JP2014229100A - Vehicular display device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To comprehensibly display a road mark blocked by an obstacle.SOLUTION: A vehicular display device includes a control device 10 for executing: a present position obtainment function for obtaining a present position of a vehicle itself; an image obtainment function for obtaining a pickup image of surrounding of the vehicle itself; a road mark information obtainment function for obtaining road mark information in which an image of a road mark of a road at an individual spot viewed from a pre-set viewpoint is correlated with positional information of the spot; and a display control function for displaying, on a display 30, an overlap image produced by overlapping, using a given common viewpoint as reference, a pickup image obtained on demand at an individual spot on the image of the road mark. Further, in a case where a blocked zone is extracted when applying the overlapping processing, the display control function sets transparency of a control zone higher, while in the case of no block zone being extracted, does not change the transparency of the control zone.

Description

  The present invention relates to a display device for a vehicle that presents a situation in front of the vehicle to an occupant based on a captured image of a camera provided in the vehicle.

  With regard to this type of device, a route guidance system for displaying an image of a virtual preceding vehicle set in front of the host vehicle in a superimposed manner on a landscape in front of the actually captured vehicle. A technique for calculating an overlapping portion and increasing the light transmittance of the virtual preceding vehicle of the overlapping portion is known (Patent Document 1).

JP 2006-284195 A

  However, the conventional apparatus has a problem that it is difficult for the occupant to visually recognize the sign displayed on the road surface.

  The problem to be solved by the present invention is to make it easier for an occupant to visually recognize a road surface sign displayed on the road surface.

  The present invention provides an image of a road surface sign when a captured image acquired at each point at any time and an image of a road surface sign at the point where the captured image is acquired are displayed on a display with a predetermined common viewpoint as a reference. When a concealment area for concealing an image is extracted, the above problem is solved by changing the transparency of the control area corresponding to the concealment area to be relatively high.

  According to the present invention, even when a road surface marker to be displayed superimposed on a captured image is concealed by an obstacle, the transparency of the control region set in accordance with the concealed region of the captured image caused by the obstacle is increased. Thus, the road marking can be easily seen, so that the occupant can easily see the road marking.

It is a block block diagram of the information provision system which concerns on this embodiment. It is a figure for demonstrating road marking information. It is a figure which shows an example of the superimposed image of this embodiment. It is a superimposition image of this embodiment, Comprising: It is a figure which shows an example of a superimposition image when the transparency of the control area | region of a captured image is made into the 1st transparency. It is a superimposition image of this embodiment, Comprising: It is a figure which shows an example of a superimposition image when the transparency of the control area | region of a captured image is made into the 2nd transparency lower than a 1st transparency. It is a flowchart for demonstrating the control procedure of the display apparatus for vehicles which concerns on this embodiment. It is a flowchart for demonstrating the 1st subroutine of the display apparatus for vehicles which concerns on this embodiment. It is a flowchart for demonstrating the 2nd subroutine of the display apparatus for vehicles which concerns on this embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the present embodiment, a case where the vehicle display device according to the present invention is applied to the information providing system 1 will be described as an example.

  FIG. 1 is a diagram illustrating a block configuration of an information providing system 1 including a vehicle display device 100 according to the present embodiment. The vehicle display device 100 and the information providing system 1 including the same are mounted on a vehicle. The information providing system 1 provides the driver with image information indicating the surroundings of the host vehicle. The vehicle display device 100 generates and presents image information in which an image of a road surface sign is superimposed on a captured image around the host vehicle.

  As shown in FIG. 1, the information providing system 1 includes a vehicle display device 100 and an in-vehicle device 200. The in-vehicle device 200 includes a vehicle controller 50 and a navigation device 60. The vehicle display device 100 and each vehicle-mounted device 200 are connected by a CAN (Controller Area Network) or other vehicle-mounted LAN in order to exchange information with each other.

