JP2018173399A - Display device and computer program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a display device and a computer program which can accurately notify the passengers to a vehicle of a route to chose.SOLUTION: A navigation device 3 determines the presence of a road sign 81 around a guide branch point 72 on a guide route, and corrects the part of an arrow 71 for guiding the direction of travel of a travelling path 74 on which a vehicle 2 travels after exiting the guide branch point 72 that overlaps with the road sign 81 as a non-drawn region 93, which is excluded from the drawing target. The navigation device 3 displays the corrected arrow 71.SELECTED DRAWING: Figure 8

Description

  The present invention relates to a display device and a computer program that support driving of a vehicle.

  2. Description of the Related Art Conventionally, various means have been used as information providing means for providing various information for performing vehicle driving support such as route guidance and obstacle warning to a vehicle occupant. For example, display on a liquid crystal display installed in a vehicle, sound output from a speaker, and the like. In recent years, as one of such information providing means, an image superimposed on a driver's surrounding environment (landscape) such as a head-up display (hereinafter referred to as HUD) or a window shield display (hereinafter referred to as WSD) is used. There is a device that provides information by displaying.

  For example, in Japanese Patent Laid-Open No. 2005-69800, when a route is guided by a navigation system, a landmark (convenience store or the like) that serves as a mark of the route is announced by a voice guidance device, and an actual scene in front of the vehicle using a HUD is disclosed. The display of a virtual image superimposed on the position of a landmark in the image is disclosed. Based on the position of the virtual image that can be seen through the front window, the occupant can grasp the position of the landmark that serves as a mark for turning left and right (that is, the position of the intersection that turns right and left).

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

  Here, in the technique described in Patent Document 1, a virtual image is displayed so as to be visually recognized by an occupant by being superimposed on the position of a landmark serving as a mark for turning left or right in a real scene. However, the virtual image to be displayed is simply overwritten on a part of the landmark, and the front-rear relationship between the landmark and the virtual image is unclear.

  The present invention has been made to solve the above-described conventional problems, and by clarifying the front-rear positional relationship between the guide image and the object in the actual scene, the traveling path to be traveled can be accurately determined by the vehicle occupant. It is an object of the present invention to provide a display device and a computer program capable of notifying the user.

  In order to achieve the above object, a first display device according to the present invention has exited the guidance branch point, peripheral object determination means for determining the presence or absence of a peripheral object existing around the guidance branch point in the guide route Of the guide image that guides the traveling direction of the traveling path in which the subsequent vehicle travels, a correction unit that corrects a portion that overlaps the peripheral object as a non-drawing area that is excluded from the drawing target, and the corrected guide image are displayed. Display means.

  The second display device according to the present invention is mounted on a vehicle, and displays a guidance image for guiding a traveling direction of a traveling path along which the vehicle travels after exiting a guidance branch point. A display device for visually recognizing an image superimposed on a surrounding environment, the guide image displaying means for displaying the guide image excluding a region overlapping with a peripheral object existing on the near side of the traveling path on which the vehicle travels. Have

  The computer program according to the present invention is a program for supporting driving of a vehicle. Specifically, a guide image that is mounted on a vehicle and that guides the traveling direction of a traveling path on which the vehicle travels after leaving the guidance branch point is superimposed on the surrounding environment in front of the line of sight of the occupant of the vehicle and visually recognized. The display device is caused to function as a guide image display unit that displays the guide image in which a region overlapping a peripheral object existing on the near side of the traveling path on which the vehicle travels is excluded from a superimposition target.

  According to the first display device of the present invention having the above-described configuration, the guidance image that guides the traveling direction after leaving the guidance branch point is excluded from the superimposition target in the region that overlaps the peripheral object. The vehicle occupant can clearly grasp the front-rear relationship between the position of the surrounding objects (for example, buildings, pedestrians, vehicles, roadside trees, etc.) included in the vehicle and the position of the guide image. As a result, it is possible to accurately notify the vehicle occupant of the traveling path to be followed.

  According to the second display device and the computer program according to the present invention having the above-described configuration, the guide image for guiding the traveling direction after leaving the guidance branch point exists in the vicinity of the traveling path on which the vehicle travels. Since the area overlapping with the object is excluded from the object to be superimposed, the occupant of the vehicle determines the front-rear relationship between the position of the surrounding object (eg, building, pedestrian, vehicle, street tree, etc.) included in the actual scene and the position of the guide image. Can be clearly understood. As a result, it is possible to accurately notify the vehicle occupant of the traveling path to be followed.

1 is a schematic configuration diagram of a superimposed image display device according to a first embodiment. It is the block diagram which showed the navigation apparatus which concerns on 1st Embodiment. It is a flowchart of the driving assistance processing program which concerns on 1st Embodiment. It is a figure which shows the state which displayed the virtual image the arrow which guides a forward movement. It is a figure which shows the state which displayed the virtual image the arrow which guides a left turn. It is a figure which shows the distance from the vehicle to the road sign installed in the guidance branch point. It is a figure which shows the position of the road sign on a front window. It is a figure which shows the state which displayed the virtual image which displayed the arrow which set the non-drawing area | region which overlaps with a road sign. It is a figure which shows the state which displayed the virtual image the arrow which set the non-drawing area | region which overlaps with a road sign and a building. It is a flowchart of the driving assistance processing program which concerns on 2nd Embodiment. It is the figure which showed the three-dimensional solid map produced | generated based on three-dimensional map information. It is the figure which showed the three-dimensional solid map after arrange | positioning a guidance image and a moving body. It is a figure explaining the moving body which has influence when the own vehicle advances along a traveling path. It is the figure which showed the example which correct | amends a guide image so that a virtual image is not displayed on the area | region which overlaps with an influence moving body. It is the figure which showed the example which correct | amends a guide image so that a virtual image is not displayed on the area | region which overlaps with an influence moving body. It is the figure which showed the example of the virtual image of the guidance image visually recognized from the passenger | crew of a vehicle. It is a flowchart of the sub process program of a display range determination process. It is a figure explaining the modification.

  Hereinafter, a first embodiment and a second embodiment in which a display device according to the present invention is embodied in a superimposed image display device 1 will be described in detail with reference to the drawings.

[First Embodiment]
First, a schematic configuration of the superimposed image display device 1 according to the first embodiment will be described with reference to FIG. FIG. 1 is a schematic configuration diagram of a superimposed image display device 1 according to the first embodiment.

  As shown in FIG. 1, a superimposed image display device 1 includes a navigation device 3 mounted on a vehicle 2 and a head-up display device (hereinafter referred to as HUD) 4 that is also mounted on the vehicle 2 and connected to the navigation device 3. And basically.

  Here, the navigation device 3 searches for a recommended route to the destination, displays a map image around the current position of the vehicle 2 based on the map data acquired from the server or stored in the memory, and is set. A function of performing traveling guidance along the guidance route together with the HUD 4 is provided. Note that the navigation device 3 does not have to have all of the above functions, and the present invention can be configured as long as it has at least a function of performing travel guidance along the guide route. Details of the structure of the navigation device 3 will be described later.

  On the other hand, the HUD 4 is installed inside the dashboard 5 of the vehicle 2 and has a liquid crystal display 6 as a video display surface on which video is displayed. Then, the image projected on the liquid crystal display 6 is reflected on the front window 8 in front of the driver's seat through the concave mirror 7 provided in the HUD 4 as will be described later, so that the passenger 9 of the vehicle 2 can visually recognize the image. ing. The video displayed on the liquid crystal display 6 includes information related to the vehicle 2 and various information used for assisting the driving of the occupant 9. For example, a warning for an object (another vehicle or a pedestrian) that is a warning target for the occupant 9, guidance information set by the navigation device 3, guidance information based on the guidance route (an arrow indicating a right / left turn direction, etc.), There are warnings to be displayed (such as rear-end collision warnings, speed limits, etc.), current vehicle speed, advertising images, information signs, map images, traffic information, news, weather forecasts, times, connected smartphone screens, TV programs, and the like.

  Moreover, in HUD4 of 1st Embodiment, when the passenger | crew 9 visually recognizes the image displayed on the liquid crystal display 6 by reflecting the front window 8, not the position of the front window 8 but the position of the front window 8 is shown to the passenger | crew 9. The image displayed on the liquid crystal display 6 at the previous distant position is configured to be visually recognized as a virtual image 10. In addition, the virtual image 10 is displayed superimposed on the scenery (real scene) in front of the vehicle. For example, the virtual image 10 is superimposed on an arbitrary object (road surface, building, moving object to be warned, etc.) located in front of the vehicle. It can also be displayed. The virtual image 10 that can be seen by the occupant 9 is an image displayed on the liquid crystal display 6, but the vertical direction and the horizontal direction may be reversed through the concave mirror 7 and other mirrors. Therefore, it is necessary to display an image on the liquid crystal display 6. In addition, the size is changed through the concave mirror 7.

