JP2018173315A - Display device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a display device which allows users to more easily grasp a sense of distance to a guide image to be made to overlap with an actual scene.SOLUTION: The navigation device determines whether the travel-scheduled distance, which is the distance between a vehicle and a guide branch point 81 on a guide route, is a threshold value or smaller. The navigation device displays a front-side support pole 71 of the guide branch point 81 when the travel-scheduled distance is not larger than a threshold value. The navigation device also displays the back-side support pole 72 of the guide branch point 81.SELECTED DRAWING: Figure 7

Description

  The present invention relates to a display device that provides driving assistance.

  Conventionally, various techniques have been used as a technique for superimposing a guidance image for guiding a route to a passenger of a moving body such as a vehicle on a real scene. For example, a windshield display device or a head-up display device (hereinafter referred to as HUD). The HUD is an apparatus for visually recognizing a video in a space different from the position where the video is actually displayed by using an illusion of human eyes.

  In the vehicular display device described in Patent Literature 1, when a route is guided by a navigation system, a landmark (convenience store or the like) serving as a mark of the route is announced by a voice guidance device. Moreover, the display apparatus for vehicles displays a virtual image using HUD in the position of the landmark guided by the audio guidance apparatus in the real scene ahead of the vehicle. The occupant knows the position of the landmark to turn left or right based on the position of the virtual image seen through the front window.

Japanese Patent Laying-Open No. 2005-69800 (FIG. 4)

  In the vehicle display device described in Patent Literature 1 described above, a virtual image is displayed at the position of the landmark of the intersection where the vehicle turns so as to be visible to the passenger. However, just displaying one 2D virtual image that does not actually exist in a 3D real scene, especially when approaching a turning intersection, the virtual image is not displayed with a sense of depth. May be difficult to grasp the distance from the current location to the position of the virtual image.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a display device that makes it easy for a user to grasp the sense of distance to a guide image to be superimposed on a real scene.

  In order to achieve the above object, the display device according to the present invention includes a distance determination unit that determines whether or not a planned travel distance that is a distance between the vehicle and a guidance branch point on the guide route is equal to or less than a threshold value, and the travel Control means for controlling the display of the front side guide image on the near side of the guidance branch point and the display control of the back side guide image on the back side of the guidance branch point when the planned distance is equal to or less than the threshold value. Have.

  According to the display device according to the present invention having the above-described configuration, when the vehicle travels from a guidance branch point that performs guidance such as a traveling direction to a point that is equal to or less than a threshold value, both the front side guidance image and the back side guidance image are displayed. indicate. The near side guide image is displayed in front of the guidance branch point. The back side guidance image is displayed on the back side of the guidance branch point. Therefore, the guidance branch point is sandwiched between the front side guidance image and the back side guidance image. Thereby, the user can compare not only the distance between the two guide images (the front side guide image and the back side guide image) and the structure of the actual scene, but also the distance between the two guide images. . Therefore, the user can easily grasp the positions of the two guide images in the actual scene. As a result, the user can easily grasp the sense of distance to the guide image superimposed on the actual scene.

It is the block diagram which showed the navigation apparatus which concerns on this embodiment. It is the figure which showed the installation aspect to the vehicle of the front camera which concerns on this embodiment, an in-vehicle camera, and HUD. It is a flowchart of the display processing program which concerns on this embodiment. It is a flowchart of the virtual image display process which concerns on this embodiment. It is a flowchart of the back side support | pillar display determination process which concerns on this embodiment. It is a figure which shows the state which displayed the virtual image of the near side support | pillar. It is a figure which shows the state which displayed the virtual image of the near side support | pillar and the back support | pillar. It is a figure which shows the state which displayed the virtual image the near side support | pillar and the back side support | pillar at the branch point of another example.

  Hereinafter, a display device according to the present application will be described in detail with reference to the drawings based on an embodiment embodied in a navigation device. First, a schematic configuration of the navigation device 1 according to the present embodiment will be described with reference to FIG. FIG. 1 is a block diagram showing a navigation device 1 according to this embodiment.

  As shown in FIG. 1, the navigation device 1 includes a current position detection unit 11 that detects a current position of a vehicle on which the navigation device 1 is mounted, a data recording unit 12 that records various data, and input information. Based on the navigation ECU 13 that performs various arithmetic processes, the operation unit 14 that receives operations from the user, the liquid crystal display 15 that displays a map around the vehicle to the user, voice guidance regarding route guidance, and obstacles A communication module 18 that performs communication between a speaker 16 that outputs a warning, a DVD drive 17 that reads a DVD as a storage medium, and an information center such as a probe center or a VICS (registered trademark: Vehicle Information and Communication System) center. And have. In addition, the navigation device 1 is connected to a front camera 19 and a head-up display device (hereinafter referred to as HUD) 21 installed on a vehicle on which the navigation device 1 is mounted via an in-vehicle network such as CAN. Yes.

