JP2013124932A - Display system, display method, and display program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a display system, a display method, and a display program for enabling a driver to easily grasp a direction of travel by improving visual recognition of a branch point.SOLUTION: The display system 1 that performs superimposition display of a lane structure of a track ahead of a vehicle in a sky region included in a diorama image ahead of the vehicle is provided with: a lane structure acquisition part 51d for acquiring a lane structure at a branch point present ahead of the track; and a display control unit 51e for displaying the lane structure of the branch point in a branch point display region R3 set at a fixed position in the sky region on the basis of the lane structure of the branch point acquired by the lane structure acquisition part 51d.

Description

  The present invention relates to a display system, a display method, and a display program.

  In order to guide the driver to the destination in the in-vehicle navigation device, a route guidance arrow for guiding the driver to the route to the destination is provided at the upper part of the actual scene image in front of the own vehicle photographed by the camera 40. It has been proposed to superimpose and display (see, for example, paragraph 0037 of FIG. 5 and FIG. 5).

  Such a display of a conventional route guidance arrow or the like is generated based on a route from the current point of the vehicle to a forward position by a predetermined distance, and reflects the actual shape of the route between them as it is. Was generated. For this reason, for example, when there is a branch point near the predetermined distance from the front of the vehicle, the route guidance arrow is displayed in a shape toward the branch destination of the branch point, to the branch destination of the branch point. The guidance was performed. On the other hand, when there is a branch point at a position farther than the predetermined distance from the front of the host vehicle, the route guidance arrow does not have a shape toward the branch destination of the branch point, but guides to the branch destination of the branch point. There wasn't.

JP 2011-47649 A

  However, in the above-described conventional technology, guidance to a branch destination within a predetermined distance from the current location of the vehicle is performed by changing the shape of the route guidance arrow. However, when the branch angle at the branch point is small, the change in the shape of the route guidance arrow is also small, so it is difficult for the driver to visually grasp, and it is difficult for the driver to grasp the route to the branch destination. It was. In addition, for the branch point that is farther than the predetermined distance from the current point of the vehicle, since it was not guided to the branch destination, it is difficult for the driver to grasp in advance the presence of the branch point, In this respect as well, it was difficult for the driver to grasp the direction of travel.

  The present invention has been made in view of the above, and a display system, a display method, and a display program that enable a driver to easily grasp the traveling direction by increasing the visibility of a branch point. The purpose is to provide.

  In order to solve the above-described problems and achieve the object, the display system according to claim 1 displays the lane structure of the traveling road ahead of the vehicle on the sky area included in the actual scene image ahead of the vehicle. A lane structure acquisition means for acquiring a lane structure at a branch point existing in front of the travel path, and based on the lane structure of the branch point acquired by the lane structure acquisition means, Display control means for displaying a lane structure of the branch point in a branch point display region set at a fixed position in the sky region.

  The display system according to claim 2 is the display system according to claim 1, wherein the lane structure acquisition unit acquires a lane structure of a current point of the vehicle on the travel path, and the display control unit In the area, the lane structure of the current point acquired by the lane structure acquisition unit is displayed in a current point display area set at a fixed position above the branch point display area, and the branch point in the sky area An intermediate lane synthesized so as to connect the lane structure at the branch point and the lane structure at the current point to each other in a synthesized display area set at a fixed position between the display area and the current point display area. Display the structure.

  The display system according to claim 3 is the display system according to claim 2, wherein the display control unit extends from the current point display region to the branch point display region through the composite display region to the sky region. The travel route of the vehicle is displayed.

  The display system according to claim 4 is the display system according to claim 2 or 3, wherein the display control means synthesizes and displays the lane structure of the increase / decrease points of the lanes of the travel path in the composite display area. To do.

  The display system according to claim 5 is the display system according to any one of claims 2 to 4, wherein the display control means is configured such that a distance from the current point to the branch point is equal to or less than a predetermined distance. The lane structure of the branch point is displayed in the composite display area or the current point display area.