  The vehicle controller 50 according to the present embodiment stores vehicle information 51. The vehicle information 51 includes the position of the driver's seat with respect to the vehicle, the position of the driver's seat for each driver, the position of the viewpoint of the driver seated on the driver's seat, and visual field information indicating a region that is visible from the viewpoint of the driver. The position of the driver's seat of the vehicle is defined for each vehicle type, and the position of the driver's seat for each driver is defined based on the position of the driver's seat of each vehicle in consideration of the adjustment amount of the seat position of each identified driver. . Each driver can be identified based on key information used by each driver. The viewpoint and field of view of the driver may be calculated and stored based on physical information such as the height of the driver input by the driver as basic information. Further, the driver's viewpoint and field of view may be calculated and stored based on the height of the driver calculated based on the seat position adjustment amount. A display control function to be described later generates a superimposed image with reference to the vehicle information 51.

  The navigation device 60 of the present embodiment includes a position detection device 61 and map information 62, and guides the driver by showing a route from the current position of the host vehicle to the destination. Moreover, the navigation apparatus 60 of this embodiment may be provided with the memory | storage device 40 which stores the road surface marking information 41 mentioned later. In addition, the navigation device 60 can communicate with the outside, and can also acquire road surface sign information 41 at each point via a communication line. The navigation device 70 outputs the acquired information and the calculated information to the vehicle display device 100 and the display 30. The navigation device 60 may include a speaker 41 as information output means.

  As shown in the figure, the vehicular display device 100 of this embodiment includes a control device 10, a camera 20, and a display 30.

  The camera 20 of the present embodiment is a camera using an image sensor such as a CCD, and images the surroundings of the vehicle. Although not particularly limited, the camera 20 of the present embodiment is provided near the ceiling of the vehicle or in the vicinity of the rearview mirror, and images the front in the traveling direction of the vehicle. The installation position of the camera 20 is not limited to this, and may be provided near the side mirror. Moreover, the camera 20 may be single or plural. In the present embodiment, one wide-angle camera 20 is provided. When a plurality of cameras 20 are used, the coordinates may be converted into common coordinates according to the installation positions of the cameras 20, and a captured image viewed from one viewpoint may be acquired.

  The display 30 of the present embodiment is installed around a dashboard that can be visually recognized by the driver of the vehicle, and presents a superimposed image, a captured image of the front of the vehicle, guidance information of the navigation device 60, and the like.

  Then, the control apparatus 10 of this embodiment is demonstrated. The control device 10 of the vehicle display device 100 according to the present embodiment is a ROM (Read ROM) that stores a program for controlling the transparency of a superimposed image obtained by superimposing a captured image of the camera 20 and road surface marking information and displaying the superimposed image on the display 30. Only memory) 12 and a CPU (Central Processing Unit) 11 as an operation circuit that functions as the vehicle display device 100 and the information providing system 1 by executing a program stored in the ROM, and an accessible storage device And a RAM (Random Access Memory) 13 that functions as a computer.

  The control device 10 of the vehicle display device 100 according to the present embodiment has a current position acquisition function, an image acquisition function, a road surface sign information acquisition function, and a display control function. The control apparatus 10 of this embodiment performs each function by cooperation of the software for implement | achieving the said function, and the hardware mentioned above.

  Hereinafter, each function of the vehicle display device 100 according to the present embodiment will be described.

  First, the current position acquisition function of the control device 10 of the present embodiment will be described. The control device 10 acquires the position information detected by the position detection device 61 provided with the GPS (Global Positioning System) of the navigation device 60. The method for acquiring the current position information is not limited to this, and the control device 10 can automatically acquire the position information provided by the intelligent transport systems (ITS) installed in the roadside device via short-range communication. It can be acquired as the current position of the vehicle.

  The image acquisition function of the control apparatus 10 of this embodiment is demonstrated. The control device 10 acquires a captured image around the host vehicle captured by the camera 20. The acquired captured image is used for extraction processing of obstacles and concealment areas, and is also used as an image presented on the display 30 as a video showing the situation ahead of the vehicle.