  Here, regarding the position where the virtual image 10 is generated, more specifically, the distance L from the occupant 9 to the virtual image 10 (hereinafter referred to as the imaging distance) L, the curvature of the concave mirror 7 provided in the HUD 4, the liquid crystal display 6 and the concave mirror 7 It is possible to set as appropriate depending on the relative position of the. For example, if the curvature of the concave mirror 7 is fixed, the imaging distance L is determined by the distance (optical path length) along the optical path from the position where the image is displayed on the liquid crystal display 6 to the concave mirror 7. For example, the optical path length is set so that the imaging distance L is 2.5 m.

  In the first embodiment, the HUD 4 is used as means for displaying an image to be superimposed on the scenery in front of the vehicle, but other means may be used. For example, a window shield display (WSD) that displays an image on the front window 8 may be used. In WSD, an image may be displayed from a projector using the front window 8 as a screen, or the front window 8 may be a transmissive liquid crystal display. The image displayed on the front window 8 by the WSD is an image to be superimposed on the scenery in front of the vehicle, similar to the HUD 4.

  Furthermore, it is also possible to display a landscape in front of the vehicle imaged by the front camera 11 described later on a liquid crystal display in the vehicle and display an image superimposed on the landscape displayed in the same liquid crystal display. Even in this case, the image displayed on the liquid crystal display is an image that is superimposed on the scenery in front of the vehicle, similar to HUD4.

  A front camera 11 is installed above the front bumper of the vehicle, behind the rearview mirror, and the like. The front camera 11 is an imaging device having 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. Then, by performing image processing on the captured image captured by the front camera 11, the situation of the front environment (that is, the environment in which the virtual image 10 is superimposed) that is visually recognized by the occupant 9 through the front window 8 is detected. Is done. A sensor such as a millimeter wave radar may be used instead of the front camera 11.

  An in-vehicle camera 12 is installed on the upper surface of the instrument panel of the vehicle. The in-vehicle camera 12 is an imaging device having a camera using a solid-state imaging device such as a CCD, for example, and is installed with the optical axis direction facing the driver's seat. Then, the face of the occupant 9 sitting in the driver's seat is imaged. Then, image processing is performed on the captured image captured by the in-vehicle camera 12 to detect the eye position (gaze start point) and the gaze direction of the occupant 9.

  Next, a schematic configuration of the navigation device 3 constituting the superimposed image display device 1 will be described with reference to FIG. FIG. 2 is a block diagram showing the navigation device 3 according to the first embodiment.

  As shown in FIG. 2, the navigation device 3 according to the first embodiment includes a current position detection unit 13 that detects the current position of the vehicle 2 on which the navigation device 3 is mounted, and a data recording unit 14 that records various data. A navigation ECU 15 that performs various arithmetic processes based on the input information, an operation unit 16 that receives operations from the user, and a liquid crystal display that displays facility information relating to a map around the vehicle and facilities to the user. 17, a speaker 18 that outputs voice guidance related to route guidance, a DVD drive 19 that reads a DVD as a storage medium, and an information center such as a VICS (registered trademark: Vehicle Information and Communication System) center. And a communication module 20. The navigation device 3 is connected to the HUD 4, the front camera 11, the in-vehicle camera 12, and the like described above via an in-vehicle network such as CAN.

Below, each component which the navigation apparatus 3 has is demonstrated in order.
The current position detection unit 13 includes a GPS 21, a vehicle speed sensor 22, a steering sensor 23, a gyro sensor 24, and the like, and can detect the current vehicle position, direction, vehicle traveling speed, current time, and the like. . Here, in particular, the vehicle speed sensor 22 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 15. And navigation ECU15 calculates the rotational speed and moving distance of a driving wheel by counting the generated pulse. In addition, it is not necessary for the navigation device 3 to include all the four types of sensors, and the navigation device 3 may include only one or a plurality of types of sensors.

  The data recording unit 14 is also a hard disk (not shown) as an external storage device and a recording medium, and a driver for reading the map information DB 31 and a predetermined program recorded on the hard disk and writing predetermined data on the hard disk And a recording head (not shown). The data recording unit 14 may include a flash memory, a memory card, an optical disk such as a CD or a DVD, instead of the hard disk. The map information DB 31 may be stored in an external server, and the navigation device 3 may be configured to acquire by communication.

  Here, the map information DB 31 stores two-dimensional map information 33 and three-dimensional map information 34, respectively. The two-dimensional map information 33 is map information used in a general navigation device 3. For example, link data regarding roads (links), node data regarding node points, facility data regarding facilities, and search data used for route search processing. , Map display data for displaying a map, intersection data for each intersection, search data for searching for a point, and the like.

  On the other hand, the 3D map information 34 is not only a plane but also height information, and is map information for expressing a map in 3D. In particular, in this embodiment, the map information is used to express the outline of the road, the shape of the building, the lane markings of the road, traffic lights, road signs, signs, etc. in three dimensions. The three-dimensional map information 34 may include information other than the outline of the road, the shape of the building, the lane marking of the road, the traffic light, the road sign, and the signboard. For example, information for three-dimensional representation of roadside trees and road markings may also be included. Further, as the three-dimensional map information 34, a map itself in which each object such as the outline of the road, the shape of the building, the road line, the traffic light, the road sign, and the signboard is arranged in the three-dimensional space may be stored. And information necessary for expressing the map in three dimensions (three-dimensional coordinate data such as road outlines, building shapes, road lane markings, traffic lights, road signs, signboards, etc.) may be stored. . When the information necessary for representing the map in three dimensions is stored, the navigation device 3 uses the information stored as the three-dimensional map information 34 at the necessary timing to represent the target area in three dimensions. Generate the represented map.

  The navigation device 3 uses the two-dimensional map information 33 for general functions such as displaying a map image on the liquid crystal display 17 and searching for a guidance route. Further, as will be described later, the processing related to the display of the guide image is performed using the 3D map information 34 in addition to the 2D map information 33.

  On the other hand, the navigation ECU (Electronic Control Unit) 15 is an electronic control unit that controls the entire navigation device 3, and includes a CPU 41 as an arithmetic device and a control device, and a working memory when the CPU 41 performs various arithmetic processes. Read out from the ROM 43 and the ROM 43 in which a RAM 42 that stores route data when a route is searched, a control program, and a driving support processing program (FIG. 3) described later are recorded. An internal storage device such as a flash memory 44 for storing the program is provided. The navigation ECU 15 has various means as processing algorithms. For example, the peripheral object determining means determines the presence / absence of a peripheral object existing around the guidance branch point in the guidance route. The correcting means corrects a portion overlapping with a peripheral object as a non-drawing area that excludes a drawing target from the guidance image that guides the traveling direction of the traveling path along which the vehicle travels after leaving the guidance branch point. The display means displays the corrected guide image.

  The operation unit 16 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 15 performs control to execute various corresponding operations based on switch signals output by pressing the switches. The operation unit 16 may have a touch panel provided on the front surface of the liquid crystal display 17. Moreover, you may have a microphone and a speech recognition apparatus.

  The liquid crystal display 17 includes a map image including a road, traffic information, operation guidance, an operation menu, key guidance, a guidance route from the departure point to the destination, guidance information along the guidance route, news, weather forecast, Time, mail, TV program, etc. are displayed. In the first embodiment, since the HUD 4 is provided as information display means, the liquid crystal display 17 may be omitted if the map image or the like is displayed on the HUD 4.

  Further, the speaker 18 outputs voice guidance for guiding traveling along the guidance route and traffic information guidance based on an instruction from the navigation ECU 15.

  The DVD drive 19 is a drive that can read data recorded on a recording medium such as a DVD or a CD. Based on the read data, music and video are reproduced, the map information DB 31 is updated, and the like. A card slot for reading / writing a memory card may be provided in place of the DVD drive 19.

  The communication module 20 is a communication device for receiving traffic information composed of information such as traffic jam information, regulation information, traffic accident information transmitted from a traffic information center, for example, a VICS center or a probe center, For example, a mobile phone or DCM is applicable.

  Next, a driving support processing program executed in the navigation device 3 in the superimposed image display device 1 having the above configuration will be described with reference to FIG. FIG. 3 is a flowchart of the driving support processing program according to the first embodiment. Here, the driving support processing program is a program that is executed after the ACC power supply (accessory power supply) of the vehicle is turned on and guides the occupant 9 of the vehicle 2 in the direction of travel of the vehicle at the guidance branch point using the HUD 4. . Note that the program shown in the flowchart of FIG. 3 below is stored in the RAM 42 or ROM 43 provided in the navigation device 3 and is executed by the CPU 41.

