JP2020126478A - Display control device and display control program - Google Patents

Abstract

To provide a display control device, etc., capable of calling an attention by displaying a risk target which is hidden by a front vehicle, while superposing the risk target on the foreground.SOLUTION: An HCU is used in a vehicle and functioned as a display control device which is used in a vehicle A and controls an indication to be superposed on the foreground. The HCU detects a front vehicle Af1 which is traveling ahead of a self vehicle As and detects a risk target RT which is present further ahead of the front vehicle Af1. The HCU displays a virtual presentation image Vio indicating the presence of the risk target RT while superposing it on the foreground in a case where there are the front vehicle Af1 and also the risk target RT.SELECTED DRAWING: Figure 4

Description

The disclosure of this specification relates to a display control device and a display control program that control a display superimposed on a foreground.

Conventionally, for example, in Patent Document 1, a head-up display device is used to display a vehicle image in which a highlighted image for alerting a specific target in the foreground, such as a front vehicle and a pedestrian, is displayed. A system is disclosed.

JP, 2005-221633, A

There may be a risk target in the foreground of the vehicle that poses a risk to the host vehicle even if it is not directly visible to the driver. As an example, a vehicle in front of two vehicles hidden by a vehicle in front corresponds to such a risk target. However, alerting a risk target hidden in a vehicle ahead has not been assumed in the vehicle display system of Patent Document 1.

An object of the present disclosure is to provide a display control device and a display control program capable of alerting a risk target hidden in a vehicle ahead by superimposing it on the foreground.

In order to achieve the above object, one disclosed aspect is a display control device that is used in a vehicle (A) and controls a display to be superimposed on a foreground. A front vehicle detection unit (75) that detects a traveling front vehicle (Af1), a target detection unit (76) that detects a risk target (RT) existing further ahead of the front vehicle, and a front vehicle are present, and When there is a risk target, a display control unit (77) that superimposes and displays a virtual presentation image (Vio) indicating the presence of the risk target on the foreground.

Further, one aspect disclosed is a display control program which is used in a vehicle (A) and controls a display to be superimposed on the foreground, wherein at least one processing unit (11) has a front of a host vehicle which is a vehicle. When a front vehicle (Af1) traveling in the vehicle is detected (S101), a risk target (RT) existing further ahead of the front vehicle is detected (S102), and a front vehicle exists and a risk target exists, A virtual presentation image (Vio) indicating the presence of a risk target is displayed on the foreground in a superimposed manner (S105), and the display control program is executed.

In these aspects, when a front vehicle is present and a risk target hidden by the front vehicle is detected, a virtual presentation image indicating the presence of the risk target is displayed in a superimposed manner on the foreground. According to the above, even in a situation where the risk target is hidden by the vehicle in front and direct visibility is difficult, the risk target can be alerted by the virtual presentation image superimposed and displayed on the foreground.

It should be noted that the reference numbers in the above parentheses merely show an example of the correspondence with specific configurations in the embodiments described later, and do not limit the technical scope at all.

It is a figure showing the whole picture of an in-vehicle network containing HCU by a first embodiment of this indication. It is a figure showing an example of a HUD device carried in vehicles. It is a figure which shows an example of a schematic structure of HCU. It is a figure explaining an example of a virtual world display in the scene where a front vehicle hides a vehicle before two. FIG. 8 is a diagram showing the movement of the virtual world display shown in FIG. 4 together with FIGS. 6 and 7. FIG. 8 is a diagram showing the movement of the virtual world display shown in FIG. 4 together with FIGS. 5 and 7. It is a figure which shows the movement of the virtual world display shown in FIG. 4 with FIG. 5 and FIG. It is a flowchart which shows the detail of the display process implemented for virtual world display. It is a figure which shows the detail of the virtual world display in 2nd embodiment. It is a figure which shows the detail of the virtual world display in 3rd embodiment. It is a figure which shows the detail of the virtual world display in 4th embodiment. FIG. 9 is a diagram showing details of a virtual world display in modification 1. FIG. 8 is a diagram showing details of a virtual world display in modification 2;

The corresponding components may be assigned the same reference numerals and overlapping description may be omitted. When only a part of the configuration is described in each embodiment, the configurations of the other embodiments described above can be applied to the other parts of the configuration. Further, not only the combination of the configurations explicitly described in the description of each embodiment, but the configuration of a plurality of embodiments can be partially combined even if they are not explicitly described unless the combination causes any trouble. Further, unspecified combinations of the configurations described in the plurality of embodiments and the modified examples are also disclosed by the following description.

(First embodiment)
The function of the display control device according to the first embodiment of the present disclosure is realized by an HCU (Human Machine Interface Control Unit) 100 shown in FIGS. 1 and 2. The HCU 100 configures an HMI (Human Machine Interface) system 10 used in the vehicle A together with a head-up display (hereinafter, “HUD”) device 20, an operating device 26, a driver status monitor 27, and the like. The HMI system 10 has an input interface function that receives an operation by an occupant of the vehicle A (for example, a driver or the like) and an output interface function that presents information to the driver.

The HMI system 10 is communicatively connected to the communication bus 99 of the vehicle-mounted network 1 mounted on the vehicle A. The HMI system 10 is one of a plurality of nodes provided in the in-vehicle network 1. To the communication bus 99 of the vehicle-mounted network 1, for example, the peripheral monitoring sensor 30, the locator 40, the V2X communication device 51, the driving support ECU 52, and the like are connected as nodes. These nodes connected to the communication bus 99 can communicate with each other.

The surroundings monitoring sensor 30 is an autonomous sensor that monitors the surrounding environment of the vehicle A. The surroundings monitoring sensor 30 detects moving objects such as pedestrians, cyclists, animals other than humans, and other vehicles from the detection range around the own vehicle, and also displays falling objects on the road, guardrails, curbs, lane markings, and the like. And stationary objects such as roadside structures can be detected. The periphery monitoring sensor 30 provides the detection information obtained by detecting an object around the vehicle A (particularly in the front range) to the driving support ECU 52, the HCU 100, and the like through the communication bus 99.

The periphery monitoring sensor 30 has a front camera 31, a millimeter wave radar 32, and the like as a detection configuration for detecting an object. The front camera 31 outputs, as detection information, at least one of image pickup data obtained by photographing the front area of the vehicle A and an analysis result of the image pickup data. The millimeter wave radar 32 irradiates a millimeter wave or a quasi-millimeter wave toward the forward range and receives the reflected wave reflected by a moving object, a stationary object, or the like to generate detection information output to the outside.

The locator 40 generates highly accurate position information and the like of the vehicle A by composite positioning that combines a plurality of pieces of acquired information. The locator 40 can identify the lane in which the vehicle A travels, for example, from among a plurality of lanes. The locator 40 includes a GNSS (Global Navigation Satellite System) receiver 41, an inertial sensor 42, a high precision map database (hereinafter, “DB”) 43, a locator ECU 44, and the like.

