JP2021026693A - Display control apparatus, display control method, and display control program - Google Patents

Abstract

To allow a driver of a vehicle to easily grasp or presume a degree of matching between a display state of a content corresponding to a lane marking and an actual condition of the lane marking, in superimposing the display content on a road surface located forward of the vehicle.SOLUTION: A detection result acquisition unit (211) acquires a result of detecting a lane marking on a road surface located forward of a vehicle. A lane marking information acquisition unit (214) acquires lane marking information corresponding to the road surface on the basis of map information including lane marking information on a condition of a lane marking and current location of the vehicle. An accuracy determination unit (215) determines recognition accuracy of the lane marking on the road surface on the basis of the detection result acquired by the detection result acquisition unit and the lane marking information acquired by the lane marking information acquisition unit. A display control unit (219) superimposes an accuracy content, which is a display image corresponding to the recognition accuracy determined by the accuracy determination unit, on the road surface.SELECTED DRAWING: Figure 4

Description

The present invention relates to a display control device, a display control method, and a display control program that control the display of a display image in a head-up display device that superimposes and displays a display image on a foreground that is visually recognized through a front windshield of a vehicle.

As an apparatus of this type, for example, the AR system described in Patent Document 1 is known. AR is an abbreviation for Augmented Reality. The AR system described in Patent Document 1 includes a determination means, a first generation means, a second generation means, a provision means, and a display means. The determination means determines whether or not the driver of the vehicle can identify the lane boundary on the road in front of the vehicle based on the environmental data acquired by the sensor. Environmental data is data representing a record measured by an external sensor such as a camera. The "lane boundary" is also called the "road lane marking". The first generation means generates boundary line data based on the environmental data and the current position of the vehicle when the determination means determines that the driver of the vehicle cannot identify the lane boundary line. The second generation means generates AR data for displaying the lane boundary line graphically on the AR visual device based on the boundary line data. The providing means provides the AR data to the AR visual device. The display means causes the AR visual device to generate and display a graphic based on the AR data based on the head position of the driver of the vehicle.

Boundary data can be generated in two ways. In the first example, the vehicle is equipped with a DSRC compliant GPS unit used to generate GPS data. GPS is an abbreviation for Global Positioning System. DSRC is an abbreviation for Dedicated Short Range Communication. The AR system uses environmental data and GPS data that describes the current position of the vehicle to generate a lane map. GPS data describes the position of the vehicle with lane-level accuracy. A lane map describes where the lane boundaries are located on the roadway. The AR system uses lane maps to generate boundary data. In the second example, the AR system determines the current position of the vehicle from environmental data received from an external sensor, GPS data received from a DSRC compliant GPS unit, and a position estimation map. The AR system uses the vehicle's current position and environmental data to generate boundary data.

The AR system described in Patent Document 1 determines that the driver cannot recognize the lane boundary line due to, for example, snow, rain, lighting conditions, rubber on the road, and the like. The AR system creates an overlay that represents the lane boundaries so that the driver knows the location of the lane boundaries. This improves driver safety and makes driving more comfortable because the driver does not have to worry about the position of the lane boundary.

JP-A-2018-190410

In the AR system described in Patent Document 1, the boundary line data for displaying the road marking line in AR is generated from the environmental data and the GPS data. Therefore, depending on the weather conditions, road maintenance timing, software update timing, etc., there is a concern that the degree of agreement between the boundary line data and the actual road marking line laying status may be low.

The present invention has been made in view of the circumstances exemplified above. That is, in the present invention, for example, when the display image corresponding to the road lane marking is superimposed and displayed on the road surface of the vehicle's destination, the degree of coincidence between the display status of the display image and the actual laying status of the road lane marking is determined by the vehicle. Provide technology that can be easily grasped or inferred by the driver of the vehicle.

The display control device (20) according to claim 1 is a head-up display device (192) for displaying a display image superimposed on a foreground that is visible through a front windshield (4) of a vehicle (1). It is configured to control the display.
This display control device
The detection result acquisition unit (211) for acquiring the detection result of the road lane marking on the road surface (RS) where the vehicle is traveling, and
A lane marking information acquisition unit (214) that acquires the lane marking information corresponding to the road surface based on map information including lane marking information regarding the laying state of the road lane marking and the current position of the vehicle.
An accuracy determination unit (217) that determines the recognition accuracy of the road lane marking on the road surface based on the detection result acquired by the detection result acquisition unit and the lane marking information acquired by the lane marking information acquisition unit. When,
A display control unit (219) that superimposes and displays accuracy content (CL, CR, CS), which is the display image according to the recognition accuracy determined by the accuracy determination unit, on the road surface.
Is equipped with.
The display control method according to claim 10 controls the display of the display image in the head-up display device (192) that superimposes the display image on the foreground that is visually recognized through the front windshield (4) of the vehicle (1). How to do
The process of acquiring the detection result of the road lane marking on the road surface (RS) where the vehicle is traveling, and
A process of acquiring the lane marking information corresponding to the road surface based on the map information including the lane marking information regarding the laying state of the road lane marking and the current position of the vehicle.
A process of determining the recognition accuracy of the road lane marking on the road surface based on the acquired detection result and the lane marking information.
A process of superimposing and displaying accuracy content (CL, CR, CS), which is the display image according to the determined recognition accuracy, on the road surface.
including.
The display control program according to claim 11 is
A display control device (20) configured to control the display of the display image in the head-up display device (192) that superimposes and displays the display image on the foreground that is visually recognized through the front windshield (4) of the vehicle (1). ) Is a program executed by
The process executed by the display control device is
The process of acquiring the detection result of the road lane marking on the road surface (RS) where the vehicle is traveling, and
A process of acquiring the lane marking information corresponding to the road surface based on the map information including the lane marking information regarding the laying state of the road lane marking and the current position of the vehicle.
A process of determining the recognition accuracy of the road lane marking on the road surface based on the acquired detection result and the lane marking information.
A process of superimposing and displaying precision content (CL, CR, CS, CP), which is the display image according to the determined recognition accuracy, on the road surface.
including.

Such a configuration and a method acquire the detection result of the road lane marking on the road surface where the vehicle is traveling. Further, such a configuration and method are based on the map information including the lane marking information regarding the laying state of the road lane marking and the current position of the vehicle, and the lane marking corresponding to the road surface to which the vehicle is traveling. Get line information. Further, such a configuration and method determine the recognition accuracy of the road lane marking on the road surface to which the vehicle travels, based on the acquired detection result and the lane marking information. Then, in such a configuration and method, the accuracy content, which is the display image according to the determined recognition accuracy, is superimposed and displayed on the road surface by the head-up display device.

As described above, according to such a configuration and method, the recognition accuracy is determined based on the detection result of the road lane marking and the acquisition result of the lane marking information from the map information. Then, the accuracy content, which is the display image according to the determined recognition accuracy, is superimposed and displayed on the road surface by the head-up display device. Therefore, when the display image corresponding to the road lane marking is superimposed and displayed on the road surface where the vehicle is traveling, the degree of coincidence between the display status of the display image and the actual laying status of the road lane marking is determined. It becomes possible for the driver of the vehicle to easily grasp or infer.

In each column of the application documents, each element may have a reference code in parentheses. In this case, the reference reference numeral simply indicates an example of the correspondence between the same element and the specific configuration described in the embodiment described later. Therefore, the present invention is not limited to the description of the reference code.

It is a schematic block diagram of the vehicle equipped with the in-vehicle system including the display control device which concerns on embodiment. FIG. 5 is a schematic view showing a state in which the road surface in front of the vehicle and a part of the dashboard are viewed through the front windshield from the viewpoint of the driver shown in FIG. It is a block diagram which shows the schematic structure of the in-vehicle system shown in FIG. It is a block diagram which shows the schematic functional structure of the display control device shown in FIG. It is a table used for one operation example of the display control device shown in FIG. It is a table used for one operation example of the display control device shown in FIG. It is the schematic which shows the 1st example of the display control by the display control apparatus shown in FIG. It is a flowchart which shows one operation example of the display control apparatus shown in FIG. It is the schematic which shows the 2nd example of the display control by the display control apparatus shown in FIG. It is the schematic which shows the 3rd example of the display control by the display control device shown in FIG. It is the schematic which shows the 4th example of the display control by the display control device shown in FIG. It is the schematic which shows the 5th example of the display control by the display control device shown in FIG. It is the schematic which shows the sixth example of the display control by the display control device shown in FIG. It is the schematic which shows the 7th example of the display control by the display control device shown in FIG. It is the schematic which shows the 8th example of the display control by the display control device shown in FIG. It is the schematic which shows the 8th example of the display control by the display control device shown in FIG. It is the schematic which shows the 9th example of the display control by the display control device shown in FIG. It is the schematic which shows the tenth example of the display control by the display control device shown in FIG. It is a table used for another operation example of the display control device shown in FIG.