  The road surface sign information acquisition function of this embodiment will be described. The control device 10 acquires road surface sign information 41 in which an image of a road surface sign of a road at each point viewed from a preset viewpoint is associated with position information of a point where the road surface sign exists. The road surface sign information 41 is stored in the control device 10 or the control device 40 of the navigation device 60, and permits the control device 10 to be read.

  The road surface sign image may be captured and collected in advance by another vehicle that traveled on each road, or captured and collected when the vehicle traveled on each road in the past. Also good. Of course, it is also possible to use both a road sign imaged by another vehicle and a road sign imaged by the own vehicle. For example, an image of a road sign imaged in advance by another vehicle is used as basic information, and for the road surface sign of a road on which the host vehicle has traveled, the image of the road sign imaged by the host vehicle is used to drive the host vehicle. For road signs on roads with no experience, images of road signs taken by other vehicles may be used. Of course, a road surface image synthesized by a computer may be used.

  Although the aspect of the road surface marking information 41 is not particularly limited, an example is shown in FIG. The road surface sign information 41 in this example includes an image of the road surface sign. The image of the road surface sign is associated with position information that identifies the point where the road sign is displayed. The position information for specifying the point may be latitude / longitude information, road identification information for specifying the road including the point, node information for specifying the road, or travel link information specified by the node. Good. Since the road sign information 41 associates the road sign image with the position information, the road sign image identified by the driver at the timing of passing the current position is specified based on the acquired current position of the host vehicle. can do. Since the host vehicle is moving, based on the current position acquired at one timing and the vehicle speed information at that timing, the current position at a future timing after a predetermined time has passed is estimated. It is possible to specify an image of the road surface sign that the driver visually recognizes at the timing. Each timing can be measured by a clock 52 of the vehicle controller 50.

  In the example of the road sign information shown in FIG. 2, the road sign image is divided into a guide sign image, a warning sign image, a regulatory sign image, and an instruction sign image according to the content of the information indicated by the sign. Has been. Although not particularly limited, the classification of the sign can be defined based on the laws of the country that manages the road and the rules of local governments and managers. Moreover, it can be defined based on a convention on road signs and signals (so-called Vienna Convention) from the viewpoint of dealing with different countries.

  The image of the guide sign indicates the contents of information, facilities, and services provided to the driver. For example, an image of a guidance sign indicates direction guidance, facility usage guidance, or the like.

The warning sign image shows the contents of a danger warning requesting the driver to be wary. For example, an image of a warning sign indicates the presence of a level crossing, the presence of a school, the presence of a traffic light, and the presence of merging traffic.
The image of the restriction sign indicates the existence of the restriction and the contents thereof to the driver. For example, the image of the regulation sign indicates the existence of priority lanes, the existence of prohibition or restriction, the existence of a driver's duty, or the existence and contents of special regulations. For example, the restriction sign indicates the existence of the prohibition of rotation, the prohibition of changing the course, the prohibition of parking and stopping, the existence of the maximum speed (speed limit), and the content thereof.
The image of the indication sign indicates to the driver the direction, the position, the presence of equipment, and the contents thereof. For example, the image of the instruction sign indicates the presence of a pedestrian crossing, the presence of a stop line, the presence of a center line (traveling section), the presence of a lane boundary line, and the contents thereof.
The road surface sign information 41 stores additional information for identifying whether the road surface sign belongs to a warning sign, a regulation sign, a guidance sign, or an instruction sign, in association with the road sign. By referring to the additional information of the road surface sign information 41, it can be determined whether the road surface sign is a warning sign, a regulation sign, or a guide sign.

  Drivers are required to pay particular attention to the presence of warning signs and regulatory signs and to be sure to visually recognize the presence of such signs. Of course, the driver needs to pay attention to the instruction sign and the guidance sign, but the degree of attention required for the warning sign and the regulation sign is required for the instruction sign and the guidance sign as a relative attention degree. Higher than attention.

