments to be described later.

FIG. 1 is a diagram showing a block configuration of a vehicle display system according to a first embodiment. FIG. 2 is a diagram schematically showing how an image is displayed by a HUD device. FIG. 2 is a diagram showing a detailed block configuration of an HCU (Human Machine Interface Control Unit). FIG. 2 is a diagram illustrating how a planned travel route is displayed superimposed on a road. FIG. 3 is a diagram illustrating a state in which an avoidance route is displayed superimposed on a road in addition to a planned travel route. 5A is a diagram when the display of FIG. 5A is viewed from above the road. FIG. FIG. 12 is a diagram showing how a planned travel route described in another embodiment is displayed semitransparently and superimposed on a road together with an avoidance route. 6A is a diagram when the display of FIG. 6A is viewed from above the road; FIG. FIG. 7 is a diagram illustrating a state in which outlines of portions of a planned travel route and an avoidance route that are far from the own vehicle are highlighted, which will be described in another embodiment. FIG. 7 is a diagram showing how a planned travel route described in another embodiment is displayed as a simple line. FIG. 7 is a diagram showing how a planned travel route and an avoidance route described in another embodiment are displayed using only outlines of arrows.

Embodiments of the present invention will be described below based on the drawings. Note that in each of the following embodiments, parts that are the same or equivalent to each other will be described with the same reference numerals.

(First embodiment)
This embodiment will be described below with reference to the drawings. As shown in FIG. 1, the vehicle display system 1 includes an HMI (Human Machine Interface) system 2, an ADAS (Advanced Driver Assistance Systems) locator 3, a surrounding monitoring sensor 4, a vehicle control ECU 5, and a driving support ECU 6. The HMI system 2, ADAS locator 3, surroundings monitoring sensor 4, vehicle control ECU 5, and driving support ECU 6 are connected to, for example, an in-vehicle LAN, so that information can be exchanged between them.

The ADAS locator 3 includes a global positioning and sanitary system (hereinafter referred to as GNSS) receiver 30, an inertial sensor 31, and a map database (hereinafter referred to as map DB) 32.

The GNSS receiver 30 is a GPS (Global Positioning System) receiver or the like, and receives positioning signals from a plurality of artificial satellites. The inertial sensor 31 is a sensor that detects the inertial force generated in the vehicle, that is, the driving state, and includes, for example, a gyro sensor or an acceleration sensor. The ADAS locator 3 sequentially determines the vehicle position of the own vehicle by combining the positioning signal received by the GNSS receiver 30 and the measurement result of the inertial sensor 31. The ADAS locator 3 then outputs the measured vehicle position to the in-vehicle LAN.

The map DB 32 is a nonvolatile memory that stores map data such as link data, node data, road shape data, etc. as a high-precision map. The road shape data includes data such as altitude, cross slope, vertical slope, number of lanes, etc. The data such as altitude, cross slope, longitudinal slope, number of lanes, etc. may be at least for each point on the road, for example, for each observation point of map data.

Furthermore, the map DB 32 may be configured to use a three-dimensional map consisting of point groups of road shapes and feature points of structures as the map data. When using this three-dimensional map, the ADAS locator 3 uses this three-dimensional map and LIDAR (Light Detection and Ranging/Laser) to detect feature points of road shapes and structures without using the GNSS receiver 30. The vehicle position of the own vehicle may be determined using the detection results of the surrounding monitoring sensor 4 such as Imaging Detection and Ranging. Note that the map data may be acquired from outside the vehicle using an in-vehicle communication module installed in the vehicle.

The surroundings monitoring sensor 4 is an autonomous sensor that monitors the surrounding environment of the own vehicle. For example, the surroundings monitoring sensor 4 detects objects around the vehicle, such as moving dynamic objects such as pedestrians and other vehicles, and stationary static objects such as road structures and lane markings. do. For example, the surroundings monitoring sensor 4 includes a surroundings monitoring camera that images a predetermined area around the own vehicle, and a scanning wave sensor such as a millimeter wave radar, sonar, and LIDAR that transmits a search wave to a predetermined area around the own vehicle. The surroundings monitoring camera corresponds to an imaging device, and takes images of the surroundings of the own vehicle, and outputs the captured image data to the in-vehicle LAN as sensing information. The search wave sensor outputs a search wave and captures the reflected wave, and sends the measured results, such as the relative speed and distance to the target, and the azimuth where the target exists, as sensing information to the in-vehicle LAN. Output sequentially.

In this embodiment, as the surrounding monitoring sensor 4, at least a front camera 41 whose imaging range is a predetermined range in front of the own vehicle, and a millimeter wave radar 42 that transmits a search wave to a predetermined range in front of the own vehicle are used. It is structured as follows.