(Embodiment)
Hereinafter, embodiments of the present invention will be described with reference to the drawings. If various modifications applicable to one embodiment are inserted in the middle of a series of explanations relating to the embodiment, the understanding of the embodiment may be hindered. For this reason, the modified examples will be described collectively afterwards, not in the middle of a series of explanations relating to the embodiment.

(vehicle)
Referring to FIG. 1, the vehicle 1 is a so-called four-wheeled vehicle, and includes a vehicle body 2 having a substantially rectangular shape in a plan view of the vehicle 1 viewed from above vertically. For convenience of the following description, "front", "rear", "left", "right", "top" and "bottom" in the vehicle 1 are defined as indicated by arrows in FIG. These directional concepts are based on the driver P, who is a occupant in the driver's seat of the vehicle 1 traveling forward. The front-rear direction is synonymous with the vehicle overall length direction. The left-right direction is synonymous with the vehicle width direction. In addition, the vertical direction is synonymous with the vehicle height direction. The vehicle overall length direction is a direction orthogonal to the vehicle width direction and orthogonal to the vehicle height direction. The vehicle height direction is a direction that defines the vehicle height of the vehicle 1, and is a direction parallel to the gravitational action direction when the vehicle 1 is placed on a horizontal plane.

The passenger compartment 3 in the vehicle body 2, which is the internal space on which the occupants board, is covered in front by the front windshield 4. The front windshield 4 is formed in a plate shape by translucent glass or synthetic resin. The front windshield 4 is inclined so that the upper end portion is located rearward than the lower end portion in a lateral view viewed from a line of sight parallel to the vehicle width direction.

FIG. 2 shows a state in which the road surface RS to which the vehicle 1 is traveling is viewed through the front windshield 4 from the viewpoint EP of the driver P of the vehicle 1 traveling forward. In FIG. 2, DL indicates a road marking line, LS indicates an own lane, and LX indicates another lane. The own lane LS is the lane in which the vehicle 1 is currently traveling. The other lane LX is a lane different from the own lane LS, and is typically a lane adjacent to the own lane LS in the width direction.

As shown in FIGS. 1 and 2, a dashboard 5 is arranged below the front windshield 4 in the passenger compartment 3. A steering column 6 extends from the dashboard 5 toward the driver P. A steering wheel 7 is attached to the steering column 6.

(In-vehicle system)
The vehicle 1 is equipped with an in-vehicle system 10. The in-vehicle system 10 is an in-vehicle network including an in-vehicle communication line 10A and each node connected to each other via the in-vehicle communication line 10A, and performs various controls during driving of the vehicle 1 and various display operations associated therewith. It is configured to be executable. The in-vehicle system 10 is configured to comply with a predetermined communication standard such as CAN (international registered trademark: international registration number 1048262A). CAN (Internationally Registered Trademark) is an abbreviation for Controller Area Network.

Hereinafter, the details of the configuration of the in-vehicle system 10 will be described with reference to FIGS. 1 to 3. The vehicle 1 equipped with the in-vehicle system 10 may be referred to as a "own vehicle". The in-vehicle system 10 includes a vehicle state sensor 11, an external state sensor 12, a peripheral monitoring sensor 13, a locator 14, a DCM 15, and a driving support ECU 16. DCM is an abbreviation for Data Communication Module. ECU is an abbreviation for Electronic Control Unit. The vehicle state sensor 11, the external state sensor 12, the peripheral monitoring sensor 13, the locator 14, and the DCM 15 are connected to the vehicle-mounted communication line 10A. The driving support ECU 16 is provided as a node connected to the vehicle-mounted communication line 10A.

Further, the in-vehicle system 10 includes a DSM 17, an input operation unit 18, a display device 19, and a display control device 20. DSM is an abbreviation for Driver Status Monitor. In the present embodiment, the DSM 17, the input operation unit 18, and the display device 19 are connected to the display control device 20 so as to be capable of information communication via a sub-communication line different from the vehicle-mounted communication line 10A. The display control device 20 is provided as a node connected to the vehicle-mounted communication line 10A.

The vehicle state sensor 11 is provided so as to generate an output corresponding to various quantities related to the driving state of the own vehicle. The "various amounts related to the driving state" include, for example, various quantities related to the driving operation state by the driver P, such as the accelerator operation amount, the brake operation amount, the shift position, the steering angle, and the like. Further, the "various quantities related to the driving state" include physical quantities related to the behavior of the own vehicle, such as vehicle speed, angular velocity, front-rear direction acceleration, left-right direction acceleration, and the like. That is, the vehicle state sensor 11 provides well-known sensors necessary for driving control, such as an accelerator opening sensor, a steering angle sensor, a wheel speed sensor, an angular velocity sensor, and an acceleration sensor, for simplification of illustration and description. It is a generic term. The vehicle state sensor 11 is provided so as to be able to provide detection output to each part of the locator 14 and the like via the vehicle-mounted communication line 10A.

The external state sensor 12 is provided so as to generate an output corresponding to various quantities related to the natural environment around the own vehicle. "Various quantities related to the natural environment" include, for example, physical quantities such as outside air temperature, rainfall, and illuminance. That is, the external state sensor 12 is a general term for well-known sensors such as an outside air temperature sensor, a raindrop sensor, an illuminance sensor, and the like for simplification of illustration and description. The external state sensor 12 is provided so as to be able to provide detection output to each part of the driving support ECU 16 and the like via the vehicle-mounted communication line 10A.

The peripheral monitoring sensor 13 is provided so as to detect traffic environment events around the own vehicle other than those that can be mainly detected by the external state sensor 12. Specifically, the peripheral monitoring sensor 13 is configured to be capable of detecting moving objects and stationary objects in a predetermined detection range around the own vehicle. "Moving objects" include pedestrians, cyclists, animals, and other vehicles. "Still objects" include roadside structures (eg, structures, etc.) in addition to road fall objects, guardrails, curbs, road signs, and road markings. In the present embodiment, the peripheral monitoring sensor 13 has a front camera 131 and a radar sensor 132 as a configuration for detecting moving objects and stationary objects.

The front camera 131 is provided so as to capture an image of the front and front side ranges of the own vehicle. In the present embodiment, the front camera 131 is a digital camera device and includes an image sensor such as a CCD or CMOS. CCD is an abbreviation for Charge Coupled Device. CMOS is an abbreviation for Complementary MOS.

The radar sensor 132 is a millimeter-wave radar sensor, a submillimeter-wave radar sensor, or a laser radar sensor that transmits and receives radar waves, and is mounted on the front surface of the vehicle body 2. The radar sensor 132 is configured to output a signal corresponding to the position of the reflection point and the relative speed. The "reflection point" is a point on the surface of an object around the own vehicle that is presumed to have reflected radar waves. The "relative velocity" is the relative velocity of the reflection point, that is, the object reflecting the radar wave, with respect to the own vehicle.

The locator 14 is configured to determine highly accurate position information and the like of the own vehicle by so-called compound positioning. Specifically, the locator 14 has a GNSS receiver 141, an inertia acquisition unit 142, a high-precision map DB 143, and a locator ECU 144. GNSS is an abbreviation for Global Navigation Satellite System. DB is an abbreviation for database.

The GNSS receiver 141 is provided to receive positioning signals transmitted from a plurality of positioning satellites, that is, artificial satellites. In the present embodiment, the GNSS receiver 141 is configured to be capable of receiving positioning signals from positioning satellites in at least one of satellite positioning systems such as GPS, QZSS, GLONASS, Galileo, IRNSS, Beidou satellite navigation system, and the like. Has been done. QZSS is an abbreviation for Quasi-Zenith Satellite System. GLONASS is an abbreviation for Global Navigation Satellite System. IRNSS is an abbreviation for Indian Regional Navigation Satellite System.

The inertia acquisition unit 142 is configured to acquire the acceleration and the angular velocity acting on the own vehicle. In the present embodiment, the inertia acquisition unit 142 is provided as a 3-axis gyro sensor and a 3-axis acceleration sensor built in the box-shaped housing of the locator 14.