  Next, the display control function will be described. The control device 10 according to the present embodiment displays on the display a superimposed image obtained by superimposing a captured image acquired at each point at any time and a road surface sign image at the point where the captured image is acquired with a predetermined common viewpoint as a reference. . Since the picked-up image and the road surface sign image are images having a predetermined transparency, when the images are superimposed, the image of the picked-up image and the road surface mark image appear to overlap each other. Although not particularly limited, the common viewpoint is preferably defined based on the viewpoint position of each driver.

  FIG. 3A is a diagram illustrating an example of a superimposed image in which a captured image, a road surface sign image, and a predetermined common viewpoint are superimposed. In this example, since there is a preceding other vehicle traveling in front of the host vehicle, the captured image includes an image VX of the other vehicle (obstacle). Since the image VX of the other vehicle conceals the superimposed road sign image, the driver cannot visually recognize the road sign even when viewing the superimposed image. In the present embodiment, when a captured image and a road sign image are superimposed on the basis of a predetermined common viewpoint, an area (a concealment area) where the obstacle image and the road sign image overlap is extracted. Determines that the obstacle may conceal the road sign.

  The control device 10 according to the present embodiment, when the captured image and the road sign image are superimposed on the basis of the common viewpoint, part or all of the obstacle image that conceals the road sign image among the captured images. When the concealment region corresponding to is extracted, the transparency of the control region set based on the concealment region is changed to be relatively high. Although not particularly limited, the control device 10 determines that the transparency of the control area is relatively higher than the transparency before the hidden area is extracted (temporally) when the hidden area is extracted. Alternatively, the transmittance may be relatively higher than the transmittance of the region other than the control region, or may be higher than the transmittance when the captured image is displayed on the display 30.

  On the other hand, when the concealment area corresponding to a part or all of the obstacle image concealing the road sign image is not extracted from the captured image, the transparency of the control area set based on the concealment area is maintained. Yes (do not change) or relatively low.

  Thereby, the driver can visually recognize the road surface sign in the superimposed image even if the obstacle included in the captured image conceals the road surface sign.

  The control area in the present embodiment is set based on an area corresponding to an obstacle image that hides the road surface sign image. The control area may be a part or all of the image of the obstacle that forms the hidden area. For example, when a part of the image of the other vehicle conceals the road sign of the pedestrian crossing, a part of the image of the other vehicle becomes a concealment area that hides the road sign. In this case, the same area as the concealment area may be set as the control area, or an area corresponding to the entire image of the other vehicle forming the concealment area may be set as the control area.

  FIG. 3B is a diagram illustrating an example of a superimposed image when a road surface sign image is concealed and all the images of other vehicles forming the concealment area are set as control areas and the transmittance thereof is increased. The control area may be the same area as the concealment area where the road sign image and the obstacle image overlap, or the control area is an area corresponding to all obstacles that overlap with part or all of the road sign image. There may be.

  Moreover, FIG. 3C shows an example of a superimposed image with a transparency lower than that of the control region in FIG. 3B. In FIG. 3B, since the image VX of the other vehicle forming the hidden area is shown with high transparency, the control area can be made substantially transparent, and the road surface sign can be displayed through the control area. In FIG. 3C, the entire image VX of the other vehicle forming the concealment area is set as the control area, and this is shown with a relatively low transmittance. In the example of FIG. 3C, the control area is made translucent, and through this, the road surface sign is shown more blurred than in FIG. 3B. Thus, since the transparency of the control area according to the concealment area that hides the road surface sign can be changed, the transparency of the control sign can be changed according to the scene to control the appearance of the road surface sign.

  That is, when the road sign image is concealed by an obstacle such as another vehicle, the transparency of a part or all of the image of the obstacle (in this example, the other vehicle VX) that hides the road sign image is increased. To make it easier to see the road marking image. Thereby, the driver can visually recognize the road surface sign regardless of the presence of other vehicles or the like that may affect the traveling of the host vehicle.

