JP2020016541A - Display controller for vehicles, display control method for vehicles, and control program - Google Patents

Abstract

To ensure that, when displaying a virtual image that emphasizes an object in the foreground of a vehicle by superimposition using a head-up display, the misrecognition of the object by a driver and the driver's sense of uncertainty are reduced.SOLUTION: Provided is a HCU 20 for controlling a HUD 230, comprising: a distance azimuth acquisition unit 201 for acquiring the distance and azimuth to an object relative to the host vehicle that is detected by a millimeter wave radar 42; a high accuracy map acquisition unit 203 for acquiring a high accuracy map that includes information pertaining to heights per point; a three-dimensional position specification unit 204 for specifying the three-dimensional position of an object relative to the host vehicle using the distance and azimuth acquired by the distance azimuth acquisition unit 201 and the high accuracy map acquired by the high accuracy map acquisition unit 203; and a display generation unit 207 for displaying a virtual image that emphasizes the object by superimposition in conformity to the three-dimensional position specified by the three-dimensional position specification unit 204.SELECTED DRAWING: Figure 3

Description

  The present disclosure relates to a vehicle display control device, a vehicle display control method, and a control program.

  2. Description of the Related Art Conventionally, a head-up display (hereinafter, HUD) that superimposes a virtual image on a foreground of a vehicle by projecting an image on a projection member such as a windshield is known. For example, in Patent Document 1, a relative position of a target object with respect to the vehicle is detected based on a difference in a distance to the target object measured by two distance measuring sensors arranged at positions apart from each other in a vehicle, and a head is detected. A technology is disclosed in which an annular indicator is projected on a front windshield by an up display so as to surround an object of interest. In Patent Document 1, as a distance measuring sensor, an ultrasonic sensor, a laser radar, or a millimeter-wave radar that measures the time required from the emission of a signal to the return of the signal by reflection from an object of interest may be used. It has been disclosed.

JP 2005-343351 A

  The height of an object ahead of the vehicle may be greatly changed by a driver of the vehicle due to a gradient difference between a point where the vehicle is located and a point where the object is located. However, according to the technology disclosed in Patent Document 1, it is difficult for a ranging sensor such as an ultrasonic sensor, a laser radar, or a millimeter-wave radar to accurately measure the height of an object of interest with respect to the host vehicle. Therefore, it is difficult to specify the shift of the target object in the height direction with respect to the own vehicle, and the annular index surrounding the target object is easily shifted in the height direction. As a result, superimposed display that is significantly shifted in the height direction from the intended position is performed on the target object, and the driver may erroneously recognize the target object or have a distrust of the system.

  One object of the present disclosure is to make it possible to reduce false recognition of an object by the driver and distrust of the driver when a virtual image that emphasizes the object in the foreground of the vehicle is superimposed and displayed by the head-up display. It is an object of the present invention to provide a display control device for a vehicle, a display control method for a vehicle, and a control program.

  The above object is achieved by a combination of features described in the independent claims, and the subclaims define further advantageous embodiments of the disclosure. The reference numerals in parentheses described in the claims indicate a correspondence relationship with specific means described in the embodiment described below as one aspect, and do not limit the technical scope of the present disclosure. .

  In order to achieve the above object, a display control device for a vehicle according to the present disclosure is used in a vehicle, and a head-up that superimposes a virtual image that emphasizes an object in a foreground of the vehicle by projecting a display image on a projection member. A display control device for a vehicle, which controls a display, comprising: a search wave sensor that transmits a search wave and detects a distance and an azimuth of the target with respect to the vehicle by receiving a reflected wave of the search wave reflected by the target. A distance and orientation acquisition unit (201) for acquiring the distance and orientation detected in (42), a high accuracy map acquisition unit (203) for acquiring a high accuracy map including height information for each point, A three-dimensional position specifying unit (204) for specifying a three-dimensional position of the object with respect to the vehicle using the distance and the direction obtained by the direction obtaining unit and the high-precision map obtained by the high-precision map obtaining unit; Location Identifying in parts, provided in accordance with the three-dimensional position of the object relative to the vehicle, the display control unit that superimposes a display highlighting the virtual image of the object and (207).

  In order to achieve the above object, a display control method for a vehicle according to the present disclosure is used in a vehicle, and a head-up method for projecting a display image on a projection member to superimpose and display a virtual image that emphasizes an object in a foreground of the vehicle. A display control method for a vehicle that controls a display, comprising: a search wave sensor that transmits a search wave and detects a distance and an azimuth of the target object with respect to the vehicle by receiving a reflected wave of the search wave reflected by the target object. The distance and direction detected in (42) are acquired, a high-accuracy map including height information for each point is acquired, and the vehicle is obtained by using the acquired distance and azimuth and the acquired high-accuracy map. The virtual image emphasizing the object is superimposed and displayed in accordance with the three-dimensional position of the object with respect to the vehicle.

  In order to achieve the above object, a control program according to the present disclosure is directed to a head-up computer that superimposes a virtual image used in a vehicle and that emphasizes an object in a foreground of a vehicle by projecting a display image on a projection member. A control program for functioning as a display control device for a vehicle that controls a display, transmitting a search wave, receiving a reflected wave of the search wave reflected from the target, and a distance of the target to the vehicle and A distance and direction obtaining unit (201) for obtaining the distance and direction detected by a search wave sensor (42) for detecting a direction, and a high-precision map obtaining for obtaining a high-precision map including height information for each point The three-dimensional position of the object with respect to the vehicle is identified using the unit (203), the distance and orientation acquired by the distance and orientation acquisition unit, and the high-accuracy map acquired by the high-accuracy map acquisition unit. And a display control unit (207) for superimposing and displaying a virtual image emphasizing the object in accordance with the three-dimensional position of the object with respect to the vehicle specified by the three-dimensional position specifying unit. Let it.

  According to these, the three-dimensional position of the object with respect to the vehicle is specified by using a high-accuracy map including height information for each point, in addition to the distance and direction of the object with respect to the vehicle, detected by the search wave sensor. Therefore, it is possible to more accurately specify the height of the target object with respect to the vehicle. Further, since the virtual image for emphasizing the object is superimposed and displayed in accordance with the three-dimensional position, it is possible to suppress the virtual image for emphasizing the object from significantly deviating in the height direction from the intended position. As a result, when the head-up display superimposes and displays a virtual image that emphasizes an object in the foreground of the vehicle, it is possible to reduce erroneous recognition of the object by the driver and distrust of the driver.

FIG. 1 is a diagram illustrating an example of a schematic configuration of a vehicle system 1. FIG. 3 is a diagram showing an example of mounting the HUD device 230 on a vehicle. FIG. 2 is a diagram illustrating an example of a schematic configuration of an HCU 20. 5 is a flowchart illustrating an example of the flow of a virtual image display control-related process in the HCU 20. FIG. 9 is a diagram for describing an example of specifying a position of a target object in a height direction with respect to a host vehicle when a target point corresponds to a map data point. It is a figure for explaining an example of search of a gradient reference point for an object point. FIG. 9 is a diagram for describing an example of estimating an invisible area. It is a figure showing an example of superimposition display. It is a figure showing an example of superimposition display. FIG. 9 is a diagram for describing an example of specifying a position of a target object in a height direction with respect to a host vehicle from a captured image. It is a figure showing an example of superimposition display. It is a figure showing an example of superimposition display.