  The “guidance branch point” is a branch point where it is necessary to guide the traveling direction of the vehicle when the vehicle travels along the guidance route set in the navigation device 3. Intersections such as T-junctions and Y-junctions fall under this category. However, the guidance branch point is not limited to an intersection where two roads intersect, and may be a branch part where one road branches into a plurality of roads, for example.

  First, in the driving support processing program, in step (hereinafter abbreviated as “S”) 1, the CPU 41 determines whether or not a guidance branch point exists within a predetermined distance (for example, 700 m) ahead in the traveling direction of the vehicle 2. Specifically, the CPU 41 is based on the guidance route currently set in the navigation device 3, the map information stored in the map information DB 31, and the current position of the vehicle 2 detected based on the current position detection unit 13. Judgment. The guide route is determined by route search processing using a known Dijkstra method when the user sets a destination at the start of traveling, for example.

  In addition, the means for determining whether or not a guidance branch point exists at a predetermined distance ahead in the traveling direction of the vehicle 2 in S1 is not limited to the above method. For example, the CPU 41 collates the captured image captured by the front camera 11 with the 3D map information 34 to identify the current position of the vehicle in the 3D map information 34, and the guidance branch point is ahead in the traveling direction. It may be determined whether or not it exists.

  And when it determines with a guidance branch point existing in the predetermined distance ahead of the advancing direction of the vehicle 2 (S1: YES), it transfers to S2. On the other hand, when it is determined that there is no guidance branch point at a predetermined distance ahead in the traveling direction of the vehicle 2 (S1: NO), the process waits until it is determined that a guidance branch point exists. In this case, the CPU 41 repeatedly executes the process of S1, for example, with a predetermined time interval.

  In S <b> 2, the CPU 41 determines whether there is a road sign in particular as a peripheral object around the guidance branch point in front of the vehicle in the traveling direction. The determination process in S <b> 2 may be determined by performing image processing on a captured image captured by the front camera 11, or may be determined based on the current position of the vehicle and the three-dimensional map information 34. The three-dimensional map information 34 includes information for specifying the installation position of the road sign in advance.

  In addition to the road signs, the “surrounding objects” to be determined in S2 may include not only road signs but also artificial objects such as guardrails, curve mirrors, utility poles, buildings, and windbreak forests. good. Furthermore, the peripheral object is not limited to a fixed object, and may be a moving object such as a person. Hereinafter, a road sign will be described as an example of a peripheral object.

  And when it determines with a road sign existing around the guidance branch point ahead of the advancing direction of a vehicle (S2: YES), it transfers to S5. On the other hand, when it is determined that there is no road sign around the guidance branch point ahead of the vehicle in the traveling direction (S2: NO), the process proceeds to S3.

  In S3, the CPU 41 generates, as an image to be displayed on the liquid crystal display 6 of the HUD 4, in particular an arrow image that guides the traveling direction of the traveling path on which the vehicle travels after leaving the guidance branch point. The shape of the generated arrow image is determined by the traveling direction of the vehicle and the shape of the guidance branch point. Note that the image displayed on the liquid crystal display 6 is visually recognized as a virtual image 10 by being superimposed on the scenery in front of the vehicle by the vehicle occupant (see FIG. 1).

  In S3, the CPU 41 corrects the generated arrow image. Specifically, the tip side of the arrow is extended toward the tip side in the traveling direction along the traveling path, and the length of the entire arrow is made longer.

  Thereafter, in S4, the CPU 41 transmits a control signal to the HUD 4, and displays the image of the arrow generated and corrected in S3 on the liquid crystal display 6 of the HUD 4. As a result, a virtual image 10 with an arrow as a guide image for guiding the traveling direction of the traveling path along which the vehicle travels after leaving the guidance branch point is visually recognized by the vehicle occupant superimposed on the scenery in front of the vehicle.

Here, FIG. 4 is a diagram showing a virtual image of an arrow visually recognized by a vehicle occupant when the traveling direction of the traveling path in which the vehicle travels after leaving the guidance branch point is the straight traveling direction.
As shown in FIG. 4, over the front window 8 of the vehicle, an arrow 71 (arrow image) indicating that the vehicle is traveling forward is displayed as a virtual image so as to be superimposed on the road surface of the traveling road 73. Further, the virtual image of the arrow 71 passes through the guide branch point 72 that is a cross road, and extends along the traveling path 73 toward the tip of the traveling direction. The arrow 71 extends, for example, to the upper end of the displayable area of the HUD 4. As a result, the occupant who has visually recognized the virtual image of the arrow 71 shown in FIG. 4 can easily grasp that the vehicle travels straight ahead along the guidance branch point 72.

FIG. 5 is a diagram showing a virtual image of an arrow visually recognized by a vehicle occupant when the traveling direction of the traveling path in which the vehicle travels after leaving the guidance junction is the left direction (that is, left turn). is there.
As shown in FIG. 5, over the front window 8 of the vehicle, over the traveling path 74 after turning left from the traveling path 73 to the guide branch point 72, it is superimposed on a position spaced upward from the road surface, An arrow 71 (arrow image) indicating that the vehicle proceeds to the left is displayed as a virtual image. Moreover, the virtual image of the arrow 71 is extended toward the tip of the advancing direction along the advancing path 74 after turning left at the guidance branch point 72. The arrow 71 extends, for example, to the left end of the displayable area of the HUD 4. As a result, the occupant who has visually recognized the virtual image of the arrow 71 shown in FIG. 5 can easily grasp that he / she turns left at the guidance branch point 72 and exits to the traveling path 74.

  On the other hand, in S <b> 5, the CPU 41 acquires the type and size of the road sign installed around the guidance branch point 72 (actual size, not the size in the captured image). Specifically, the CPU 41 performs image processing on the road sign image captured by the front camera 11 and determines the type and size of the road sign based on features such as a shape and a design. For example, in Japan, the shape (size), design, etc. of road signs are defined by instructions (signs ordinances) related to road signs, lane markings, and road markings. The map information DB 31 stores in advance information on shapes and symbols for each type of road sign specified by the signing decree, and the CPU 41 extracts the data of the corresponding road sign so that the area around the guidance branch 72 The type and size of road signs installed in Note that the type and size of the road sign may be acquired using the three-dimensional map information 34. The three-dimensional map information 34 includes information for specifying the type and size of the road sign in addition to the installation position of the road sign in advance.

  Next, in S6, the CPU 41 calculates a distance from the vehicle 2 to a road sign installed around the guidance branch point (hereinafter referred to as a first distance). Below, the detail of the calculation method of the 1st distance of said S6 is demonstrated.

Here, FIG. 6 shows the first distance D1 from the vehicle 2 to the road sign 81 installed around the guidance branch point 72.
As shown in FIG. 6, in the first embodiment, the first distance D <b> 1 is particularly a distance from the position X of the head of the occupant 9 of the vehicle 2 to the road sign 81. The in-vehicle camera 12 is installed on the instrument panel or ceiling of the vehicle 2 as described above, and is installed with the imaging direction facing the driver's seat, and the captured image includes the face of the driver 9 who is the driver. It becomes. Therefore, the CPU 41 can detect the position X of the head of the occupant 9 based on the captured image of the in-vehicle camera 12.

  Further, the CPU 41 compares the size of the road sign 81 acquired in S5 with the size of the road sign 81 in the captured image captured by the front camera 11, and the linear distance connecting the front camera 11 and the road sign 81. Is calculated. The size of the road sign 81 captured by the front camera 11 becomes smaller as the first distance D1 between the road sign 81 and the vehicle 2 is longer. Therefore, the CPU 41 can calculate the linear distance between the front camera 11 and the road sign 81 by comparing the size of the road sign 81 in the captured image with the actual size of the road sign 81. is there. If the front camera 11 is a stereo camera, the linear distance between the front camera 11 and the road sign 81 can be calculated directly from the captured image. The CPU 41 adds the distance between the front camera 11 and the head position X of the occupant 9 to the calculated linear distance, and calculates a linear distance D3 that connects the head position X of the occupant 9 and the road sign 81. To do.

  Further, the CPU 41 calculates an angle θ formed by a straight line connecting the head position X of the occupant 9 and the road sign 81 and the width direction of the vehicle 2. Specifically, the CPU 41 first specifies the position of the road sign 81 in the captured image by performing image processing on the captured image captured by the front camera 11. Thereafter, the angle θ is calculated based on the identified position of the road sign 81 and the linear distance between the front camera 11 and the road sign 81. Then, the CPU 41 calculates a first distance D1 from the position X of the head of the occupant 9 to the road sign 81 based on the linear distance D3 and the angle θ.