The GNSS receiver 41 receives positioning signals transmitted from a plurality of artificial satellites (positioning satellites). The GNSS receiver 41 can receive a positioning signal from each positioning satellite of at least one satellite positioning system among satellite positioning systems such as GPS, GLONASS, Galileo, IRNSS, QZSS, and Beidou. The inertial sensor 42 includes, for example, a gyro sensor and an acceleration sensor. The high-precision map DB 43 is mainly composed of a non-volatile memory and stores high-precision map data (hereinafter, “high-precision map data”).

The locator ECU 44 is mainly composed of a microcomputer including a processor, a RAM, a storage unit, an input/output interface, and a bus connecting these. The locator ECU 44 combines the positioning signal received by the GNSS receiver 41, the measurement result of the inertial sensor 42, the vehicle speed information output to the communication bus 99, and the like to sequentially measure the vehicle position, the traveling direction, and the like of the vehicle A.

The locator ECU 44 provides the position information and direction information of the vehicle A based on the positioning result to the HCU 100 and the like through the communication bus 99. In addition, the locator ECU 44 reads out the required high-precision map data from the high-precision map DB 43 in response to a request from the HCU 100 or the like and provides it to the HCU 100 which is the request source.

The V2X (Vehicle to Everything) communicator 51 is a communication module mounted on the vehicle A. The V2X communication device 51 has a vehicle-to-vehicle (V2I) communication function, and can communicate with the roadside device 120 (see FIG. 3) installed beside the road. The V2X communicator 51 has a vehicle-to-vehicle (hereinafter “V2V”) communication function, and can communicate with the V2X communicator 113 of the in-vehicle system 110 (see FIG. 3) mounted on another vehicle. Is. The V2X communicator 51 has functions such as pedestrian-to-pedestrian (Vehicle to Pedestrian, hereinafter “V2P”) and the like, and is capable of communicating with a smartphone 130 (see FIG. 3) owned by a pedestrian and a cyclist.

The V2X communication device 51 provides the HCU 100 with the information received by V2I communication, V2V communication, V2P communication, and the like. With the communication function of the V2X communication device 51, the HMI system 10 presents the information acquired by the infrastructure cooperation. The V2X communication device 51 may have a function of V2N (Vehicle to cellular Network) communication in accordance with communication standards such as LTE (Long Term Evolution) and 5G.

The driving support ECU 52 includes at least one of a driving support function that supports the driving operation of the driver and an automatic driving function that can substitute the driving operation of the driver. The driving support ECU 52 recognizes the traveling environment around the vehicle A based on the detection information acquired from the peripheral monitoring sensor 30. The driving support ECU 52 can provide the HCU 100 with the analysis result of the detection information performed for the recognition of the traveling environment as the analyzed detection information. As an example, the driving support ECU 52 provides information extracted from the image data of the front camera 31 and the like, specifically, information such as the relative position, moving speed, moving direction, size, and type of an object existing in the front range. , HCU100.

Next, details of the HUD device 20 and the HCU 100 will be described.

The HUD device 20 is mounted on the vehicle A as one of a plurality of vehicle-mounted display devices together with a multi-information display, a center information display, and the like. The HUD device 20 presents various information related to the vehicle A to the driver by Augmented Reality (hereinafter, “AR”) display using the virtual image Vi. The virtual image Vi displayed in AR is movable relative to the superimposition target in the foreground so that the driver can visually follow the superimposition target.

The HUD device 20 is electrically connected to the HCU 100 and sequentially acquires the video data generated by the HCU 100. The HUD device 20 is housed in a housing space inside the instrument panel 9 below the windshield WS. The HUD device 20 projects the light imaged as the virtual image Vi toward the projection range PA of the windshield WS. The light projected on the windshield WS is reflected toward the driver's seat in the projection area PA and is perceived by the driver. The driver visually recognizes the display in which the virtual image Vi is superimposed on the superimposition target in the foreground seen through the projection range PA.

The HUD device 20 includes a projector 21, a magnifying optical system 22, and the like. The projector 21 has an LCD (Liquid Crystal Display) panel and a backlight. The projector 21 is fixed to the housing of the HUD device 20 with the display surface of the LCD panel facing the magnifying optical system 22. The projector 21 displays each frame image of the video data on the display surface of the LCD panel and illuminates the display surface with a backlight so that the light imaged as the virtual image Vi is emitted toward the magnifying optical system 22. To do. The magnifying optical system 22 is configured to include at least one concave mirror in which a metal such as aluminum is vapor-deposited on the surface of a base material made of synthetic resin or glass. The magnifying optical system 22 spreads the light emitted from the projector 21 by reflection and projects the light on an upper projection range PA.

The HCU 100 is an electronic control device that integrally controls display by a plurality of in-vehicle display devices including the HUD device 20 in the HMI system 10. The HCU 100 is mainly configured by a computer including a processing unit 11, a RAM 12, a storage unit 13, an input/output interface 14, and a bus connecting these. The processing unit 11 is hardware for arithmetic processing combined with the RAM 12. The processing unit 11 is configured to include at least one arithmetic core such as a CPU (Central Processing Unit) and a GPU (Graphics Processing Unit). The processing unit 11 may be configured to further include an FPGA (Field-Programmable Gate Array) and an IP core having other dedicated functions. The storage unit 13 is configured to include a non-volatile storage medium. The storage unit 13 stores various programs executed by the processing unit 11 (display control program and the like).

The HCU 100 shown in FIGS. 1 to 3 executes a program stored in the storage unit 13 by the processing unit 11 and includes a plurality of functional units. Specifically, the HCU 100 has functions of a viewpoint position specifying unit 71, an infrastructure information acquiring unit 72, a position information acquiring unit 73, an external world information acquiring unit 74, a front situation recognition 75, a risk target specifying unit 76, a display generating unit 77, and the like. The department is built. In the following description, the specific vehicle A equipped with the HMI system 10 is referred to as “own vehicle As” in order to distinguish it from other vehicles.

The viewpoint position specifying unit 71 acquires detection information related to the eye point of the driver sitting in the driver's seat from the driver status monitor (hereinafter, “DSM”) 27. The DSM 27 is an in-vehicle device that monitors a driver's state by analyzing a face image captured by a near infrared camera. The viewpoint position specifying unit 71 specifies the current viewpoint position of the driver based on the detection information acquired from the DSM 27, and provides the specified viewpoint position to the risk target specifying unit 76 and the display generating unit 77.