  The display system according to claim 6 is the display system according to any one of claims 1 to 5, wherein the display control unit is configured such that when the branch angle of the branch point is less than a predetermined angle, The lane structure at the branch point is displayed as a lane structure that branches at the predetermined angle.

  The display system according to claim 7 is the display system according to any one of claims 1 to 6, wherein the display control means is configured such that a partition line that divides the lanes of the travel path is the sky. From the upper side to the lower side of the area, the lane structure is displayed so as to approach the vanishing point set in the vicinity of the left and right center of each lane at the lowest position of the upper sky area.

  The display method according to claim 8, wherein the lane structure of the traveling road ahead of the vehicle is superimposed and displayed on the sky area included in the actual scene image ahead of the vehicle, and is present in front of the traveling road. Based on the lane structure of the branch point acquired in the lane structure acquisition step, the lane structure acquisition step of acquiring the lane structure at the branch point to be performed, the branch point display area set at a fixed position in the sky area, Display control step of displaying the lane structure of the branch point of the travel path.

  A display program according to claim 9 is a display program for causing a computer to execute the method according to claim 8.

  According to the display system according to claim 1, the display method according to claim 8, and the display program according to claim 9, the branch point lane is set in the branch point display area set at a fixed position in the sky area. Since the structure is displayed, the lane structure of the branch point can be displayed at all times regardless of the distance from the current point of the vehicle to the branch point, and the visibility of the branch point can be improved. Can be improved.

  According to the display system of claim 2, the lane structure of the current point is displayed in the current point display region above the branch point display region, and the composite display region between the branch point display region and the current point display region Since the intermediate lane structure is displayed, the lane structure from the current point to the branch point can be smoothly connected and displayed continuously through the intermediate lane structure, so the lane structure from the current point to the branch point can be displayed. It can be easily grasped visually, and the visibility of the branch point can be further enhanced.

  According to the display system of the third aspect, since the travel route of the vehicle from the current point display region to the branch point display region through the composite display region is displayed, the driver can easily grasp the travel route. It becomes possible and the convenience of the user can be improved. In particular, by displaying the lane structure of the branch point regardless of the distance from the current point of the vehicle to the branch point, the driving route to the lane structure of this branch point is always displayed, and the branch point is reached. The driver can easily grasp the travel route visually.

  According to the display system of the fourth aspect, since the lane structure of the increase / decrease points of the lanes on the road is synthesized and displayed in the composite display area, the driver can easily grasp the increase / decrease of the lanes visually. And the convenience of the driver can be improved.

  According to the display system of claim 5, when the distance from the current point to the branch point is equal to or less than a predetermined distance, the lane structure of the branch point is displayed in the composite display region or the current point display region, According to the distance from the current point to the branch point, the branch point lane structure can be displayed on the near side when viewed from the driver, and the driver can easily grasp the sense of distance to the branch point.

  According to the display system of claim 6, when the branch angle of the branch point is less than the predetermined angle, the lane structure of the branch point is displayed as a lane structure that branches at the predetermined angle. Even when the branching angle is narrow, the branching point can be displayed at a relatively large angle and the visibility of the branching point can be improved, so that the convenience of the driver can be further improved.

  According to the display system of claim 7, the lane markings that divide the lanes of the traveling path from the upper side to the lower side of the upper sky region, the left and right of each lane at the lowest position of the upper sky region. Since the lane structure is displayed so as to approach the vanishing point set near the center, the lane structure can be displayed so that it gradually becomes narrower from the upper side to the lower side of the sky area. Can increase the sense of perspective.

It is a block diagram which illustrates a display system concerning an embodiment of the invention. It is a flowchart of a display process. It is a top view which shows notionally the lane structure of a guidance object area. It is explanatory drawing for demonstrating the example of a division | segmentation of a sky area. It is a figure which shows the example of drawing of the present location lane structure. It is a figure which shows the example of drawing of a branch point lane structure. It is a figure which shows the example of drawing of an intermediate lane structure. It is a figure which shows the example of a drawing of a route guidance arrow.

  Hereinafter, embodiments of a display system, a display method, and a display program according to the present invention will be described in detail with reference to the drawings. However, the present invention is not limited by this embodiment.