The vehicle control ECU 5 is an electronic control device that performs vehicle motion control such as acceleration/deceleration control and steering control of the own vehicle. Here, an example is shown in which the vehicle control ECU 5 is configured with one ECU, but it may also be configured with multiple ECUs such as a steering ECU that performs steering control, a power unit control ECU that performs acceleration/deceleration control, and a brake ECU. good. The vehicle control ECU 5 acquires detection signals output from each sensor mounted on the vehicle, such as an accelerator position sensor, a brake pedal force sensor, a steering angle sensor, and a wheel speed sensor. Then, the vehicle control ECU 5 processes the acquired detection signal and outputs a control signal to each travel control device such as an electronically controlled throttle, a brake actuator, and an EPS (Electric Power Steering) motor. Furthermore, the vehicle control ECU 5 outputs detection signals and control signals from each of the above-mentioned sensors to the in-vehicle LAN.

By controlling the vehicle control ECU 5, the driving support ECU 6 executes an automatic driving function that performs driving operations on behalf of the driver. The driving support ECU 6 recognizes the driving environment of the own vehicle based on the vehicle position and map data of the own vehicle acquired from the ADAS locator 3 and sensing information from the surrounding monitoring sensor 4. For example, from the sensing information from the surroundings monitoring sensor 4, the shape and movement state of objects such as objects existing around the own vehicle may be recognized, or the shape of road markings around the own vehicle may be recognized. By combining the vehicle's position and map data, it creates a virtual three-dimensional space that reproduces the actual driving environment in three dimensions.

Furthermore, based on the recognized driving environment, the driving support ECU 6 uses an automatic driving function to set a travel plan for automatically driving the own vehicle to a destination preset by the driver. The driving support ECU 6 calculates a planned driving route for the vehicle to reach its destination as a driving plan, and outputs the planned driving route information to the in-vehicle LAN. In addition, the driving support ECU 6 uses the generated virtual three-dimensional space around the own vehicle as a driving plan, for example, to adjust acceleration/deceleration to maintain a target inter-vehicle distance with the preceding vehicle, lane following, and lane change. Decisions are made regarding steering and sudden braking to avoid collisions. In addition, the driving support ECU 6 calculates a new route, which is different from the planned travel route, as a travel plan, so as to make driving more comfortable, and outputs the new route information to the in-vehicle LAN. For example, the new route may include an avoidance route that involves overtaking a preceding vehicle. In the following, an avoidance route will be described as an example of a new route.

An example of an automatic driving function executed by the driving support ECU 6 is ACC (Adaptive Cruise Control), which controls the driving speed of the own vehicle to maintain the target inter-vehicle distance with the preceding vehicle by adjusting the driving force and braking force. ) has a function. It also has an AEB (Autonomous Emergency Braking) function that forcibly decelerates the vehicle by generating braking force based on sensing information from the front. It also has a function of transmitting to the HMI system 2 the planned travel route and new route information until the driver reaches a preset destination. It should be noted that what has been described here is just an example, and the configuration may include other functions as the automatic driving function. In addition, the control executed for driving support is not limited to automatic driving, but simply provides the HMI system 2 with information on the planned driving route and new route to reach the destination set in advance by the driver. It may also be a control that executes a function to transmit. For example, it may be possible to control route guidance in a navigation device (not shown).

The HMI system 2 is a system that performs information management in the cockpit, and accepts input operations from the driver and presents information to the driver. Specifically, the HMI system 2 includes an HCU 20, an operation device 21, a DSM (Driver Status Monitor) 22, and a display device 23.

The operating device 21 is a group of switches operated by the driver. The operating device 21 is used to perform various settings, and includes, for example, a switch provided on a steering wheel or the like.

The DSM 22 is a device that recognizes the driver's condition, and includes, for example, a near-infrared light source and a near-infrared camera provided in the vehicle interior, a control unit that controls these, and the like. Specifically, in the DSM 22, a near-infrared light source emits near-infrared light toward the driver, the near-infrared camera captures the image, and the control unit analyzes the captured image to determine the driver's viewpoint position. Measuring. Information on the measured viewpoint position is then output to the HCU 20 via the in-vehicle LAN.

The display device 23 constitutes a display section for performing superimposed display, and here a HUD device 230 is used. The HUD device 230 will be explained using FIG. 2.