The infrastructure information acquisition unit 72 acquires infrastructure information in cooperation with the V2X communication device 51. Specifically, the V2X communicator 51 uses the vehicle-mounted system 110 of another vehicle to detect the detection information of the obstacle around the other vehicle identified by the surrounding monitoring sensor 111 and the position information of the other vehicle identified by the locator 112. At the same time, it is received from the V2X communication device 113 of another vehicle. As an example, when the other vehicle is a preceding vehicle of the own vehicle As, the V2X communicator 51 outputs the detection information of the vehicle traveling further ahead of the other vehicle, that is, the vehicle two vehicles before the own vehicle As to the other. It can be received from the in-vehicle system 110 of the vehicle. Further, the V2X communication device 51 receives from the roadside device 120 position information of obstacles existing on the road in the traveling direction, such as falling objects, parked vehicles, and accident vehicles. Further, the V2X communication device 51 receives, from the smartphone 130, position information of a pedestrian, a cyclist, and the like who carry the smartphone 130, information such as a moving speed and a moving direction. The infrastructure information acquisition unit 72 acquires these pieces of infrastructure information received by the V2X communication device 51 and provides them to the forward situation recognition 75 and the risk target identification unit 76.

The position information acquisition unit 73 acquires the position information and the direction information of the own vehicle As from the locator ECU 44 as the own vehicle position information. The position information acquisition unit 73 provides the acquired vehicle position information to the risk target identification unit 76.

The outside world information acquisition unit 74 acquires detection information about the front range of the host vehicle As from at least one of the surroundings monitoring sensor 30 and the driving assistance ECU 52. The detection information may be image data of the front range captured by the front camera 31 or the like, or may be an analysis result obtained by recognition of the traveling environment by the surroundings monitoring sensor 30 or the driving assistance ECU 52. In addition, the external world information acquisition unit 74 acquires, from the locator ECU 44, high-precision map data including information on the road shape in the traveling direction. The external world information acquisition unit 74 may acquire normal navigation map data used for route guidance or the like from the navigation device mounted on the own vehicle As, instead of or together with the high accuracy map data. .. The outside world information acquisition unit 74 provides the detection information and the map data to the forward situation recognition 75 and the risk target identification unit 76.

As shown in FIGS. 3 and 4, the front situation recognition 75 is based on the map data acquired by the external information acquisition unit 74, and includes the traveling lane (hereinafter, “vehicle lane Lns”) in which the vehicle is traveling. Understand the shape of the road. Specifically, the front situation recognition 75 grasps the road type, the road width, the number of lanes, the curvature of the curve, the gradient, and the like. The front situation recognition 75 provides the road shape information to the display generation unit 77.

The front situation recognition 75 recognizes the front vehicle Af1 traveling in the own vehicle lane Lns based on the detection information of the front range acquired by the external information acquisition unit 74. The front situation recognition 75 acquires information such as a relative position, a relative speed, and a size of the front vehicle Af1. In addition, the front situation recognition 75 determines whether or not the direction indicator of the front vehicle Af1 is activated. The front situation recognition 75 provides the display generation unit 77 with these pieces of information related to the front vehicle Af1.

The front situation recognition 75 acquires information such as the relative position and type of the risk target RT recognized by the risk target specifying unit 76. The front situation recognition 75 determines whether or not the risk target RT is hidden by the front vehicle Af1 based on the detection information of the front range such as the image data of the front camera 31. The front situation recognition 75 notifies the display generation unit 77 that the risk target RT is invisible when the entire risk target RT is hidden by the front vehicle Af1 and cannot be visually recognized directly by the driver. On the other hand, the front situation recognition 75 indicates that the risk target RT is in a visible state when at least a part of the risk target RT is directly visible to the driver without being hidden by the front vehicle Af1. To notify.

The risk target specifying unit 76 determines the range of the road surface visually recognized by the driver through the projection range PA based on the viewpoint position information provided by the viewpoint position specifying unit 71 and the preset position information of the projection range PA. Specified as the overlapping range. In addition, the risk target identification unit 76, based on the position information of the peripheral object acquired by the infrastructure information acquisition unit 72 and the vehicle position information acquired by the position information acquisition unit 73, the own vehicle As of the peripheral object. Understand the relative position, etc. The risk target identifying unit 76 identifies, as the risk target RT to be notified, a peripheral object that is located in the overlapping range among the grasped peripheral objects.

Specifically, the risk target identification unit 76 identifies, as the risk target RT, a peripheral object that is at least partially present in the own vehicle lane Lns in front of the own vehicle As and may be in contact with the own vehicle As. To do. For example, the risk target specifying unit 76 specifies a pedestrian, an object related to an accident, a fallen object, a stopped vehicle, a preceding vehicle, and the like as the risk target RT. On the other hand, traffic signals and road signs are excluded from the risk target RT. The risk target identification unit 76 provides information such as the relative position, relative speed, size, and type of the risk target RT to the forward situation recognition 75 and the display generation unit 77 as information related to the risk target RT.

The detection information of the millimeter wave radar 32 acquired by the external information acquisition unit 74 may include information indicating the relative position and the relative speed of the risk target RT hidden in the front vehicle Af1. Therefore, the risk target identification unit 76 may be able to grasp the risk target RT hidden in the forward vehicle Af1 by using the detection information by the millimeter wave radar 32 instead of or together with the infrastructure information.

The display generation unit 77 controls the information presentation to the driver by the HUD device 20 by the process of generating the video data sequentially output to the HUD device 20. The display generation unit 77 has a function of selecting the content used for information presentation, a function of drawing the content, a function of controlling the display period of the content, and the like based on the various information acquired.

In the display generation unit 77, the front vehicle Af1 traveling in front of the host vehicle As is detected by the front situation recognition 75, and the risk target RT existing further ahead of the front vehicle Af1 is set in the risk target identification unit 76. If detected, the virtual world display is performed. The virtual world display is an information display that pseudo-visualizes the risk target RT hidden in the front vehicle Af1 by superimposing the virtual image Vi on the foreground visible over the projection range PA and alerts the driver. The virtual world display is a display in which a perspective image of the real world hidden by the front vehicle Af1 is displayed on the back surface of the front vehicle Af1 in the foreground. In other words, the real world hidden by the front vehicle Af1 is looked into. The display looks like.

Hereinafter, the details of the virtual world display that alerts the front-rear vehicle Af2 to the front-rear vehicle Af1 hidden behind the front-rear vehicle Af1 (hereinafter, “preceding vehicle Af2”) will be described with reference to FIGS. 7 will be described with reference to FIGS. 1 and 3. In the following description, the pre-previous vehicle Af2 is a vehicle stopped to the left of the own vehicle lane Lns.

The display generation unit 77 converts the virtual presentation image Vio, the arrow image Via, the boundary image Vib, and the like shown in FIG. 4 into individual frame images forming the video data in order to display the virtual world that calls attention to the vehicle Af2 two hours before. draw. The display generation unit 77 draws each image in the frame image based on the viewpoint position of the driver acquired by the viewpoint position specifying unit 71 so that the virtual presentation image Vio and the arrow image Via are superimposed at appropriate positions. To correct.