  A plurality of embodiments for disclosure will be described with reference to the drawings. Note that, for convenience of description, portions having the same functions as those illustrated in the drawings used in the description are given the same reference numerals among the plurality of embodiments, and description thereof may be omitted. is there. For the parts denoted by the same reference numerals, the description in the other embodiments can be referred to.

(Embodiment 1)
<Schematic configuration of vehicle system 1>
Hereinafter, the present embodiment will be described with reference to the drawings. The vehicle system 1 is used for a vehicle running on a road such as an automobile. As an example, the vehicle system 1 includes an HMI (Human Machine Interface) system 2, an ADAS (Advanced Driver Assistance Systems) locator 3, a peripheral monitoring sensor 4, a vehicle control ECU 5, and a driving support ECU 6, as shown in FIG. I have. The HMI system 2, the ADAS locator 3, the periphery monitoring sensor 4, the vehicle control ECU 5, and the driving support ECU 6 are assumed to be connected to, for example, an in-vehicle LAN.

  As shown in FIG. 1, the ADAS locator 3 includes a GNSS (Global Navigation Satellite System) receiver 30, an inertial sensor 31, and a map database (hereinafter, map DB) 32. The GNSS receiver 30 receives positioning signals from a plurality of artificial satellites. The inertial sensor 31 includes, for example, a gyro sensor and an acceleration sensor. The ADAS locator 3 sequentially measures the position of the own vehicle by combining the positioning signal received by the GNSS receiver 30 and the measurement result of the inertial sensor 31. As an example, the present embodiment will be described on the assumption that the vehicle position is represented by coordinates of latitude and longitude. In the coordinates of longitude and latitude, the x axis indicates longitude, and the y axis indicates latitude. It should be noted that the vehicle position may be measured using a travel distance or the like obtained from detection results sequentially output from a vehicle speed sensor mounted on the own vehicle. Then, the measured vehicle position is output to the in-vehicle LAN.

  The map DB 32 is a non-volatile memory and stores map data such as link data, node data, and road shapes. The link data includes data such as a link ID for specifying the link, a link length indicating the length of the link, a link direction, a link travel time, node coordinates of the start and end of the link, and road attributes. The node data includes data such as a node ID assigned with a unique number for each node on the map, node coordinates, a node name, a node type, a connection link ID describing a link ID of a link connected to the node, and an intersection type. Consists of It is assumed that the data on the road shape includes data such as altitude, cross slope, and vertical slope. Therefore, this altitude corresponds to height information, and the map data corresponds to a high-accuracy map. Data such as altitude, cross slope, vertical slope, etc. may be at least for each point on the road, for example, for each observation point of map data.

  Further, as the map data, a configuration may be used in which a three-dimensional map composed of a point group of feature points of a road shape and a structure is used. In the case of using this three-dimensional map, the coordinates of the point group in the height direction are set to the height. It may be used as information. When using the three-dimensional map, the ADAS locator 3 does not use the GNSS receiver 30 and detects the three-dimensional map and a LIDAR (Light Detection and Ranging / Laser) for detecting a point group of feature points of a road shape and a structure. A configuration may be used in which the position of the own vehicle is specified using the detection result of the surrounding monitoring sensor 4 such as imaging detection and ranging. It should be noted that the map data may be obtained from outside the own vehicle using an in-vehicle communication module mounted on the own vehicle.

  The surrounding monitoring sensor 4 is an autonomous sensor that monitors the surrounding environment of the own vehicle. As an example, the surrounding monitoring sensor 4 is a moving dynamic target such as a pedestrian, an animal other than a human, a vehicle other than the own vehicle, and a stationary still object such as a falling object on a road, a guardrail, a curb, and a tree. Detects objects around the vehicle, such as target objects. In addition, road markings such as lane markings around the vehicle are detected. For example, the peripheral monitoring sensor 4 includes a peripheral monitoring camera that captures an image of a predetermined area around the vehicle, a search wave sensor such as a millimeter-wave radar, a sonar, and a LIDAR that transmits a search wave to a predetermined area around the vehicle. The peripheral monitoring camera sequentially outputs the captured images sequentially captured to the in-vehicle LAN as sensing information. The search wave sensor sequentially outputs a scanning result based on a reception signal obtained when a reflected wave reflected by the object is received to the in-vehicle LAN as sensing information.

  More specifically, the search wave sensor measures the distance from the search wave sensor to the target based on the time taken from transmitting the search wave to receiving the reflected wave reflected by the target. . The search wave sensor scans the search wave, and measures the direction of the target object with respect to the search wave sensor from the transmission angle of the search wave when receiving the reflected wave. The azimuth may be represented by an azimuth angle. For example, clockwise rotation may be represented by a positive azimuth angle and counterclockwise rotation may be represented by a negative azimuth angle with respect to the front direction. The exploration wave sensor is provided with a plurality of transmitters for transmitting the exploration wave at different places of the vehicle, and the target for the exploration wave sensor depends on which transmission unit transmits the exploration wave to receive the reflected wave. May be measured.

  In the present embodiment, at least a front camera 41 whose imaging range is a predetermined range in front of the own vehicle and a millimeter wave radar 42 that transmits a search wave to a predetermined range in front of the own vehicle are used as the surrounding monitoring sensor 4. Configuration. The front camera 41 corresponds to an imaging device. The sensing ranges of the front camera 41 and the millimeter wave radar 42 at least partially overlap, but need not be the same. For example, the front camera 41 may be provided on a rearview mirror of an own vehicle, an upper surface of an instrument panel, or the like. The millimeter-wave radar 42 may be provided on a front grill, a front bumper, or the like of the vehicle. The millimeter-wave radar 42 transmits a millimeter wave or a quasi-millimeter wave while scanning a predetermined range in front of the own vehicle, and receives a reflected wave reflected by the target object, so that the millimeter wave radar 42 Measure the distance and azimuth of the object. Hereinafter, the distance and the azimuth of the object with respect to the millimeter-wave radar 42, that is, the distance and the azimuth of the object with respect to the own vehicle are simply referred to as the distance and the azimuth of the object.

  It should be noted that the surroundings monitoring sensor 4 may be configured to use a camera that captures an image other than in front of the own vehicle, or use a search wave sensor such as sonar or LIDAR (Light Detection and Ranging / Laser Imaging Detection and Ranging). Good.