As shown in FIG. 2, the HUD 230 is installed within the instrument panel 12 of the own vehicle. The HUD 230 forms a display image based on image data output from the HCU 20 using a projector 231, such as a liquid crystal type or a scanning type. Examples of display images include images related to planned travel routes and avoidance routes according to the travel plan. The planned travel route and avoidance route here correspond to predicted trajectory content. The planned travel route is a predicted trajectory that the own vehicle should travel from now on, and the avoidance route is a new predicted trajectory that is different from the planned travel route.

The HUD 230 projects a display image formed by a projector 231 onto a predetermined projection area on the front windshield 10 as a projection member, for example, through an optical system 232 such as a concave mirror. The projection area is an area where a display image can be projected on the front windshield 10, and the display image is projected at an angle of view that is easily visible to the driver within the area. The displayed image reflected toward the inside of the vehicle by the front windshield 10 is perceived by the driver sitting in the driver's seat. Further, the foreground, which is the scenery in front of the own vehicle and which is transmitted through the front windshield 10 formed of translucent glass, is also perceived by the driver sitting in the driver's seat. As a result, the driver is made to see the virtual image 100 of the display image formed by the HUD 230 in front of the front windshield 10, superimposed on a part of the foreground of the own vehicle, and a so-called AR (Augmented Reality) display is made. Realized.

In addition, although HUD230 was mentioned as an example as the display device 23, it is good also as a structure using a device which displays an image other than HUD230. For example, the display device 23 may be a combination meter, CID (Center Information Display), or the like.

The HCU 20 is mainly composed of a microcomputer including a processor, volatile memory, nonvolatile memory, I/O, and a bus connecting these, and is connected to the HUD 230 and the in-vehicle LAN. HCU 20 controls the display by HUD 230 by executing a control program stored in nonvolatile memory. This HCU 20 corresponds to a vehicle display control device. When the processor executes this control program, a vehicle display control method corresponding to the control program is executed. Note that the memory referred to here corresponds to a non-transitory tangible storage medium that non-temporarily stores computer-readable programs and data.

The HCU 20 has a block configuration shown in FIG. 3 as a functional block that performs display control on the HUD 230. Specifically, the HCU 20 includes a captured image acquisition unit 200, a distance/azimuth acquisition unit 201, an own vehicle position acquisition unit 202, a high-precision map acquisition unit 203, a three-dimensional position identification unit 204, a viewpoint position identification unit 205, and an invisible area estimation unit. 206 and a display generation unit 207.

The captured image acquisition unit 200 acquires captured images sequentially captured by the front camera 41 as sensing information. The distance/azimuth acquisition unit 201 acquires the distance and azimuth of an object sequentially measured by the millimeter wave radar 42 as sensing information. The own vehicle position acquisition unit 202 acquires the current vehicle position of the own vehicle, which is successively positioned by the ADAS locator 3. The high-precision map acquisition unit 203 acquires map data stored in the map DB 32 of the ADAS locator 3. The high-precision map acquisition unit 203 obtains a high-precision map that includes road shape data for each observation point, that is, for each of a plurality of points.

The three-dimensional position specifying unit 204 acquires the planned driving route information transmitted from the driving support ECU 6, and specifies the display position and how to display the planned driving route in the virtual three-dimensional space. Similarly, the three-dimensional position specifying unit 204 acquires the avoidance route information transmitted from the driving support ECU 6, and specifies the display position of the avoidance route in the virtual three-dimensional space and how to display it. Specifically, the three-dimensional position specifying unit 204 uses the map data acquired by the high-precision map acquisition unit 203, the vehicle position of the own vehicle acquired by the own vehicle position acquisition unit 202, the captured image acquisition unit 200, and the distance/azimuth acquisition unit. The sensing information around the own vehicle acquired in step 201 is input. Then, the three-dimensional position specifying unit 204 determines where on the road and how the planned travel route will be taken after understanding the shape of the road in front of the vehicle in the virtual three-dimensional space based on the input various information. Identify whether or not an avoidance route can be drawn.

Further, if an object relative to the own vehicle exists in the virtual three-dimensional space generated by the driving support ECU 6, the three-dimensional position specifying unit 204 specifies the three-dimensional position of the object. For example, the three-dimensional position specifying unit 204 selects an object from the driving environment recognized by the driving support ECU 6 and specifies the three-dimensional position. For example, the three-dimensional position specifying unit 204 selects as an object an obstacle to be avoided by the own vehicle, or selects as an object a preceding vehicle to be followed by the ACC function. If there is an object such as a preceding vehicle, the three-dimensional position specifying unit 204 determines the position of the object and determines where on the road and how to set the planned driving route or avoidance route. Determine if you can draw. For example, it specifies a position where a planned travel route or an avoidance route can be drawn while avoiding overlapping with objects, and also specifies how to draw the planned travel route or avoidance route in accordance with the road shape.