  In S6, the first distance D1 and the linear distance D3 may be calculated by a method other than the method described above. For example, the CPU 41 calculates the linear distance D3 and the first distance D1 based on the position information of the road sign 81 included in the three-dimensional map information 34 and the current position of the vehicle 2 detected by the current position detection unit 13. Also good. Further, the CPU 41 can also calculate the angle θ based on the line of sight of the occupant 9 detected by the image processing of the in-vehicle camera 12. Specifically, by first processing a captured image of the in-vehicle camera 12, a line-of-sight start point (eye position) and a line-of-sight direction are detected. As a method for detecting the line-of-sight start point and the line-of-sight direction, for example, there is a method of detecting using the center position of the pupil or the Purkinje image measured by the corneal reflection method. Since these methods are already known techniques, details are omitted. Thereafter, when the sight line of the occupant 9 is concentrated on the traveling path 74 that the occupant 9 guides, the CPU 41 can calculate the angle θ based on the sight line direction on the assumption that the occupant is gazing at the road sign 81.

  In S6, when there are a plurality of road signs around the guidance branch point 72, the CPU 41 calculates the first distance D1 for each existing road sign. However, not all road signs are targeted, but only road signs installed on the traveling path 74 side of the guidance branch point 72 are targeted. For example, in the example shown in FIG. 6, when the guidance branch point 72 is turned left and guided to travel along the traveling path 74, road signs 81 and 82 installed on the traveling path 74 side of the guidance branch point 72 have the first distance. This is a target for calculating D1. Moreover, the road sign 83 installed on the left sidewalk of the travel path 73 is also a target. On the other hand, the road sign 84 on the traveling path 75 side that turns right at the guidance branch point 72 that deviates from the guidance route is excluded from the target for calculating the first distance D1. However, a road sign other than a road sign (for example, a road sign 84 in FIG. 6) installed on the traveling path 74 side of the guidance branch point 72 may be a target for calculation of the first distance D1.

  Thereafter, in S <b> 7, the CPU 41 calculates a second distance D <b> 2 that is a distance between the vehicle 2 and the road end Y of the traveling path 74 after leaving the guidance branch point 72. The road edge Y is the road edge on the guide branch point 72 side of the traveling path 74 and the position closest to the front (vehicle side). Specifically, first, the CPU 41 detects the position of the road edge Y of the traveling path 74 based on the map information. Next, the CPU 41 calculates the second distance D2 based on the position of the road edge Y of the traveling path 74, the current position of the vehicle 2, and the position X of the head of the occupant 9. The first distance D1 and the second distance D2 described above are based on the position X of the head of the occupant 9. However, the present invention is not limited to this, and the front camera 11 of the vehicle 2, the front end of the vehicle, the position of the vehicle center, etc. It is also good.

  Next, in S8, the CPU 41 stands on the front side of the traveling path 74 after leaving the guidance branch point 72 based on the first distance D1 calculated in S6 and the second distance D2 calculated in S7. It is determined whether a road sign exists. As shown in FIG. 6, the first distance D1 of the road sign 81 standing on the near side of the traveling path 74 is equal to or less than the second distance D2 of the road end Y of the traveling path 74. On the other hand, the first distance D1 of the road sign 82 standing on the far side of the traveling path 74 is longer than the second distance D2. Therefore, the CPU 41 can determine whether or not the road sign exists on the near side of the traveling path 74 with the second distance D2 as a reference.

  In addition to the first distance D <b> 1 and the second distance D <b> 2, the CPU 41 determines the distance D <b> 4 from the position X of the head of the occupant 9 shown in FIG. Using the road width W1 or the like, it may be determined whether the road signs 81 and 82 are standing on the front side or the back side of the traveling path 74. For example, the CPU 41 can compare the distance obtained by adding the road width W <b> 1 to the second distance D <b> 2 and the first distance D <b> 1 of the road sign 82 to determine whether the vehicle is present on the front side of the traveling path 74. . The CPU 41 can detect the road width W1 based on the map information.

  If it is determined that there is a road sign standing on the front side of the traveling path 74 after exiting the guidance branch point 72 (S8: YES), the process proceeds to S9. On the other hand, when it is determined that there is no road sign standing on the front side of the traveling path 74 after exiting the guidance branch point 72 (S8: NO), the process proceeds to S3. Thereafter, as described above, as an image to be displayed on the liquid crystal display 6 of the HUD 4, an image of an arrow for guiding the traveling direction of the traveling path on which the vehicle travels after leaving the guidance branch point is generated, and the liquid crystal display 6 is displayed. Note that the tip of the arrow extends along the traveling path toward the tip in the traveling direction.

  On the other hand, in S9, the CPU 41 stands for the road sign standing on the front side of the traveling path 74 after exiting the guidance branch point 72 (for example, the road sign 81 in the example shown in FIG. 6, hereinafter referred to as the target road sign). ) As a target road sign to be displayed in association with the virtual image 10 of the arrow displayed as the guide image. In order to clarify that the target road sign determined in S9 is installed on the front side of the virtual image 10 of the arrow, the following processing is executed.

  In S <b> 10, the CPU 41 calculates the position of the target road sign reflected on the front window 8. More specifically, when the occupant 9 sees the target road sign through the front window 8, the CPU 41 calculates a position where the line of sight of the occupant 9 looking at the target road sign and the front window 8 overlap.

FIG. 7 shows the position 91 of the road sign 81 on the front window 8. The position 91 is, for example, a position when the passenger 9 sees the center in the vertical direction of the road sign 81.
First, the CPU 41 calculates a position 91 based on the angle θ, the position X of the occupant's head, and the vehicle information. The position X of the occupant's head here is, for example, a position in the front-rear direction, the left-right direction, and the up-down direction of the vehicle 2 (ie, a position in a three-dimensional space). The vehicle information is information such as the size, arrangement (distance from the driver's seat), inclination angle, and the like of the front window 8, and is stored in the data recording unit 14 in advance. Then, the CPU 41 calculates, as the position 91 of the road sign 81 on the front window 8, the position where the straight line extending in the horizontal direction at an angle θ with respect to the vehicle width direction and the front window 8 overlap at the position X of the head.

  Subsequently, in S11, when the occupant 9 views the target road sign, the CPU 41 calculates a region where the virtual image of the arrow 71 that is the guide image overlaps with the target road sign, and sets the overlapping region as a non-drawing region that is excluded from the drawing target. To do. Specifically, in S11, the CPU 41 executes the following processing.

  First, the CPU 41 calculates the size of the target road sign displayed on the front window 8 based on the straight line distance D3 connecting the position X of the passenger's head and the target road sign. Next, the CPU 41 calculates the position and size of the target road sign displayed on the front window 8 viewed from the occupant 9 based on the calculated size of the target road sign and the position of the target road sign calculated in S10 described above. To do. Further, the CPU 41 determines a region where the virtual image of the arrow 71 and the target road sign overlap when the occupant 9 sees the target road sign based on the position and size of the target road sign and the position and size displayed by the arrow 71. calculate. Then, the CPU 41 sets the calculated area as a non-drawing area where the arrow 71 is not drawn. Thereafter, when the CPU 41 displays the image of the arrow 71 on the liquid crystal display 6 of the HUD 4 as described later, the CPU 41 performs display control so that the virtual image of the arrow 71 is not displayed in the set non-drawing area.

  Subsequently, in S4, the CPU 41 first generates, as an image to be displayed on the liquid crystal display 6 of the HUD 4, an arrow image that guides the traveling direction of the traveling path on which the vehicle travels after exiting the guidance branch point. The shape of the generated arrow image is determined by the traveling direction of the vehicle and the shape of the guidance branch point. Note that the image displayed on the liquid crystal display 6 is visually recognized as a virtual image 10 by being superimposed on the scenery in front of the vehicle by the vehicle occupant (see FIG. 1).

  Further, in S4, the CPU 41 sets an arrow image lacking the corresponding area so that a virtual image is not displayed in the non-drawing area set in S11 among the generated arrow images. Thereafter, the CPU 41 transmits a control signal to the HUD 4 and displays an image of the arrow after being generated and corrected on the liquid crystal display 6 of the HUD 4. As a result, the virtual image of the arrow removed from the drawing target for the portion overlapping the target road sign is displayed.

  Here, FIG. 8 shows a state in which the non-drawing area 93 is set, that is, the virtual image of the arrow 71 corrected based on the non-drawing area 93 is displayed. As shown in FIG. 8, the virtual image of the arrow 71 is corrected (set) in a non-drawing area 93 at a portion overlapping the pole 81 </ b> A of the road sign 81. Accordingly, the virtual image of the arrow 71 is displayed so as to pass through the back side (rear side) of the pole 81 </ b> A of the road sign 81 standing on the front side of the traveling path 74 in the non-drawing area 93.