  In the example shown in FIGS. 3B and 3C, an example is shown in which the entire obstacle (other vehicle) that hides the road surface sign is set as the control area, and control is performed to change the transparency of the control area VX. Of the image of the obstacle, it is also possible to change the transmittance of only the control area VXP corresponding to the concealment area that conceals the road surface sign. In this case, the control area is an area where the image of the other vehicle overlaps the road crossing sign, the road side crossing sign, and the road curb image.

  In the present embodiment, the method for changing the transparency of the image in the control region is not particularly limited, and a method known at the time of filing can be appropriately used. For example, while reducing the pixel density of the obstacle image corresponding to the control area, the pixel density of the road sign image is increased, and the mixing ratio (presence ratio) of the road sign image pixel to the superimposed image to be displayed is increased. Thus, the road surface sign image may be preferentially shown to the driver. Information of the captured image may be preferentially shown to the driver by changing the color of the pixel constituting the control region and the image of the obstacle causing the control region to the color of the pixel of the superimposed captured image. .

  Here, the obstacle is an object that may affect the traveling of the host vehicle. For example, the preceding other vehicle of the host vehicle, the other vehicle opposite to the host vehicle, or the other vehicle that intersects the host vehicle. And other vehicles. Other vehicles include not only automobiles but also motorcycles and large trailers.

  In this process, the control device 10 changes the transmittance of the control region to be higher as the distance from the own vehicle to the road surface marker at the timing when the concealment region is extracted. Thereby, even if there is an obstacle, the road surface marker in the vicinity of the traveling position to be visually recognized by the driver can be clearly displayed.

  In this process, the control device 10 changes the transparency of the control region to be higher as the vehicle speed of the host vehicle is higher at the timing when the concealment region is extracted. As a result, even if there is an obstacle, the vehicle speed of the host vehicle is fast, and if the road surface sign that the driver should visually recognize is approaching the host vehicle at a high speed accordingly, this is clear. Can be displayed.

  In this process, when the area ratio of the concealment area with respect to the captured image is equal to or greater than a predetermined value, the control device 10 sets an area corresponding to all obstacles that conceal part or all of the road surface sign as the control area. . As a result, when the area ratio occupied by the concealment area with respect to the captured image is large, the transparency of a wide range can be increased using all of the obstacles causing the concealment area as a control area. It is possible to eliminate the influence and make it easier for the driver to visually recognize the road surface sign. On the other hand, when the area ratio of the concealment area to the captured image is less than a predetermined value, the control device 10 sets a relatively narrow range of only the concealment area as the control area and increases the transparency of the control area. The influence of objects can be eliminated to the minimum, and the road surface sign can be easily seen by the driver.

  The threshold value for evaluating the area ratio can be appropriately set according to the road type, the travel area, the road shape, and the height of the driver's seat (the width of the field of view). If the road type is a vehicle-only road, the road is straight, and the driver's seat is high (wide field of view), the threshold value is set high. Specifically, if the road type is a vehicle-only road with good visibility, the road is straight, and the driver's seat is high (wide field of view), set a high threshold and only if the concealment area is large. The entire first obstacle is used as the control area.

  On the other hand, if the road type is an urban road with poor visibility, the road is not straight, but is curved, and the driver's seat is low (the field of view is narrow), the threshold is set low, and the concealment area is small. The entire first obstacle is set as the control area. As a result, the control area can be reduced when the environment is easily confirmed, and the control area can be increased when the environment is difficult to confirm.

  As described above with reference to FIG. 2, the road surface sign information 41 includes a guide sign displayed on the road surface, a warning sign always displayed on the road surface, a regulation sign displayed on the road surface, and an indication sign displayed on the road surface. It is an image of other road signs. As described above, the driver is required to recognize the information on the warning sign and the regulation sign with a degree of attention higher than the degree of attention with respect to the guide sign and the instruction sign.