The viewpoint position specifying unit 205 identifies the driver's viewpoint position based on the vehicle position of the own vehicle from the information on the viewpoint position sequentially detected by the DSM 22 . For example, the viewpoint position specifying unit 205 determines the viewpoint position detected by the DSM 22 based on the difference between the reference position of the viewpoint position in the DSM 22 and the reference position of the vehicle position in the own vehicle. Convert the position to a reference viewpoint position. Thereby, the driver's viewpoint position based on the vehicle position of the own vehicle is specified.

The invisible area estimating unit 206 estimates an invisible area that becomes invisible to the driver of the own vehicle due to a change in road surface slope. Specifically, the invisible area estimating unit 206 obtains altitude information of a point between the host vehicle and the object among the points whose altitude information is included in the high-precision map acquired by the high-precision map acquisition unit 203. and the viewpoint position specified by the viewpoint position specifying unit 205, the invisible area is estimated.

The display generation unit 207 generates image data for superimposing the planned travel route and avoidance route for the own vehicle on the road, and outputs this image data to the HUD 230. The planned driving route and avoidance route are drawn at a position that is visible to the driver when the displayed image is projected onto the projection area, and a virtual image based on the displayed image is displayed on the road in the foreground. is set so that Further, the shape of the display of the planned travel route and the avoidance route is specified to correspond to the shape of the road. As a result, virtual images of the planned travel route and the avoidance route are displayed in a superimposed manner on the HUD 230 as if pasted on the road. This display generation section 207 corresponds to a display control section.

For example, the display generation unit 207 grasps the positional relationship between the display position of the planned travel route or the avoidance route, the viewpoint position, and the set position of the projection area stored in the nonvolatile memory of the HCU 20 in advance. Then, the display generation unit 207 creates a planned driving route or an avoidance route on the road based on the display position of the planned driving route or the avoidance route, the altitude of the point between the own vehicle and the object, the positional relationship between the viewpoint and the projection area. Geometrically calculate the imaging position of virtual images that can be displayed in a superimposed manner.

At this time, if there is an invisible area estimated by the invisible area estimation unit 206, the display generation unit 207 avoids this invisible area and superimposes the planned driving route or the avoidance route. Even if the own vehicle and the preceding vehicle move, the display of the planned driving route and the avoidance route is maintained at a predetermined position, in this case, on the road in front of the own vehicle, so that the display is superimposed.

As described above, the vehicle display system 1 of this embodiment is configured. Next, HUD display control of the vehicle display system 1 of this embodiment will be explained together with driving support control. Note that HUD display control is executed by the HCU 20, and driving support control is executed by the driving support ECU 6.

First, when the driver requests driving assistance control and sets a destination using a navigation device, etc., driving assistance control such as automatic driving is performed and the own vehicle starts driving. Based on this, the driving support ECU 6 sets a travel plan for driving the vehicle to the destination set as described above, and transmits planned travel route information according to this travel plan to the HCU 20. This planned travel route information is information indicating what route the own vehicle should travel to reach its destination. The HUD 230 displays only a portion of the planned driving route, which is determined as a route from the current position of the vehicle to the destination.

On the other hand, the HCU 20 inputs the detection results of the surroundings monitoring sensor 4 and acquires the surrounding situation of the vehicle. Specifically, the captured image acquisition unit 200 inputs sensing information sequentially captured by the front camera 41, and then acquires a captured image of the front of the own vehicle. Furthermore, the distance/azimuth acquisition unit 201 inputs sensing information from the millimeter wave radar 42 and acquires the distance and azimuth from an object such as a preceding vehicle.

Further, the HCU 20 inputs various information from the GNSS receiver 30, inertial sensor 31, and map DB 32 provided in the ADAS locator 3, and sequentially measures the vehicle position of the own vehicle. Specifically, the own vehicle position acquisition unit 202 acquires information on the vehicle position of the own vehicle, that is, information on the longitude and latitude of the own vehicle based on the reception result from the GNSS receiver 30, and also Based on the detection results, it determines which direction the vehicle is facing on the road. Thereby, the HCU 20 acquires information on the vehicle position of the own vehicle, including information on which direction on the road the own vehicle is facing. Further, the high-precision map acquisition unit 203 acquires map information of the road on which the vehicle is currently traveling, such as road shape, slope, number of lanes, etc., from the map DB 32 .