The high-precision map DB 143 is mainly composed of a non-volatile rewritable memory so as to store the high-precision map information in a rewritable manner and to retain the stored contents even when the power is cut off. The non-volatile rewritable memory is, for example, a hard disk, EEPROM, flash ROM, or the like. EEPROM is an abbreviation for Electronically Erasable and Programmable Read Only Memory. ROM is an abbreviation for Read Only Memory. The high-precision map information can also be referred to as high-precision map data. The high-precision map information includes map information that is more accurate than the map information used in a normal or conventional car navigation system that guides a route to a destination. Specifically, the high-precision map DB143 can be used for advanced driving support or automatic driving such as three-dimensional road shape information, lane number information, regulation information, etc., in accordance with a predetermined standard such as the ADASIS standard. Information is stored. ADASIS is an abbreviation for Advanced Driver Assistance Systems Interface Specification.

The locator ECU 144 is configured as a so-called in-vehicle microcomputer provided with a CPU, ROM, RAM, input / output interface, etc. (not shown). CPU is an abbreviation for Central Processing Unit. RAM is an abbreviation for Random Access Memory. The locator ECU 144 sequentially determines the position and direction of the own vehicle based on the positioning signal received by the GNSS receiver 141, the acceleration and angular velocity acquired by the inertia acquisition unit 142, the vehicle speed acquired from the vehicle state sensor 11, and the like. It is supposed to decide. The locator 14 is provided so that the determination result of the position, direction, and the like by the locator ECU 144 can be provided to each part of the driving support ECU 16, the display control device 20, and the like via the vehicle-mounted communication line 10A.

The DCM15 is an in-vehicle communication module, and is provided so that information can be communicated with base stations around the own vehicle by wireless communication conforming to a communication standard such as LTE or 5G. LTE is an abbreviation for Long Term Evolution. 5G is an abbreviation for 5th Generation. Specifically, for example, the DCM15 is configured to acquire the latest high-precision map information from a probe server on the cloud. Further, the DCM15 stores the acquired latest high-precision map information in the high-precision map DB 143 by linking with the locator ECU 144.

The driving support ECU 16 is configured as a so-called in-vehicle microcomputer provided with a CPU, ROM, RAM, input / output interface, etc. (not shown). The driving support ECU 16 is configured to execute a predetermined driving support operation based on signals and information acquired from the vehicle state sensor 11, the external world state sensor 12, the peripheral monitoring sensor 13, and the locator 14. The "predetermined driving support operation" is, for example, a "partial automatic driving control operation" or an "advanced driving support operation" of level 2 or lower at the automatic driving level specified by the American Society of Automotive Engineers of Japan. Specifically, the driving support ECU 16 provides, for example, ACC control for traveling at a constant speed while maintaining a constant distance from the preceding vehicle, lane keeping control for suppressing deviation from the traveling lane, and the like. It is configured to be executable. ACC is an abbreviation for Adaptive Cruise Control.

Further, the driving support ECU 16 is provided so that the above signals and information generated or used for the driving support operation and the processing results thereof can be provided to the display control device 20 via the vehicle-mounted communication line 10A. .. The signals or information provided from the driving support ECU 16 to the display control device 20 include, for example, the weather, the recognition result of objects existing around the own vehicle, the condition of the road surface RS in front of the own vehicle, and the like. Includes surrounding traffic environment events. Further, the signal or information includes, for example, the current position of the own vehicle including the traveling position in the width direction of the road. Further, such signals or information include, for example, the detection result of the road lane marking DL on the road surface RS in front of the own vehicle.

The DSM 17 recognizes the driver P's face as an image and detects the driver P's state, and uses a speaker (not shown) provided on the dashboard 5 or the like to alert or warn about inattentive driving or the like. It is configured as follows. Specifically, the DSM 17 includes an in-vehicle camera 171, a light source device 172, and a DSM-ECU 173 that controls them.

The in-vehicle camera 171 is configured by a near-infrared camera so that the driver P can be stably photographed even when the inside of the vehicle interior 3 becomes dark. That is, the in-vehicle camera 171 is provided so as to take an image of the driver's seat illuminated by the light source device 172 which is a near-infrared light source such as a near-infrared LED.

The DSM-ECU 173 is configured to calculate the three-dimensional position of the viewpoint EP in the vehicle interior 3, the line-of-sight direction of the driver P, and the like by analyzing the image taken by the in-vehicle camera 171. Further, the DSM 17 is provided so that the calculation result in the DSM-ECU 173 can be provided to the display control device 20.

The input operation unit 18 is configured to accept a manual and / or voice input operation by the driver P. Specifically, the input operation unit 18 has, for example, a winker switch 181 and the like. The blinker switch 181 is configured to output a signal corresponding to an operating state of a blinker lever (not shown), which is an operating lever provided on the steering column 6. Further, the input operation unit 18 has, for example, a steering switch provided on the spoke portion of the steering wheel 7. Further, the input operation unit 18 has, for example, a voice input device for detecting the utterance of the driver P. The input operation unit 18 is provided so that the reception result of the input operation by the driver P can be provided to the display control device 20.

(Vehicle display device)
The display device 19 for the vehicle 1 is configured to display various information about the own vehicle to the driver P. Specifically, the dashboard 5 is provided with a meter panel 191. The meter panel 191 is arranged toward the driver P.

The meter panel 191 is configured to be able to display information on the driving state of the own vehicle such as vehicle speed, engine speed, cooling water temperature, mileage, and auxiliary information such as outside air temperature and current time. There is. Specifically, the meter panel 191 has a vehicle information display 191A. The vehicle information display 191A is a display device different from the head-up display device 192, and displays various information at a substantially central portion in the vehicle width direction of the meter panel 191 between a tachometer and a speedometer (not shown). It is designed to do.

Further, the vehicle 1 is equipped with a head-up display device 192. Hereinafter, the head-up display device 192 is abbreviated as "HUD device 192". HUD is an abbreviation for Head-Up Display. The HUD device 192 is housed in the dashboard 5 below the front windshield 4.

The HUD device 192 uses AR technology to form a display image Vi that is a virtual image so that the driver P can visually display the display image Vi together with the foreground including the road surface RS of the vehicle's destination. It is provided in. That is, the HUD device 192 projects the display image light VL constituting the display image Vi onto the projection range PA in the front windshield 4, and makes the driver P visually recognize the reflected light by the front windshield 4 of the display image light VL. Therefore, it is configured to display the display image Vi. In the present embodiment, the HUD device 192 is configured such that the depression angle AD is a positive value of 0 degrees or more, as shown in FIG. The depression angle AD is the angle between the virtual horizontal line passing through the viewpoint EP and the virtual straight line connecting the viewpoint EP and the upper end of the projection range PA in FIG. The depression angle AD has a positive value when looking down at the upper end of the projection range PA from the viewpoint EP, and a negative value when looking up at the upper end of the projection range PA from the viewpoint EP. Further, the HUD device 192 is configured so that the projection range PA becomes a horizontally long substantially rectangular shape as shown in FIG. 2 by making the horizontal angle of view larger than the vertical angle of view AV. The vertical angle of view AV is the angle between the virtual straight line connecting the viewpoint EP and the upper end of the projection range PA and the virtual straight line connecting the viewpoint EP and the lower end of the projection range PA in FIG. That is, the vertical angle of view AV is an angle range in the vertical direction in which the displayed image Vi can be visually recognized from the viewpoint EP, and can also be referred to as a viewing angle in the vertical direction.

The HUD device 192 includes a projector 192A and a magnifying optical system 192B. The projector 192A is provided so as to emit the display image light VL toward the magnifying optical system 192B based on the display image signal generated by the display control device 20. The magnifying optical system 192B includes a plurality of optical elements including a concave mirror and an actuator for controlling their alignment. The magnifying optical system 192B is configured to adjust the projection state of the display image light VL on the front window shield 4 by controlling the alignment in the optical element according to the viewpoint EP detected by the DSM 17 by an actuator.