  The vehicle control ECU 5 is an electronic control unit that performs acceleration / deceleration control and / or steering control of the own vehicle. Examples of the vehicle control ECU 5 include a steering ECU that performs steering control, a power unit control ECU that performs acceleration / deceleration control, and a brake ECU. The vehicle control ECU 5 acquires detection signals output from various sensors such as an accelerator position sensor, a brake pedal force sensor, a steering angle sensor, and a wheel speed sensor mounted on the own vehicle, and performs electronic control throttle, a brake actuator, an EPS (Electric) (Power Steering) Outputs control signals to each drive control device such as a motor. Further, the vehicle control ECU 5 can output detection signals of the above-described sensors to the in-vehicle LAN.

  The driving support ECU 6 controls the vehicle control ECU 5 to execute an automatic driving function of substituting a driving operation by a driver. The driving support ECU 6 recognizes the traveling environment of the own vehicle based on the vehicle position and the map data of the own vehicle acquired from the ADAS locator 3 and the sensing information of the surrounding monitoring sensor 4. As an example, from the sensing information of the periphery monitoring sensor 4, the shape and the moving state of the object around the own vehicle are recognized, and the shape of the road marking around the own vehicle is recognized. Then, by combining with the vehicle position of the own vehicle and the map data, a virtual space in which the actual traveling environment is reproduced in three dimensions is generated.

  Further, the driving support ECU 6 generates a traveling plan for automatically traveling the own vehicle by the automatic driving function based on the recognized traveling environment. As the travel plan, a long- and medium-term travel plan and a short-term travel plan may be generated. In a short-term traveling plan, the generated virtual space around the own vehicle is used, for example, for acceleration / deceleration to maintain a target inter-vehicle distance with a preceding vehicle, steering for lane following and lane changing, and collision avoidance. Sudden braking or the like is determined. As a long- and medium-term traveling plan, a recommended route for causing the own vehicle to go to the destination is generated. The driving support ECU 6 may be configured to generate only a short-term traveling plan of the short-term traveling plan and the long- and medium-term traveling plan.

  An example of the automatic driving function executed by the driving support ECU 6 is an adaptive cruise control (ACC) that adjusts a driving force and a braking force to control a traveling speed of the own vehicle so as to maintain a target inter-vehicle distance with a preceding vehicle. ) There is a function. Also, there is an AEB (Autonomous Emergency Braking) function for forcibly decelerating the own vehicle by generating a braking force based on sensing information in front. It should be noted that what has been described here is merely an example, and a configuration having another function as a function of automatic driving may be adopted.

  The HMI system 2 includes an HCU (Human Machine Interface Control Unit) 20, an operation device 21, a DSM (Driver Status Monitor) 22, and a display device 23, and receives an input operation from a driver who is a user of the own vehicle. And present information to the driver of the own vehicle. The operation device 21 is a group of switches operated by a driver of the own vehicle. The operation device 21 is used for performing various settings. For example, as the operation device 21, there is a steering switch or the like provided on a spoke portion of the steering of the own vehicle.

  The DSM 22 includes a near-infrared light source and a near-infrared camera, and a control unit and the like for controlling these. The DSM 22 is disposed, for example, on the steering column cover, the upper surface of the instrument panel 12 (see FIG. 2), or the like, with the near-infrared camera facing the driver's seat side of the vehicle. The DSM 22 uses a near-infrared camera to photograph the driver's head irradiated with near-infrared light by the near-infrared light source. The image captured by the near-infrared camera is analyzed by the control unit. The control unit extracts, for example, the driver's eyes from the captured image, and detects the position of the eyes with respect to a reference position in the vehicle interior (hereinafter, a viewpoint position). The reference position may be, for example, an installation position of the near-infrared camera. The DSM 22 outputs information on the detected viewpoint position to the HCU 20.

  As the display device 23, a head-up display (HUD) device 230 is used. Here, the HUD device 230 will be described with reference to FIG. As shown in FIG. 2, HUD 230 is provided on instrument panel 12 of the host vehicle. The HUD 230 forms a display image based on image data output from the HCU 20 by a projector 231 of, for example, a liquid crystal type or a scanning type. Examples of the display image include an image for highlighting an object such as an image for highlighting a preceding vehicle followed by the own vehicle by the ACC function. The target object to be highlighted is not limited to the preceding vehicle that the own vehicle follows with the ACC function, and may be an obstacle or the like to be avoided by the own vehicle. The display image is not limited to an image for highlighting the target object, but may include an image indicating a vehicle state such as a vehicle speed and an operation state of an automatic driving function, or may include an image indicating a planned course of the vehicle. It is good also as a structure which rubs.

  The HUD 230 projects a display image formed by the projector 231 through an optical system 232 such as a concave mirror, for example, onto a projection area defined on the front windshield 10 as a projection member. The projection area is located in front of the driver's seat. The light flux of the display image reflected by the front windshield 10 toward the vehicle interior is perceived by the driver sitting in the driver's seat. Further, the light flux from the foreground, which is a scene existing in front of the own vehicle, transmitted through the front windshield 10 formed of the translucent glass is also perceived by the driver sitting in the driver's seat. This allows the driver to visually recognize the virtual image 100 of the display image formed in front of the front windshield 10 so as to overlap a part of the foreground. That is, the HUD 230 superimposes and displays the virtual image 100 on the foreground of the vehicle, and realizes a so-called AR (Augmented Reality) display.

  The projection member on which the HUD 230 projects the display image is not limited to the front windshield 10 and may be a light-transmitting combiner. Further, as the display device 23, a device that displays an image in addition to the HUD 220 may be used. Examples include a combination meter, a CID (Center Information Display), and the like.

  The HCU 20 is mainly composed of a microcomputer including a processor, a volatile memory, a non-volatile memory, an I / O, and a bus connecting these, and is connected to the HUD 230 and the in-vehicle LAN. The HCU 20 controls the display by the HUD 230 by executing a control program stored in the nonvolatile memory. The HCU 20 corresponds to a vehicle display control device. Executing the control program by the processor corresponds to executing the vehicle display control method corresponding to the control program. The memory as used herein is a non-transitory tangible storage medium that temporarily stores a computer-readable program and data. Further, the non-transitional substantive storage medium is realized by a semiconductor memory, a magnetic disk, or the like. The configuration of the HCU 20 related to display control by the HUD device 230 will be described in detail below.

<Schematic configuration of HCU 20>
Here, a schematic configuration of the HCU 20 will be described with reference to FIG. Regarding display control in the HUD device 230, as shown in FIG. 3, the HCU 20 acquires a captured image acquisition unit 200, a distance and orientation acquisition unit 201, a vehicle position acquisition unit 202, a high-accuracy map acquisition unit 203, and a three-dimensional position identification unit. 204, a viewpoint position identification unit 205, an invisible area estimation unit 206, and a display generation unit 207 are provided as functional blocks. Note that some or all of the functions performed by the HCU 20 may be configured in hardware by one or more ICs or the like. Further, some or all of the functional blocks included in the HCU 20 may be realized by a combination of execution of software by a processor and hardware members.