Furthermore, the HCU 20 acquires planned driving route information in the three-dimensional position specifying unit 204, and based on various information obtained from the surrounding monitoring sensor 4 and the ADAS locator 3, the HCU 20 determines the display position of the planned driving route in the virtual three-dimensional space. etc. to identify. That is, the three-dimensional position specifying unit 204 specifies how the planned travel route can be drawn on the road in the virtual three-dimensional space.

Further, in the HCU 20, the viewpoint position specifying unit 205 specifies the driver's viewpoint position based on the detection result of the DSM 22, and the invisible area estimating unit 206 estimates the invisible area of the driver of the own vehicle. This determines which angle of view in the projection area the image should be displayed to make it easier for the driver to see.

In this way, the three-dimensional position specifying unit 204 specifies how to draw the planned travel route on the virtual three-dimensional space, and the invisible area estimating unit 206 determines an area that is easily visible to the driver. Then, the display generation unit 207 determines at which angle of view in the projection area of the HUD 230 the planned travel route is actually displayed based on the identification results from the three-dimensional position identification unit 204 and the estimation results from the invisible area estimation unit 206. decide. Thereby, the display generation unit 207 outputs a control signal to the HUD 230 to control the HUD 230 and display the planned driving route at an angle of view in an area that is easily visible to the driver.

In this case, as shown in FIG. 4, the planned travel route 71 is displayed in a superimposed manner at a predetermined viewing angle 70 of the projection area. That is, a line-shaped planned travel route 71 represented by a virtual image formed in front of the front windshield 10 is displayed superimposed on the road. On a road with multiple lanes, such as an expressway, a planned travel route 71 is displayed superimposed on the lane in which the vehicle is traveling. In this way, an AR display is performed in which the planned driving route 71 is superimposed on a part of the actual scene, and the driver can visually recognize the planned driving route 71 as if it were drawn on the road. Note that although the case where the lanes are straight is illustrated here, when the road is not straight, the planned travel route 71 is drawn along the road shape.

In this way, the planned travel route 71 is displayed superimposed on the road so that the driver can recognize it, but the driving support ECU 6 also transmits avoidance route information to the HCU 20, and a new avoidance route is proposed. Sometimes. For example, in driving support control, if the presence of a preceding vehicle traveling at a low speed is confirmed based on surrounding monitoring results, a new avoidance route may be proposed to avoid it.

In this case, the planned travel route 71 is displayed using the method described above, and in addition, the avoidance route is also displayed.

Specifically, the driving support ECU 6 transmits information on an avoidance route for avoiding the own vehicle, for example, information regarding a lane to be avoided, to the three-dimensional position specifying unit 204. Based on this, the HCU 20 uses the three-dimensional position specifying unit 204 to locate the location in the virtual three-dimensional space based on various information obtained from the surrounding monitoring sensor 4 and the ADAS locator 3 in addition to the avoidance route information from the driving support ECU 6. Identify avoidance routes. That is, the three-dimensional position specifying unit 204 specifies at which position on the road in the virtual three-dimensional space a route display in which the planned travel route 71 and the avoidance route are superimposed can be drawn. Here, the planned travel route 71 and the avoidance route are separately specified in the virtual three-dimensional space and acquired as different layers. Then, the three-dimensional position specifying unit 204 creates data so that the layer of the planned travel route 71 and the layer of the avoidance route are displayed in an overlapping manner.

Thereafter, the display generation unit 207 determines at which angle of view in the projection area of the HUD 230 the avoidance route will actually be displayed based on the identification results from the three-dimensional position identification unit 204 and the estimation results from the invisible area estimation unit 206. decide. Specifically, the angle of view for displaying the avoidance route is set to the same angle of view as the planned travel route 71. Then, the display generation unit 207 outputs a control signal to the HUD 230 to control the HUD 230 to display the avoidance route together with the planned driving route 71 at an angle of view that is easily visible to the driver in the projection area.

At this time, the HUD 230 simultaneously displays a plurality of predicted locus contents, ie, the planned travel route 71 and the avoidance route. However, if a plurality of predicted trajectory contents are simply displayed at the same time, the display screen of the HUD 230 tends to be displayed in a complicated manner, which may make it difficult for the driver to instantly read the information.

For this reason, in the HUD display control of this embodiment, a plurality of predicted trajectory contents are displayed so as to overlap, and content with a higher priority is displayed above content with a lower priority. For example, the avoidance route is set as content with a higher priority than the planned travel route 71. Then, when the three-dimensional position specifying unit 204 identifies the planned travel route 71 and the avoidance route in the virtual three-dimensional space, the layer of the avoidance route is superimposed on the layer of the planned travel route 71. Alternatively, when the display generation unit 207 displays the avoidance route on the HUD 230, the avoidance route is displayed so as to overlap the planned travel route 71.