Below, each component which comprises the navigation apparatus 1 is demonstrated in order.
The current position detection unit 11 includes a GPS 31, a vehicle speed sensor 32, a steering sensor 33, a gyro sensor 34, and the like, and can detect the current vehicle position, direction, vehicle traveling speed, current time, and the like. . For example, the vehicle speed sensor 32 is a sensor for detecting a moving distance and a vehicle speed of the vehicle, generates a pulse according to the rotation of the driving wheel of the vehicle, and outputs a pulse signal to the navigation ECU 13. And navigation ECU13 calculates the rotational speed and moving distance of a driving wheel by counting the generated pulse. Note that the navigation device 1 does not have to include all the four types of sensors, and the navigation device 1 may include only one or more types of sensors.

  Further, the data recording unit 12 reads an external storage device and a hard disk (not shown) as a recording medium, a map information DB 41 recorded on the hard disk, a map information DB 41, a predetermined program, and the like, and stores predetermined data on the hard disk. And a recording head (not shown) as a driver for writing. The data recording unit 12 may include a memory card, an optical disk such as a CD or a DVD, instead of the hard disk. Further, the map information DB 41 may be stored in an external server, and the navigation device 1 may acquire it by communication.

  Here, the map information DB 41 includes, for example, link data related to roads (links), node data related to node points, facility data related to facilities, search data used for route search processing, map display data for displaying a map, and each intersection. Intersection data, search data for searching points, and the like are stored.

  On the other hand, the navigation ECU (Electronic Control Unit) 13 is an electronic control unit that controls the entire navigation device 1. The CPU 51 as an arithmetic device and a control device, and a working memory when the CPU 51 performs various arithmetic processes. Read out from the ROM 53 and the ROM 53 in which a display processing program (see FIG. 3) described later is recorded in addition to the RAM 52 and the control program for storing the route data when the route is searched. An internal storage device such as a flash memory 54 for storing the program is provided.

  The navigation ECU 13 may be a control circuit unit included in the vehicle-mounted device such as the navigation device 1, a control circuit unit for driving control of the vehicle, or a control circuit unit independent of them. May be. Further, the navigation ECU 13 has various means as processing algorithms. For example, the distance determination unit determines whether or not a planned travel distance that is a distance between the vehicle and the guidance branch point on the guidance route is equal to or less than a threshold value. When the estimated travel distance is equal to or less than the threshold value, the control unit controls display of the near side guide image on the near side of the guidance branch point and controls display of the back side guidance image of the guidance branch point. The ratio detection means is based on the road width of the traveling path that travels from the guidance branch point and the estimated travel distance for the rear side guide image of the portion where the front side guide image and the back side guide image overlap when displayed. Detect percentage. The destination position acquisition means acquires a destination position that is the position of the destination of the vehicle after a predetermined time based on the speed of the vehicle. The destination ratio detection means detects the near side guide image and the back based on the planned destination travel distance that is the distance between the destination position and the guidance branch point, and the road width of the traveling path that travels from the guidance branch point. The ratio of the portion where the side guide image overlaps to the back side guide image is detected.

  The operation unit 14 is operated when inputting a starting point as a travel start point and a destination as a travel end point, and has a plurality of operation switches (not shown) such as various keys and buttons. Then, the navigation ECU 13 performs control to execute various corresponding operations based on switch signals output by pressing the switches. The operation unit 14 may have a touch panel provided on the front surface of the liquid crystal display 15. Moreover, you may have a microphone and a speech recognition apparatus.

  The liquid crystal display 15 includes a map image including a road, traffic information, operation guidance, operation menu, key guidance, guidance route set in the navigation device 1, guidance information along the guidance route, news, weather forecast. , Time, mail, TV program, etc. are displayed. Information displayed on the liquid crystal display 15 may be displayed on the HUD 21. In the present embodiment, in particular, guidance information along the guidance route is displayed by the HUD 21.

  The speaker 16 outputs voice guidance for guiding traveling along the guidance route based on an instruction from the navigation ECU 13 and traffic information guidance.

  The DVD drive 17 is a drive that can read data recorded on a recording medium such as a DVD or a CD. Then, based on the read data, music and video are reproduced, the map information DB 41 is updated, and the like. A card slot for reading / writing a memory card may be provided instead of the DVD drive 17.

  The communication module 18 is a communication device for receiving traffic information transmitted from a traffic information center such as a VICS center or a probe center, and corresponds to a mobile phone or DCM.

  FIG. 2 shows how the front camera 19 and the HUD 21 are installed on the vehicle 24. A front camera 19 is installed above the front bumper of the vehicle 24. The front camera 19 is an imaging device configured by a camera using a solid-state imaging device such as a CCD, for example, and is installed with the optical axis direction facing forward in the traveling direction of the vehicle. And navigation ECU13 can detect the condition of the front environment etc. which are visually recognized by the passenger | crew 26 through the front window 25 by performing an image process with respect to the captured image imaged with the front camera 19. FIG. A sensor such as a millimeter wave radar may be used instead of the front camera 19. The front camera 19 may be installed on the back side of the rearview mirror.

  The HUD 21 is installed inside the dashboard 61 of the vehicle 24 and includes a liquid crystal display 62 that displays an image therein. The image displayed on the liquid crystal display 62 is further reflected on the front window 25 in front of the driver's seat via the reflective polarizing plate 63 and the concave mirror 64 provided in the HUD 21 so that the passenger 26 of the vehicle 24 can visually recognize the image. Has been. The video displayed on the liquid crystal display 62 includes information related to the vehicle 24 and various types of information used for driving support for the occupant 26. Specifically, the HUD 21 of the present embodiment displays, for example, driving route guidance information on the liquid crystal display 62 as various information used for driving support.