The HUD device 192 is provided so that the superimposed content can be displayed. The “superimposed content” is display image content that is superimposed or displayed on the attention target or the superimposition target including the attention target while being associated with or associated with a specific attention target included in the foreground. The "object of interest" is an object that should be noted while driving, such as a road marking, a road sign, a vehicle in front, a pedestrian, or the like. A "superimposed object" is typically an object of interest. However, in a scene where the target of interest is a road marking such as a road marking, the superimposing target may be a road surface RS in the vicinity of the road marking. Specifically, for example, the left side own lane content CL and the right side own lane content CR superimposed and displayed on the own lane LS, which are shown in FIG. 2, are superimposed contents. The left lane content CL is lane marking content that is superimposed and displayed on the road lane marking DL that defines the left end of the own lane LS. The "lane marking content" is superimposed content displayed along the corresponding road marking line DL so as to visually overlap or approach the corresponding road marking line DL, and imitates the road marking line DL. It has a shape. The right-hand lane content CR is lane marking content that is superimposed and displayed on the road lane marking DL that defines the right end of the own lane LS. As described above, the HUD device 192 is configured to superimpose and display the superimposed content on the foreground such as the road surface RS that is visually recognized through the front windshield 4 of the own vehicle. In the following description, the left side own lane content CL and the right side own lane content CR may be collectively referred to as “own lane content”. The own lane content is a lane marking content for drawing the attention of the driver P to the own lane LS. Further, the road lane marking DL that defines the left end of the own lane LS is hereinafter referred to as "left road lane marking DL". Similarly, the road lane marking DL that defines the right end of the own lane LS is hereinafter referred to as "the right road lane marking DL".

The HUD device 192 is provided so that non-superimposed content can be displayed. "Non-superimposed content" is display image content that is not associated with a particular object of interest included in the foreground. Specifically, for example, the speed information content CV showing the legal maximum speed of the road currently traveling, which is shown in FIG. 2, is a non-overlapping content.

Superimposed content and non-superimposed content differ in the following points. For example, the movement of the own vehicle and / or the object of interest changes the relative position of the object of interest with respect to the own vehicle. At this time, the display position of the superimposed content in the projection range PA may change following the change in the relative position with respect to the own vehicle of interest. On the other hand, the display position of the non-overlapping content in the projection range PA is usually constant. Further, the object of interest or the superimposed object, the superimposed content, and the viewpoint EP have a relative positional relationship such that they are substantially aligned with each other. Such a relative positional relationship is continuously maintained even if the relative position changes due to the traveling of the own vehicle or the like. On the other hand, for non-superimposed content, since the target of interest or the target of superimposition is not defined in the first place, such a relative positional relationship is not conceived. Further, as a typical example of the superimposed content, there is a solid line or broken line display image content corresponding to the road lane marking DL, such as the lane marking content. Such content is displayed along the road, and is displayed so as to extend in the depth direction when viewed from the driver P. On the other hand, typical examples of non-superimposed content include traveling speed display content of own vehicle, speed information content CV, and the like. Such content is not necessarily displayed along the road, and is not displayed so as to extend in the depth direction when viewed from the driver P. Depending on the positional relationship between the own vehicle and the object of interest or the object of superimposition, even non-superimposed content may be visually recognized by the driver P by superimposing the object of interest or the object of superimposition corresponding to the superimposed content. obtain. However, in this way, the display of non-superimposed content that is visually recognized superimposed on some foreground by unintentional accident is different from the "superimposition display" in the superposed content.

(Display control device)
The display control device 20 is provided to control the display operation in the display device 19. That is, the display control device 20 is configured as an HCU that controls the operation of the HMI system including the DSM 17, the input operation unit 18, and the display device 19. HMI is an abbreviation for Human Machine Interface. HCU is an abbreviation for HMI Control Unit. Specifically, the display control device 20 is configured as a so-called in-vehicle microcomputer provided with a processing unit 201, a storage unit 202, a RAM 203, an input / output interface 204, and the like.

The processing unit 201 has a configuration including at least one arithmetic core such as a CPU. The storage unit 202 is composed of a ROM and / or a non-volatile rewritable memory. The storage unit 202 stores various programs executed by the processing unit 201, such as a display control program. In addition, various data used when executing the program, for example, initial values, tables, maps, etc., are stored in advance in the storage unit 202. The RAM 203 is provided so as to be accessible by the processing unit 201 in order to execute various processes for realizing the functions of the functional units described later by executing the above program.

The input / output interface 204 is provided so as to input / output signals and information between the display control device 20 and an external device such as the driving support ECU 16 and the DSM 17. Specifically, the in-vehicle communication line 10A is connected to the input / output interface 204. Further, a sub communication line for communication between the DSM 17, the input operation unit 18, and the display device 19 is connected to the input / output interface 204.

(Functional configuration: First embodiment)
The display control device 20 is configured to control various displays on the meter panel 191 and the display of the display image on the HUD device 192. Specifically, the display control device 20 has each functional unit realized on a microcomputer as shown in FIG. That is, the display control device 20 includes a detection result acquisition unit 211, a position information acquisition unit 212, a map information acquisition unit 213, a lane marking information acquisition unit 214, a traveling environment acquisition unit 215, and a viewpoint position acquisition unit 216. have. Further, the display control device 20 has an accuracy determination unit 217 and a display control unit 218. Hereinafter, the details of the functional configuration of the display control device 20 in the present embodiment will be described with reference to FIGS. 1 to 4.

The detection result acquisition unit 211 is provided so as to acquire the detection result of the road lane marking DL on the road surface RS to which the own vehicle travels. Specifically, the detection result acquisition unit 211 acquires the detection result of the road marking line DL using the front camera 131 from the peripheral monitoring sensor 13 or the driving support ECU 16 via the in-vehicle communication line 10A. ..

The position information acquisition unit 212 is provided so as to acquire highly accurate position information and direction information of the own vehicle determined by compound positioning by the locator 14. Specifically, the position information acquisition unit 212 acquires the determination result of the position information and the direction information by the locator ECU 144 from the locator ECU 144 via the vehicle-mounted communication line 10A.

The map information acquisition unit 213 is provided to acquire the high-precision map information stored in the high-precision map DB 143. Specifically, the map information acquisition unit 213 acquires the high-precision map information read from the high-precision map DB 143 by the locator ECU 144 from the locator ECU 144 via the vehicle-mounted communication line 10A.

The lane marking information acquisition unit 214 corresponds to the road surface RS of the destination of the own vehicle based on the above-mentioned high-precision map information including the lane marking information regarding the laying state of the road lane marking DL and the current position of the own vehicle. It is provided to acquire lane marking information. Specifically, the lane marking information acquisition unit 214 has acquired the lane marking information indicating the laying state of the road lane marking DL on the road surface RS within a predetermined range from the current position of the own vehicle by the map information acquisition unit 213. It is designed to be extracted from high-precision map information.

The traveling environment acquisition unit 215 is provided so as to acquire environmental information regarding the traveling environment of the own vehicle. Specifically, the driving environment acquisition unit 215 acquires the outside air temperature, the amount of rainfall, etc. detected by the external world state sensor 12 and the detection result by the peripheral monitoring sensor 13 via the in-vehicle communication line 10A. ing. Further, the traveling environment acquisition unit 215 determines whether or not the current traveling environment of the own vehicle is a poor visibility environment based on the acquisition result of the environmental information. The "poor visibility environment" refers to an environment in which the visibility in front of the own vehicle is poor due to snowfall, snowfall, rainfall, nighttime, fog, cliffs, and the like.

The viewpoint position acquisition unit 216 is provided so as to acquire the position of the viewpoint EP when the display by the HUD device 192 is executed. Specifically, the viewpoint position acquisition unit 216 acquires the calculation result of the three-dimensional position of the viewpoint EP by the DSM-ECU 173 from the DSM-ECU 173 via the vehicle-mounted communication line 10A.

The accuracy determination unit 217 is provided so as to determine the recognition accuracy of the road lane marking DL based on the detection result acquired by the detection result acquisition unit 211 and the lane marking information acquired by the lane marking information acquisition unit 214. There is. The “recognition accuracy” is the accuracy with which the in-vehicle system 10 recognizes the road lane marking DL on the road surface RS to which the own vehicle travels. Specifically, the accuracy determination unit 217 uses the detection accuracy of the road lane marking DL using the peripheral monitoring sensor 13 and the existence mode of the lane marking information corresponding to the road lane marking DL in the high-precision map information. , The recognition accuracy is determined. An example of the recognition accuracy determination method by the accuracy determination unit 217 will be described in the operation outline described later.

The display control unit 218 is provided to control the display operation by the HUD device 192 based on the acquisition result by the detection result acquisition unit 211 to the viewpoint position acquisition unit 216 and the determination result by the accuracy determination unit 217. Specifically, the display control unit 218 is adapted to superimpose and display the accuracy content, which is the display image content according to the recognition accuracy determined by the accuracy determination unit 217, on the road surface RS to which the own vehicle is traveling. The accuracy content is superimposed and displayed on the road surface RS of the destination of the own vehicle at a position corresponding to the road marking line DL in the width direction, thereby visually showing the high recognition accuracy of the road marking line DL. Content.