The virtual presentation image Vio is an image showing the existence of the risk target RT when the forward vehicle Af1 exists and the risk target RT exists. The virtual presentation image Vio is superimposed and displayed on the front vehicle Af1 that shields the risk target RT in the foreground. When the risk target RT is the vehicle Af2 before before, the virtual presentation image Vio is drawn as a 3D object in a mode simulating the shape of the vehicle and viewed from the rear of the vehicle. The virtual presentation image Vio is displayed in a luminescent color such as white, light blue, or light yellow.

The virtual presentation image Vio is displayed above the arrow image Via and between the pair of boundary images Vib. The display position of the virtual presentation image Vio changes according to the relative position of the vehicle Af2 before the vehicle As with respect to the own vehicle As. The virtual presentation image Vio is displayed above the projection range PA and closer to the center as the distance between the own vehicle As and the vehicle Af2 before two becomes longer. On the other hand, as the distance between the own vehicle As and the vehicle Af2 before two becomes shorter, the virtual presentation image Vio is displayed below the projection range PA and closer to one of the left and right ends.

Similar to the virtual presentation image Vio, the arrow image Via is displayed when the front vehicle Af1 is present and the risk target RT is present. The arrow image Via is an image that extends in a strip shape along the traveling vehicle lane Lns. The stretched shape of the arrow image Via is defined based on the road shape in the traveling direction recognized by the front situation recognition 75. The arrow image Via has an arrow shape as a whole, and extends from the lower left edge of the projection range PA toward the virtual presentation image Vio. The arrow image Via is drawn in a mode having an apparent height (thickness) with respect to the vehicle lane Lns. The arrow image Via is displayed between the pair of boundary images Vib, and the virtual world display is given a sense of depth by being stretched along the road surface. The tip of the arrow image Via points to the virtual presentation image Vio. The tip end of the arrow image Via is displayed with higher brightness or saturation than the base end, and is emitted and displayed in the emission color substantially the same as or similar to the virtual presentation image Vio (same system).

The boundary image Vib is a partial ring-shaped image that surrounds the virtual presentation image Vio in a ring shape, and is displayed as a pair near the left and right edges of the projection range PA. The boundary image Vib is light-emitted and displayed in substantially the same white or light blue as the virtual presentation image Vio. The boundary image Vib is an image that defines a virtual area VA in which information of the invisible range is presented by the virtual image Vi in the foreground, and separates the virtual area VA from the real area RA as the visible range. Specifically, the range surrounded by the boundary image Vib is the virtual area VA, which is distinguished from the real area RA. The boundary image Vib has a rendering function that reminds the driver of an impression that another world or a different dimension different from the real world is displayed in the virtual area VA.

The display generation unit 77 sequentially displays the boundary image Vib, the arrow image Via, and the virtual presentation image Vio as shown in FIGS. 5 to 7 in order to give an impression of the start of the virtual world display. The display generation unit 77 starts the virtual world display at a timing when the distance from the own vehicle As to the vehicle Af2 before two becomes a predetermined distance Lf (for example, 100 m). The predetermined distance Lf is the distance from the own vehicle As to the front-to-front vehicle Af2 several seconds before the front-to-front vehicle Asf2 (risk object RT) enters the superimposition range in which the virtual image Vi can be superimposed. The predetermined distance Lf may be appropriately adjusted according to the traveling speed of the host vehicle As, the size of the projection range PA, and the like.

The display generation unit 77 starts displaying the boundary image Vib at the opening of the virtual world display. At the start of display, the pair of boundary images Vib are displayed in a substantially linear shape extending along the vertical direction of the foreground (see FIG. 5A). The boundary image Vib moves in the direction away from each other along the horizontal direction to the vicinity of both left and right edges of the projection range PA. The curvature of the boundary image Vib gradually increases as it moves to the left and right (see FIG. 5B). The movement of the pair of boundary images Vib is an effect as if a perspective door for seeing through different dimensions is opened. Then, the area surrounded by the pair of boundary images Vib becomes the virtual area VA distinguished from the real area RA thereafter.

After completing the movement of the boundary image Vib, the display generation unit 77 draws the ring image Vie that is substantially similar to the boundary image Vib. The ring image Vie is an image in which the boundary image Vib is used as a starting point and the diameter is reduced in the virtual area VA while being separated from the boundary image Vib (see FIG. 5C ). The animation of the ring image Vie exerts a visual effect of flying the virtual area VA in the traveling direction of the host vehicle As. As a result, the ring image Vie directs the driver's line of sight to the virtual presentation image Vio to be displayed next, while directing the driver's consciousness to the area in front of the front vehicle Af1 hidden by the front vehicle Af1. be able to. In addition, the animation of the ring image Vie gives a sense of depth to the virtual area VA.

The display generation unit 77 switches the ring image Vie to the ripple image Vir after causing the ring image Vie to fly to the apparent position of the vehicle Af2 two years before (see FIG. 6A ). The ripple image Vir is drawn in an annular shape centering on the apparent position of the vehicle Af2 before the vehicle and spreading outward. The ripple image Vir impresses the driver with the position of the vehicle Af2 two hours before.

The display generation unit 77 sequentially displays the ring image Vie and the ripple image Vir, and then extends the arrow image Via from the lower edge of the projection range PA toward the ripple image Vir that is being faded out (see FIG. 6B ). The position of the base end (lower edge) of the arrow image Via is preset. On the other hand, the extending direction of the arrow image Via is appropriately adjusted according to the relative lateral position of the vehicle Af2 two before.

When the stretching of the arrow image Via is completed, the display generation unit 77 causes the virtual presentation image Vio to be displayed at the instruction destination of the arrow image Via (see FIG. 6C). As described above, since the display position of the virtual presentation image Vio corresponds to the relative position of the previous-before vehicle Af2, the virtual presentation image Vio corresponds to the relative position of the previous-before vehicle Af2, as in the actual previous-before vehicle Af2. It is displayed so as to follow and move in the virtual area VA. For example, when the distance from the vehicle Af2 to the own vehicle As shortly before becomes short, the virtual presentation image Vio moves toward the lower left corner. With the movement of the virtual presentation image Vio, the arrow image Via is also shortened (see FIG. 7A).

In addition, the display generation unit 77 increases the display size of the virtual presentation image Vio as the distance from the vehicle Af2 to the own vehicle As before short becomes shorter. Further, the display generation unit 77 controls the virtual presentation image Vio in a manner of emphasizing the depth based on the approach of the vehicle Af2 before the vehicle As to the own vehicle As. Specifically, the display generation unit 77 draws a large side surface portion Sv of the virtual presentation image Vio simulating the vehicle shape, and reminds the driver that the vehicle Af2 is approaching two years ago.