  Further, in the HUD 21 of this embodiment, when the occupant 26 visually recognizes the image displayed on the liquid crystal display 62 by reflecting the front window 25, the occupant 26 is not at the position of the front window 25 but at the tip of the front window 25. The image displayed on the liquid crystal display 62 at a distant position is configured to be visually recognized as a virtual image 27. The position at which the virtual image 27 is generated, more specifically, the distance L from the occupant 26 to the virtual image 27 can be appropriately set according to the curvature of the concave mirror 64 provided in the HUD 21, the relative position between the liquid crystal display 62 and the concave mirror 64, and the like. It is.

  Subsequently, a display processing program executed by the CPU 51 in the navigation device 1 according to the present embodiment having the above-described configuration will be described with reference to FIGS. 3 to 5 are flowcharts of the display processing program according to the present embodiment. Here, the display processing program is a program that is repeatedly executed at predetermined time intervals after the navigation apparatus 1 is turned on, for example, and displays a virtual image 27 indicating the position of the traveling path on the HUD 21 when turning an intersection. is there. The programs shown in the flowcharts in FIGS. 3 to 5 below are stored in the RAM 52 and the ROM 53 provided in the navigation device 1 and are executed by the CPU 51.

  In addition, the guidance branch point in this application is intersections, such as a crossroad, a T-junction, a Y-junction, for example. The guidance branch point is not limited to an intersection where two roads intersect, and may be any branch point where it is necessary to guide the traveling direction of the vehicle. For example, it may be a branch part where one road branches into a plurality of roads. . In this case, the CPU 51 guides, for example, the front strut 71 and the back strut 72 (see FIG. 7), which will be described later, to which of the traveling paths branched into two branches. Hereinafter, an intersection will be described as an example of a guidance branch point.

  First, in the display processing program, in step (hereinafter abbreviated as S) 1 shown in FIG. 3, the CPU 51 determines whether or not route guidance to the occupant 26 is being executed. When the route guidance is not executed (S1: NO), the CPU 51 ends the display processing program shown in FIGS. In this case, when the predetermined time interval has elapsed, the CPU 51 starts the process from S1 again.

  In addition, for example, when the navigation device 1 receives a predetermined operation for performing a route search on the operation unit 14, the navigation device 1 starts route guidance. In this case, the CPU 51 determines that route guidance is being executed (S1: YES), and proceeds to S2. In S <b> 2, the CPU 51 determines whether or not there is an intersection in front of the vehicle 24 driven by the occupant 26 that provides guidance in the traveling direction such as left turn, right turn, or straight ahead. The CPU 51 is, for example, a travel schedule that is the distance between the vehicle 24 and an intersection (guidance branch point) that provides guidance based on the guidance route set in the navigation device 1 and the current position of the vehicle 24 based on the GPS 31. When the distance is equal to or less than the threshold value, that is, when the vehicle 24 reaches a position separated by a predetermined distance from an intersection that guides a left turn or the like, it is determined that there is an intersection that guides the traveling direction ahead.

  Note that the determination of whether or not there is an intersection in front of the vehicle 24 is not limited to the above method. For example, the CPU 51 may perform image processing on a captured image captured by the front camera 19 and determine whether or not there is an intersection (guide branch point) ahead by a predetermined distance from the vehicle 24 based on the processing result. . For example, the CPU 51 detects a road shape, a sign, a building, and the like imaged by the front camera 19, and there is an intersection that guides the traveling direction based on the detected road shape and the information in the map information DB 41. It may be determined whether or not.

  If the CPU 51 determines in S2 that there is an intersection that provides guidance in the traveling direction ahead of the vehicle 24 (S2: YES), the CPU 51 proceeds to S3. If the CPU 51 determines in S2 that there is no intersection for guiding the traveling path ahead of the vehicle 24 (S2: NO), the display processing program shown in FIGS. In this case, when the predetermined time interval has elapsed, the CPU 51 starts the process from S1 again.

  In S <b> 3, the CPU 51 executes a virtual image display process (see FIG. 4) for displaying the near side pillar 71 and the back side pillar 72 (see FIG. 7) that are virtual images. First, in S <b> 11 of FIG. 4, the CPU 51 determines the position for displaying the front column 71 and the direction of the front column 71 according to the shape of the roadside.

  After executing S11, the CPU 51 proceeds to S12. In S12, the CPU 51 displays the near side support 71 on the near side of the intersection. Therefore, the CPU 51 of the present embodiment is in front when the distance (scheduled travel distance) between the vehicle 24 and the intersection where the guidance is performed (guide branch point) is equal to or less than a predetermined threshold (S2 in FIG. 3: YES). The side support 71 is displayed.