  The captured image acquisition unit 200 acquires captured images sequentially captured by the front camera 41 as sensing information. The distance and azimuth obtaining unit 201 obtains, as sensing information, the distance and azimuth of an object sequentially measured by the millimeter wave radar 42. The own vehicle position acquisition unit 202 acquires the vehicle position of the own vehicle that is sequentially measured by the ADAS locator 3. The high-accuracy map acquisition unit 203 acquires map data stored in the map DB 32 of the ADAS locator 3. The high-accuracy map acquiring unit 203 acquires a high-accuracy map including information on altitude and cross slope for each observation point, that is, for each of a plurality of points.

  The three-dimensional position specifying unit 204 specifies a three-dimensional position of the target object with respect to the own vehicle. For example, the three-dimensional position specifying unit 204 may specify a three-dimensional position by selecting an object from the driving environment recognized by the driving support ECU 6. As an example, the configuration may be such that an obstacle to be avoided by the own vehicle is selected as an object or a preceding vehicle to be followed by the ACC function is selected as an object. In the following, a case where a preceding vehicle to be followed by the ACC function is selected as an object will be described as an example. The link between the object in the driving environment recognized by the driving support ECU 6, the object in the captured image acquired by the captured image acquisition unit 200, and the object whose distance and direction are acquired by the distance and orientation acquisition unit 201 is: What is necessary is just to carry out based on the substantially coincidence of the distance and the azimuth of the own vehicle.

  When the distance of the target object to the own vehicle is equal to or longer than a predetermined distance, the three-dimensional position specifying unit 204 obtains the target distance and the azimuth obtained by the distance azimuth obtaining unit 201 and the high-accuracy map obtained by the high-accuracy map obtaining unit Is used to specify the three-dimensional position of the target object with respect to the own vehicle. Details will be described later. Here, the predetermined distance may be a distance that is estimated to start to be insufficient in the accuracy of identifying the height of the object in the captured image based on the captured image of the front camera 41, and may be arbitrarily set. Possible values.

  On the other hand, when the distance of the target object to the own vehicle is shorter than the predetermined distance, the three-dimensional position specifying unit 204 obtains the distance and the azimuth obtained by the distance and azimuth obtaining unit 201 and obtains the image by the captured image obtaining unit 200. The three-dimensional position of the object with respect to the own vehicle is specified using the captured image to be performed. Details will be described later. Note that the three-dimensional position specifying unit 204 may use the high-accuracy map acquired by the high-accuracy map acquiring unit 203 even when the distance of the target object to the own vehicle is shorter than the above-described predetermined distance.

  The viewpoint position specifying unit 205 specifies the viewpoint position of the driver based on the vehicle position of the own vehicle from the information on the viewpoint positions sequentially detected by the DSM 22. For example, the viewpoint position specifying unit 205 determines the viewpoint position detected by the DSM 22 based on the deviation between the reference position of the viewpoint position in the DSM 22 and the reference position of the vehicle position in the own vehicle. The viewpoint position of the driver of the own vehicle is specified by converting the position into the viewpoint position based on the position.

  The invisible area estimating unit 206 obtains the altitude information of a point between the own vehicle and the target object among the altitude information included in the high-accuracy map acquired by the high-accuracy map acquiring unit 203, and the viewpoint position. Based on the viewpoint position specified by the specifying unit 205, an invisible area that is invisible to the driver of the own vehicle due to a change in the gradient of the road surface is estimated. Details will be described later.

  The display generation unit 207 generates image data for superimposing and displaying a virtual image emphasizing the target object in accordance with the three-dimensional position of the target object with respect to the own vehicle, and outputs the image data to the HUD 230 to output the image data to the HUD 230. A virtual image that emphasizes the target object is superimposed and displayed in accordance with the three-dimensional position of the target object. The display generation unit 207 corresponds to a display control unit. Marks for highlighting the object (hereinafter, highlight marks) are drawn on individual frames constituting the image data. The drawing position of the highlighting mark is set such that a virtual image based on the display image of the highlighting mark is displayed at an intended position in the foreground when the display image of the highlighting mark is projected on the projection area.

  As an example, the display generation unit 207 stores the three-dimensional position of the object with respect to the own vehicle specified by the three-dimensional position specification unit 204, the viewpoint position specified by the viewpoint position specification unit 205, and the non-volatile memory of the HCU 20 in advance. The positional relationship between the object, the viewpoint, and the projection area is grasped based on the set position of the projection area. Then, based on the positional relationship between the target object, the viewpoint, and the projection area, the display generation unit 207 determines the projection position of the display image of the highlighting mark in the projection area, that is, the formation of a virtual image based on the display image of the highlighting mark. The image position is calculated by a geometric operation.

  Further, when there is an invisible area estimated by the invisible area estimation unit 206, the display generation unit 207 superimposes and displays a virtual image that emphasizes the target object, avoiding the invisible area. The details of the superimposed display of the virtual image that emphasizes the object will be described later.

<Virtual image display control related processing in HCU 20>
Next, an example of a flow of processing (hereinafter, virtual image display control-related processing) related to control of superimposed display by the HUD 230 in the HCU 20 will be described using the flowchart of FIG. The flowchart in FIG. 4 may be configured to start when the power of the HUD 230 is turned on and the function of the HUD 230 is turned on. The function of the HUD 230 may be switched on / off in accordance with an input operation received by the operation device 21. The power supply of the HUD 230 may be switched on and off according to the on / off of a switch (hereinafter, a power switch) for starting the internal combustion engine or the motor generator of the own vehicle.

  First, in step S1, the distance and orientation acquisition unit 201 acquires the distance and the azimuth of the object measured by the millimeter wave radar 42 as sensing information. In step S2, the three-dimensional position identification unit 204 calculates the position coordinates of the target in a coordinate system based on the vehicle position of the host vehicle based on the distance and the azimuth of the target obtained in S1. Specifically, the distance and azimuth measured by the millimeter-wave radar 42, which is a polar coordinate system, are measured by using a horizontal axis (hereinafter, x-axis) and a front-rear axis (hereinafter, y-axis) based on the vehicle position of the vehicle. Is converted to an xy coordinate system represented by Assuming that the distance r of the target object to the own vehicle and the azimuth angle θ of the target object to the own vehicle, the (x, y) coordinates of the target object are calculated by an arithmetic expression of x = r · cos θ and y = r · sin θ. .

  In step S3, when the distance of the object acquired in S1 is equal to or longer than the above-described predetermined distance (YES in S3), the process proceeds to step S4. On the other hand, if the distance of the object acquired in S1 is shorter than the above-described predetermined distance (NO in S3), the process proceeds to step S12.

  In step S4, the high-accuracy map acquisition unit 203 acquires the high-accuracy map stored in the map DB 32. For example, the high-accuracy map acquisition unit 203 may be configured to acquire a high-accuracy map by focusing on the vicinity of the vehicle position of the own vehicle acquired by the own vehicle position acquisition unit 202.

  In step S5, the three-dimensional position specifying unit 204 determines the point (hereinafter, the target point) corresponding to the (x, y) coordinates of the target object calculated in S2 on the high-accuracy map acquired in S4 by the height and the cross slope. It is determined whether or not a point (hereinafter, a map data point) in which the information is included. As an example, the target point may be specified by offsetting the latitude and longitude of the vehicle position of the own vehicle in the geographic coordinate system by the (x, y) coordinates of the target object calculated in S2. When the target point corresponds to the map data point (YES in S5), the process proceeds to step S6. On the other hand, when the target point does not correspond to the map data point (NO in S5), the process proceeds to step S7.