As a result, as shown in FIG. 5A, content with a higher priority is displayed superimposed on the road so that the content is superimposed on the content with a lower priority, that is, the avoidance route 72 is superimposed on the planned travel route 71. . Therefore, the avoidance route 72 is displayed so that it can be read preferentially to the driver. Therefore, when displaying a plurality of contents at the same time, the HCU 20 can provide a display that is easy for the driver to understand. In the case of this embodiment, the planned travel route 71 and the avoidance route 72 are shown in different colors, and the entire area is shown in one color. For example, the planned travel route 71 is represented by a blue arrow, and the avoidance route 72 is represented by a red arrow. In this way, by changing the display colors of the planned travel route 71 and the avoidance route 72, it becomes possible to perform a display that is easier to understand for the driver.

Furthermore, in the display of FIG. 5A, the base ends of each route display, that is, the end of each route display on the own vehicle side, are arranged to have the same height. Similarly, the tips of each route display, that is, the end of each route display on the side away from the driver's vehicle, are also aligned at the same height. If the display in FIG. 5A is viewed from above the road, the display will be as shown in FIG. 5B, where the base end and tip of each route display are aligned in the longitudinal direction of the linear planned travel route 71. It is said that Further, the base end of each route display is arranged at the center of the vehicle in the width direction, and each route display is displayed so as to extend from the center of the vehicle. Thereby, it is possible to make it easier for the driver to recognize the route on which the vehicle will travel from now on.

In this way, when displaying the planned travel route 71 and the avoidance route 72, the heights of the base ends of each route display on the display screen of the HUD 230 are made to be the same height. This makes it possible to display a plurality of contents overlapping each other instead of displaying them separately, and also to provide a display format that is easier for the driver to view. Furthermore, the tips of each route display, that is, the end of each route display on the side away from the own vehicle are also arranged at the same height. Therefore, it is possible to provide a display format that is easier for the driver to see.

After the avoidance route 72 is displayed together with the planned driving route 71, the driver selects the avoidance route 72 and changes lanes, or slows down the vehicle to match the speed of a vehicle in front that is traveling at a low speed. Then, the display returns to displaying only the planned travel route 71 again. Specifically, when the driver selects the avoidance route 72 and changes lanes, the planned driving route 71 that leads to the destination is set again as the lane in which the driver is currently driving, and the planned driving route 71 is set on that lane. An arrow indicating route 71 is displayed in a superimposed manner. Furthermore, depending on the control form of the driving support ECU 6, a new route may be proposed that returns the vehicle to the lane before changing lanes after passing a preceding vehicle traveling at low speed. In that case, this new route can be displayed as high-priority content, overlapping the planned travel route 71 displayed along the lane in which the vehicle is traveling after changing lanes.

(Other embodiments)
Although the present disclosure has been described based on the embodiments described above, it is not limited to the embodiments, and includes various modifications and modifications within equivalent ranges. In addition, various combinations and configurations, as well as other combinations and configurations that include only one, more, or fewer elements, are within the scope and scope of the present disclosure.

For example, in the first embodiment, the planned travel route 71 and the avoidance route 72 are displayed in different colors, and both are displayed in a single color over the entire area, but each route may be displayed in a different display format.

For example, as shown in FIG. 6A, an avoidance route 72 with a higher priority is displayed in a non-transparent all-area coloring format in which the road below is hidden, and a planned travel route 71 with a lower priority is displayed. For this, a semi-transparent display format that allows the road below to be seen through may be used. In this way, a route with a high priority can be made more conspicuous, and it is possible to have the driver recognize it preferentially. In this case as well, when the display in FIG. 6A is viewed from above the road, the display is as shown in FIG. 6B, and in the longitudinal direction of the linear planned travel route 71, the base end and tip of each route display are It is preferable that the display be done so that the positions are aligned. In addition to the display format in which the one with a lower priority is semi-transparent and the one with a higher priority is non-transparent, it is also possible to display a display format in which the one with a lower priority is made translucent and the one with a higher priority is non-transparent. It is sufficient if the display has a high degree of transparency. In other words, items with high priority do not necessarily have to be non-transparent. Further, as shown in FIG. 6A, the predicted driving route 71 with the lower priority is displayed non-transparently before the avoidance route 72 occurs, and is displayed semi-transparently after the avoidance route 72 occurs. Therefore, the display format changes as the predicted trajectory content changes. In this way, when the predicted trajectory content changes, the display form may be changed from the predicted trajectory content that was originally displayed before the change.