  The control device 10 according to the present embodiment is configured so that the transparency when the road surface sign concealed in the obstacle image is a warning sign or a control sign, and the road sign concealed in the obstacle image is a guide sign or an instruction sign. Set higher than the transparency in some cases. Thus, a relatively low degree of attention is required for the transparency of the control area corresponding to the concealment area that conceals the road sign classified as a warning sign or a restriction sign that requires a relatively high degree of attention. Since it is higher than the transparency of the work area according to the concealment area that conceals the road sign classified as a guide sign or instruction sign, the road image of the obstacle is made transparent for the road sign that requires high attention, and the driver Can be made easier to visually recognize.

  Subsequently, the display procedure of the superimposed image of the information providing system 1 of the present embodiment will be described based on the flowchart of FIG. Note that the processing content shown in FIG. 4 is continuously performed at a predetermined cycle.

  As shown in FIG. 4, in step S <b> 110, the control device 10 acquires the current position of the host vehicle from the navigation device 60 and acquires a captured image from the camera 20.

  Next, in step S120, the control device 10 refers to the road surface sign information 41 stored in the storage device 40 or the navigation device 60, and acquires an image of the road surface sign that the driver can visually recognize at the current position of the host vehicle. The control device 10 selects a road surface sign to be superimposed on the captured image in consideration of the processing speed, the speed of the own vehicle, and the like from the viewpoint of matching the actual current position of the own vehicle with the position of the read road surface sign.

  In step S130, the control device 10 executes a superimposition process. The control device 10 superimposes the image captured by the camera 20 and the road surface sign image at the timing to generate a superimposed image (see FIG. 3A).

  In step S140, the control device 10 determines whether or not there is a concealment area that conceals the road surface marker in the captured image. Specifically, when the captured image and the road sign image are superimposed with the common viewpoint as a reference, the control device 10 covers a part or all of the obstacle image that hides the road sign image in the captured image. It is determined whether or not the corresponding hidden area can be extracted. In other words, the control device 10 determines whether or not there is an obstacle that forms an image that overlaps the road marking image in the superimposed image.

  If it is determined in step S140 that a concealment area exists, the process proceeds to step S150, and in step S150, a concealment area where an obstacle conceals an image of a road surface sign is extracted. Furthermore, a control area is set based on the concealment area. The control area may be an area where the obstacle image detected from the captured image and the road surface image overlap (the concealment area itself), or the entire obstacle image forming the concealment area. Also good.

  In subsequent step S160, the control device 10 sets the transparency of the set control region high, and generates a superimposed image in which the road surface sign can be clearly recognized. Thereafter, in step S <b> 170, the control device 10 displays a superimposed image in which the transparency of the control area is changed to be high on the display 30. The transparency of the set control area may be a value relatively higher than the transparency before the control area is set, or may be a relatively higher value than areas other than the control area. Further, the transparency of the control area may be a value relatively higher than the transparency when the captured image is displayed on the display 30.

  FIG. 5 is a flowchart showing an example of processing for setting a range for controlling the transparency after extracting the concealment region.

  As shown in FIG. 5, when the concealment region is extracted and the control region is set in step S150, it is determined in step S210 whether or not the area ratio of the concealment region to the captured image is equal to or greater than a predetermined value.

  In step S210, if the area ratio of the concealment area is equal to or greater than the predetermined value, the process proceeds to step S220, and an area corresponding to the entire obstacle image including the concealment area is set as the control area, and the transparency of the control area is set. Set high. In this case, in step S170, superimposed images as shown in FIGS. 3B and 3C are presented.

  On the other hand, if the area ratio of the concealment area is less than the predetermined value in step S210, the process proceeds to step S230, not the image of the entire obstacle including the concealment area, but the area corresponding to the concealment area (the same area as the concealment area) ) As a control area, and the transparency of the control area is set high. In this case, in step S170, a pedestrian crossing sign drawn on a road surface concealed by another vehicle, a three-dimensional pedestrian crossing sign installed on the road side, a road curb, or the like is hidden in step S170. The driver can be presented with a superimposed image through which the partial area can be seen and the road surface sign can be visually recognized.