In the present embodiment, the display control unit 218 diverts the own lane content, which is the lane marking content for attracting the attention of the driver P to the own lane LS, as the accuracy content. That is, the display control unit 218 changes the display mode of the own lane content used as the accuracy content, that is, the left own lane content CL and the right side own lane content CR, according to the recognition accuracy.

The display control unit 218 is adapted to superimpose and display the own lane content used as the accuracy content on the road surface RS at a position near the road lane DL in a shape imitating the road lane DL. Specifically, in order to facilitate grasping of lane information in bad weather, the display control unit 218 transfers the own lane content to the corresponding road lane DL regardless of the line type of the actual road lane DL. It is displayed as a solid line extending along it. Further, the display control unit 218 displays the left side own lane content CL and the right side own lane content CR at positions offset by a predetermined amount toward the center side in the width direction in the own lane LS from the actual road lane marking DL. There is. In the present embodiment, this "predetermined amount" is set to such an extent that a gap equal to or less than the width of the road lane marking DL is generated between the own lane content and the road lane marking DL.

The display control unit 218 has an aspect selection unit 219. The aspect selection unit 219 is provided so as to select one from a plurality of display modes in the left side own lane content CL and the right side own lane content CR according to the recognition accuracy determined by the accuracy determination unit 217. The "display mode" includes not only color, brightness, length, width, lighting / blinking distinction, blinking interval, etc., but also display / non-display distinction. In the present embodiment, the aspect selection unit 219 sets the width of the own lane content in the width direction to be wider as the recognition accuracy is higher. Then, the display control unit 218 superimposes and displays the own lane content on the road surface RS at a position adjacent to the road marking line DL in the display mode, that is, the width selected by the mode selection unit 219 according to the recognition accuracy. ing.

(Outline of operation)
Hereinafter, the operation of the display control device 20 according to the present embodiment and the outline of the display control method executed by the display control device 20 are shown in FIGS. 1 to 7 together with the effects produced by the configuration of the present embodiment. It will be described using. 5 and 6 are tables stored in advance in the storage unit 202, which are referred to when the display control device 20 is operated. FIG. 7 shows an enlarged projection range PA shown in FIG. For the sake of simplification of illustration and description, it is assumed that the display of non-superimposed content such as speed information content CV is omitted in FIG. 7. The same applies to FIGS. 9 and later.

When the predetermined HUD display start condition is satisfied, the display control device 20 starts the display control of the HUD device 192 by reading the display control program from the storage unit 202 by the processing unit 201 and executing the display control program. For example, when the peripheral monitoring sensor 13 and / or the locator 14 acquires the speed regulation information on the road on which the own vehicle is currently traveling, the display control device 20 displays the speed information content CV, which is the corresponding non-superimposed content. Displayed by the HUD device 192. In addition, when the display control device 20 acquires various information corresponding to the non-superimposed content, the display control device 20 displays the non-superimposed content corresponding to the information by the HUD device 192. Further, the display control device 20 updates the display state of the non-superimposed content by the HUD device 192 every time the acquired information is changed. Updating the display state also includes hiding it.

The driving support ECU 16 starts the lane keeping control by a predetermined operation of the driver P, for example, an ACC start instruction operation or the like. During lane keeping control, the driving support ECU 16 executes steering control or steering support control of the own vehicle so that the own vehicle does not deviate from the own lane LS unless there is an additional instruction operation by the driver P.

When the driving support ECU 16 starts the lane keeping control, the display control device 20 starts the lane marking content display control. Then, the display control device 20 superimposes and displays the left side own lane content CL and / or the right side own lane content CR on the own lane LS according to the traveling environment of the own vehicle and the like. Specifically, for example, when the traveling environment is a poor visibility environment, the display control device 20 has the left side own lane based on the detection result of the road lane marking DL and / or the lane marking information in the high-precision map information. Display the content CL and / or the right lane content CR. It should be noted that the lane marking content is superimposed and displayed on the road surface RS, typically in a scene where it is difficult to visually recognize the road lane marking DL due to poor visibility. For example, when snow accumulates on the road surface RS, the road marking line DL is covered with the snow accumulated on the road surface RS and becomes invisible. Alternatively, for example, when there is a large amount of rainfall at night, the road marking line DL may be covered with a water film, making it difficult to see. However, in order to explain the correspondence between the display mode of the lane marking content and the road lane marking DL, the road lane marking DL is clearly shown by a solid line in FIGS. 2 and 7. Therefore, in FIGS. 2 and 7, the fact that the road lane DL is clearly shown by the solid line means that the driver P can clearly see the road lane DL while actually driving the own vehicle. Does not indicate. The same applies to FIG. 9 and the like.

At this time, the detection result acquisition unit 211 acquires the detection result of the road lane marking DL on the road surface RS to which the own vehicle is traveling. On the other hand, the lane marking information acquisition unit 214 acquires the lane marking information corresponding to the road surface RS of the destination of the own vehicle based on the high-precision map information. Specifically, the position information acquisition unit 212 acquires the current position and the like of the own vehicle. In addition, the map information acquisition unit 213 acquires the latest high-precision map information stored in the high-precision map DB 143. Then, the lane marking information acquisition unit 214 determines the laying state of the road lane marking DL on the road surface RS within a predetermined range from the current position of the own vehicle based on the latest high-precision map information and the current position of the own vehicle. Acquire the lane marking information to be shown.

Further, the accuracy determination unit 217 is based on the detection result acquired by the detection result acquisition unit 211 and the lane marking information acquired by the lane marking information acquisition unit 214, and the road lane marking DL on the road surface RS to which the own vehicle travels. Determine the recognition accuracy of. That is, the accuracy determination unit 217 describes the detection accuracy of the road lane marking DL using the peripheral monitoring sensor 13 and the existence mode of the lane marking information corresponding to the road lane marking DL in the high-precision map information. The recognition accuracy is determined by the combination of.

Specifically, for example, when the road lane marking DL cannot be detected, the accuracy determination unit 217 determines the recognition accuracy based on the lane marking information acquired by the lane marking information acquisition unit 214. On the other hand, when the lane marking information cannot be acquired, the accuracy determination unit 217 determines the recognition accuracy based on the detection result acquired by the detection result acquisition unit 211.

For example, when the road lane marking DL can be detected and the lane marking information can be acquired, the accuracy determination unit 217 determines the recognition accuracy to a high level. On the other hand, when the road lane marking DL cannot be detected and the lane marking information can be acquired, the accuracy determination unit 217 determines the recognition accuracy to a medium level between the high level and the low level.

The table of FIG. 5 shows an example of a recognition accuracy determination method by the accuracy determination unit 217. In FIG. 5, the “lane marking accuracy” is the detection accuracy of the road marking line DL using the peripheral monitoring sensor 13. "Detection accuracy" can also be referred to as "reliability". Further, in FIG. 5, “map” indicates the presence / absence of lane marking information in the high-precision map information. “Yes” means that valid lane marking information exists within a predetermined range from the current position of the own vehicle to the destination. "Valid lane marking information" is lane marking information whose last information update date and time is within a predetermined period (for example, 3 years) from the present. The information update date and time is for the entire high-precision map information if the information update due to changes in the shape, mode, regulatory information, etc. of the road itself or the road lane marking DL occurs even in a part of the high-precision map information. It shall be updated. “None” includes the case where the lane marking information does not exist in the high-precision map information and the case where the lane marking information is not updated for a long period of time.

The detection accuracy can be determined or calculated based on the detection results of the vehicle state sensor 11, the external state sensor 12, and the peripheral monitoring sensor 13. For example, the detection accuracy is low during precipitation such as rainfall and snowfall. Further, when the shooting condition of the front camera 131 is backlight, the detection accuracy becomes low. Further, the lower the contrast between the road lane DL and the road surface RS around it in the captured image of the road lane DL on the road surface RS, the lower the detection accuracy. As described above, the detection accuracy can be determined or calculated by using a calculation formula, a table, or a map in consideration of a plurality of factors as described above. It should be noted that such a method for determining or calculating the detection accuracy of the road marking line DL is the same as the method for determining or calculating the reliability in the so-called white line recognition technical field, and is already known or well-known. .. Therefore, further details regarding the determination or calculation method of the detection accuracy of the road lane marking DL will be omitted in the present specification. If necessary, refer to, for example, US Pat. No. 10,127,460, German Patent Application Publication No. 102015116268, US Patent Application Publication No. 2019/0071080, and the like.