The display generation unit 77 makes it possible to directly visually recognize the front-rear vehicle Af2 by approaching the front-rear vehicle Af2 to the own vehicle As and changing the lane of the front vehicle Af1 to avoid the front-rear vehicle Af2. Ends the virtual world display. By ending the virtual world display at such a timing, it is possible to avoid the superimposition display of the virtual image Vi on the risk target RT that is directly visible.

In such ending of the virtual world display, the display generation unit 77 fades out the virtual presentation image Vio and the arrow image Via, and then, contrary to the opening, directs the pair of boundary images Vib toward the center of the projection range PA. To move. The boundary image Vib moves to the vicinity of the center of the projection area in the direction in which they approach each other along the horizontal direction. At this time, the curvature of the boundary image Vib gradually decreases as it moves to the center (see FIG. 7B). The movement of the pair of boundary images Vib gives an effect as if the perspective door is closed, and impresses the driver on the reduction and disappearance of the virtual area VA. Then, the boundary image Vib fades out, and the virtual world display ends (see FIG. 7C).

The details of the display process executed by the HCU 100 to realize the virtual world display described so far will be described below with reference to FIGS. 3 and 4 based on the flowchart shown in FIG. 8. The display process shown in FIG. 8 is started based on, for example, the information indicating the presence of a peripheral object that is a candidate for the risk target RT.

In S101, the front vehicle Af1 is detected, and the front range invisible by the front vehicle Af1 is specified from the relative distance and size of the front vehicle Af1 and the process proceeds to S102. In S102, the peripheral object to be the risk target RT is detected, the relative position of the risk target RT and the like are grasped, and the process proceeds to S103.

In S103, it is determined whether or not there is a peripheral object existing further ahead of the front vehicle Af1 and hidden by the front vehicle Af1, that is, the risk target RT. When it is determined in S103 that the peripheral object is not hidden by the front vehicle Af1, the process returns to S101 and the state in which the movement of the peripheral object is monitored is maintained. On the other hand, if it is determined in S103 that there is a risk target RT hidden by the preceding vehicle Af1, the process proceeds to S104.

In the case where the front vehicle Af1 exists and the risk target RT hidden by the front vehicle Af1 exists, in S104, the risk target RT is within the angle of view of the HUD device 20 after a predetermined time (for example, N seconds). Determine whether to enter. In the present embodiment, it is determined whether or not the distance between the risk target RT and the host vehicle As is less than the predetermined distance Lf. In S104, if the front vehicle Af1 does not exist and the risk target RT is directly visible, the risk target RT enters the position beyond the projection range PA after a predetermined time from the viewpoint of the driver. It is determined whether or not. In S104, the risk target RT waits for the timing to enter the angle of view, and the process proceeds to S105 at the timing when it is determined that the risk target RT is about to enter the angle of view soon.

In S105, the virtual world display for alerting the risk target RT is started, and the process proceeds to S106. In S105, after the display of the boundary image Vib is started, the superimposed display of the arrow image Via and the virtual presentation image Vio is sequentially started. By setting the determination in S104 to “predetermined time before entering the angle of view”, the risk target RT is within the angle of view, that is, from the driver at the completion timing of the opening animation in which the boundary image Vib opens the virtual area VA. It comes to be within the seen projection range PA.

In S106, while waiting for the conditions of the front vehicle Af1 and the risk target RT, the condition for ending the virtual world display is awaited. One of the termination conditions is whether or not a part of the risk target RT is directly visible to the driver. When the display generation unit 77 determines that the entire risk target RT is not hidden by the front vehicle Af1, the display generation unit 77 establishes the termination condition. Further, the display generation unit 77 also fulfills the ending condition when the turn indicator of the front vehicle Af1 is turned on or when the vehicle Af2 before two frames out of the projection range PA.

When it is determined in S106 that the ending condition is satisfied, the process proceeds to S107. In S107, the virtual world display is terminated based on the satisfaction of the termination condition. Specifically, in S107, the superimposed display of the virtual presentation image Vio and the arrow image Via is stopped, and the ending animation by the boundary image Vib that closes the virtual area VA is displayed. In this way, the series of display processing for calling attention to the risk target RT this time is completed.

In the first embodiment described so far, when the front vehicle Af1 exists and the risk target RT hidden by the front vehicle Af1 is detected, the virtual presentation image Vio indicating the existence of the risk target RT is displayed. , Overlaid on the foreground. According to the above, even in a situation where the risk target RT is hidden by the front vehicle Af1 and is difficult to be directly visually recognized, the virtual target image Vio displayed on the foreground can alert the risk target RT. Become.

In addition, in the first embodiment, the virtual presentation image Vio is controlled so as to emphasize the depth based on the approach between the risk target RT and the own vehicle As. According to the mode change of the virtual presentation image Vio, the driver can easily recognize that the virtual presentation image Vio does not show the front vehicle Af1 but the hidden risk target RT on the other side.

Further, in the first embodiment, the side surface portion Sv simulating the side surface of the vehicle in the virtual presentation image Vio is drawn large as the vehicle Af2 approaches before the vehicle Af2. According to such a mode change, the driver can intuitively understand the approach of the risk target RT that cannot be directly visually recognized.

Further, in the first embodiment, the display size of the virtual presentation image Vio is increased as the distance between the risk target RT and the host vehicle As becomes shorter. According to the change in the display mode as described above, the driver can easily recognize the approach of the risk target RT hidden in the front vehicle Af1. Moreover, the distance from the own vehicle As to the front vehicle Af1 and the distance from the own vehicle As to the risk target RT may change differently. Therefore, it becomes easy for the driver to recognize that the virtual presentation image Vio of which the display size changes is not the front vehicle Af1 but the hidden risk target RT on the other side.

In addition, in the first embodiment, an arrow image Via extending in a strip shape along the vehicle lane Lns is further displayed. Such an arrow image Via clearly shows the sense of distance from the host vehicle As of the risk target RT hidden behind the front vehicle Af1 in the foreground, and indicates that the risk target RT exists in front of the front vehicle Af1. Makes the driver intuitively understand.

Further, the arrow image Via of the first embodiment is displayed in an overlapping manner on the road surface of the own vehicle lane Lns in a mode having an apparent height with respect to the own vehicle lane Lns. In this way, the thick arrow image Via can enhance the sense of depth of the virtual area VA in combination with the shape extending in the traveling direction of the host vehicle As. As a result, even if each virtual image Vi is superimposed and displayed on the back surface of the planar front vehicle Af1, the driver can easily perceive the virtual area VA as a three-dimensional space. Based on the above, the driver can intuitively grasp the sense of distance from the host vehicle As to the risk target RT by visually recognizing the virtual presentation image Vio.