  In step S6, the three-dimensional position specifying unit 204 specifies the position of the target with respect to the own vehicle in the height direction, and proceeds to step S9. Specifically, the z-coordinate of an axis in the height direction (hereinafter, z-axis) based on the vehicle position of the own vehicle is specified. Here, an example of specifying the position of the target object in the height direction with respect to the own vehicle when the target point corresponds to a map data point will be described with reference to FIG. Ov in FIG. 5 indicates the own vehicle, and Va indicates a preceding vehicle as an object. In FIG. 5, black circles indicate map data points, Op indicates a point of the map data points where the vehicle is located, and Ap indicates a point of the map data points where the preceding vehicle is located.

  The three-dimensional position specifying unit 204 indicates the altitude of the point on the high-accuracy map where the vehicle is located (see Op in FIG. 5) and the (x, y) coordinates of the object calculated in S2 on the high-accuracy map. The z coordinate of the target is specified from the difference (see Di in FIG. 5) from the altitude of the point (see Ap in FIG. 5). The three-dimensional position identification unit 204 performs, for example, map matching of the vehicle position of the own vehicle acquired by the own vehicle position acquisition unit 202 with the map data points of the high-accuracy map acquired in S4. The position may be used.

  In step S7, the three-dimensional position specifying unit 204 searches the map data points of the high-accuracy map acquired in S4 for a gradient reference point serving as a reference for a crossing gradient for the target point. Here, an example of the search of the gradient reference point for the target point in the three-dimensional position specifying unit 204 will be described with reference to FIG. Ov in FIG. 6 indicates the own vehicle, and Va indicates a preceding vehicle as an object. In FIG. 6, black circles are map data points, Op is a point of the map data points where the vehicle is located, Ap is a point of the map data points where the preceding vehicle is located, and Scp is a gradient reference point for the target point. Is shown.

  The three-dimensional position specifying unit 204 calculates a route approximation curve (see a broken line in FIG. 6) that approximates a route ahead of the vehicle from map data points ahead of the vehicle position of the vehicle. As an example, a spline curve may be calculated. Subsequently, the three-dimensional position specifying unit 204 draws a perpendicular from the target point (see Ap in FIG. 6) to this route approximation curve, and determines a map data point located at the shortest distance from the intersection of the perpendicular and the route approximation curve as a gradient reference. A point (see Scp in FIG. 6). In other words, the three-dimensional position identification unit 204 performs map matching of the target point with the high-accuracy map and searches for a map data point located at the shortest distance from the target point as a gradient reference point.

  In step S8, the height of the target point is specified using the transverse gradient at the gradient reference point searched in S7 and the distance between the gradient reference point and the target point, and the process proceeds to step S9. Here, an example of specifying the position of the target object in the height direction with respect to the own vehicle when the target point does not correspond to the map data point will be described with reference to FIG.

The three-dimensional position specifying unit 204 calculates a distance from the gradient reference point to the target point from the (x, y) coordinates of the gradient reference point and the (x, y) coordinates of the target point. As an example, the (x, y) coordinates of the gradient reference point are specified by offsetting the longitude and latitude coordinates of the gradient reference point in the geographic coordinate system by the latitude and longitude coordinates of the vehicle position of the own vehicle in the geographic coordinate system. do it. Then, based on the distance from the slope reference point to the target point and the cross slope at the slope reference point, by using a trigonometric function on the assumption that the slope reference point to the target point is constant at this cross slope, calculating the altitude difference between the slope reference point and target point (see Di ₂ in FIG. 6). Then, a high degree of difference between the vehicle of the vehicle position and slope reference point calculated in the same manner as S6 (see Di ₁ in FIG. 6), a high degree of difference between the slope reference point and the target point (Di in FIG ₂ ) To specify the z coordinate of the object.

  In step S9, the three-dimensional position specifying unit 204 combines the (x, y) coordinates of the target object calculated in S2 and the z coordinates of the target object specified in S6 or S8, and performs three-dimensional The original position, that is, (x, y, z) coordinates is specified.

  In step S10, the invisible area estimation unit 206 determines the altitude information of the map data points between the vehicle and the target object among the map data points of the high-accuracy map acquired in S4, Based on the specified viewpoint position, an invisible area invisible to a driver of the own vehicle due to a change in the gradient of the road surface is estimated. Here, an example of estimating the invisible area will be described with reference to FIG. Ov in FIG. 7 indicates the own vehicle, and Va indicates a preceding vehicle as an object. In FIG. 7, black circles are map data points, Vp is a viewpoint position, Los is a line segment starting from the viewpoint position, Op is a point of the map data point where the vehicle is located, and Ap is a map data point. The point where the preceding vehicle is located is shown.

  The invisible area estimation unit 206 extracts altitude information from map data points between the position of the vehicle (see Op in FIG. 7) and a target point (see Ap in FIG. 7), and spline-interpolates the altitude information. To obtain an approximate curve (hereinafter, a gradient approximate curve). If the target point does not correspond to the map data point, the above-described gradient reference point may be used instead of the target point. Subsequently, with the viewpoint position specified by the viewpoint position specifying unit 205 (see Vp in FIG. 7) as a starting point, a line segment that is in contact with the obtained approximate slope curve is obtained, and the (x, y, z) coordinates of the contact point are calculated. Then, based on the z-coordinate of the obtained coordinate point, that is, the height with respect to the own vehicle, an area equal to or less than this height is estimated as an invisible area. A region higher than this height is a visible region. In addition, for example, when it is not possible to draw a line segment that is in contact with the approximate gradient curve from the viewpoint position to the target point, the invisible area estimation unit 206 may estimate that there is no invisible area.

  In step S11, when the invisible area is estimated in S10, that is, when there is an invisible area (YES in S11), the process proceeds to step S13. On the other hand, when there is no invisible area in S10 (NO in S11), the process proceeds to step S12. In step S12, the display generation unit 207 performs an invisible area avoiding process of excluding the invisible area from the drawing target of the display image of the highlighting mark, and proceeds to step S13.

  In step S13, the display generation unit 207 generates image data of the display image of the highlighting mark in accordance with the three-dimensional position specified in S9. In step S14, the display generation unit 207 outputs the image data generated in S13 to the HUD 230, thereby superimposing a virtual image of a highlighting mark that emphasizes the target object on the foreground in accordance with the three-dimensional position of the target object with respect to the own vehicle. Display. Then, the process proceeds to step S20.

  As an example, the display generation unit 207 determines the three-dimensional position specified in S9, the viewpoint position specified by the viewpoint position specification unit 205, and the set position of the projection area stored in the nonvolatile memory of the HCU 20 in advance. Then, a virtual image (see Hl in FIG. 8) of a linear highlighting mark along the lower end of the object (see Va in FIG. 8) as shown in FIG. 8 is superimposed and displayed on the foreground. FIG. 8 is a diagram illustrating an example of the superimposed display, in which Vi indicates a projection area. It should be noted that any shape other than the line shape may be used as long as the shape is along the lower end of the object.