  In addition, since a non-drawing area is not set for the road sign 82 on the far side of the traveling path 74, the virtual image of the arrow 71 is displayed so as to overlap with the front side of the road sign 82. Thereby, the passenger | crew 9 can grasp | ascertain the positional relationship before and behind the road signs 81 and 82 and the virtual image of the arrow 71, and can recognize the advancing path 74 which should advance correctly. The CPU 41 continuously displays the virtual image of the arrow 71 until it passes through the guidance branch point. Then, the process ends after passing through the guidance branch point. Thereafter, when the next guidance branch point approaches, the processes after S1 are executed again.

  In the example shown in FIG. 8 described above, a non-drawing area is set for the road signs 81 and 82, but the same processing is performed for other peripheral objects such as guardrails, curve mirrors, buildings, and windbreaks. Can be executed. For example, as shown in FIG. 9, when a building 85 stands on the near side of the traveling path 74, the CPU 41 may set a portion where the virtual image of the arrow 71 and the building 85 overlap in the non-drawing area 94. In the example shown in FIG. 9, the arrow 71 is displayed as if the tip portion is turned to the back side of the building 85. Thereby, the passenger | crew 9 can grasp | ascertain the advancing path 74 which passes the back | inner side of the building 85 using the building 85 as a mark, and generation | occurrence | production of the situation which makes a wrong way is suppressed.

  As described above in detail, according to the superimposed image display device 1 and the computer program executed by the superimposed image display device 1 according to the first embodiment, the arrow 71 guides the traveling direction after turning left at the guidance branch point 72. The virtual image is corrected so that a portion overlapping the road sign 81 existing around the guidance branch point 72 is a non-drawing region 93. Furthermore, the corrected virtual image of the arrow 71 is displayed by aligning the position of the non-drawing area 93 with the position of the road sign 81. As a result, a part of the road sign 81 (the pole 81 </ b> A) is visually recognized so as to be positioned in front of the corrected arrow 71 in the non-drawing area 93. Thereby, the occupant 9 can recognize the front-rear relationship between the position of the road sign 81 and the position of the virtual image of the arrow 71 after correction, and can accurately grasp the traveling path 74 to be traveled.

[Second Embodiment]
Next, a superimposed image display apparatus according to the second embodiment will be described with reference to FIGS. In the following description, the same reference numerals as those of the superimposed image display device 1 according to the first embodiment in FIGS. 1 to 9 are the same as or equivalent to those of the superimposed image display device 1 according to the first embodiment. The part is shown.

The schematic configuration of the superimposed image display apparatus according to the second embodiment is substantially the same as that of the superimposed image display apparatus 1 according to the first embodiment. Various control processes are substantially the same control processes as those of the superimposed image display apparatus 1 according to the first embodiment.
However, the superimposed image display device 1 according to the first embodiment calculates a non-drawing area based on the positional relationship between the vehicle and the peripheral object, and determines the shape of the guide image to be displayed from the calculated non-drawing area. In contrast, the superimposed image display apparatus according to the second embodiment is different from the first embodiment in that the shape of the guide image to be displayed is determined by placing a model of the guide image on the three-dimensional map information 34. This is different from the superimposed image display device 1.

  Hereinafter, a driving support processing program executed in the superimposed image display apparatus according to the second embodiment will be described with reference to FIG. FIG. 10 is a flowchart of the driving support processing program according to the second embodiment.

  First, in S21, the CPU 41 determines whether or not a guidance branch point exists within a predetermined distance (for example, 700 m) ahead of the traveling direction of the vehicle 2. The details are the same as in S1, and will be omitted.

  And when it determines with a guidance branch point existing in the predetermined distance ahead of the advancing direction of the vehicle 2 (S21: YES), it transfers to S22. On the other hand, when it is determined that there is no guidance branch point at a predetermined distance ahead in the traveling direction of the vehicle 2 (S21: NO), the system waits until it is determined that a guidance branch point exists. In this case, for example, the CPU 41 repeatedly executes the process of S21 with a predetermined time interval.

  In S <b> 22, the CPU 41 obtains a captured image obtained by capturing a landscape in front of the vehicle with the front camera 11. Further, the CPU 41 reads out the three-dimensional map information 34 around the current position of the vehicle from the map information DB 31. The three-dimensional map information 34 includes information necessary for representing the map in three dimensions (three-dimensional coordinate data such as road contours, building shapes, road markings, traffic lights, road signs, signboards, etc. Etc.) are stored.

  Next, in S23, the CPU 41 generates a three-dimensional three-dimensional map (a map representing buildings, roads, and the like in three dimensions) based on the three-dimensional map information 34 read out in S22. Specifically, a three-dimensional solid map is generated by executing the following processing.

  First, the CPU 41 acquires an object (shape data) modeling a road, a building, a road sign, a signboard, and the like in a three-dimensional space from the three-dimensional map information 34. Note that the CPU 41 may be configured to acquire a corresponding object from among objects that have been modeled in advance and stored in the DB, or may be configured to create a new object by performing modeling in S23. When modeling is performed, information for identifying the shape and position of a structure (a building, a road sign, a signboard, etc.) around a road or a guidance branch point is acquired from the three-dimensional map information 34, and the acquired information Based on the modeling process.

  Here, modeling is a process for creating the shape of a model (object) in a three-dimensional space. More specifically, determination of coordinates of each vertex, determination of parameters of an equation expressing a boundary line and a surface, etc. I do. Since modeling is a known technique, details are omitted. Then, the modeled object (shape data) is expressed in a form such as a “wire frame model” that displays only the sides and a “surface model” that displays a surface according to the application. A three-dimensional space in which each object is formed is defined as a three-dimensional solid map.

  In S23, the CPU 41 also specifies the current position and direction of the host vehicle in the generated three-dimensional 3D map based on the parameters detected by the current position detection unit 13. In order to facilitate the process of collating a 3D solid map and a captured image, which will be described later, the current position of the host vehicle is the installation position of the front camera 11 installed in the host vehicle, and the direction of the host vehicle is the front position. The direction of the optical axis of the camera 11 is desirable.

  Here, FIG. 11 is a diagram showing an example of the three-dimensional map 101 generated in S23. As shown in FIG. 11, each object 102 indicating a road or a structure (a building, a road sign, a signboard, etc.) is arranged in the three-dimensional space on the three-dimensional three-dimensional map 101. In particular, each object 102 indicating a road or a structure around the guidance branch point 103 ahead of the traveling direction of the vehicle is arranged. In addition, an own vehicle position mark 104 indicating the current position and direction of the own vehicle is also arranged on the three-dimensional three-dimensional map 101.

  Subsequently, in S24, the CPU 41 collates the captured image acquired in S22 with the three-dimensional solid map generated in S23, and determines whether or not there is a deviation between them. Specifically, the CPU 41 uses the current position of the host vehicle set in the three-dimensional three-dimensional map (more specifically, the installation position of the front camera 11 and also considers the height) as a viewpoint, and the direction of the host vehicle is viewed. The direction is set, and an image when the three-dimensional stereoscopic map is viewed with the set viewpoint and line-of-sight direction is collated with the captured image. The three-dimensional solid map does not include moving objects such as pedestrians and other vehicles, and some fixed objects such as trees. Therefore, the deviation caused by them is basically ignored and determined. Further, the fact that no deviation occurs is not limited to the case where the two are completely coincident with each other, and it is desirable that no deviation occurs even when there is a deviation within a certain allowable range.

  If it is determined that there is no deviation between the captured image acquired in S22 and the three-dimensional three-dimensional map generated in S23 (S24: YES), the process proceeds to S26. On the other hand, when it is determined that there is a deviation between the captured image acquired in S22 and the three-dimensional solid map generated in S23 (S24: NO), the process proceeds to S25.

  In S25, the CPU 41 determines the current position and direction of the host vehicle set in the 3D map so that the gap between the captured image acquired in S22 and the 3D map generated in S23 is small. to correct. Note that the current position and direction of the host vehicle in the three-dimensional three-dimensional map may be fixed and the object side may be corrected. Accordingly, it is possible to specify an accurate current position and direction (more specifically, an installation position and an optical axis direction of the front camera 11) of the own vehicle in the three-dimensional stereoscopic map. Thereafter, the process returns to S24.

  On the other hand, in S26, the CPU 41 places a guidance image for guidance at the guidance branch point on the three-dimensional stereoscopic map generated in S23. In the second embodiment, an image of an arrow that guides the traveling direction of the traveling path in which the vehicle travels after leaving the guidance branch point is referred to as a guidance image. Then, a predetermined distance (for example, 1 m) above the road surface on which the vehicle travels after leaving the guidance branch point (for example, when turning left at the guidance branch point, the road connected to the left side of the guidance branch point) A guide image is arranged in a state of being vertically arranged at a position separated from each other.