  FIG. 6 shows a state in which the near side support 71 is displayed. In the example shown in FIG. 6, for example, a state is shown in which guidance for turning right at an intersection 81 of a T-junction in front of the traveling direction is performed. The near side support 71 is displayed on the near side of the traveling path 82 in which the vehicle 24 travels after turning right at the intersection 81 (after leaving the intersection 81). The near side support 71 of the present embodiment is, for example, a rectangular column that is long in the vertical direction. In addition, the shape, size, etc. of the near side guide image and the back side guide image of the present application are not particularly limited. For example, the near side guide image is not limited to a square pole like the near side support 71 shown in FIG. 6, but may be a cylinder, a circle, another symbol, or the like.

  Further, in S11, for example, when the guard rail 83 exists on the side of the road on the front side of the traveling path 82, the CPU 51 extends the front column 71 in the vertical direction along the leg portion 84 of the guard rail 83. (Direction) is determined. For this reason, for example, when the traveling path 82 after a right turn is a slope and the traveling path 82 after the right turn is inclined with respect to the traveling path 85 on which the vehicle 24 is currently traveling, The state is inclined along the legs 84 of the guard rail 83 (a state extending in a direction perpendicular to the road surface of the traveling path 82).

  In S11, the CPU 51 determines a position at which the guard rail 83 on the intersection 81 side is interrupted as a position where the near side support 71 is erected. As shown in FIG. 6, the front column 71 is disposed on the road end 81 </ b> A closer to the intersection 81 than the guard rail 83, and extends in the vertical direction along the legs 84.

  For the detection of the guard rail 83 and the leg 84 described above, the CPU 51 processes, for example, a captured image captured by the front camera 19 and detects the position and orientation of the guard rail 83 and the leg 84 from the result of the image processing. Also good. Moreover, the determination method of the position and direction which display the near side support | pillar 71 is not limited to an above-described method. For example, when a curb exists on the road side on the near side of the traveling path 82 after the right turn, the CPU 51 may determine the direction along the curb shape as the direction in which the near column 71 is extended. For example, the CPU 51 determines the vertical direction along the side surface of the curb provided at the road edge (the position of the road edge 81A, etc.) of the traveling road 85 at the intersection 81 as the direction in which the front column 71 extends in the vertical direction. You may do it. Further, the CPU 51 may display the near side support 71 such that the direction along the top surface of the curb and the direction along the bottom surface of the near side support 71 are parallel. In addition, the CPU 51 may set a position where the curb on the intersection 81 side is interrupted (such as the position of the road end 81A) as a position where the near side support 71 is erected.

  Alternatively, for example, when a white line is drawn on the side of the road on the front side of the traveling path 82 after the right turn, the CPU 51 moves the front side strut 71 along one side of the bottom surface of the front side strut 71 along the white line. It may be displayed. Further, the CPU 51 may set a position where the white line on the intersection 81 side is interrupted as a position where the near side support 71 is erected.

  In addition, when the guard rail 83, the curbstone, and the white line are present, the CPU 51 lowers the priority in the order of the guard rail 83, the curbstone, and the white line, for example, and displays the front-side column 71 on the basis of the higher priority. Or the orientation may be determined. Further, when none of the guard rail 83, the curbstone, or the white line is present, the CPU 51 may determine, for example, the position and orientation for displaying the front column 71 with reference to the boundary portion of the traveling path 82. As used herein, the boundary portion refers to, for example, a traveling path 82 such as a portion that switches from a paved road surface of the traveling path 82 to a bank beside the road, or a boundary portion between a wall and a road surface that stands on the road side of the traveling path 82. This is the part where the end of the road surface can be detected. The CPU 51 may detect the boundary portion of the traveling path 82 based on these banks, walls, and the like, and determine the position at which the front column 71 is displayed. Further, the CPU 51 may set the direction along the vertical direction of the bank or wall as the direction in which the front column 71 is extended. Further, when none of the guard rail 83, the curbstone, or the white line is present, the CPU 51, for example, based on the position and orientation of the electric poles and road signs standing on the roadside of the traveling path 82, for example, You may determine the position and direction which display. The CPU 51 may display the near side support 71 on the power pole side and display the near side support 71 along the power pole. In addition, the CPU 51 determines the position and orientation for displaying the near-side support column 71 in accordance with what can be detected as the vehicle 24 approaches the intersection 81 (guardrail 83, curbstone, white line, bank, wall, utility pole, road sign, etc.). You may change suitably.

  After executing S12 of FIG. 4, the CPU 51 proceeds to S13. In S <b> 13, the CPU 51 executes the back column display determination process shown in FIG. 5. First, in S21 of FIG. 5, the CPU 51 calculates the ratio of the portion where the near side strut 71 and the far side strut 72 overlap with the back strut 72 when displayed. FIG. 7 shows a state in which the vehicle 24 is moved forward from the position shown in FIG. 6 toward the intersection 81, and shows a state in which the front column 71 and the back column 72 are displayed.

  As shown in FIG. 7, the back column 72 is displayed on the back side of the near column 71 with a traveling path 82 after turning right at an intersection 81. The back column 72 has, for example, a rectangular column having the same shape as the front column 71. The CPU 51 sets the position and orientation of the back side column 72 in the same manner as the setting of the position and orientation of the near side column 71 (S11 in FIG. 4). The back column 72 is displayed on the road end 81B on the intersection 81 side, for example, on the back side of the traveling path 82.