The detection of the road lane marking DL using the peripheral monitoring sensor 13 is executed in real time while the own vehicle is driving. Therefore, when the detection accuracy of the road lane marking DL is high level or medium level accuracy, there is a high possibility that the road lane marking DL corresponding to the detection result actually exists on the road surface RS to which the own vehicle travels. .. On the other hand, the reliability of high-precision map information depends on the presence or absence of update or the update timing.

Therefore, in the example of FIG. 5, when the detection accuracy of the road lane marking DL is high, the accuracy determining unit 217 determines the recognition accuracy regardless of the existence state of the lane marking information in the high-precision map information. Decide on a high level. On the other hand, if the detection accuracy of the road lane marking DL is low, or if the road lane marking DL cannot be detected and the lane marking information in the high-precision map information is "Yes", the accuracy determination unit 217 recognizes it. Determine the accuracy to a medium level. On the other hand, if the lane marking information in the high-precision map information is "none", the accuracy determination unit 217 determines the recognition accuracy to a low level.

Further, if the detection accuracy of the road lane marking DL is at a medium level, the accuracy determining unit 217 determines the recognition accuracy at a medium level even if the lane marking information in the high-precision map information is “absent”. Further, even if the detection accuracy of the road lane marking DL is at a medium level, if the lane marking information in the high-precision map information is "Yes", the detection result of the road lane marking DL is the lane marking in the high-precision map information. It will be reinforced by information. Therefore, in this case, the accuracy determination unit 217 determines the recognition accuracy to a high level.

Then, the display control unit 218 superimposes and displays the accuracy content, which is a display image corresponding to the recognition accuracy determined by the accuracy determination unit 217, on the road surface RS by the HUD device 192. Specifically, the mode selection unit 219 selects one from a plurality of display modes in the left side lane content CL and the right side lane content CR according to the recognition accuracy determined by the accuracy determination unit 217. The display control unit 218 superimposes and displays the left side lane content CL and / or the right side lane content CR on the road surface RS in the display mode selected by the mode selection unit 219 according to the recognition accuracy.

The table of FIG. 6 shows an example of a display mode selection method by the display control unit 218, that is, the mode selection unit 219. In FIG. 6, “L” on the upper left indicates the recognition accuracy of the left road lane marking DL corresponding to the left own lane content CL. Similarly, the "R" on the upper left indicates the recognition accuracy of the road lane marking DL on the right side corresponding to the right side own lane content CR. “High”, “medium”, and “low” correspond to the determination result of the recognition accuracy shown in FIG. 5, respectively. “CL1” indicates that the left lane content CL is displayed in a wide width corresponding to a high level. "CR2" indicates that the right lane content CR is displayed in a narrow width corresponding to a medium level of accuracy. The blank indicates that both the left side lane content CL and the right side lane content CR are hidden.

As shown in FIG. 6, when the recognition accuracy of the road marking line DL on the left side is high, the left side own lane content CL is displayed in a wide width. When the recognition accuracy of the road lane marking DL on the left side is medium level, the left side own lane content CL is displayed in a narrow width. If the recognition accuracy of the road lane marking DL on the left side is low, the left side own lane content CL is hidden. When the recognition accuracy of the road lane marking DL on the right side is high, the right side own lane content CR is displayed in a wide range. When the recognition accuracy of the road lane marking DL on the right side is medium level, the right side own lane content CR is displayed in a narrow width. If the recognition accuracy of the road lane marking DL on the right side is low, the right side own lane content CR is hidden.

Therefore, for example, when the recognition accuracy of the road lane marking DL on the left side is medium level and the recognition accuracy of the road lane marking DL on the right side is high, it is “CL2 + CR1” in FIG. In this case, as shown in FIG. 7, the left side own lane content CL is displayed in a narrow width, and the right side own lane content CR is displayed in a wide width.

A specific example of the display control operation described above will be described with reference to the flowchart of FIG. In the flowchart of FIG. 8, "step" is simply abbreviated as "S". When the lane marking content display control is started, the display control device 20 repeatedly executes the lane marking content display routine shown in FIG. 8 in a predetermined short cycle, for example, a cycle of 100 ms. Such a lane marking content display routine is included in the above display control program.

When such a routine is activated, first, in step 801 the processing unit 201 acquires the detection result of the road lane marking DL on the road surface RS to which the own vehicle travels. Further, in step 802, the processing unit 201 acquires the current position information and direction information of the own vehicle. Further, in step 803, the processing unit 201 acquires the latest high-precision map information. Further, in step 804, the processing unit 201 displays the lane marking information regarding the laying state of the road lane marking DL on the road surface RS to which the own vehicle travels, the current position information and direction information of the own vehicle, and the latest high-precision map. Get based on information. Further, in step 805, the processing unit 201 acquires environmental information regarding the traveling environment of the own vehicle. Further, in step 806, the processing unit 201 acquires the position of the current viewpoint EP.

After acquiring various information in steps 801 to 806, the processing unit 201 executes the processes of steps 807 to 809 in order. In step 807, the processing unit 201 determines or calculates the detection accuracy of the road lane marking DL based on the detection result of the road lane marking DL acquired in step 801 and the environmental information acquired in step 805. .. Further, the processing unit 201 determines the recognition accuracy of the road lane marking DL based on the determined or calculated detection accuracy and the lane marking information acquired in step 804. In step 808, the processing unit 201 selects the own lane content to be displayed and the display mode thereof based on the determination result of the recognition accuracy in step 807.

In step 809, the processing unit 201 determines whether or not the display condition is satisfied. The "display condition" is a condition for displaying the content in the own lane, and may include, for example, that the current traveling environment of the own vehicle is a poor visibility environment.

When the display condition is satisfied (that is, step 809 = YES), the processing unit 201 temporarily terminates this routine after executing the processing of step 810. In step 810, the processing unit 201 superimposes and displays the lane marking content on the road surface RS to which the own vehicle travels, using the own lane content and the display mode selected in step 808. When the display condition is satisfied (that is, step 809 = NO), the processing unit 201 skips the processing of step 810 and temporarily ends this routine.

As described above, according to the display control device 20 according to the present embodiment, and the method and program executed by the display control device 20, the following effects are achieved. That is, according to the present embodiment, the recognition accuracy is determined based on the detection result of the road lane marking DL and the acquisition result of the lane marking information from the high-precision map information. Then, the accuracy content, which is a display image corresponding to the determined recognition accuracy, is superimposed and displayed on the road surface RS by the HUD device 192. Therefore, when superimposing the lane marking content corresponding to the road lane marking DL on the road surface RS of the vehicle's destination, the driver determines the degree of agreement between the display status of the content and the actual laying status of the road lane marking DL. It becomes possible for P to easily grasp or infer.

According to the present embodiment, as the accuracy content, the own lane content, which is the lane marking content for drawing the attention of the driver P to the own lane LS, is used. That is, the accuracy content is superimposed and displayed on the road surface RS at a position near the road marking line DL in a shape imitating the road marking line DL. Further, the display mode of the own lane content, which is the accuracy content, is changed according to the recognition accuracy. This makes it possible to improve the ease of grasping the road condition by the driver P.

According to the present embodiment, when the lane marking information cannot be obtained from the high-precision map information, the recognition accuracy is determined based on the detection result of the road lane marking DL. On the other hand, when the road lane marking DL cannot be detected, the recognition accuracy is determined based on the lane marking information acquired from the high-precision map information. Further, when the road lane marking DL cannot be detected while the lane marking information can be obtained from the high-precision map information, the recognition accuracy is determined to be a medium level between the high level and the low level. As a result, it is possible to ensure a good degree of agreement between the display status of the accurate content and the actual laying status of the road marking line DL.

(Second Embodiment)
Hereinafter, the second embodiment will be described with reference to FIG. In the following description of the second embodiment, the parts different from the first embodiment will be mainly described. Further, in the first embodiment and the second embodiment, the same or equal parts are designated by the same reference numerals. Therefore, in the following description of the second embodiment, the description in the first embodiment may be appropriately incorporated with respect to the elements having the same reference numerals as those in the first embodiment, unless there is a technical contradiction or a special additional description.

The basic configuration and basic operation of the display control device 20 according to the present embodiment are the same as those in FIGS. 1 to 6 and 8. In the present embodiment, the method of changing the display mode according to the recognition accuracy is different from that of the first embodiment. Specifically, in the present embodiment, the display control unit 218, that is, the mode selection unit 219 is designed to set the length of the own lane content longer as the recognition accuracy is higher.