  Next, in S27, the CPU 41 detects a moving object (moving object) located around the guidance branch point. The moving objects to be detected are, for example, pedestrians, bicycles, and vehicles, and are detected by performing image processing on the captured image captured by the front camera 11. The CPU 41 also specifies the position, type, and shape of the moving object detected based on the captured image and the subsequent traveling path (traveling direction).

  Subsequently, in S28, the CPU 41 arranges the moving object model (virtual object) detected around the guidance branch point at the position detected with respect to the three-dimensional solid map generated in S23. When a plurality of moving objects are detected, all the detected moving objects are arranged on the three-dimensional solid map. Note that the virtual body arranged with respect to the three-dimensional solid map has a shape imitating the shape of an actual moving object. For example, if it is a pedestrian, it will be set as the virtual body which has the shape of a person, and if it is a vehicle, it will be set as the virtual body which has the shape of a vehicle. The size is also made to correspond to the size of the actual moving object. However, if the moving object is indefinite (the shape and type cannot be specified), the virtual object is exceptionally the smallest rectangular parallelepiped including all of the moving objects.

  Here, FIG. 12 is a diagram in which a guide image 105 and virtual bodies 106 and 107 of moving objects are respectively arranged on the three-dimensional three-dimensional map 101. In the example shown in FIG. 12, the virtual body 106 indicates a pedestrian and the virtual body 106 indicates a bicycle. That is, it is shown that a pedestrian and a bicycle exist as moving objects around the guidance branch point 103, respectively.

  Thereafter, in S29, the CPU 41 determines whether or not there is a “moving object having an influence when the host vehicle travels along the traveling path” among the moving objects in which the virtual object is arranged with respect to the three-dimensional three-dimensional map. Determine. Specifically, a moving object in which the traveling path of the vehicle overlaps with a future traveling path is determined as a “moving object having an influence when the host vehicle travels along the traveling path”.

  For example, as shown in FIG. 13, when the pedestrian travel path (travel direction) modeled by the virtual body 106 is a travel path crossing a road connected to the left side of the guidance branch point, the future of the pedestrian And the traveling path 108 of the host vehicle overlap. Therefore, it is determined that the pedestrian modeled by the virtual body 106 is “a moving object having an influence when the host vehicle travels along the traveling path”. On the other hand, the traveling path (traveling direction) of the bicycle modeled by the virtual body 107 is a traveling path that moves in a direction away from the guide branch point 103 without crossing the road connected to the left side of the guide branch point. The future traveling path of the bicycle and the traveling path 108 of the own vehicle do not overlap. Therefore, it is determined that the bicycle modeled by the virtual body 107 is not a “moving object having an influence when the host vehicle travels along the traveling path”.

  Then, when it is determined that there is a “moving object having an influence when the host vehicle travels along the traveling path” among the moving objects on which the virtual object is arranged with respect to the three-dimensional stereoscopic map (S29: YES), the process proceeds to S30. On the other hand, when it is determined that none of the moving objects on which the virtual body is arranged with respect to the three-dimensional three-dimensional map are “moving objects having an influence when the host vehicle travels along the traveling path” ( In S29: NO), the process proceeds to S31.

  In S30, the CPU 41 displays a guidance image in a manner that does not overlap with a moving object that is determined to have an influence when the vehicle travels along the traveling path (hereinafter referred to as an influence moving object). The guide image arranged in is corrected. Specifically, the CPU 41 first acquires an image (hereinafter referred to as a visual image) obtained by visually recognizing a three-dimensional three-dimensional map in which moving objects and guide images are arranged from the viewpoint of the vehicle (occupant). In particular, the viewpoint of the vehicle is the eye position of the vehicle occupant. The position of the occupant's eyes can be detected by the in-vehicle camera 12. As a result of the comparison between the captured image and the three-dimensional stereoscopic map in S24, The position of the occupant's eyes in the three-dimensional stereoscopic map is specified by combining the detection results of the in-vehicle camera 12. The visual image shows each object (a road, a building, a road sign, a signboard, a virtual body of a moving object, a guidance image, etc.) arranged on the three-dimensional solid map from the viewpoint of the vehicle (occupant) in the traveling direction of the vehicle. It is an image that can be seen when viewed, and corresponds to the field of view of the vehicle occupant. However, as long as the visually recognized image is an image visually recognized from the viewpoint of the vehicle (occupant), the image is not necessarily visually recognized in the traveling direction of the vehicle. However, at least the guidance image needs to be included in the visually recognized image. Then, when the virtual image 106 of the influence moving object and the guide image overlap as shown in FIG. 12 in the visually recognized image acquired as described above, any one of the following corrections (1) and (2) I do.

(1) The guide image arranged on the three-dimensional stereoscopic map is corrected to a guide image that lacks the area overlapping the virtual body of the affected moving object so that the virtual image is not displayed in the area overlapping the affected moving object. For example, as shown in FIG. 15, it is assumed that an arrow lacks a region where the guide image 105 and the virtual object 106 of the affected moving object overlap in the visually recognized image. However, particularly in the case where the tip of the arrow overlaps the virtual object 106 of the affected moving object, the tip of the arrow is displayed by extending or contracting the tip of the arrow.
(2) The guide image arranged on the three-dimensional map is corrected to a guide image having a shape that bypasses the virtual body of the affected moving object so that the virtual image is not displayed in the region overlapping with the affected moving object. For example, as shown in FIG. 16, the guide image 105 is a curved arrow so as not to overlap the virtual body 106 of the affected moving object in the visually recognized image.

  Note that, in the second embodiment, the process of S30 is performed only for an affected object located on the far side of the traveling path of the own vehicle (that is, the far side of the guide image 105). When the object to be affected is located on the front side of the traveling path of the host vehicle (that is, on the front side of the guide image 105), even when the correction of S30 is not performed, the shape of the guide image is determined in the process of S31 described later. In addition, this is because the portion overlapping with the influence target object is a guide image that is removed.

  Next, in S31, the CPU 41 stores the shape of the guide image included in the visually recognized image (the corrected shape when the correction of S30 is performed) as the shape of the guide image to be displayed by the HUD 4. It should be noted that the shape of the guide image included in the visually recognized image is that each object (road, building, road sign, signboard, virtual object of moving object, guide image, etc.) arranged on the three-dimensional solid map is the vehicle (occupant). It is the shape of the guidance image which can be visually recognized when visually recognized from a viewpoint. Here, the shape of the guide image stored in S31 is visually recognized by overlapping with each object (for example, a road sign, a building, or a moving object virtual body arranged in S28) located on the near side of the traveling path. In this case, the shape excluding the overlapping portion is obtained. For example, if the shape of the guide image is the shape of an arrow, the shape of the arrow is removed from the region that overlaps with each object. However, in particular, in the case of overlapping the object at the tip of the arrow, the tip of the arrow is not overlapped with the object by extending or contracting the arrow, and at least the tip of the arrow is included. On the other hand, when the guidance image is visually recognized overlapping with each object located on the far side of the traveling path, the shape includes the overlapping portion.

  Furthermore, in S32, the CPU 41 obtains the position of the guide image arranged on the three-dimensional solid map. More specifically, the position is a predetermined distance (for example, 1 m) away from the road surface of the traveling path on which the vehicle travels after leaving the guidance branch point.

  Thereafter, in S33, the CPU 41 performs a display range determination process described later. In the display range determination process, a range for displaying the guidance image on the HUD 4 (a range for projecting the guidance image on the front window 8 or a range for displaying the guidance image on the liquid crystal display 6 of the HUD 4) is determined.

  Subsequently, in S34, the CPU 41 transmits a control signal to the HUD 4, and displays the guide image having the shape stored in S21 on the liquid crystal display 6 of the HUD 4 in the display range determined in S33. As a result, in particular, a virtual image of an arrow is visually recognized as a guidance image for guiding the traveling direction of the traveling path on which the vehicle travels after leaving the guidance branch point, superimposed on the scenery in front of the vehicle from the vehicle occupant.