  Here, for example, the longer the planned travel distance to the intersection 81 is, the closer the display positions of the near side strut 71 and the far side strut 72 are. A region where the front column 71 and the back column 72 overlap (for example, a region 74 surrounded by a circle shown in FIG. 7) becomes large. Similarly, as the road width of the traveling path 82 becomes narrower, the display positions of the front column 71 and the back column 72 become closer. A region 74 where the front column 71 and the back column 72 overlap is enlarged. Accordingly, when the vehicle 24 is traveling far away from the intersection 81 or when the road width of the traveling path 82 is narrow, the back column 72 has a large overlap with the front column 71 displayed in front. Therefore, it is meaningless to hide and display behind the front column 71.

  Therefore, in S21, the CPU 51, based on the road width of the traveling path 82 and the estimated travel distance to the intersection 81, displays the rear side of the region 74 where the front column 71 and the back column 72 overlap. The ratio to the column 72 is calculated. For example, the CPU 51 can detect the road width of the traveling path 82 based on the map information DB 41. Further, information such as the size and shape of the front column 71 and the back column 72 to be displayed is stored in advance in the data recording unit 12, for example. The CPU 51 displays the front strut 71 and the back side in the case of display based on the size and the like (setting values) of the front strut 71 and the back strut 72, the road width of the traveling path 82, and the estimated travel distance to the intersection 81. The size of the area 74 where the support 72 overlaps can be calculated. The CPU 51 can calculate the ratio of the overlapped portion to the size of the back column 72 based on the calculated size of the region 74 and the size of the back column 72 when displayed.

  After executing S21, the CPU 51 proceeds to S22. In S22, the CPU 51 determines whether or not the ratio of the overlapped portion (area 74) to the back column 72 is less than a predetermined ratio. This predetermined ratio indicates whether it is beneficial for the occupant 26 to display the back column 72 when the front column 71 is displayed in front of the back column 72, for example, by the occupant 26. It can be set based on whether or not the support 72 can be distinguished from the front support 71. In S22, when the ratio of the overlapped portion with respect to the back column 72 is less than a predetermined rate (S22: YES), the CPU 51 performs setting for displaying the back column 72 (S23). In this case, for example, the displayed back column 72 can be identified by the occupant 26 even if it is displayed in the back of the near column 71. CPU51 complete | finishes the back side support | pillar display determination process shown in FIG. 5, and returns to the process of S13 of FIG.

  On the other hand, in S22, when the ratio of the overlapped portion with respect to the back column 72 is equal to or greater than a predetermined ratio (S22: NO), the CPU 51 proceeds to S24. In S <b> 24, the CPU 51 determines a destination position, which is a destination position of the vehicle 24 after a predetermined time based on the current speed of the vehicle 24, and a distance from the destination position to the intersection 81 (target destination travel distance). Calculate (S24). For example, the CPU 51 calculates the destination position of the vehicle 24 after 3 seconds as the predetermined time based on the current vehicle speed. The CPU 51 calculates a planned travel distance for the destination between the destination and the intersection 81 based on the calculated destination. For example, the CPU 51 can calculate the destination travel planned distance based on the calculated destination position and the position of the intersection 81 based on the map information DB 41.

  After executing S24, the CPU 51 proceeds to S25. In S25, the CPU 51 determines that the ratio of the overlapping portion of the front column 71 and the back column 72 (see the region 74 in FIG. 7) with respect to the back column 72 at the destination position after 3 seconds is the same as S22 described above. It is determined whether it is less than a predetermined ratio. The predetermined ratio here can be set based on, for example, whether or not the rear column 72 can be distinguished from the front column 71 by the occupant 26, as in S22 described above. That is, in S25, the CPU 51 determines the degree of overlap when the back column 72 is displayed at the destination after 3 seconds.

  In S25, CPU51 performs the setting which displays the back side support | pillar 72, when the ratio with respect to the back support | pillar 72 is less than a predetermined ratio (S25: YES) (S23). In this case, when the vehicle 24 is moved forward to the position after 3 seconds, the displayed back column 72 can be identified by the occupant 26 even if it is displayed in the back of the front column 71. In other words, the vehicle 24 approaches the intersection 81 to a position where the occupant 26 can distinguish the rear column 72 from the front column 71 after 3 seconds. CPU51 complete | finishes the back side support | pillar display determination process shown in FIG. 5, and returns to the process of S13 of FIG.

  On the other hand, in S25, when the ratio of the overlapped portion with respect to the back column 72 is equal to or greater than a predetermined rate (S25: NO), the CPU 51 performs a setting not to display the back column 72 (S26). In this case, even if the vehicle 24 is moved forward to the destination position after 3 seconds, the rear column 72 overlaps with the front column 71 displayed on the front side, and for example, is identified from the front column 71 by the occupant 26. It becomes impossible. CPU51 complete | finishes the back side support | pillar display determination process shown in FIG. 5, and returns to the process of S13 of FIG.