  When the invisible area avoiding process is performed in S12, that is, when there is an invisible area estimated by the invisible area estimating unit 206, the display generation unit 207 avoids the invisible area, and Is superimposed and displayed. As a specific example, as shown in FIG. 9, the line-shaped highlighting mark (see Hl in FIG. 9) along the lower end of the object (see Va in FIG. 9) is translated to the height of the visible region, What is necessary is just to superimpose and display along the lower end in the visible region of the object. FIG. 9 is a diagram illustrating an example of superimposed display, in which Vi indicates a projection area.

  In step S15, the captured image acquisition unit 200 acquires a captured image captured by the front camera 41 as sensing information. In step S16, the three-dimensional position specifying unit 204 specifies the position of the target object in the height direction with respect to the own vehicle using the captured image acquired in step S15. The three-dimensional position specifying unit 204 specifies the position of the target object with respect to the vehicle in the height direction based on the amount of change of the vanishing point detected by image recognition from the captured image from the vanishing point on a flat road. I just need.

  Here, an example of specifying the position in the height direction of the target object with respect to the own vehicle from the captured image will be described with reference to FIG. FIG. 10A illustrates an example of a captured image of a road surface having a forward ascending slope, and FIG. 10B illustrates an example of a captured image of a flat road. In the present embodiment, the position of the reference point (see BP in FIG. 10), which is a vanishing point in the captured image of the flat road, is obtained in advance at the time of manufacturing the vehicle, at the time of attaching the HUD 230 to the vehicle, and the like. It is assumed that the data is already stored in the nonvolatile memory. Further, it is preferable that the position of the reference point is, for example, for each output value of the height sensor of the vehicle so that a position corresponding to the pitching state of the vehicle can be selected and used.

  First, the three-dimensional position specifying unit 204 extracts a line segment by performing edge extraction on the captured image acquired in S14 and performing Hough transform on the white line candidate from which the edge has been extracted. The three-dimensional position identification unit 204 extracts a white line by comparing the extracted line segment with color information. The three-dimensional position specifying unit 204 calculates the position of the intersection of the left and right white lines by extending the left and right white lines extracted from the captured image, and sets the calculated intersection as a vanishing point (see FOE in FIG. 10). The above-mentioned reference point may be calculated in advance in the same manner. Subsequently, the three-dimensional position identification unit 204 compares the vanishing point with the reference point, and identifies the longitudinal gradient in front of the vehicle from the amount of change of the vanishing point with respect to the reference point. Regarding the specification of the vertical gradient from the change amount, the correspondence between the change amount and the vertical gradient may be stored in a nonvolatile memory of the HCU 20 in advance, and the specification may be made by referring to this correspondence.

  Then, based on the distance of the target acquired in S1 and the vertical gradient in front of the own vehicle to be specified, the three-dimensional position specifying unit 204 assumes that the vertical gradient from the own vehicle to the target is constant at this vertical gradient. By using a trigonometric function, the z coordinate of the object is specified from the difference between the vehicle position of the own vehicle and the altitude of the target point. Further, it is preferable that the three-dimensional position specifying unit 204 also specifies the height of the target object such as the vehicle height by image recognition.

  In step S17, the three-dimensional position identification unit 204 combines the (x, y) coordinates of the target calculated in S2 and the z coordinates of the target estimated in S16, and determines the three-dimensional position of the target with respect to the own vehicle. That is, the (x, y, z) coordinates are specified. In step S18, the display generation unit 207 generates image data of the display image of the highlighting mark in accordance with the three-dimensional position specified in S17. In step S19, the display generation unit 207 outputs the image data generated in S18 to the HUD 230, thereby superimposing a virtual image of a highlighting mark that emphasizes the target object on the foreground in accordance with the three-dimensional position of the target object with respect to the own vehicle. Display.

  As an example, the display generation unit 207 sets the three-dimensional position and the height of the target object specified in S17, the viewpoint position specified by the viewpoint position specification unit 205, and the setting of the projection area stored in the nonvolatile memory of the HCU 20 in advance. Based on the position, a virtual image (see Hl in FIG. 11) of a frame-shaped highlighting mark surrounding the object (see Va in FIG. 11) as shown in FIG. 11 is superimposed and displayed on the foreground. FIG. 11 is a diagram illustrating an example of superimposed display, in which Vi indicates a projection area. As long as the shape surrounds the object, the shape may be a shape other than the frame shape, or may be a shape lacking a part.

  In step S20, if it is the end timing of the virtual image display control-related processing (YES in S20), the virtual image display control-related processing ends. On the other hand, if it is not the end timing of the virtual image display control-related processing (NO in S20), the process returns to S1 and repeats the processing. Examples of the end timing of the virtual image display control-related processing include a case where the power switch of the own vehicle is turned off, a case where the function of the HUD 230 is turned off, and the like.

  In the example described with reference to the flowchart of FIG. 4, since the captured images captured by the front camera 41 are not used in the processing of S4 to S14, the height of the target object with respect to the own vehicle can be specified with high accuracy. Since it is difficult to accurately specify the height of the object itself, a virtual image having a shape along the lower end of the object is superimposed and displayed. According to this, it is possible to perform the display for highlighting the target object while suppressing the displacement in the height direction. Further, in the processing of S15 to S19, since the captured image captured by the front camera 41 is also used, the height of the target object with respect to the own vehicle can be specified with high accuracy, and the height of the target object itself can also be specified with high accuracy. It is possible to do. Therefore, a virtual image of a shape surrounding the object is superimposed and displayed. According to this, it is possible to perform the display for emphasizing the target object while surrounding the target object and making it easy for the driver to recognize the target object, while suppressing the displacement in the height direction.

<Summary of Embodiment 1>
According to the configuration of the first embodiment, in addition to the distance and the azimuth of the target object with respect to the own vehicle, which is detected by the millimeter-wave radar 42 serving as the exploration wave sensor, a high-precision map including height information for each point is used. Since the three-dimensional position of the object with respect to the own vehicle is specified, the height of the object with respect to the own vehicle can be specified with higher accuracy. In addition, since the virtual image for emphasizing the object is superimposed and displayed in accordance with the three-dimensional position, it is possible to suppress the virtual image for emphasizing the object from being significantly shifted from the intended position in the height direction. As a result, when the HUD 230 superimposes and displays a virtual image that emphasizes an object in the foreground of the own vehicle, it is possible to reduce erroneous recognition of the object by the driver and distrust of the driver.

  Further, according to the configuration of the first embodiment, when the target object is at a short distance less than a predetermined distance from the own vehicle, it is possible to accurately specify the height of the target object with respect to the own vehicle at this short distance. By using the image captured by the front camera 41, the height of the target object with respect to the own vehicle can be specified particularly accurately. On the other hand, when the target object is far from the own vehicle by a predetermined distance or more, an image picked up by the front camera 41 which is difficult to accurately determine the height of the target object with respect to the own vehicle at this distance is used. Instead, by using the high-accuracy map, it is possible to accurately specify the height of the target object with respect to the own vehicle.