Here, FIG. 16 shows a virtual image of the guidance image visually recognized by the vehicle occupant especially when the traveling direction of the traveling path of the vehicle after leaving the guidance branch point is the left direction (that is, left turn). FIG.
As shown in FIG. 16, over the front window 8 of the vehicle, an arrow indicating that the guidance branch point 103 is superimposed on a position spaced upward from the road surface of the traveling path after making a left turn, and moves to the left. The guide image 105 is displayed as a virtual image. Further, the virtual image of the guide image 105 is displayed except for a region overlapping the road sign 112 that is a peripheral object located on the near side of the traveling path. Therefore, the guide image 105 is visually recognized so as to pass through the back side (rear side) of the road sign 112. On the other hand, the road sign 113 standing on the back side of the traveling path is displayed overlapping. Therefore, the guidance image 105 is visually recognized so as to pass through the front side of the road sign 113. As a result, the occupant 9 can recognize the front-rear relationship between the positions of the road signs 112 and 113 and the position of the virtual image of the guide image 105, and can accurately grasp the traveling path to be traveled. In the example shown in FIG. 16, the surrounding object that overlaps the virtual image of the guide image 105 is a road sign, but the same applies to the case of a building or a moving object (pedestrian or other vehicle). .
Further, as described above, in the case where the influence moving object 110 exists around the guidance branch point 103, the corresponding area is missing or the influence moving object 110 is not displayed so that a virtual image is not displayed in the area overlapping the influence moving object 110. The guide image 105 has a shape that circumvents. As a result, the occupant 9 can surely visually recognize the affected moving object 110 without the visibility of the affected moving object 110 being hindered by the guide image 105.

  Next, the sub-process of the display range determination process executed in S33 will be described with reference to FIG. FIG. 17 is a flowchart of a sub-processing program for display range determination processing.

  First, in S <b> 41, the CPU 41 detects the position of the passenger's eyes of the vehicle based on the captured image captured by the in-vehicle camera 12. The detected eye position is specified by three-dimensional position coordinates.

  Next, in S42, the CPU 41 determines whether or not the display of the HUD 4 is ON. It should be noted that the display of HUD 4 can be switched ON or OFF by the operation of the vehicle occupant. Further, ON or OFF may be automatically switched based on the surrounding situation or the state of the vehicle.

  And when it determines with the display of HUD4 being ON (S42: YES), it transfers to S43. On the other hand, when it is determined that the display of the HUD 4 is OFF (S42: NO), the process ends without displaying a virtual image of the guidance image by the HUD 4.

  In S <b> 43, the CPU 41 acquires the position coordinates of the front window 8 that is a target for projecting an image by the HUD 4. The position coordinates of the front window 8 are specified by three-dimensional position coordinates.

  Next, in S <b> 44, the CPU 41 acquires coordinates specifying the position of the guide image arranged in the three-dimensional solid map acquired in S <b> 32 as the position coordinates of the guide image. The position coordinates of the guide image are similarly specified by three-dimensional position coordinates.

  Subsequently, in S45, the CPU 41 determines the projection range of the guide image on the front window 8 based on the position coordinates acquired in S41, S43, and S44. Furthermore, the display range of the guide image on the liquid crystal display 6 inside the HUD 4 is also determined from the determined projection range. Thereafter, the process proceeds to S34, and a virtual image is displayed using the HUD 4 based on the determined projection range and display range. Note that the processes of S31 to S34 are repeatedly performed until the display of the HUD is turned off.

  As described above in detail, according to the superimposed image display device and the computer program executed by the superimposed image display device according to the second embodiment, the traveling direction of the traveling path along which the vehicle travels after leaving the guidance branch point is determined. When the guidance image to be guided is visually recognized superimposed on the scenery in front of the vehicle, an area overlapping with a peripheral object existing on the front side of the traveling path where the vehicle travels is excluded from the guidance image and displayed (S31 to S34). Therefore, it is possible for the vehicle occupant to clearly understand the front-rear relationship between the positions of the peripheral objects (for example, buildings, pedestrians, vehicles, roadside trees, etc.) included in the actual scene and the positions of the guide images. As a result, it is possible to accurately notify the vehicle occupant of the traveling path to be followed.

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 first embodiment and the second embodiment described above, the guide branch point 72 that is a crossroad is described as an example of the guide branch point, but the present invention is not limited to this. For example, as shown in FIG. 18, it may be a branch point 76 where the traveling path 73 branches into two. In this case, as shown in FIG. 18, the virtual image of the arrow 71 is, for example, a virtual image extending obliquely leftward along the traveling path 74 after leaving the branch point 76. In addition, the arrow 71 is set in a non-drawing area 95 at a portion overlapping the road sign 81 on the near side of the traveling path 74. Further, the arrow 71 is displayed so as to overlap the front side of the road sign 82 existing on the far side of the traveling path 74. Even in such a case, the traveling path 74 to be advanced to the occupant 9 can be accurately grasped as in the above embodiment.
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.

  In the first and second embodiments, the virtual image is generated in front of the front window 8 of the vehicle 2 by the HUD 4. However, the virtual image may be generated in front of a window other than the front window 8. . In addition, the object to be reflected by the HUD 4 may be a visor (combiner) installed around the front window 8 instead of the front window 8 itself.

  In the first and second embodiments, the HUD 4 is used as a means for displaying an image superimposed on the surrounding environment. However, a window shield display (WSD) that displays an image on the front window 8 is used. Also good. Alternatively, a display device that superimposes a guidance image on the actual scene displayed on the liquid crystal display 17 of the navigation device 3 may be used.

  Moreover, in 1st Embodiment and 2nd Embodiment, it is set as the structure which navigation ECU15 of the navigation apparatus 3 performs the process of a driving assistance process program (FIG. 3, FIG. 10), However The execution subject can be changed suitably. It is. For example, it is good also as a structure which the control part of HUD4, vehicle control ECU, and another vehicle equipment perform. In addition, when the control part of HUD4 performs, the display apparatus which concerns on this invention can also be comprised only with HUD4.

  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.
Peripheral object determination means (41) for determining the presence or absence of peripheral objects (81, 82) existing around the guidance branch point (72) in the guide route, and the vehicle (24) after exiting the guidance branch point Of the guide image (71) for guiding the traveling direction of the traveling path (74) along which the object travels is corrected as a non-drawing area (93, 94, 95, 96) excluding a portion overlapping the surrounding object from the drawing target. Means (41) and display means (41) for displaying the corrected guide image.
According to the display device having the above-described configuration, the guidance image that guides the traveling direction after leaving the guidance branch point is corrected so that the portion overlapping the peripheral object existing around the guidance branch point is a non-drawing area. Is called. The corrected guide image is displayed by aligning the position of the non-drawing area with the position of the peripheral object. A part of the peripheral object is displayed so as to overlap (upward) the front side of the corrected guide image in the non-drawing area. As a result, the user can recognize the front-rear relationship between the position of the object in the real scene (the peripheral object) and the position of the corrected guide image, and can grasp the traveling path to be followed.

The second configuration is as follows.
The peripheral object determining means (41) is a peripheral object (81) existing on the front side of the traveling path (74) along which the vehicle (24) travels after turning the guide branch point (72). The presence or absence of is determined.
According to the display device having the above-described configuration, the guide image has a non-drawing region where a portion that overlaps with a peripheral object existing on the front side of the traveling path along which the vehicle that has turned the guide branch point travels. Thus, by displaying the peripheral object on the near side of the traveling path after the curve on the near side of the guidance image, the user can surely recognize the bending position and the traveling path after the curve.

The third configuration is as follows.
The display means (41) superimposes the guide image (71) on a real scene seen through the front window (25) of the vehicle (24), and displays the vehicle (24) and the surrounding objects (81, 82). An angle acquisition unit (41) that acquires an angle (θ) formed by a connecting straight line (D3) and the width direction of the vehicle, and the vehicle in the front window based on the angle acquired by the angle acquisition unit A position acquisition means (51) for acquiring a position (91) where the occupant (26) visually recognizes the surrounding object, and the correction means (41) is based on the position acquired by the position acquisition means. Then, the position of the non-drawing area (93, 94, 95, 96) is determined.
According to the display device having the above configuration, the angle acquisition unit acquires an angle formed by a straight line connecting the vehicle and the peripheral object and the vehicle width direction. A position acquisition means detects the position where the passenger | crew in a front window visually recognizes a surrounding target object based on this angle. The correction unit determines the position of the non-drawing area based on the position detected by the position acquisition unit. Thus, in a display device that superimposes a guide image on a real scene through a front window, such as a HUD or a windshield display device, the position of a non-drawing area can be more accurately matched with the position of a peripheral object.