  CPU51 transfers to S14, after performing the back side support | pillar display determination process of S13 of FIG. In S14, the CPU 51 determines whether or not the setting for displaying the back column 72 is executed in the back column display determination process in S13. When the CPU 51 executes S23 of FIG. 5 and is set to display the back column 72 (S14: YES), the CPU 51 displays the front column 71 and the back column 72, and the front column 71 and the back side. A route guidance arrow is superimposed on the actual scene so as to pass between the columns 72 (S15). As shown in FIG. 7, the CPU 51 controls the HUD 21 to superimpose an arrow 73 between the front side column 71 and the back side column 72, that is, through the traveling path 82 (S15).

  As shown in FIG. 7, the arrow 73 is extended from the front of the vehicle 24 along the traveling path 85 to the intersection 81, and the extended tip is bent to the right (guide direction). The tip of the arrow 73 extends along a traveling path 82 that is guided after leaving the intersection 81. In order to clarify the front-rear relationship between the front column 71 and the back column 72, the CPU 51 displays the bent tip of the arrow 73 so that it is in the back of the front column 71 and in front of the back column 72. To do. Therefore, the arrow 73 indicates the positional relationship between the front column 71 displayed on the front side of the traveling path 82 and the back column 72 displayed on the back side in accordance with the position of the traveling path 82 that is the guide route. The display is combined. In addition, CPU51 may change the display of the arrow 73 so that it may become the back side of the guardrail 83 arrange | positioned in front of the advancing path 82 similarly to the near side support | pillar 71 and the back side support | pillar 72, for example. More specifically, the CPU 51 seems to pass through the back of the object on the near side by setting a part of the arrow 73 that overlaps with the object on the near side (such as the guardrail 83 and the road sign) not to be displayed. An arrow 73 may be displayed. Thereby, it is possible to make the occupant 26 grasp the position of the arrow 73 (such as the traveling path 82) more clearly. Note that the CPU 51 may detect the front-rear relationship between the front support column 71 and another object, for example, by processing a captured image of the front camera 19.

  On the other hand, when S26 in FIG. 5 is executed and the back column 72 is not displayed (S14 in FIG. 4: NO), the CPU 51 proceeds to S16. In S <b> 16, the CPU 51 displays the near side support 71 and superimposes the route guidance arrow 73 so as to pass through the back side of the near side support 71. As illustrated in FIG. 6, the CPU 51 controls the HUD 21 so that the arrow 73 is actually superimposed on the traveling path 82 through the back side of the front column 71.

  As shown in FIG. 6, the arrow 73 is extended from the front of the vehicle 24 along the traveling path 85 to the intersection 81, and the extended tip is bent to the right (guide direction). The tip of the arrow 73 extends along the traveling path 82. The CPU 51 displays the bent tip of the arrow 73 so that it is in the back of the front column 71 in order to clarify the front-rear relationship with the front column 71.

  The CPU 51 displays the front strut 71 and the back strut 72 in S15 and S16, and then displays the front strut 71 and the back strut 72 in accordance with the change in the size of the object in the actual scene. Change it. The CPU 51 gradually increases the sizes of the front column 71 and the back column 72 as the vehicle 24 moves forward and the distance from the intersection 81 (scheduled travel distance) decreases. Accordingly, when the vehicle 24 is advanced toward the intersection 81 from the state shown in FIG. 6 to the state shown in FIG.

  Also, as shown in FIG. 7, the near side support 71 is displayed closer than the back support 72 because it is closer to the vehicle 24 than the back support 72. Then, when the vehicle 24 is further advanced from the state shown in FIG. 7 toward the intersection 81, the front column 71 and the back column 72 are gradually displayed larger. Thereby, the occupant 26 can accurately grasp the sense of distance between the front column 71 and the back column 72.

  After executing S15 or S16, the CPU 51 ends the virtual image display process shown in FIG. 4 and proceeds to S3 in FIG. After executing S3 (virtual image display process), the CPU 51 ends the processes shown in FIGS.

  As described above in detail, according to the navigation device 1 according to the present embodiment, when the vehicle 24 travels from the intersection 81 (guidance branch point) that performs guidance in the traveling direction to a point that is equal to or less than the threshold, Both 71 and the back column 72 are displayed (see FIG. 7). The near side support 71 is displayed in front of the intersection 81 (traveling path 82). The back column 72 is displayed on the back side of the intersection 81 (traveling path 82). Accordingly, the intersection 81 is sandwiched between the near side support 71 and the back support 72. Thus, the occupant 26 can compare not only the distances between the near side struts 71 and the far side struts 72 and the actual structure, but also the distance between the near side struts 71 and the far side struts 72. it can. Accordingly, the occupant 26 can easily grasp the positions of the near side support 71 and the back support 72 in the actual scene. As a result, the occupant 26 can easily grasp the sense of distance to the front column 71 and the back column 72 superimposed on the actual scene.

  Further, even if the positions of the two support columns (the front support column 71 and the back support column 72) are shifted, they do not shift so much that the intersection 81 and the traveling path 82 do not enter between the front support column 71 and the back support column 72. As long as a part of the traveling path 82 or the like is sandwiched between the front column 71 and the back column 72, the positions of the intersection 81 and the traveling path 82 can be indicated. In addition, if the intersection 81 or the traveling path 82 is shifted so that it does not enter between the front column 71 and the back column 72, the occupant 26 travels between the front column 71 and the back column 72. By recognizing that there is no road 82, it can be easily grasped that the positions of the front column 71 and the back column 72 are shifted, and appropriate measures can be taken.