FIG. 9 shows a display state when the recognition accuracy of the road lane marking DL on the left side is medium level and the recognition accuracy of the road lane marking DL on the right side is high, as in FIG. 7. The same applies to FIGS. 10 and later.

In this case, as shown in FIG. 9, the right lane content CR is displayed long so as to reach the upper and right ends of the projection range PA. On the other hand, the left side own lane content CL is displayed short so as not to reach the upper end and the lower end of the projection range PA. The same effect as that of the first embodiment can be obtained by this embodiment as well.

(Third Embodiment)
Hereinafter, the third embodiment will be described with reference to FIGS. 9 and 10. This embodiment is a partial modification of the method of changing the display mode according to the recognition accuracy in the second embodiment.

As shown in FIG. 5, if the road lane marking DL is detected or not detected with low accuracy and the lane marking information in the high-precision map information is "Yes", the recognition accuracy is at a medium level. It is determined. On the other hand, when the detection accuracy of the road lane marking DL is medium and the lane marking information in the high-precision map information is "absent", the recognition accuracy is determined to be a medium level. However, in the latter case, since the road lane marking DL is detected in real time and with a predetermined accuracy while the own vehicle is driving, the recognition reliability of the road lane marking DL is higher than in the former case. May be good.

Therefore, in the present embodiment, when the display control unit 218 cannot detect the road lane marking DL but can acquire the lane marking information from the high-precision map information, and the recognition accuracy reaches a medium level, the content The superimposed display position of is offset to the center side in the width direction. Then, for example, when the recognition accuracy of the left road lane DL is medium level, as shown in FIGS. 9 and 10, the short left side own lane content CL corresponding to the medium level recognition accuracy is displayed. Is displayed. Here, even if the recognition accuracy is the same medium level, if the detection accuracy is medium and the lane marking information in the high-precision map information is "none", as shown in FIG. 9, it is short. The left side own lane content CL is displayed at the nearest position of the left side road marking line DL. On the other hand, when the detection accuracy is low or not detected and the lane marking information in the high-precision map information is "Yes", as shown in FIG. 10, the short left side own lane content CL is displayed. It is offset toward the center in the width direction as compared with the case of FIG. As a result, the own lane content with lower recognition reliability is displayed in the own lane LS on the center side in the width direction. Therefore, it is possible to maintain a more reliable lane. Further, by simply displaying the reliability of the high-precision map information by the HUD device 192, it is possible to satisfactorily notify the driver P of the necessity of maintenance of the high-precision map information.

(Fourth Embodiment)
Hereinafter, the fourth embodiment will be described with reference to FIG. This embodiment is a partial modification of the method of changing the display mode according to the recognition accuracy in the first to third embodiments.

In the present embodiment, the display control unit 218 offsets the position of the own lane content in the width direction toward the center as the recognition accuracy decreases. As a result, the own lane content with lower recognition reliability is displayed in the own lane LS on the center side in the width direction. The same effect as that of the first embodiment can be obtained by this embodiment as well.

(Fifth Embodiment)
Hereinafter, the fifth embodiment will be described with reference to FIG. Also in this embodiment, the method of changing the display mode according to the recognition accuracy is different from that of the first embodiment and the like.

Specifically, in the present embodiment, the display control unit 218 displays the own lane content in a dotted line regardless of the line type of the actual road lane marking DL. Further, the display control unit 218 sets the interval on the dotted line to be shorter as the recognition accuracy is higher. The same effect as that of the first embodiment can be obtained by this embodiment as well.

(Sixth Embodiment)
Hereinafter, the sixth embodiment will be described with reference to FIG. Also in this embodiment, the method of changing the display mode according to the recognition accuracy is different from that of the first embodiment and the like.

In this embodiment, the central own lane content CS is used instead of the left own lane content CL and the right own lane content CR. Specifically, the display control unit 218 displays the central own lane content CS at a substantially central position in the width direction of the own lane LS.

Further, the display control unit 218 sets the width of the central own lane content CS in the width direction according to the result of integrating the recognition accuracy of the left and right road marking lines DL of the own lane LS. Specifically, for example, the accuracy determination unit 217 selects the lower recognition accuracy of the left and right road lane marking DLs as the determination result of the recognition accuracy. Alternatively, for example, the accuracy determination unit 217 selects the result of performing statistical calculation processing such as averaging on the recognition accuracy of the left and right road marking lines DL as the determination result of the recognition accuracy. Then, the display control unit 218 sets the width of the central own lane content CS in the width direction to be wider as the recognition accuracy is higher. The same effect as that of the first embodiment can be obtained by this embodiment as well.

(Seventh Embodiment)
Hereinafter, the seventh embodiment will be described with reference to FIG. The present embodiment is a combination of the first to fifth embodiments and the sixth embodiment. That is, the display control unit 218 displays the left side lane content CL and the right side lane content CR as the accuracy content and the center own lane content CS as the accuracy content together. According to the present embodiment, the degree of alerting of the driver P to the own lane LS is further improved.

(Eighth embodiment)
Hereinafter, the eighth embodiment will be described with reference to FIGS. 15A and 15B. FIG. 15A shows an enlarged projection range PA shown in FIG. 2, similar to FIG. 7. FIG. 15B is an enlarged view of the vehicle information display 191A shown in FIG.

In the present embodiment, the display control unit 218 displays the left side lane content CL and the right side lane content CR in different colors and / or brightness according to the recognition accuracy of the corresponding road lane marking DL. There is.

By the way, in each of the above-described embodiments, the accuracy determination unit 217 determines the recognition accuracy for the entire portion included in the projection range PA in the extending direction of the road marking line DL. However, in general, the detection accuracy of the road marking line DL using the peripheral monitoring sensor 13 can be higher at a position closer to the own vehicle than at a position farther from the own vehicle. This tendency can be exacerbated in poor visibility environments.

Therefore, in the present embodiment, the accuracy determination unit 217 is provided so as to be able to determine the recognition accuracy for each of a plurality of regions in the extending direction of the road marking line DL. Specifically, for example, the accuracy determination unit 217 determines the recognition accuracy in each of the lower proximal region and the other distal region in the projection range PA.

Further, as shown in FIG. 15A, the display control unit 218 recognizes the left side lane content CL and the right side lane content CR, which also serve as accuracy content, differently between the proximal CT1 and the distal CT2. It is possible to display in different display modes according to the accuracy. The proximal CT1 is a part of the own lane content corresponding to the proximal side in the extending direction of the road marking line DL in the projection range PA, that is, the above-mentioned proximal side region. The distal CT2 is a portion of the own lane content that corresponds to the distal side in the extending direction of the road lane DL within the projection range PA, i.e., the distal region. The display in FIG. 15A assumes the following cases. The recognition accuracy of the proximal region on the left road lane DL is high. The recognition accuracy of the distal region on the left road lane DL is medium level. The recognition accuracy of the proximal region and the distal region in the right road marking line DL is both high level.

On the other hand, as shown in FIG. 15B, the display control unit 218 is configured to display the own vehicle icon W1, the left lane marking icon W2, and the right lane marking icon W3 on the vehicle information display 191A. .. The own vehicle icon W1 is display content indicating the own vehicle, and is arranged at a central position in the left-right direction in the lower region in the vehicle information display 191A.

The left lane marking icon W2 is a strip-shaped display content indicating the recognition state of the road lane marking DL on the left side, and is arranged so as to extend diagonally upward to the right on the left side of the own vehicle icon W1. The right lane marking icon W3 is a strip-shaped display content indicating the recognition state of the road lane marking DL on the right side, and is arranged so as to extend diagonally upward to the left on the right side of the own vehicle icon W1. The left lane marking icon W2 and the right lane marking icon W3 are displayed in different colors and / or brightness depending on the recognition accuracy of the corresponding road lane marking DL. Further, the left lane marking icon W2 and the right lane marking icon W3 are hidden when the corresponding road lane marking DL cannot be recognized.

The display control unit 218 switches the display of the left division line icon W2 and the right division line icon W3 between the proximal display and the average display by the operation by the input operation unit 18 of the driver P. .. The "proximal portion display" is a display corresponding to the recognition accuracy of the proximal side region in the road marking line DL. The "average display" is a display corresponding to the statistical calculation result, that is, the average value of the recognition accuracy of the proximal side region and the recognition accuracy of the distal side region in the road marking line DL.