FIG. 6 is a flowchart illustrating an example of processing for setting the transparency of the control region.
As shown in FIG. 6, when the concealment area is extracted in step S150, the road surface sign concealed by the obstacle in the captured image is a warning sign or a restriction sign, or a guide sign or an instruction sign in step S310. Determine whether. Whether the road sign is a warning sign, a regulation sign, a guide sign, or an instruction area can be determined with reference to the referenced road sign information 41.

  In step S310, when the concealed road surface sign is a warning sign or a control sign, the process proceeds to step S320, and the control region is set to have a relatively higher transmittance than when the road surface sign is a guide sign or an instruction sign. To do.

  On the other hand, if the concealed road surface sign is not a warning sign or a restriction sign in step S310, that is, if the road sign is a guidance area or an instruction area, the process proceeds to step S330, where the road sign is a warning sign or a restriction sign. The transmissivity is set relatively lower than in the case of.

  When the transparency is set in step S320 or step S330, the process proceeds to step S170, and the superimposed image is displayed on the display 30.

  The vehicle display device 100 of the present embodiment has the following effects.

  [1] According to the vehicular display device 100 of the present embodiment, even when the road surface sign to be superimposed on the captured image is hidden by an obstacle, the transparency of the control area corresponding to the hidden area is increased. Thus, the road marking can be easily seen, so that the occupant can easily see the road marking. That is, when the road sign image is concealed by an obstacle such as another vehicle, the transparency of a part or all of the obstacle image that hides the road sign image is increased so that the road sign image is easy to see. By doing so, the road surface sign can be shown to the driver regardless of the presence of other vehicles.

  [2] According to the vehicle display device 100 of the present embodiment, the transparency of the control region is changed to be higher as the distance from the own vehicle to the road surface sign is shorter at the timing when the concealment region is extracted. Even if it exists, the road surface marker in the vicinity of the traveling position to be visually recognized by the driver can be clearly displayed.

  [3] According to the vehicle display device 100 of the present embodiment, the transparency of the control area is changed higher as the vehicle speed of the host vehicle is higher at the timing when the concealment area is extracted. Even in such a case, when the vehicle speed of the host vehicle is high and the road sign that the driver should visually recognize is approaching the host vehicle at a high speed, this can be clearly displayed.

  [4] According to the vehicle display device 100 of the present embodiment, when the area ratio of the concealment area to the captured image is greater than or equal to a predetermined value, the area corresponding to the entire obstacle is set as the control area. A wide range corresponding to all the obstacles that cause the concealment area formation is set as the control area, and the transparency of this control area is increased, so that the influence of the obstacle is eliminated and the driver can easily see the road surface sign. can do. On the other hand, when the area ratio of the concealment area with respect to the captured image is less than a predetermined value, the control device 10 sets only the area corresponding to a part of the obstacle as the control area, thereby minimizing the influence of the obstacle. This makes it easier for the driver to visually recognize the road surface sign.

  [5] According to the vehicle display device 100 of the present embodiment, when the road surface sign concealed in the obstacle image is a warning sign or a restriction sign, the transmittance is concealed in the obstacle image. It is set higher than the transmittance when the road surface sign is a guide sign or an instruction sign. In this way, when a warning sign or a control sign that requires a relatively high degree of attention is concealed by an obstacle, the transparency of the control area corresponding to the concealment area that conceals such a road surface sign, Because it is set higher than the transparency of the control area according to the concealment area that conceals the road sign such as a guide sign or instruction sign that requires a relatively low degree of attention, for road signs that require a high degree of attention It is possible to eliminate the concealed state due to the image of the obstacle and make it easier for the driver to visually recognize.