Furthermore, when displaying a route so as to overlap the road, the displayed route becomes wider on the side of the own vehicle, and becomes narrower as the distance from the own vehicle increases. This means that the farther the position is from the host vehicle, the more information is expressed in one pixel on the HUD 230 display. For this reason, the farther away a portion is from the own vehicle, the more difficult it is for the driver to visually recognize the portion. Therefore, it is preferable to use a display format in which the outline of a portion representing a position farther from the own vehicle is more emphasized than that of a portion representing a position closer to the own vehicle. For example, as shown in FIG. 7, for a predetermined range indicating a position far from the own vehicle, for example, the 1/3 range on the tip side of the arrow that displays the route, an outline of a color different from that of the arrow display, such as black, is used. Display. This makes it possible for the driver to accurately recognize a portion representing a position far away from the driver's own vehicle.

Note that here, in order to emphasize the outline, the outline is shown in a different color from the arrow display, but other display formats, such as displaying the arrow display in a darker color the further away from the vehicle, etc. It can also be used as a form.

Further, the planned travel route 71 is not limited to the arrow display, but may be displayed simply as a line, as shown in FIG. 8, for example. Alternatively, as shown in FIG. 9, only the outline of the arrow may be shown. Even in this case, by displaying the route with a higher priority at the top, it can be recognized preferentially by the driver.

Furthermore, in the first embodiment, the three-dimensional position specifying unit 204 separately specifies the planned travel route 71 and the avoidance route 72 in the virtual three-dimensional space, and acquires them as different layers. However, data in which the avoidance route 72 is displayed superimposed on the planned travel route 71 may be obtained without separating the layers from the beginning. That is, when displaying a plurality of contents, instead of displaying each content divided into different layers, it is also possible to display one composite content in which the plurality of contents are composited from the beginning.

Furthermore, in the embodiment described above, the planned travel route 71 and the avoidance route 72 are used as examples of predicted trajectory content that displays the predicted trajectory that the own vehicle should travel from now on, but other predicted trajectory contents may be used. . For example, when a plurality of routes that can be guided occur and a plurality of planned travel routes are displayed simultaneously, such as a first planned travel route and a second planned travel route, each of them becomes predicted trajectory content. Further, although the case where two predicted trajectory contents are displayed at the same time has been described as an example, the case where more than two predicted trajectory contents are displayed at the same time may be used. In these cases as well, the item with higher priority may be displayed above the item with lower priority. For example, when setting a travel plan in the driving support ECU 6, map data is acquired from the map DB 32, cost calculation is performed based on link data, node data, etc., and the travel plan is set. Priority can be set based on the result of cost calculation at that time. For example, the priority can be set such that the lower the cost, the higher the priority. Further, if the environment around the vehicle changes due to the occurrence of traffic jams and the result of cost calculation changes, the priority may be changed in accordance with the calculation result, and the way the predicted trajectory contents overlap may be changed.

Furthermore, the priority may be determined in advance for each predicted trajectory content, or may be set higher as the predicted trajectory content is newly displayed.

Further, in the embodiment described above, an example of the configuration of each functional unit provided in the HCU 20 is shown, but the configuration example does not necessarily have to be as shown in the embodiment described above. For example, each functional section does not need to be provided separately, and a plurality of functional sections may be configured as one common functional section, or one functional section may be divided into a plurality of functional sections. To give an example, the three-dimensional position specifying unit 204 has a function of specifying display positions of the planned travel route 71 and avoidance route 72, which are expected trajectory contents, and also functions as an information obtaining unit that obtains information related to these. We are prepared. These may exist as separate functional units.

Note that the display control unit and the method described in the present disclosure are implemented using a dedicated computer provided by configuring a processor and memory programmed to execute one or more functions embodied by a computer program. It may be realized by. Alternatively, the display controller and techniques described in this disclosure may be implemented by a dedicated computer provided by a processor configured with one or more dedicated hardware logic circuits. Alternatively, the display control unit and the method thereof described in the present disclosure may be a combination of a processor and memory programmed to execute one or more functions and a processor configured by one or more hardware logic circuits. It may be realized by one or more dedicated computers configured with. The computer program may also be stored as instructions executed by a computer on a computer-readable non-transitory tangible storage medium.