(Constitution)
First, the configuration of the display system according to the present embodiment will be described. FIG. 1 is a block diagram illustrating a display system according to this embodiment. As shown in FIG. 1, the display system 1 includes a current location detection processing unit 10, a display 20, a speaker 30, a camera 40, and a display device 50.

(Configuration-Current location detection processing unit)
The current location detection processing unit 10 is current location detection means for detecting the current location of a vehicle (hereinafter, the host vehicle) to which the display system 1 is attached. Specifically, the current location detection processing unit 10 has at least one of a GPS, a geomagnetic sensor, a distance sensor, and a gyro sensor (all of which are not shown), and the current position (coordinates) and direction of the host vehicle. Is detected by a known method.

(Configuration-Display)
The display 20 is a display unit that displays an image guided by the display device 50. The specific configuration of the display 20 is arbitrary, and a flat panel display such as a known liquid crystal display or organic EL display can be used.

(Configuration-Speaker)
The speaker 30 is output means for outputting various sounds based on the control of the display device 50. The specific form of the sound output from the speaker 30 is arbitrary, and it is possible to output a synthesized sound generated as necessary or a sound recorded in advance.

(Configuration-Camera)
The camera 40 is a photographing means for photographing a road surface (hereinafter referred to as a front road surface) in front of the traveling direction of the host vehicle. Image data captured by the camera 40 is input to the control unit 51 described later. The specific configuration of the camera 40 is arbitrary, and is configured using a known imaging device such as a CMOS image sensor or a CCD image sensor, and a known optical system component such as a lens or a prism.

(Configuration-Display device)
The display device 50 is a display control unit that performs display-related control, and includes a control unit 51 and a data recording unit 52.

(Configuration-Display device-Control unit)
The control unit 51 is a control unit that controls the display device 50. Specifically, the CPU, various programs that are interpreted and executed on the CPU (basic control programs such as an OS, and specific functions that are activated on the OS and are executed). And an internal memory such as a RAM for storing the program and various data. In particular, the display program according to the present embodiment is installed in the display device 50 via an arbitrary recording medium or network, thereby substantially configuring each unit of the control unit 51.

  The control unit 51 includes an image acquisition unit 51a, an image recognition unit 51b, a guidance control unit 51c, a lane structure acquisition unit 51d, and a display control unit 51e in terms of functional concept. The image acquisition unit 51 a is an image acquisition unit that acquires an image captured by the camera 40. The image recognition unit 51b is an image recognition unit that recognizes the lane markings by analyzing the image acquired by the image acquisition unit 51a. The guidance control unit 51c is guidance control means for determining a recommended route and determining a guidance timing. The lane structure acquisition unit 51d is lane structure acquisition means for acquiring a lane structure at a branch point existing in front of the traveling road. The display control unit 51e displays an image in front of the host vehicle (hereinafter referred to as a real scene image) captured by the camera 40 on the display 20, and in addition to the lane structure of the branch point acquired by the lane structure acquisition unit 51d. Based on this, the display control means displays the lane structure of the branch point in the branch point display region set at a fixed position in the sky region. Details of processing executed by each component of the control unit 51 will be described later. Here, the “lane structure” is the physical structure of the lane, and includes the number of lanes, the lane type (straight forward lane, right turn dedicated lane, left turn dedicated lane, etc.), lane shape, and lane position (lanes in the horizontal direction). Position). The branch point display area will be described later.

(Configuration-Display device-Data recording unit)
The data recording unit 52 is a recording unit that records a program and various data necessary for the operation of the display device 50, and is configured using, for example, a hard disk (not shown) as an external recording device. However, any other recording medium including a magnetic recording medium such as a magnetic disk or an optical recording medium such as a DVD or a Blu-ray disk can be used instead of or together with the hard disk.

  The data recording unit 52 includes a map information database (hereinafter, the database is referred to as “DB”). The map information DB 52a is map information storage means for storing map information. “Map information” is information necessary for specifying various positions including intersections and temporary stop points. For example, intersection data (intersection coordinates, etc.), map display data for displaying a map on the display 20, and the like. It is comprised including. The map information includes lane structure information. The “lane structure information” is information for specifying the lane structure of each road.