  Furthermore, according to the configuration of the first embodiment, even when the target point does not correspond to the map data point of the high-precision map, the gradient reference point serving as the reference of the traverse gradient for the target point is searched and searched. The height of the target point can be specified using the cross slope at the gradient reference point and the distance between the gradient reference point and the target point. Therefore, even when the target point does not correspond to the map data point of the high-precision map, the height of the target object with respect to the own vehicle can be specified with higher accuracy.

  In addition, according to the configuration of the first embodiment, the invisible area estimation unit 206 estimates the invisible area, and the display generation unit 207 superimposes and displays the virtual image of the highlighting mark while avoiding the invisible area. It is not necessary to superimpose and display a virtual image that emphasizes the object at a position far away from a portion that is not hidden by the forward gradient of the object. Therefore, it is possible to further reduce erroneous recognition of the target object by the driver and distrust of the driver.

(Embodiment 2)
In the first embodiment, when the target object is at a short distance less than a predetermined distance from the own vehicle, the captured image captured by the front camera 41 is used to specify the three-dimensional position of the target object, but the high-precision map is not used. In the case where the target object is a predetermined distance or more from the own vehicle, a configuration in which a high-accuracy map is used to specify the three-dimensional position of the target object but does not use a captured image captured by the front camera 41 has been described. Not limited to this.

  For example, a configuration may be used in which the height of the target object with respect to the own vehicle is specified using a high-accuracy map whether the target object is a short distance or a long distance. In this case, for example, the image captured by the front camera 41 may be configured to specify the height of the object itself when the object is at a short distance and to superimpose and display a virtual image of the shape surrounding the object. . Further, in this case, as in the first embodiment, the invisible area estimating unit 206 may estimate the invisible area using a high-accuracy map, and superimpose and display a virtual image of the highlighting mark while avoiding the invisible area. As a specific example, as shown in FIG. 12, a portion corresponding to an invisible area of a frame-shaped highlighting mark (see Hl in FIG. 12) surrounding the object (see Va in FIG. 12) is subjected to a mask process, and What is necessary is just to superimpose and display so that the part in a visible region may be enclosed. FIG. 12 is a diagram illustrating an example of the superimposed display, in which Vi indicates a projection area.

  Even with the above configuration, in addition to the distance and azimuth of the target object with respect to the vehicle detected by the millimeter-wave radar 42 that is a search wave sensor, using a high-accuracy map including height information for each point, Since the three-dimensional position of the target object with respect to the own vehicle is specified, the height of the target object with respect to the own vehicle can be specified with higher accuracy. Therefore, when a virtual image that emphasizes an object in the foreground of the own vehicle is superimposed and displayed by the HUD 230, it is possible to reduce erroneous recognition of the object and distrust of the driver by the driver.

  In addition, whether the object is located at a short distance or a long distance, the height of the object with respect to the own vehicle is specified using a high-precision map, but the target point does not correspond to a map data point. Alternatively, the height of the target object with respect to the own vehicle may be specified using the image captured by the front camera 41. In this configuration, when the target point does not correspond to the map data point and the target object is at a short distance, the height of the target object with respect to the own vehicle is specified using the image captured by the front camera 41. When the target point does not correspond to the map data point and the target object is at a long distance, it is preferable to specify the height of the target object with respect to the own vehicle in the same manner as the processing of S7 to S8. .

  According to this, when the target point does not correspond to the map data point and the distance of the target object is short, it is possible to accurately specify the height of the target object with respect to the own vehicle at this short distance. By using the captured image captured by the front camera 41, it is possible to accurately specify the height of the target object with respect to the own vehicle while suppressing the processing load for searching for the gradient reference point. On the other hand, when the target point does not correspond to the map data point and the distance of the target object is long, it is difficult to accurately specify the height of the target object with respect to the own vehicle at this distance. Instead of using the image captured by the camera 41, it is possible to search for the gradient reference point and accurately specify the height of the target object with respect to the own vehicle.

(Embodiment 3)
In the first embodiment, depending on whether the height of the target object with respect to the own vehicle is specified using the image captured by the front camera 41, a virtual image of a shape surrounding the target object is superimposed or displayed at the lower end of the target object. Although the configuration for switching whether to superimpose and display the virtual image having the shape along the line has been described, the present invention is not necessarily limited to this. For example, a virtual image of the same shape may be superimposed and displayed regardless of whether or not the height of the target object with respect to the own vehicle is specified using the captured image captured by the front camera 41.

(Embodiment 4)
In the first embodiment, the configuration is described in which the invisible area estimation unit 206 estimates the invisible area and the display generation unit 207 superimposes and displays the virtual image of the highlighting mark while avoiding the invisible area. However, the present invention is not limited to this. For example, the HCU 20 may not include the invisible area estimation unit 206 and may not be configured to estimate the invisible area.

(Embodiment 5)
In the first embodiment, the configuration is described in which the viewpoint position specifying unit 205 specifies the viewpoint position of the driver based on the vehicle position of the own vehicle based on the information on the viewpoint position detected by the DSM 22, but is not limited thereto. For example, a configuration may be used in which a set position stored in advance in the nonvolatile memory of the HCU 20 is used as a driver's viewpoint position with reference to the vehicle position of the own vehicle. This set position is a virtual point set for each vehicle type, and is a point representing the position of the driver's eyes in a normal driving state. The setting position may be set to, for example, a height of 635 mm immediately above the seating reference point.

  In addition, by storing the set position in advance for each driver's seat position such as a reclining angle and a slide position, a set position corresponding to the seat position is selected, and the driver's position based on the vehicle position of the own vehicle is selected. It is good also as composition which specifies a viewpoint position.

(Embodiment 6)
In the first embodiment, the configuration in which the map DB 32 from which the high-accuracy map acquisition unit 203 acquires the map data is provided in the ADAS locator 3 has been described. However, the configuration is not limited to this. For example, the map DB 32 may be provided in a configuration other than the ADAS locator 3.

(Embodiment 7)
In the first embodiment, an example has been described in which the present invention is applied to a case where the own vehicle has an automatic driving function, but the present invention is not necessarily limited to this. For example, the configuration may be such that the own vehicle does not have an automatic driving function. In this case, a configuration may be adopted in which the driver of the host vehicle alerts the target object by superimposing and displaying a virtual image that emphasizes the target object.

(Embodiment 8)
In the first embodiment, the configuration is described in which the HCU 20 separate from the HUD 230 has a function related to display control in the HUD 230, but the present invention is not limited to this. For example, a configuration may be adopted in which a control circuit provided in the HUD 230 has a function related to display control in the HUD 230, or a configuration in which a control circuit or the like provided in the combination meter has a function.