1...Vehicle display system, 2...HMI system, 3...ADAS locator, 4...periphery monitoring sensor, 5...vehicle control ECU, 6...driving support ECU, 10...front windshield, 70...angle of view, 71...planned travel Route, 72... Avoidance route, 200... Captured image acquisition section, 201... Distance/azimuth acquisition section, 202... Own vehicle position acquisition section, 203... High-precision map acquisition section, 204... Three-dimensional position identification section, 205... Viewpoint position identification Section, 206... Invisible area estimation section, 207... Display generation section, 230... HUD device

Claims (11)

A display control device for a vehicle that is applied to a vehicle and controls a display device (230) to display content superimposed on the foreground of the own vehicle,
an information acquisition unit (204) that acquires information regarding predicted trajectory content that displays the predicted trajectory that the own vehicle should travel;
a display control unit (207) that causes the display device to display the predicted trajectory content so as to superimpose the predicted trajectory content on the road in front of the own vehicle;
The display control unit simultaneously displays, as the plurality of predicted trajectory contents on the display device, a planned travel route of the own vehicle and a new route different from the planned travel route for avoiding a preceding vehicle. A display control device for a vehicle that displays the avoidance route having a higher priority among the plurality of predicted trajectory contents overlappingly on the planned travel route having a lower priority. A display control device for a vehicle that is applied to a vehicle and controls a display device (230) to display content superimposed on the foreground of the own vehicle,
an information acquisition unit (204) that acquires information regarding predicted trajectory content that displays the predicted trajectory that the own vehicle should travel;
a display control unit (207) that causes the display device to display the predicted trajectory content so as to superimpose the predicted trajectory content on the road in front of the own vehicle;
The display control unit causes the plurality of predicted trajectory contents to be simultaneously displayed on the display device, and causes one of the plurality of predicted trajectory contents with a higher priority to be superimposed on the one with a lower priority. It looks like this,
Furthermore, the display control unit is configured to display a vehicle display that displays a portion of the predicted trajectory content that represents a position far from the own vehicle with an outline emphasized more than a portion that represents a position closer to the own vehicle . Control device. a vehicle position acquisition unit (202) that acquires the current vehicle position of the vehicle;
a high-precision map acquisition unit (203) that acquires map data including road shape data;
Displaying the plurality of predicted trajectory contents on the road in a virtual three-dimensional space using the vehicle position acquired by the own vehicle position acquisition unit and the map data acquired by the high-precision map acquisition unit. a three-dimensional position specifying unit (204) that specifies a position and how to draw the plurality of predicted trajectory contents;
The vehicle display control device according to claim 1 or 2, wherein the display control unit causes the predicted trajectory content to be displayed in a superimposed manner on the road in front of the own vehicle based on the identification result by the three-dimensional position identification unit. . The vehicle display control device according to any one of claims 1 to 3 , wherein the display control unit displays the plurality of predicted trajectory contents so that the heights of base ends of the plurality of predicted trajectory contents are aligned. The vehicular display control device according to claim 4 , wherein the display control unit displays the plurality of predicted trajectory contents so that the heights of the upper ends of the plurality of predicted trajectory contents are aligned. The vehicle display control device according to any one of claims 1 to 5 , wherein the display control unit displays the plurality of predicted trajectory contents in different display formats depending on their priorities. 7 . The display control unit, when the predicted trajectory content to be displayed changes, changes the display form of the predicted trajectory content that was originally displayed before the change. 7 . Display control device for vehicles. The vehicle display according to claim 6 or 7 , wherein the display control unit displays the predicted trajectory contents with higher transparency than those with higher priority among the plurality of predicted trajectory contents. Control device. The display control unit separately identifies the plurality of predicted trajectory contents and acquires them as different layers, and superimposes the layer with the higher priority on the layer with the lower priority, thereby displaying the plurality of predicted trajectory contents. The vehicle display control device according to any one of claims 1 to 8, wherein the trajectory content having a higher priority is displayed in a superimposed manner on the trajectory content having a lower priority. According to any one of claims 1 to 8, the display control unit displays one composite content in which a higher priority of the plurality of predicted trajectory contents is superimposed on a lower priority one. The vehicle display control device described above. A display control method for a vehicle that is applied to a vehicle and controls a display device (230) to display content in a superimposed manner on the foreground of the own vehicle, the method comprising:
Obtaining information regarding predicted trajectory content that displays the predicted trajectory that the own vehicle should travel;
Displaying the predicted trajectory content on the display device includes displaying the predicted trajectory content in a superimposed manner on the road in front of the vehicle;
In the superimposed display, the display device displays, as the plurality of predicted trajectory contents, the planned travel route of the own vehicle and a new route different from the planned travel route, which is an avoidance route for avoiding the preceding vehicle. A display control method for a vehicle, in which the avoidance route having a high priority among the plurality of predicted trajectory contents is displayed simultaneously on the scheduled travel route having a low priority.

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