(Processing-Display processing)
Next, display processing executed by the display system 1 configured as described above will be described. FIG. 2 is a flowchart of the display process (in the following description of each process, step is abbreviated as “S”). This display process is a process of superimposing and displaying the lane structure of the travel path ahead of the host vehicle in the sky region included in the actual scene image ahead of the host vehicle. For example, the display process is automatically started after the start of the travel of the host vehicle. Repeatedly executed at predetermined intervals.

  First, the current location detection processing unit 10 acquires the current location of the host vehicle (SA1). Next, the guidance control unit 51c determines a route from the current point to the destination (hereinafter simply “route”) (SA2). For example, the input of the destination from the driver is received by a known method, and the route from the current location of the host vehicle acquired at SA1 to the destination is determined by a known method such as the Dijkstra method.

  Next, the lane structure acquisition unit 51d acquires the lane structure ahead of the traveling path of the host vehicle (SA3). For example, the lane structure from the current point of the host vehicle to the first branch point (hereinafter referred to as a guidance target branch point) existing in front of the traveling path of the host vehicle (hereinafter referred to as a guidance target section) is acquired.

  Regarding the lane structure of the guidance target section, in this embodiment, the lane structure is divided into three according to the distance from the current point of the vehicle. FIG. 3 is a plan view conceptually showing the lane structure of the guidance target section. These three sections are the lane structure of the current position of the vehicle (specifically, the lane structure starting from the current position of the vehicle and ending at a position ahead of the current position by a predetermined distance (for example, 10 m). “Current point lane structure” LK1) and lane structure at the guidance target branch point (specifically, a lane structure of the guidance target branch point and a predetermined distance (for example, 10 m) before and after it). ) And the current point lane structure LK1 and the branch point lane structure LK3 (hereinafter, “intermediate lane structure” LK2). In the present embodiment, the current point lane structure LK1 and the branch point lane structure LK3 are acquired and drawn on the display 20, and the intermediate lane structure LK2 is combined and drawn on the display 20 by a method described later. , The current point lane structure LK1 and the branch point lane structure LK3 are acquired. However, when there is no need to draw the current point lane structure LK1 (for example, as described later, when the distance from the current point of the host vehicle to the guidance target branch point is less than a predetermined distance), the branch point lane structure LK3. You may get only. In the example of FIG. 3, the current point lane structure LK1, the intermediate lane structure LK2, and the branch point lane structure LK3 are illustrated as being spaced apart from each other, but may be adjacent to each other.

  Specifically, the lane structure acquisition unit 51d refers to the route determined in SA2 and specifies the guidance target branch point. Of the lane structure information from the current point of the vehicle acquired in SA1 to the identified guidance target branch point (among the lane structure information of the guidance target section), the current point lane structure LK1 and the branch point lane structure Lane structure information corresponding to LK3 is acquired from the map information DB 52a of the data recording unit 52.

  Next, the display control unit 51e draws the current location lane structure LK1 (SA4). Schematically, the image acquisition unit 51a acquires an image (real scene image) ahead of the host vehicle captured by the camera 40, and the display control unit 51e displays the image acquired by the image acquisition unit 51a on the display 20. The current point lane structure LK1 is displayed in a superimposed manner on the actual scene image.

  With regard to the superimposed display of the lane structure on such a real scene image, in this embodiment, the sky area included in the real scene image is used as the display area of the lane structure, and the sky area is divided into three horizontal belt-like areas. . FIG. 4 is an explanatory diagram for explaining an example of division of the sky region. The “upper area” is an empty area above the travel path in the actual scene image, for example, an area that is a predetermined distance from the upper end of the actual scene image (for example, a distance of 1/3 of the entire length of the display area). is there. The three horizontal belt-like areas are a “branch point display area” R3, a “current position display area” R1, and a “composite display area” R2. The branch point display region R3 is a region for displaying the branch point lane structure LK3, and is set at a fixed position in the sky region. Although this fixed position can be determined arbitrarily, in the present embodiment, it is the lowest position in the sky region. The current point display region R1 is a region for displaying the current point lane structure LK1, and is set at a fixed position above the branch point display region R3 in the sky region. This fixed position is arbitrary as long as it is above the branch point display area R3, but in the present embodiment, it is the uppermost position in the sky area. The composite display area R2 is an area for displaying the lane structure synthesized so as to connect the lane structure at the branch point and the lane structure at the current point to each other, and the branch point display area R3 and the current point display in the sky area. It is set at a fixed position between the region R1. Note that the branch point display region R3, the current point display region R1, and the composite display region R2 may be regions having the same height, or regions having different heights.