Further, in the first embodiment, the boundary image Vib that divides the virtual area VA and the real area RA in the foreground is further displayed. With such a display, it is possible to cause the driver to think of an image of looking into another world or a different dimension as described above. As a result, the driver can intuitively easily understand that the virtual presentation image Vio shows not the front vehicle Af1 but the hidden risk target RT on the other side.

In addition, in the first embodiment, the display of the virtual presentation image Vio is started after performing the effect of opening the door of the virtual area VA with the boundary image Vib. Based on the above, it becomes easier for the driver to understand that the virtual presentation image Vio is a display object that calls attention to the risk target RT before the front vehicle Af1.

The boundary image Vib of the first embodiment is curved so as to surround the virtual presentation image Vio. Such curved objects are rarely present in the foreground. Therefore, even if the curved boundary image Vib is superimposed on the foreground, it is difficult for the curved boundary image Vib to be confused with an object in the foreground, and the driver can visually recognize the boundary image Vib. In addition, the curved shape of the boundary image Vib exerts the effect of guiding the driver's line of sight to the virtual presentation image Vio near the center of the curve.

In the first embodiment, the display of the virtual presentation image Vio is stopped when at least a part of the actual risk target RT is directly visible. Based on the above, a situation that causes driver confusion due to a difference between the actual risk target RT and the virtual presentation image Vio is unlikely to occur.

In the first embodiment, the arrow image Via corresponds to the “stretched image”, the front situation recognition 75 corresponds to the “front vehicle detection unit”, and the risk target identification unit 76 corresponds to the “target detection unit”. The display generation unit 77 corresponds to the “display control unit”. Further, the HCU 100 corresponds to the “display control device”.

(Second embodiment)
The second embodiment of the present disclosure is a modification of the first embodiment. The virtual world display of the second embodiment is simplified from the virtual world display of the first embodiment. Hereinafter, in the second embodiment, the details of the virtual world display in the case where the vehicle Af2 (see FIG. 4) before last is called as the risk target RT will be described in detail based on FIG. 9 and with reference to FIG. ..

The display generation unit 77 sequentially displays the boundary image Vib, the arrow image Via, the virtual presentation image Vio, and the like, as in the first embodiment. First, in the opening of the virtual world display, the pair of boundary images Vib extending along the vertical direction move from the center of the projection range PA to the vicinity of the left and right edges while gradually increasing the curvature (see FIG. 9A ). Due to the effect of the boundary image Vib, the virtual area VA distinguished from the real area RA is defined in the foreground.

After completing the movement of the boundary image Vib, the display generation unit 77 extends the arrow image Via from the lower edge of the projection range PA toward the detected relative position of the vehicle Af2 before two (see FIG. 9B). .. The stretching animation of the arrow image Via is similar to the flight animation of the ring image Vie (see FIG. 5C), while guiding the driver's line of sight to the ripple image Vir and the virtual presentation image Vio to be displayed next, and the depth to the virtual area VA. Give a feeling.

The display generation unit 77, when the arrow image Via is stretched, causes the ripple image Vir to be displayed at the instruction destination of the arrow image Via. Furthermore, when the ripple effect of the ripple image Vir is finished, the display generation unit 77 displays the virtual presentation image Vio instead of the ripple image Vir that fades out at the destination of the arrow image Via (see FIG. 9C). ..

The virtual presentation image Vio and the arrow image Via described above fade out from the virtual area VA at the timing when the vehicle Af2 can be directly visually recognized two hours before. Then, the ending animation by the boundary image Vib is performed, and the virtual world display ends (see FIGS. 7B and 7C).

Even in the second embodiment described so far, the same effect as that of the first embodiment is achieved, and even if the risk target RT is hidden by the front vehicle Af1 and direct visual recognition is difficult, it is displayed in the foreground in a superimposed manner. By the virtual presentation image Vio that is displayed, it becomes possible to call attention to the risk target RT.

(Third embodiment)
The third embodiment of the present disclosure is another modification of the first embodiment. As shown in FIG. 10, in the virtual world display of the third embodiment, in addition to the boundary image Vib, the ring image Vie, and the virtual presentation image Vio that are substantially the same as in the first embodiment, a white line image Vil, a horizontal image Vih, and the like are displayed. Is displayed. Hereinafter, details of the virtual world display of the third embodiment that calls attention to the vehicle Af2 before the vehicle (see FIG. 4) as the risk target RT will be described based on FIG. 10 and with reference to FIG. 3.

The display generation unit 77 causes the pair of boundary images Vib to display the opening animation that defines the virtual area VA in the foreground (see FIGS. 5A and 5B). When the movement of the boundary image Vib is completed, the display generation unit 77 displays an animation that causes the ring image Vie to fly in the traveling direction of the host vehicle As (see FIG. 4 ). The display generation unit 77 stretches and displays the white line image Vil from the lower edge of the projection range PA toward the vanishing point in the foreground in accordance with the movement of the ring image Vie (see FIG. 10A ).

The white line image Vil is, like the arrow image Via (see FIG. 4 ), an image that extends in a strip shape along the traveling vehicle lane Lns. The white line image Vil is superimposed and displayed on the road surface slightly inside the lane markings on the left and right sides of the vehicle lane Lns. The white line image Vil is drawn in a chain line shape that is repeatedly interrupted at predetermined intervals. The white line image Vil is displayed in white, for example.

After ending the flight animation of the ring image Vie, the display generation unit 77 causes the horizontal image Vih and the virtual presentation image Vio to be sequentially displayed at the position where the vehicle Af2 is present before the appearance (see FIG. 10B). Both the horizontal image Vih and the virtual presentation image Vio are displayed in a light emission color such as amber.

The horizontal image Vih is displayed so as to overlap the virtual presentation image Vio between the pair of white line images Vil, and extends in the horizontal direction. The horizontal image Vih cooperates with each white line image Vil by the visual effect of visually connecting the two white line images Vil below the virtual presentation image Vio, and the vertical position of the virtual presentation image Vio, and thus the vehicle before the front. The actual relative position of Af2 can be easily grasped by the driver.

The display generation unit 77 causes the virtual presentation image Vio and the horizontal image Vih to be enlarged and moved to the lower side of the projection range PA as the vehicle Af2 approaches the host vehicle As before (see FIG. 10C ). At this time, each white line image Vil has a shape that extends above the virtual presentation image Vio and the horizontal image Vih. In each white line image Vil, the display generation unit 77 sets the upper side of the lower edge of the horizontal image Vih as the far portion Vifs and the lower side of the lower edge of the horizontal image Vih as the neighboring portion Vins. The display generation unit 77 displays the distant portion Vifs on the upper side of the virtual presentation image Vio in the white line image Vil in a display color different from that of the neighboring portion Vins on the lower side of the virtual presentation image Vio. For example, the display color of the distant portion Vifs is a light emission color that is substantially the same as or similar to (similar to) the virtual presentation image Vio such as amber and the horizontal image Vih. On the other hand, the emission color of the neighboring portion Vins is maintained white.