The fourth configuration is as follows.
First distance acquisition means (41) for acquiring a first distance (D1) from the vehicle (24) to the peripheral object based on the size of the peripheral object (81, 82), and the vehicle (24 ) To second distance acquisition means (41) for acquiring a second distance (D2) from the road end (74A) on the near side of the traveling path (74), and the surrounding object determination means (41 ) Determines the presence or absence of the peripheral object based on the fact that the first distance is less than or equal to the second distance.
For example, the size of road signs (surrounding objects) is regulated by laws and regulations. Therefore, the first distance from the vehicle to the surrounding object can be acquired based on the prescribed size of the road sign and the size of the captured road sign. And according to the said display apparatus, based on the 1st distance and the 2nd distance from the vehicle to the near side of a course, a peripheral object exists in the near side of a course, or exists in the back side It is possible to determine more accurately whether or not

The fifth configuration is as follows.
The guide image (71) is an image showing an arrow, and the correction means (41) moves the tip side of the arrow of the guide image toward the tip side in the traveling direction along the traveling path (74). Extend.
According to the display device having the above configuration, the arrow of the guide image is extended toward the end of the traveling direction of the traveling path. Thereby, the user can easily imagine the traveling direction after going straight or turning left at the guidance branch point.

The sixth configuration is as follows.
The display means (41) superimposes and displays the corrected guide image (71) in front of the peripheral object (82) existing on the back side of the traveling path (74).
According to the display device having the above configuration, the corrected guide image is displayed so as to be superimposed on the near side of the peripheral object on the far side of the traveling path. For example, a peripheral object in front of the traveling path is displayed in front of the guidance image, and a peripheral object on the far side of the traveling path is displayed in the back of the guidance image. For this reason, the user can grasp | ascertain the front-and-back relationship of a surrounding target object and a guidance image more correctly.

The seventh configuration is as follows.
The display means (41) displays the corrected guide image (71) as a virtual image.
According to the display device having the above-described configuration, the virtual image that guides the traveling direction can be superimposed on the real scene, and the user can visually recognize the virtual image together with the traveling path. For example, the user can grasp the intersection to be bent more accurately by confirming the positional relationship between the virtual image (guide image) superimposed on the real scene seen through the front window and the peripheral object.

The eighth configuration is as follows.
A guidance image (105) that is mounted on the vehicle (2) and guides the traveling direction of the traveling path (108) on which the vehicle travels after leaving the guidance branch point (103) is superimposed on the scenery in front of the vehicle. A display device (1) for visual recognition, wherein a guide image display means (41) for displaying an area overlapping with a peripheral object (112) existing on the front side of the traveling path on which the vehicle travels is removed from the guide image. Have
According to the display device having the above-described configuration, the guidance image that guides the traveling direction after exiting the guidance branch point is a superimposition target for a region that overlaps a peripheral object existing on the near side of the traveling path on which the vehicle travels. Therefore, the vehicle occupant can clearly grasp the front-rear relationship between the position of the peripheral object (eg, building, pedestrian, vehicle, roadside tree, etc.) included in the actual scene and the position of the guide image. . As a result, it is possible to accurately notify the vehicle occupant of the traveling path to be followed.

The ninth configuration is as follows.
The guide image (105) is displayed at a position where the guide image (105) is viewed away from the road surface.
According to the display device having the above-described configuration, the guide image can be identified from the landscape and clearly visible to the vehicle occupant without the guide image being harmonized with the landscape such as the road surface.

The tenth configuration is as follows.
The guide image (105) is an arrow image indicating the traveling direction of the traveling path (108) along which the vehicle travels after leaving the guidance branch point (103), and the guide image display means (41) The tip of the arrow is displayed in a region that does not overlap with the peripheral object (112).
According to the display device having the above configuration, even when the guide image and the peripheral object overlap, it is possible to display at least the tip portion of the arrow, so that the occupant can travel in the traveling direction indicated by the guide image. It becomes possible to grasp about.

The eleventh configuration is as follows.
Captured image acquisition means (41) for acquiring a captured image obtained by capturing a landscape in front of the vehicle (2), map information acquisition means (41) for acquiring 3D map information (34), the captured image and 3D Based on the collation means (41) for collating the map information and the collation result of the collation means, the guidance image (105) is displayed on the traveling path where the vehicle travels after leaving the guidance branch point in the three-dimensional map information. Image placement means (41) for placement, and shape acquisition means (41) for obtaining the shape of the guide image when the guide image is viewed from the position of the vehicle in the three-dimensional map information. The image display means displays the guide image having the shape acquired by the shape acquisition means.
According to the display device having the above-described configuration, by using the captured image obtained by capturing the scenery in front of the vehicle and the three-dimensional map information, the region overlapping the peripheral object existing on the near side of the traveling path along which the vehicle travels is superimposed. It is possible to easily generate a guide image excluded from the target.

The twelfth configuration is as follows.
The surrounding objects are at least one building, a road sign, and a moving object.
According to the display device having the above-described configuration, the guidance image that guides the traveling direction after leaving the guidance branch point overlaps with a building, a road sign, a moving object, or the like existing on the front side of the traveling path on which the vehicle travels. Since the area is excluded from the superimposition target, the vehicle occupant can clearly grasp the front-rear relationship between the position of the building, road sign, moving object, and the like included in the actual scene and the position of the guide image. As a result, it is possible to accurately notify the vehicle occupant of the traveling path to be followed.

DESCRIPTION OF SYMBOLS 1 Superimposed image display apparatus 2 Vehicle 3 Navigation apparatus 4 HUD
8 Front window 9 Crew 41 CPU
42 RAM
43 ROM
72, 103 Guide branch point 71 Arrow 74, 108 Traveling path 81-84, 112, 113 Road sign 93 Non-drawing area 105 Guide image 106, 107 Virtual body of moving object

Claims (13)

Peripheral object determination means for determining the presence or absence of a peripheral object existing around a guidance branch point in the guide route;
Correction means for correcting a portion overlapping the peripheral object as a non-drawing area to be excluded from a drawing object, among guidance images for guiding a traveling direction of a traveling path on which the vehicle travels after leaving the guidance branch point,
Display means for displaying the corrected guide image.   The display device according to claim 1, wherein the peripheral object determination unit determines the presence or absence of the peripheral object present on the near side of the traveling path along which the vehicle travels after turning the guide branch point. The display means superimposes the guide image on a landscape seen through the front window of the vehicle,
An angle acquisition means for acquiring an angle formed by a straight line connecting the vehicle and the peripheral object and a width direction of the vehicle;
Based on the angle acquired by the angle acquisition means, and a position acquisition means for acquiring a position at which the vehicle occupant in the front window visually recognizes the surrounding object, and
The display device according to claim 1, wherein the correction unit determines a position of the non-drawing region based on the position acquired by the position acquisition unit. First distance acquisition means for acquiring a first distance from the vehicle to the peripheral object based on the size of the peripheral object;
Second distance acquisition means for acquiring a second distance from the vehicle to a road edge on the near side of the traveling path;
The display device according to claim 1, wherein the peripheral object determination unit determines the presence or absence of the peripheral object based on the first distance being equal to or less than the second distance. The guide image is an image showing an arrow,
5. The display device according to claim 1, wherein the correction unit extends a leading end side of an arrow of the guide image toward the leading end side in the traveling direction along the traveling path.   The display device according to claim 1, wherein the display unit displays the corrected guide image superimposed on the front side of the peripheral object existing on the back side of the traveling path.   The display device according to claim 1, wherein the display unit displays the corrected guide image as a virtual image. A display device that is mounted on a vehicle and displays a guidance image that guides a traveling direction of a traveling path in which the vehicle travels after exiting a guidance branch point, superimposed on the scenery in front of the vehicle,
A display device comprising guide image display means for displaying a region overlapping with a peripheral object existing on the near side of the traveling path on which the vehicle travels is excluded from the guide image.   The display device according to claim 8, wherein the guide image is displayed at a position where the guide image is visually recognized apart from the road surface. The guide image is an image of an arrow indicating a traveling direction of a traveling path along which the vehicle travels after leaving the guidance branch point,
The display device according to claim 8 or 9, wherein the guide image display means displays a tip portion of an arrow in a region that does not overlap with the surrounding object. Captured image acquisition means for acquiring a captured image obtained by capturing a landscape in front of the vehicle;
Map information acquisition means for acquiring three-dimensional map information;
Collating means for collating the captured image with the three-dimensional map information;
Based on the collation result of the collation means, image arrangement means for arranging the guide image on a traveling path on which the vehicle travels after exiting the guidance branch point in the three-dimensional map information;
Shape acquisition means for acquiring the shape of the guide image when the guide image is viewed from the position of the vehicle in the three-dimensional map information,
The display device according to claim 8, wherein the guide image display unit displays the guide image having a shape acquired by the shape acquisition unit.   The display device according to claim 8, wherein the peripheral object is at least one building, a road sign, or a moving object. A display device that is mounted on a vehicle and visually confirms a guidance image that guides a traveling direction of a traveling path in which the vehicle travels after leaving a guidance branch point, superimposed on a landscape in front of the vehicle;
A computer program for functioning as guide image display means for displaying an area overlapping with a peripheral object existing on the near side of the traveling path on which the vehicle travels is removed from the guide image.

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