In addition, this invention is not limited to the said embodiment, Of course, various improvement and deformation | transformation are possible within the range which does not deviate from the summary of this invention.
For example, in the above-described embodiment, the intersection 81 that is a T-junction is described as an example of the guidance branch point, but the present invention is not limited to this. For example, as shown in FIG. 8, it may be a branch point 86 where the travel path 85 branches into two. For example, as shown in FIG. 8, the arrow 73 is extended diagonally left forward along the traveling path 82 after leaving the branch point 86. Further, the near side support 71 is displayed, for example, at a position on the near side of the traveling path 82 (on the near side of the branch point 86). Moreover, the back side support | pillar 72 is displayed inside the part bifurcated into the bifurcation of the branch point 86, for example. Accordingly, the near side support 71 (front side guide image) is displayed in front of the branch point 86 (guide branch point), and the back side column 72 (back side guide image) is behind the branch point 86 (guide branch point). Displayed on the side. Even in such a case, as in the above embodiment, the occupant 26 can easily grasp the sense of distance to the front column 71 and the back column 72 superimposed on the actual scene.

In addition, the display device in the present application is not limited to the HUD 21 using the liquid crystal display 62 of the above-described embodiment, and may be a display device that performs other actual scene superposition such as a windshield display device. Alternatively, the display device may be a display device that superimposes a guide image such as an arrow 73 on the actual scene displayed on the liquid crystal display 15 of the navigation device 1.
Further, the object to be reflected by the HUD 21 may be a visor (combiner) installed around the front window 25 instead of the front window 25 itself.
In the above embodiment, the CPU 51 of the navigation device 1 is configured to execute each step of the display processing program for generating a virtual image. Etc. may be configured to execute part or all of the processing.
Although not particularly mentioned in the above embodiment, the present invention can be applied not only to left-hand traffic but also to right-hand traffic.

  Moreover, although the embodiment which actualized the display device according to the present invention has been described above, the display device can have the following configuration, and in that case, the following effects can be obtained.

For example, the first configuration is as follows.
Distance determination means (51) for determining whether or not the planned travel distance, which is the distance between the vehicle (24) and the guidance branch point (81) in the guide route, is less than or equal to a threshold, and the planned travel distance is the threshold Control means (51) for controlling the display of the near side guide image (71) on the near side of the guide branch point and for controlling the back side guide image (72) on the far side of the guide branch point when And).

  According to the display device having the above configuration, when the vehicle travels from a guidance branch point that performs guidance such as a traveling direction to a point that is equal to or less than a threshold value, both the front side guidance image and the back side guidance image are displayed. The near side guide image is displayed in front of the guidance branch point. The back side guidance image is displayed on the back side of the guidance branch point. Therefore, the guidance branch point is sandwiched between the front side guidance image and the back side guidance image. Thereby, the user can compare not only the distance between the two guide images (the front side guide image and the back side guide image) and the structure of the actual scene, but also the distance between the two guide images. . Therefore, the user can easily grasp the positions of the two guide images in the actual scene. As a result, the user can easily grasp the sense of distance to the guide image superimposed on the actual scene.

The second configuration is as follows.
The control means (51) passes between the front side guide image (71) and the back side guide image (72) and extends along a traveling path (82) traveling from the guide branch point (81). A direction guidance image (73) is displayed.

  According to the display device having the above configuration, in addition to the two guidance images, a direction guidance image passing between the two guidance images is displayed, so that the position of the traveling path and the traveling direction after exiting the guidance branch point can be accurately indicated to the user. Can be grasped.

The third configuration is as follows.
The near-side guide image (71) and the back-side guide image (72) when displayed based on the road width of the traveling path (82) traveling from the guidance branch point (81) and the planned travel distance. And a ratio detecting means (51) for detecting a ratio of the overlapped portion (74) to the back side guide image (72), and the control means (51) is configured to detect the back side guide image of the overlapped portion. When the ratio to is greater than or equal to a predetermined ratio, the back side guidance image is not displayed.

  According to the display device having the above-described configuration, when the ratio of the portion where the front side guide image and the back side guide image overlap with the back side guide image is equal to or greater than a predetermined ratio, the back side guide image is not displayed. For example, the longer the planned travel distance to the guidance branch point, the closer the display positions of the near side guidance image and the far side guidance image become, and the two guidance images overlap each other. Similarly, as the road width of the traveling path becomes narrower, there is a higher possibility that the display positions of the near side guide image and the back side guide image become closer. When the back side guide image overlaps the front side guide image at a predetermined ratio or more, there is no meaning to hide and display in the back side of the front side guide image. Therefore, in the display device, when the front side guide image and the back side guide image overlap each other by a predetermined ratio or more, execution of unnecessary display processing can be suppressed by not displaying the back side guide image.