  The display of the current point lane structure LK1 based on such a division is performed so as to reflect the actual structure of the current point lane structure LK1. For example, the camera 40 captures an image ahead of the host vehicle and outputs the image to the image acquisition unit 51a. The image acquisition unit 51a outputs the image acquired from the camera 40 to the image recognition unit 51b. The image recognition unit 51b analyzes the image output from the image acquisition unit 51a by a known method, thereby recognizing the partition line in the image and outputting the lane structure acquisition unit 51d. Then, the lane structure acquisition unit 51d specifies the current location of the host vehicle (the current travel lane of the host vehicle) on the travel path based on the recognized lane marking. Further, the display control unit 51e generates a mirror image of the lane markings of each lane included in the current location lane structure LK1 based on the current location lane structure LK1 acquired in SA3. The lane marking mirror image is generated by converting the lane markings into line-symmetric lane markings centered on the horizontal line (hereinafter, each mirror image is generated in the same manner). Then, the display control unit 51e converts the mirror image of the lane markings of each lane into an image centered on the current point of the host vehicle, and then superimposes and displays the image on the current point display region R1 of the actual scene image. An example in which the current location lane structure LK1 is drawn in this way is shown in FIG.

  In addition, the current position lane structure LK1 is displayed on the left and right center of each lane at the lowest position in the sky region as the lane markings that divide each lane of the road from the upper side to the lower side of the sky region. It is performed so as to approach the vanishing point P set in the vicinity position. That is, as shown in FIG. 7 to be described later, a vanishing point P (not actually displayed on the display 20) is set at a position near the left and right center of each lane at the lowest position of the sky region, The division lines are displayed at an angle that approaches the vanishing point P from the upper side to the lower side of the sky region. Such display is similarly performed in the display of a branch point lane structure LK3 and an intermediate lane structure which will be described later. Therefore, each lane is displayed so as to become narrower from the upper side to the lower side of the sky region, so that the driver can feel a sense of perspective.

  Next, the display control unit 51e draws the branch point lane structure LK3 (SA5). An example of drawing the branch point lane structure LK3 in this way is shown in FIG. The display of the branch point lane structure LK3 is performed by deforming the actual structure of the branch point lane structure LK3 as necessary. For example, the display control unit 51e generates a mirror image of the lane markings of each lane included in the branch point lane structure LK3 based on the branch point lane structure LK3 acquired in SA3. Then, the display control unit 51e deforms the mirror image of the lane marking of each lane as necessary. This deformation is performed so that the driver can easily grasp the guidance target branch point. For example, the display control unit 51e acquires the branch angle of the guidance target branch point from the map information DB 52a, and determines whether the branch angle is less than a predetermined angle (for example, 45 degrees). When the angle is not less than a predetermined angle (when the angle is greater than or equal to a predetermined angle), the driver can easily grasp the guidance target branch point without deforming the guidance target branch point. The mirror image of the line is converted into an image centered on the current point of the host vehicle, and then superimposed on the branch point display region R3 of the actual scene image. On the other hand, if the angle is less than the predetermined angle, it is difficult for the driver to easily grasp the guidance target branch point unless the guidance target branch point is deformed. The image is converted into a lane structure that branches at 45 degrees (for example, 45 degrees), further converted into an image centered on the current point of the host vehicle, and superimposed on the branch point display region R3 of the actual scene image.