Even in the third embodiment described so far, the same effect as that of the first embodiment is achieved, and the risk target RT is hidden in the front vehicle Af1 and is displayed in the foreground even in a situation where direct visual recognition is difficult. By the virtual presentation image Vio that is displayed, it becomes possible to call attention to the risk target RT.

In addition, in the third embodiment, the two white line images Vil are visually connected by the horizontal image Vih. Therefore, the horizontal image Vih functions as if it were a pointer indicating the position on the white line image Vil due to the change in the relative position with respect to the white line image Vil, and can show the inter-vehicle distance to the vehicle Af2 two years before.

In the third embodiment, the distant portion Vifs of each white line image Vil is displayed in a display color different from that of the neighboring portion Vins. Therefore, the driver can more intuitively understand the distance from the own vehicle As to the vehicle Af2 two years before. In the third embodiment, the white line image Vil corresponds to the “stretched image”.

(Fourth embodiment)
The fourth embodiment of the present disclosure is another modification of the first embodiment. As shown in FIG. 11, in the virtual world display of the fourth embodiment, many dots Vid are displayed in the projection area PA. The large number of dots Vid are arranged at equal intervals in the vertical direction and the horizontal direction (see FIG. 11A). The distance between the dots Vid is ensured so as not to hinder the visual recognition of the front vehicle Af1 that is superimposed. The large number of dots Vid is a display object that defines the virtual area VA in the foreground, and the area where the large number of dots Vid are arranged becomes the virtual area VA. The dots Vid lined up at the outermost edge are display objects that separate the virtual area VA and the real area RA, similarly to the boundary image Vib (see FIG. 4 ).

When the front-rear vehicle Af2 (see FIG. 4) as the risk target RT enters the angle of view, the display generation unit 77 selects a dot Vid located between the eyepoint and the front-rear vehicle Af2 from among the large number of dots Vid. The emission brightness is increased to high brightness dots Vids (see FIG. 11B). The high-intensity dot Vids is displayed as a light spot larger than other normal dots Vid. The plurality of high-luminance dots Vids form the virtual presentation image Vio by causing the silhouette of the vehicle Af2 to stand out before the virtual area VA.

When the vehicle Af2 before two approaches the vehicle Af1 in front of the vehicle and is braked by the vehicle Af1 in front, the display generation unit 77 further increases the luminance of the high-luminance dot Vids and expands the emission size of the high-luminance dot Vids. (See FIG. 11C). In addition, the display generation unit 77 hides the other dots Vid except the high-luminance dot Vids. As a result, the virtual presentation image Vio including a large number of high-luminance dots Vids presents the silhouette more clearly to the vehicle Af2 two years ago, and makes the driver aware of the approaching of the vehicle Af2 two years ago.

When the front-rear vehicle Af2 and the front vehicle Af1 further approach the host vehicle As (see FIG. 4), the display generation unit 77 displays an animation in which a large number of high-luminance dots Vids are scattered (see FIG. 11D). The scattering animation of the high-luminance dots Vids urges the driver to perform a braking operation, with a visual effect that the high-luminance dots Vids fly from the front, making the driver strongly aware of the approach of the vehicle Af2.

Even if the virtual presentation image Vio is formed by a large number of high-luminance dots Vids as in the fourth embodiment described up to this point, the same effect as in the first embodiment can be exhibited. That is, even in a situation where it is difficult to directly visually recognize the risk target RT, the virtual target image Vio superimposed and displayed on the foreground can alert the risk target RT.

(Other embodiments)
Although a plurality of embodiments of the present disclosure have been described above, the present disclosure should not be construed as being limited to the above embodiments and applied to various embodiments and combinations without departing from the scope of the present disclosure. can do.

In the virtual world display of the modified example 1 of the third embodiment, the opening animation using the boundary image is omitted. As illustrated in FIG. 12, when the display start condition is satisfied, the display generation unit displays a pair of boundary images Vib having a partial ring shape in the vicinity of both edges of the projection range PA. In addition, the display generation unit displays the boundary image Vib and then displays the virtual presentation image Vio and the white line image Vil substantially at the same time. The virtual presentation image Vio is a triangular icon including an exclamation mark, and is displayed in a luminescent color such as yellow or amber. The white line image Vil is drawn in a linear shape that continuously extends toward the vanishing point, and is displayed in a light emission color such as yellow or amber, for example, similarly to the virtual presentation image Vio.

In the second modification of the third embodiment, the pair of boundary images Vib are stretched linearly in the vertical direction. In the virtual world display of the second modification, an opening animation for moving each linear boundary image Vib from the center of the projection range PA toward the left and right edges is displayed (see FIGS. 13A and 13B). The opening of the modified example 2 causes the driver to recall an image as if a different world or different dimension different from the real world is projected in the virtual area VA by opening the sliding doors.

The display generation unit displays the virtual presentation image Vio and the white line image Vil in the virtual area VA between the two boundary images Vib in accordance with the movement of each boundary image Vib (see FIG. 13B). The virtual presentation image Vio is an image that shows the position of the risk target by moving in the virtual area VA, and is an icon including an exclamation mark, as in the first modification. On the other hand, the white line image Vil is displayed in a white chain line shape.

When the risk target approaches the front vehicle Af1, the display generation unit changes the emission color of each boundary image Vib in accordance with the movement of the virtual presentation image Vio (see FIG. 13C). The emission color of each boundary image Vib is changed to, for example, yellow or amber.

In the virtual world display of the modified example 3 of the above embodiment, the virtual presentation image and the white line image are drawn, while the drawing of the boundary image is omitted. Further, in the fourth modified example of the above-described embodiment, the virtual presentation image and the boundary image are drawn, while the drawing of the white line image is omitted. Furthermore, in the modified example 5 of the above-described embodiment, the virtual presentation image is drawn, while the drawing of the white line image and the boundary image is omitted.

In addition, the shape, size, emission color, and the like of the virtual presentation image, the arrow image or the white line image, and the boundary image drawn in the above-described embodiment and modification may be changed as appropriate. For example, when the vertical angle of view of the projection range is wide, the boundary image may be drawn in a ring shape that surrounds the virtual presentation image in a ring shape over the entire circumference. Further, the manner change in which the depth of the virtual presentation image is emphasized based on the approach to the own vehicle as the risk target is not limited to the enlargement of the side surface portion Sv, and the shadow change, the emission color change, and the 3D model posture change. And so on.

In the first and second embodiments described above, the virtual presentation image having a shape reminiscent of the risk target is displayed according to the type of the risk target. On the other hand, in the modified example 6 of the above-described embodiment, virtual presentation images of the same shape are displayed regardless of the type of risk target. In addition, the virtual presentation image of Modification 6 maintains a constant display size regardless of the distance from the host vehicle to the risk target.