The fourth configuration is as follows.
Destination position acquisition means (51) for acquiring a destination position that is the position of the destination of the vehicle after a predetermined time based on the speed of the vehicle (24), the destination position and the guidance branch point (81 )) And the near side guide image (71) and the back side guide image (the back side guide image (71) and the back side guide image ( 72) moving destination ratio detecting means (51) for detecting the ratio of the portion (74) overlapped with 72) to the back guide image, and the control means (51) is controlled by the moving destination ratio detecting means. When the ratio of the detected overlapped portion to the back side guide image is equal to or less than a predetermined rate, the back side guide image is displayed.

  According to the display device having the above-described configuration, even if the vehicle is separated from the guidance branch point by the planned travel distance, when the vehicle moves to the destination position after a predetermined time and the vehicle approaches the guidance branch point, the near side guidance image When the ratio of the portion where the back side guide image overlaps the back side guide image is equal to or less than a predetermined ratio, the back side guide image is displayed. Here, for example, even if the vehicle is separated from the guidance branch point by the planned travel distance, the rate of overlap between the near side guidance image and the far side guidance image decreases by proceeding a little later, that is, the back side guidance. It may be necessary to display an image. Therefore, the display device determines the ratio of overlapping portions at the destination position according to the vehicle speed, and displays the back side guidance image early. Thereby, generation | occurrence | production of the situation where the display of a back side guidance image is delayed by the speed of a vehicle being fast can be suppressed.

The fifth configuration is as follows.
The control means (51) is arranged such that the near-side guide image (71 ) And display control of the back side guidance image (72) at the position of the road edge (81B) on the side of the guidance branch point and on the back side of the traveling path.

  According to the display device having the above-described configuration, the front side guidance image and the back side guidance image are displayed on the road edge on the guidance branch point side of the traveling path, that is, the entrance part of the traveling path. The front side guidance image and the back side guidance image are displayed so as to sandwich the traveling path according to the road width of the traveling path. As a result, the user can accurately grasp the entrance of the traveling path.

The sixth configuration is as follows.
The control means (51) has a size of each of the front side guide image (71) and the back side guide image (72) as the vehicle (24) travels and the planned travel distance becomes shorter. Increase gradually.

  According to the display device having the above configuration, the near side guide image and the back side guide image are gradually enlarged as the vehicle approaches the guidance branch point. That is, the sizes of the front side guide image and the back side guide image are changed in accordance with the change in the size of the object in the actual scene. Thereby, a user can be made to grasp | ascertain the distance feeling with a near side guidance image and a back side guidance image correctly.

The seventh configuration is as follows.
The control means (51) displays the front side guide image (71) and the back side guide image (72) as virtual images.

  According to the display device having the above configuration, it is possible to superimpose a virtual image indicating the front side guide image and the back side guide image on the real scene and make the virtual image visible to the user together with the guidance branch point. For example, the user can more accurately grasp the sense of distance to the guide image by associating a virtual image (two guide images) superimposed on the real scene seen through the front window with an object in the real scene and confirming the positional relationship. It becomes easy to do.

1 Navigation device 21 HUD
24 Vehicle 51 CPU
71 Front column 72 Back column 73 Arrow 74 Area 81 Intersection 81A Road edge 81B Road edge 82 Path

Claims (7)

Distance determining means for determining whether or not a planned travel distance that is a distance between the vehicle and the guidance branch point in the guide route is equal to or less than a threshold;
Control means for controlling the display of the front side guide image on the near side of the guidance branch point and the display control of the back side guide image on the back side of the guidance branch point when the estimated travel distance is equal to or less than the threshold value; And a display device.   2. The display device according to claim 1, wherein the control unit displays a direction guide image that passes between the front side guide image and the back side guide image and extends along a traveling path that travels from the guide branch point. . Based on the road width of the travel path that travels from the guidance branch point and the estimated travel distance, with respect to the back side guide image of the portion where the near side guide image and the back side guide image when displayed are overlapped Having a rate detecting means for detecting the rate,
The display device according to claim 1, wherein the control unit does not display the back side guide image when a ratio of the overlapped portion to the back side guide image is equal to or greater than a predetermined rate. Destination position acquisition means for acquiring a destination position that is the position of the destination of the vehicle after a predetermined time based on the speed of the vehicle;
The near-side guidance image and the back-side guidance are based on a planned destination travel distance that is a distance between the destination position and the guidance branch point, and a road width of a traveling path that travels from the guidance branch point. A destination ratio detecting means for detecting a ratio of the overlapping portion with the image to the back side guide image,
The said control means displays the said back side guidance image, when the ratio with respect to the said back side guidance image of the said overlapping part detected by the said movement destination ratio detection means is below a predetermined | prescribed ratio. The display device described.   The control means controls the display of the near-side guide image at the position of the road end on the near side of the guide branch point of the travel path traveling from the guide branch point, and the guide branch point of the travel path 5. The display device according to claim 1, wherein display control of the back side guide image is performed at a position of a road end on the side and the back side.   The control means gradually increases the size of each of the near-side guide image and the back-side guide image as the vehicle travels and the planned travel distance decreases. The display device according to any one of 5.   The display device according to claim 1, wherein the control unit displays the front side guide image and the back side guide image as virtual images.

Images