  Thereafter, the display control unit 51e draws the intermediate lane structure (SA6). An example of drawing the intermediate lane structure LK2 in this way is shown in FIG. The intermediate lane structure is displayed in a combined display area R2 that is set at a fixed position between the branch point display area R3 and the current point display area R1 in the sky area. Are combined so that they are connected to each other. For example, the display control unit 51e combines the end point on the combined display area R2 side of each lane included in the current point lane structure LK1 drawn in SA4 and the combined display area of each lane included in the branch point lane structure LK3 drawn in SA5. An intermediate lane structure that connects the end points on the R2 side with end points corresponding to each other is generated, and is superimposed and displayed on the composite display region R2 of the actual scene image.

  When the intermediate lane structure is drawn in this way, the display control unit 51e synthesizes and displays the lane structure of the increase / decrease point of the lane on the travel path in the composite display area R2. The “lane increase / decrease point” is a point where the lanes merge or disappear with respect to the travel path when the number of lanes increases or decreases in the guidance target section. For example, the lane structure acquisition unit 51d refers to the map information DB 52a of the data recording unit 52 and determines whether there is a lane increase / decrease point in the guidance target section. And when it exists, the coordinate of a lane increase / decrease point is specified. When the number of lanes increases, the display control unit 51e sets a lane increase / decrease point at the lowest position of the composite display area R2 based on the coordinates of the lane increase / decrease points, and sets the lane increase / decrease points to the set lane increase / decrease points. The lane structure is synthesized and displayed so that the number of lanes increases. Alternatively, when the number of lanes decreases, a lane increase / decrease point is set at the lowest position of the composite display area R2 based on the coordinates of the lane increase / decrease points, and the lanes decrease toward the set lane increase / decrease points. Thus, the lane structure is synthesized and displayed. FIG. 3 shows an example in which the number of lanes is reduced by one lane, and FIG. 6 shows an example in which the lane structure at the lane reduction point is synthesized and displayed.

  Next, the lane structure acquisition unit 51d draws the travel route of the host vehicle (SA7). The “travel route” is the most recommended route (recommended route) for traveling the route. Although a specific drawing method of the travel route is arbitrary, in the present embodiment, a route guidance arrow X indicating the travel route is drawn. For example, the display control unit 51e selects the route determined in SA2 from the plurality of lanes respectively included in the current point lane structure LK1, the intermediate lane structure, and the branch point lane structure LK3 drawn in the actual scene image in SA4 to SA6. A lane corresponding to is identified, and a route guidance arrow X is drawn in the identified lane.

  FIG. 8 shows an example in which a route guidance arrow X is drawn. At this time, the route guidance arrow X is displayed in the sky region so as to reach from the current point display region R1 to the branch point display region R3 via the composite display region R2. More specifically, the highest position of the lane corresponding to the route in each lane of the current location display area R1 is set as the starting point, and the lowest position of the lane corresponding to the route in each lane of the branch point display area R3 is set as the end point. The route guidance arrow X is displayed as follows. Further, the route guidance arrow X is displayed so as to become narrower from the upper side to the lower side along with the shapes of the current point lane structure LK1, the intermediate lane structure, and the branch point lane structure LK3, and the tip thereof Is displayed so as to converge at the right and left center position of the branch destination in the branch point lane structure LK3 drawn in the branch point display region R3. Particularly, since the branch point lane structure LK3 is deformed in SA5, the tip of the route guidance arrow X is also deformed according to the deformed branch point lane structure LK3, and the branch angle of the guidance target branch point is less than a predetermined angle. Even in this case, it is displayed to bend at a predetermined angle. This completes the display process. Thereafter, the display process is repeated in the same manner, whereby the lane structure and the route guidance arrow X that match the current point of the vehicle at that time are displayed.