  [6] In the present embodiment, the obstacle that forms the concealment area is a preceding other vehicle of the own vehicle, an opposite other vehicle of the own vehicle, or an intersection other vehicle that intersects with the own vehicle, and the concealment area caused by these obstacles Therefore, even if another vehicle approaching the host vehicle conceals the road surface sign of the own vehicle traveling path, the driver can visually recognize the road surface sign.

  The embodiment described above is described for facilitating the understanding of the present invention, and is not described for limiting the present invention. Therefore, each element disclosed in the above embodiment is intended to include all design changes and equivalents belonging to the technical scope of the present invention.

  That is, in the present specification, the information providing system 1 including the vehicle display device 100 and the in-vehicle device 200 according to the present invention will be described as an example, but the present invention is not limited to this.

  In this specification, the vehicle display device 100 including the control device 10, the camera 20, and the display 30 will be described as an example of the vehicle display device according to the present invention. However, the present invention is not limited thereto. is not.

  In the present specification, as an example of the vehicle display device according to the present invention including a current position acquisition unit, an image acquisition unit, a road surface sign information acquisition unit, and a display control unit, a current position acquisition function, an image acquisition Although the vehicle display device 100 including the control device 10 that executes the function, the road surface information acquisition function, and the display control function will be described as an example, the present invention is not limited to this.

DESCRIPTION OF SYMBOLS 1 ... Information provision system 100 ... Display apparatus for vehicles 10 ... Control apparatus 11 ... CPU
12 ... ROM
13 ... RAM
DESCRIPTION OF SYMBOLS 20 ... Camera 30 ... Display 40 ... Memory | storage device 41 ... Road surface sign information 200 ... In-vehicle apparatus 50 ... Vehicle controller 60 ... Navigation apparatus

Claims (6)

Current position acquisition means for acquiring the current position of the host vehicle;
Image acquisition means for acquiring a captured image around the host vehicle, which is captured by a camera provided in the host vehicle;
Road surface sign information acquisition means for acquiring road surface sign information in which an image of a road surface sign at each point viewed from a preset viewpoint and position information of a point where the road surface sign exists are associated with each other;
Display control means for displaying on the display a superimposed image obtained by superimposing the captured image acquired as needed at each point and a road surface sign image at the point where the captured image was acquired, with a predetermined common viewpoint as a reference;
The display control means is set in the captured image based on the concealment region when a concealment region corresponding to a part or all of the obstacle image concealing the road surface sign image is extracted. A vehicular display device, wherein the transparency of the control region is changed to be relatively high, and the captured image and the image of the road surface sign are superimposed.   2. The display control unit according to claim 1, wherein the display control unit changes the transmittance of the control region to be higher as the distance from the host vehicle to the road surface marker is shorter at a timing when the concealment region is extracted. Vehicle display device.   3. The vehicle display according to claim 1, wherein the display control unit changes the transparency of the control region to be higher as the vehicle speed of the host vehicle is higher at the timing when the concealment region is extracted. apparatus.   When the area ratio of the concealment area with respect to the captured image is equal to or greater than a predetermined value, an area corresponding to all the obstacles is extracted as the control area, and the area ratio of the concealment area with respect to the captured image is a predetermined value The vehicular display device according to any one of claims 1 to 3, wherein the concealment area is extracted as the control area if the area is less than the range. The road surface sign information is an image of a guide sign displayed on the road surface, a warning sign always on the road surface, a regulation sign displayed on the road surface, an instruction sign displayed on the road surface, and other road signs,
The display control means indicates the transparency when the road sign concealed in the obstacle image is a warning sign or a control sign, and the road sign concealed in the obstacle image is a guide sign or instruction. The vehicle display device according to any one of claims 1 to 4, wherein the display device is set to be higher than the transmittance in the case of a sign.   6. The obstacle according to any one of claims 1 to 5, wherein the obstacle is a preceding other vehicle of the own vehicle, an opposite other vehicle of the own vehicle, or an intersecting other vehicle that intersects the own vehicle. Vehicle display device.

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