  It should be noted that the present disclosure is not limited to the above-described embodiments, and various modifications are possible within the scope shown in the claims, and are obtained by appropriately combining technical means disclosed in different embodiments. Embodiments are also included in the technical scope of the present disclosure.

REFERENCE SIGNS LIST 1 vehicle system, 2 HMI system, 3 ADAS locator, 4 peripheral monitoring sensor, 5 vehicle control ECU, 6 driving support ECU, 10 front windshield (projection member), 20 HCU (vehicle display control device), 41 front camera ( Imaging device), 42 millimeter wave radar (exploration wave sensor), 100 virtual image, 200 captured image acquisition unit, 201 distance and orientation acquisition unit, 202 own vehicle position acquisition unit, 203 high-accuracy map acquisition unit, 204 three-dimensional position identification unit, 205 viewpoint position identification unit, 206 invisible area estimation unit, 207 display generation unit (display control unit), 230 HUD (head-up display)

Claims (9)

A display control device for a vehicle, which is used in a vehicle and controls a head-up display (230) for superimposing and displaying a virtual image that emphasizes an object in a foreground of the vehicle by projecting a display image on a projection member (10). hand,
A probe wave is transmitted, and the probe wave is detected by a probe wave sensor (42) that detects a distance and an azimuth of the target object with respect to the vehicle by receiving a reflected wave reflected by the target object. A distance direction obtaining unit (201) for obtaining the direction;
A high-accuracy map acquisition unit (203) for acquiring a high-accuracy map including height information for each point;
Using the distance and the azimuth obtained by the distance azimuth obtaining unit and the high-accuracy map obtained by the high-accuracy map obtaining unit, a three-dimensional position specification that specifies a three-dimensional position of the object with respect to the vehicle. Part (204),
A display control unit for a vehicle, comprising: a display control unit (207) configured to superimpose and display a virtual image emphasizing the object in accordance with a three-dimensional position of the object with respect to the vehicle specified by the three-dimensional position specifying unit. A captured image acquisition unit (200) that acquires a captured image captured by an imaging device (41) that captures an image in front of the vehicle;
The three-dimensional position identification unit, when the distance of the object to the vehicle is equal to or more than a predetermined distance, the distance and the azimuth obtained by the distance azimuth obtaining unit, and the high accuracy map obtaining unit obtains the distance Using a high-precision map, while specifying the three-dimensional position of the object with respect to the vehicle, if the distance of the object with respect to the vehicle is less than a predetermined distance, the distance acquired by the distance and orientation acquisition unit The vehicle display control device according to claim 1, wherein the three-dimensional position of the object with respect to the vehicle is specified using the captured image acquired by the captured image acquisition unit in addition to the orientation.   The display control unit, when the three-dimensional position specifying unit specifies the three-dimensional position of the target object with respect to the vehicle using the captured image, as a virtual image that emphasizes the target object in the foreground. While superimposing and displaying a virtual image of a shape surrounding the target object, the three-dimensional position of the target object with respect to the vehicle is determined using the high-accuracy map acquired by the high-accuracy map acquisition unit without using the captured image. The display control device for a vehicle according to claim 2, wherein when specifying, a virtual image having a shape along a lower end of the object in the foreground is superimposed and displayed as a virtual image that emphasizes the object.   The three-dimensional position identification unit, using the captured image, when identifying the three-dimensional position of the object with respect to the vehicle, for the position in the height direction of the object with respect to the vehicle, the image from the captured image The display control device for a vehicle according to claim 2, wherein the vanishing point detected by the recognition is specified based on an amount of change from the vanishing point on a flat road.   The three-dimensional position identification unit, using the high-accuracy map acquired by the high-accuracy map acquisition unit, when identifying the three-dimensional position of the object with respect to the vehicle, the height direction of the object with respect to the vehicle The position of the position of the vehicle on the high-precision map is identified from the difference between the height of the point where the vehicle is located and the height of the point indicated by the distance and the azimuth of the object with respect to the vehicle. The display control device for a vehicle according to claim 1. The high-precision map includes at least height and cross slope information for a plurality of points on the road,
The three-dimensional position identification unit, when using the high-accuracy map acquired by the high-accuracy map acquisition unit, to identify the three-dimensional position of the object with respect to the vehicle, the object of the object with respect to the vehicle If the target point, which is a point indicated by the distance and the azimuth, does not correspond to the point where the information of the height and the traverse gradient is included in the high-accuracy map, the height and the traverse are displayed in the high-accuracy map. From the points that include the information on the gradient, search for a gradient reference point that serves as a reference for the traverse gradient for the target point, the traverse gradient at the gradient reference point, and the gradient reference point and the target point. The display control device for a vehicle according to claim 5, wherein the height of a point indicated by the distance and the azimuth of the object with respect to the vehicle is specified from the distance of the vehicle. A viewpoint position specifying unit (205) for specifying a viewpoint position of the driver of the vehicle;
Among the points where the information on the height is included in the high-precision map, the information on the height of the point between the vehicle and the object, and the viewpoint position specified by the viewpoint position specifying unit. An invisible area estimator (206) for estimating an invisible area that is invisible to the driver due to a change in road surface gradient based on
The display control device for a vehicle according to any one of claims 1 to 6, wherein the display control unit superimposes and displays a virtual image that emphasizes the target object, avoiding the invisible region estimated by the invisible region estimation unit. . A display control method for a vehicle, which is used in a vehicle and controls a head-up display (230) that superimposes and displays a virtual image that emphasizes an object in a foreground of the vehicle by projecting a display image on a projection member (10). hand,
A probe wave is transmitted, and the probe wave is detected by a probe wave sensor (42) that detects a distance and an azimuth of the target object with respect to the vehicle by receiving a reflected wave reflected by the target object. To get the bearing,
Obtain a high-precision map that contains height information for each point,
Using the acquired distance and orientation and the acquired high-accuracy map, specify the three-dimensional position of the object with respect to the vehicle,
A display control method for a vehicle in which a virtual image that emphasizes the object is superimposed and displayed in accordance with a specified three-dimensional position of the object with respect to the vehicle. Computer
Function as a vehicle display control device for controlling a head-up display (230) that is used in a vehicle and that superimposes and displays a virtual image that emphasizes an object in the foreground of the vehicle by projecting a display image on a projection member (10). A control program for causing
A probe wave is transmitted, and the probe wave is detected by a probe wave sensor (42) that detects a distance and an azimuth of the target object with respect to the vehicle by receiving a reflected wave reflected by the target object. A distance direction obtaining unit (201) for obtaining the direction;
A high-accuracy map acquisition unit (203) for acquiring a high-accuracy map including height information for each point;
Using the distance and the azimuth obtained by the distance azimuth obtaining unit and the high-accuracy map obtained by the high-accuracy map obtaining unit, a three-dimensional position specification that specifies a three-dimensional position of the object with respect to the vehicle. Part (204),
A control program for functioning as a display control unit (207) for superimposing and displaying a virtual image emphasizing the object in accordance with a three-dimensional position of the object with respect to the vehicle specified by the three-dimensional position specifying unit.

Images