  In the above display process, the branch point lane structure LK3 has been described as being displayed in the branch point display area R3, but may be displayed in the composite display area R2 or the current point display area R1. For example, the display control unit 51e determines whether or not the distance from the current point to the branch point is a predetermined distance (for example, 20 m) or less at a predetermined interval. The branch point lane structure LK3 is drawn in the branch point display area R3, and when it is equal to or less than the predetermined distance, it is drawn in the composite display area R2 or the current point display area R1 according to this distance. More specifically, if it is not less than the second predetermined distance (for example, 10 m) set shorter than the predetermined distance, the branch point lane structure LK3 is drawn on the composite display area R2, and the second predetermined distance (for example, 10 m) or less, the branch point lane structure LK3 is drawn in the current point display region R1. When drawing the branch point lane structure LK3 in the composite display area R2, the end point on the composite display area R2 side of each lane included in the current point lane structure LK1 drawn in the current point display area R1, and the branch point lane The current point lane structure LK1 or the branch point lane structure LK3 is modified so that the end points of the current point display area R1 of each lane included in the structure LK3 are connected to each other. When drawing the branch point lane structure LK3 in the current point display area R1, the branch point lane structure LK3 is drawn as it is. By drawing the branch point lane structure LK3 in the composite display region R2 or the current point display region R1 in this way, the branch point lane structure LK3 is gradually closer to the driver according to the distance from the current point to the branch point. The driver can easily understand the sense of distance to the branch point.

(effect)
As described above, according to the present embodiment, the lane structure of the branch point is displayed in the branch point display region R3 set at a fixed position in the sky region, so the distance from the current point of the vehicle to the branch point is displayed. Regardless, the lane structure of the branch point can always be displayed, the visibility of the branch point can be improved, and the convenience of the driver can be improved.

  The current point lane structure is displayed in the current point display region R1 above the branch point display region R3, and the intermediate lane structure is displayed in the composite display region R2 between the branch point display region R3 and the current point display region R1. Since the lane structure from the current point to the branch point can be smoothly connected and displayed continuously through the intermediate lane structure, the visibility of the branch point can be further improved.

  In addition, since the travel route of the vehicle from the current location display area R1 to the branch location display area R3 via the composite display area R2 is displayed, it is possible for the driver to easily grasp the travel route, which is convenient for the user. Can be improved. In particular, regardless of the distance from the current point of the vehicle to the branch point, the lane structure at the branch point is displayed, and the travel route to the lane structure at this branch point is always displayed. The driver can easily grasp it.

  In addition, since the lane structure of the increase / decrease point of the lane on the road is combined and displayed in the composite display area R2, it is possible for the driver to easily grasp the increase / decrease in the lane, improving the convenience of the driver. Can be made.

  Further, when the distance from the current point to the branch point is equal to or less than the predetermined distance, the lane structure of the branch point is displayed in the composite display area R2 or the current point display area R1, and thus the distance from the current point to the branch point Accordingly, the branch point lane structure LK3 can be gradually displayed on the near side when viewed from the driver, and the driver can easily grasp the sense of distance to the branch point.

  In addition, when the branch angle of the branch point is less than a predetermined angle, the lane structure of the branch point is displayed as a lane structure that branches at a predetermined angle, so even if the branch angle of the branch point is narrow, Since the branch point can be displayed at a relatively large angle and the visibility of the branch point can be improved, the convenience of the driver can be further improved.

  In addition, the lane markings that divide each lane of the road from the upper side to the lower side of the upper sky region, the vanishing point set near the left and right center of each lane at the lowest position of the upper sky region Since the lane structure is displayed so as to approach, the lane structure can be displayed so as to gradually narrow from the upper side to the lower side of the sky region, and the perspective of the lane structure can be enhanced.

[Modifications to Embodiment]
Although the embodiments of the present invention have been described above, the specific configuration and means of the present invention can be arbitrarily modified and improved within the scope of the technical idea of each invention described in the claims. Can do. Hereinafter, such a modification will be described.

(About problems to be solved and effects of the invention)
First, the problems to be solved by the invention and the effects of the invention are not limited to the above contents, and may vary depending on the implementation environment and details of the configuration of the invention. May be solved, or only some of the effects described above may be achieved. For example, even if there is a possibility that the bifurcation point cannot be completely grasped visually, it is easier to grasp visually than in the past, or it is possible to achieve the same degree of grasp with conventional techniques. If so, the problem of the present invention has been solved.