In the seventh modified example of the above-described embodiment, the superimposed display of the virtual presentation image on the actual risk target is allowed. The display generation unit fades out the virtual presentation image after superimposing the virtual presentation image on the risk object that is directly visible. If the relative position of the risk target can be grasped with high accuracy, the display control like the modification 7 may be adopted.

In the HMI system of the modified example 8 of the above embodiment, the DSM is omitted. The display generation unit of the modified example 8 is based on a reference eye point defined in advance, and the drawing shape of the virtual presentation image and the drawing shape of the virtual presentation image are superposed so that the virtual presentation image is superimposed on the actual position of the risk target when viewed from the reference eye point. Set the drawing position.

In the modification 9 of the above embodiment, the HCU 100 and the HUD device 20 are integrally configured. That is, the processing function of the HCU 100 is implemented in the control circuit of the HUD device 20 of Modification 9.

The specific configuration of the projector of the HUD device used for the superimposed display may be changed as appropriate. For example, the HUD device of Modification 10 is provided with an EL (Electro Luminescence) panel instead of the LCD and the backlight. Further, instead of the EL panel, a plasma display panel, a cathode ray tube, and a projector using a display device such as an LED can be adopted in the HUD device.

Further, the HUD device of Modification 11 is provided with a laser module (hereinafter “LSM”) and a screen instead of the LCD and the backlight. The LSM has a configuration including, for example, a laser light source and a MEMS (Micro Electro Mechanical Systems) scanner. The screen is, for example, a micro mirror array or a micro lens array. In the HUD device of Modification 11, a display image is drawn on the screen by scanning the laser light emitted from the LSM. The HUD device projects a display image drawn on a screen onto a windshield by a magnifying optical element to display a virtual image in the air.

The HUD device of Modification 12 is provided with a DLP (Digital Light Processing, registered trademark) projector. The DLP projector has a digital mirror device (hereinafter, “DMD”) provided with a large number of micromirrors, and a projection light source that projects light toward the DMD. The DLP projector draws a display image on the screen by controlling the DMD and the projection light source in cooperation with each other. Further, the HUD device of Modification 13 employs a projector using LCOS (Liquid Crystal On Silicon). Furthermore, the HUD device of Modification 14 employs a holographic optical element as one of optical systems for displaying a virtual image in the air.

In the above-described embodiment, each function provided by the HCU can be provided by software and hardware that executes the software, only software, only hardware, or a combination thereof. Furthermore, when such a function is provided by an electronic circuit as hardware, each function can also be provided by a digital circuit including a large number of logic circuits or an analog circuit.

Further, the form of the storage medium that stores the program or the like that can realize the above display control method may be appropriately changed. For example, the storage medium is not limited to the configuration provided on the circuit board, and may be provided in the form of a memory card or the like, inserted into the slot portion, and electrically connected to the control circuit of the HCU. .. Further, the storage medium may be an optical disk, a hard disk drive, or the like serving as a copy base of the program to the HCU.

The vehicle equipped with the HMI system is not limited to a general privately-owned passenger vehicle, and may be a car rental vehicle, a manned taxi vehicle, a ride-sharing vehicle, a freight vehicle, a bus, or the like. Further, the HMI system and the HCU may be installed in a vehicle dedicated to unmanned driving used for a mobility service. The vehicle equipped with the HMI system may be a right-hand drive vehicle or a left-hand drive vehicle. The display form of each content is optimized according to the position of the steering wheel of the vehicle and the like.

The control unit and the method thereof described in the present disclosure may be realized by a dedicated computer that configures a processor programmed to execute one or more functions embodied by a computer program. Alternatively, the apparatus and method described in the present disclosure may be realized by a dedicated hardware logic circuit. Alternatively, the device and method described in the present disclosure may be realized by one or more dedicated computers configured by a combination of a processor that executes a computer program and one or more hardware logic circuits. Further, the computer program may be stored in a computer-readable non-transition tangible recording medium as an instruction executed by a computer.

A vehicle, As own vehicle, Af1 forward vehicle, RT risk target, Lns own vehicle lane, VA virtual area, RA real area, Vio virtual presentation image, Via arrow image (stretched image), Vil white line image (stretched image), Vins Near part, Vifs distant part, Vib boundary image, 11 processing unit, 75 front situation recognition (front vehicle detection unit), 76 risk target identification unit (target detection unit), 77 display generation unit (display control unit), 100 HCU ( Display controller)

Claims (11)

A display control device used in a vehicle (A) for controlling a display superimposed on a foreground,
A front vehicle detection unit (75) that detects a front vehicle (Af1) traveling in front of the host vehicle (As) that is the vehicle;
A target detection unit (76) for detecting a risk target (RT) existing further in front of the preceding vehicle,
A display control unit (77) for superimposing a virtual presentation image (Vio) indicating the presence of the risk target on the foreground when the preceding vehicle is present and the risk target is present;
And a display control device. The display control device according to claim 1, wherein the display control unit controls the virtual presentation image in a manner of emphasizing depth based on the approach of the risk target and the own vehicle. The display control device according to claim 1, wherein the display control unit increases the display size of the virtual presentation image as the distance between the risk target and the own vehicle becomes shorter. The display control unit, when the preceding vehicle is present and the risk target is present, a stretched image (Via) that stretches in a strip shape or a linear shape along the own vehicle lane (Lns) in which the own vehicle is traveling. , Vil) is further displayed. The display control device according to claim 4, wherein the display control unit displays the stretched image in a mode having an apparent height with respect to the own vehicle lane. The stretched image has a shape that stretches to a position higher than the virtual presentation image,
The display control unit displays a distant portion (Vifs) that is an upper side of the stretched image with respect to the virtual presentation image in a display color different from a neighboring portion (Vins) that is a lower side of the virtual presentation image. The display control device according to claim 4 or 5. The display control unit further displays a boundary image (Vib) that divides a virtual area (VA) that presents the information of the invisible range of the foreground by the virtual presentation image and a real area (RA) as the visible range. The display control device according to claim 1. The display control device according to claim 7, wherein the display control unit starts displaying the virtual presentation image after starting display of the boundary image. The display control device according to claim 7, wherein the boundary image has a ring shape or a partial ring shape that annularly surrounds the virtual presentation image. The display control device according to claim 1, wherein the display control unit suspends the display of the virtual presentation image when a part of the risk target is directly visible. A display control program used in a vehicle (A) for controlling a display superimposed on the foreground,
At least one processing unit (11),
A forward vehicle (Af1) traveling in front of the host vehicle, which is the vehicle, is detected (S101),
A risk object (RT) existing further in front of the preceding vehicle is detected (S102),
When the preceding vehicle is present and the risk target is present, a virtual presentation image (Vio) indicating the presence of the risk target is displayed in a superimposed manner on the foreground (S105),
A display control program for executing processing including the above.

Images