(About distribution and integration)
Further, each of the electrical components described above is functionally conceptual and does not necessarily need to be physically configured as illustrated. In other words, the specific form of distribution / integration of each part is not limited to the one shown in the figure, and all or a part thereof may be functionally or physically distributed / integrated in arbitrary units according to various loads and usage conditions. Can be configured. For example, each component of the display system 1 may be distributed and connected to each other via a network.

(About drawing order)
In the above embodiment, the current point lane structure LK1, the branch point lane structure LK3, and the intermediate lane structure LK2 are sequentially drawn. However, the actual drawing order can be arbitrarily changed. The structure LK1, the intermediate lane structure LK2, and the branch point lane structure LK3 may be drawn in this order, or these structures may be drawn simultaneously.

(About route guidance arrows)
In the above embodiment, the highest position of the lane corresponding to the route in each lane of the current location display area R1 is the starting point, and the lowest position of the lane corresponding to the route in each lane of the branch location display area R3. The example in which the route guidance arrow is displayed so as to be the end point has been described. However, a route guidance arrow may be displayed starting from the current location of the host vehicle acquired in SA1 in FIG. In this case, when the lane in which the host vehicle is currently traveling is different from the lane on the route, for example, the route guidance arrow is set so that the lane is changed from the lane on which the host vehicle is currently traveling to the lane on the route. Is displayed.

(About display area and lane structure)
As long as at least the branch point lane structure LK3 can be displayed in the branch point display area R3, the current point lane structure LK1 and the intermediate lane structure LK2 may be omitted.

DESCRIPTION OF SYMBOLS 1 Display system 10 Present location detection process part 20 Display 30 Speaker 40 Camera 50 Display apparatus 51 Control part 51a Image acquisition part 51b Image recognition part 51c Guidance control part 51d Lane structure acquisition part 51e Display control part 52 Data recording part 52a Map information DB

Claims (9)

A display system that superimposes and displays the lane structure of the traveling road ahead of the vehicle on the sky region included in the actual scene image ahead of the vehicle,
Lane structure acquisition means for acquiring a lane structure at a branch point existing in front of the traveling path;
Based on the lane structure of the branch point acquired by the lane structure acquisition means, display control means for displaying the lane structure of the branch point in a branch point display area set at a fixed position in the sky area;
A display system comprising: The lane structure acquisition means acquires the lane structure of the current location of the vehicle on the travel path,
The display control means includes
In the current area display area set at a fixed position above the branch point display area in the sky area, display the lane structure of the current point acquired by the lane structure acquisition means,
The lane structure of the branch point and the lane structure of the current point are connected to each other in a composite display region set at a fixed position between the branch point display region and the current point display region in the sky region. To display the synthesized intermediate lane structure,
The display system according to claim 1. The display control means displays a travel route of the vehicle from the current point display region to the branch point display region through the composite display region in the sky region.
The display system according to claim 2. The display control means synthesizes and displays the lane structure of the increase / decrease points of the lane of the travel path in the composite display area.
The display system according to claim 2 or 3. When the distance from the current point to the branch point is equal to or less than a predetermined distance, the display control means displays the lane structure of the branch point in the composite display region or the current point display region.
The display system according to any one of claims 2 to 4. When the branching angle at the branch point is less than a predetermined angle, the display control means displays the lane structure at the branch point as a lane structure that branches at the predetermined angle.
The display system according to any one of claims 1 to 5. The display control means is configured such that a lane marking that divides each lane of the travel path from the upper side to the lower side of the upper sky region is located near the left and right center of each lane at the lowest position of the upper sky region. Display the lane structure so as to approach the vanishing point set to
The display system according to any one of claims 1 to 6. A display method for superimposing and displaying a lane structure of a traveling road in front of the vehicle on a sky region included in a real scene image in front of the vehicle,
A lane structure acquisition step for acquiring a lane structure at a branch point existing in front of the traveling path;
Based on the lane structure of the branch point acquired in the lane structure acquisition step, a display control step of displaying the lane structure of the branch point of the travel path in the branch point display area set at a fixed position in the sky area When,
Display method including.   A display program for causing a computer to execute the method according to claim 8.

Images