According to the present embodiment, it is possible to display appropriate information according to the gaze time on each of the vehicle information display 191A and the HUD device 192, which have different gaze times of the driver P. Specifically, the projection range PA, which is the display area of the HUD device 192 that superimposes and displays on the road surface RS in front, has a long gaze time of the driver P. Therefore, the display control unit 218 causes the HUD device 192 to display the proximal portion CT1 and the distal portion CT2 in the left side own lane content CL and the right side own lane content CR in display modes according to the recognition accuracy, respectively. .. This makes it possible to show the driver P the recognition state of the road lane marking DL in detail. On the other hand, the vehicle information display 191A in the meter panel 191 has a relatively short gaze time of the driver P. Therefore, the display control unit 218 displays the left lane marking icon W2 and the right lane marking icon W3 on the vehicle information display 191A with the recognition accuracy of the proximal side region or the recognition accuracy of the proximal side region and the distal side region. It is displayed in a display mode according to the statistical calculation result with the recognition accuracy of. This makes it possible to easily show the driver P the outline of the recognition state of the road lane marking DL.

(Ninth Embodiment)
Hereinafter, the ninth embodiment will be described with reference to FIG. This embodiment is a partial modification of the method of changing the display mode according to the recognition accuracy in the eighth embodiment.

In the present embodiment, the accuracy determination unit 217 is provided so as to be able to acquire the distribution of the recognition accuracy in the extending direction of the road marking line DL. Further, the display control unit 218 displays the left side lane content CL and the right side lane content CR, which also serve as accuracy content, in different display modes according to different recognition accuracy in the proximal CT1, the distal CT2, and the intermediate CT3. It can be displayed with. The intermediate portion CT3 is arranged between the proximal portion CT1 and the distal portion CT2 in the extending direction of the road marking line DL, that is, the extending direction of the own lane content.

The number of intermediate CT3s arranged between the proximal CT1 and the distal CT2 is not limited to one as shown in FIG. That is, two or more intermediate CT3s may be arranged between the proximal CT1 and the distal CT2.

(10th Embodiment)
Hereinafter, the tenth embodiment will be described with reference to FIG.

In each of the above embodiments, the left side own lane content CL and the right side own lane content CR are used as serving as accuracy content. On the other hand, in the present embodiment, the display control unit 218 displays the accuracy content CP as superimposed content different from the left side own lane content CL and the right side own lane content CR.

As a display example of the accuracy content CP, each of the above embodiments can be applied. FIG. 17 shows a case where the fifth embodiment is applied. In the present embodiment, the accuracy content CP is displayed so as to be adjacent to the own lane content on the center side in the width direction of the own lane LS with respect to the own lane content. The positional relationship between the road marking line DL, the own lane content, and the accuracy content CP in the width direction can be appropriately changed from the specific example shown in FIG.

(Modification example)
The present invention is not limited to each of the above embodiments. Therefore, it is possible to make appropriate changes to each of the above embodiments. A typical modification will be described below. In the following description of the modification, the differences from the above embodiments will be mainly described. Further, in each of the above-described embodiments and modifications, the same or equal parts are designated by the same reference numerals. Therefore, in the following description of the modified examples, the description in each of the above embodiments may be appropriately incorporated for the components having the same reference numerals as those of the above embodiments, unless there is a technical contradiction or a special additional explanation.

The present invention is not limited to the specific device configuration shown in each of the above embodiments. That is, for example, the vehicle 1 is not limited to a four-wheeled vehicle. Specifically, the vehicle 1 may be a three-wheeled vehicle, or a six-wheeled or eight-wheeled vehicle such as a freight truck. The type of vehicle 1 may be an automobile having only an internal combustion engine, an electric vehicle or a fuel cell vehicle not having an internal combustion engine, or a so-called hybrid vehicle. The shape and structure of the vehicle body 2 are also not limited to a box shape, that is, a substantially rectangular shape in a plan view. There are no particular restrictions on the use of the vehicle 1, the position of the steering wheel 7, the number of occupants, and the like.

As the communication standard constituting the in-vehicle system 10, a communication standard other than CAN (international registered trademark), for example, FlexRay (internationally registered trademark) or the like can be adopted. Further, the communication standard constituting the in-vehicle system 10 is not limited to one type. For example, the in-vehicle system 10 may have a sub-network line conforming to a communication standard such as LIN. LIN is an abbreviation for Local Interconnect Network.

The vehicle state sensor 11, the external state sensor 12, and the peripheral monitoring sensor 13 are not limited to the above examples. For example, the peripheral monitoring sensor 13 may be configured to include a sonar, that is, an ultrasonic sensor.

The locator 14 is also not limited to the above example. For example, the locator 14 does not have to have a configuration incorporating a gyro sensor and an acceleration sensor. Specifically, the inertia acquisition unit 142 may be adapted to receive output signals from the angular velocity sensor and the acceleration sensor provided outside the locator 14 as the vehicle state sensor 11.

DCM15 may be omitted.

An automatic operation ECU may be provided in place of or in combination with the operation support ECU 16. Such an automatic driving ECU is configured to enable automatic driving control of level 3 or higher at the automatic driving level specified by the American Society of Automotive Engineers of Japan.

The DSM 17 may be connected to the display control device 20 via the vehicle-mounted communication line 10A.

The input operation unit 18 may be connected to the display control device 20 via the vehicle-mounted communication line 10A.

The configuration and arrangement of the display device 19 are not limited to the above specific examples. That is, for example, the meter panel 191 may be configured to display an image of a bezel, a pointer, a scale, etc. in a tachometer, a speedometer, a water temperature gauge, or the like. In this case, the meter panel 191 can be equated with the vehicle information display 191A.

There are no particular restrictions on the specific structure of the HUD device 192, particularly the projector 192A or the like. That is, as long as the HUD device 192 has a configuration in which a display image can be superimposed and displayed on the road surface RS visually recognized through the front windshield 4 of the vehicle 1, any structure has technical contradictions such as in-vehicle impossibility. Unless otherwise, it can be adopted. Further, there is no particular limitation on the size of the projection range PA, which is the visual field range that can be superimposed and displayed by the HUD device 192. That is, for example, the HUD device 192 may be a so-called windshield display device capable of superimposing and displaying the foreground on almost the entire surface of the front windshield 4.

In each of the above embodiments, the display control device 20 includes a CPU and the like. However, the present invention is not limited to such a configuration. That is, for example, the display control device 20 may include a GPU. GPU is an abbreviation for Graphics Processing Unit. Alternatively, the display control device 20 may be configured to include a digital circuit configured to enable the above-mentioned operation, for example, an ASIC or an FPGA. ASIC is an abbreviation for Application Specific Integrated Circuit. FPGA is an abbreviation for Field Programmable Gate Array. The CPU and the ASIC can coexist.

The program according to the present invention can be downloaded or upgraded via a V2X communication means such as DCM15. V2X is an abbreviation for Vehicle to X. Alternatively, the program according to the present invention may be downloaded or upgraded via a terminal device provided in a manufacturing factory, a maintenance shop, a dealer, etc. of the vehicle 1. The storage destination of such a program may be a memory card, an optical disk, a magnetic disk, or the like.

Thus, each of the above functional configurations and methods is achieved by a dedicated computer provided by configuring a processor and memory programmed to perform one or more functions embodied by a computer program. May be done. Alternatively, each of the above functional configurations and methods may be implemented by a dedicated computer provided by configuring the processor with one or more dedicated hardware logic circuits. Alternatively, each of the above functional configurations and methods comprises a combination of a processor and memory programmed to perform one or more functions and a processor composed of one or more hardware logic circuits. It may be realized by one or more dedicated computers. In addition, the computer program may be stored in a computer-readable non-transitional substantive storage medium as an instruction executed by the computer. That is, each of the above functional configurations and methods can be expressed as a computer program including a procedure for realizing the above, or as a non-transitional substantive storage medium that stores the program.

The present invention is not limited to the specific functional configuration and operation example shown in each of the above embodiments. For example, a probe map can be used when the lane marking information acquisition unit 214 acquires the lane marking information.

In each of the above embodiments, the viewpoint position acquisition unit 216 acquires the calculation result of the three-dimensional position of the viewpoint EP by the DSM-ECU 173 from the DSM-ECU 173 via the vehicle-mounted communication line 10A. That is, in order to acquire the viewpoint EP when the display by the HUD device 192 is executed, the configuration of the in-vehicle camera 171 or the like provided in the DSM 17 for detecting the state of the driver P and calling attention or warning is diverted. It had been. However, the present invention is not limited to such embodiments.

Specifically, for example, the in-vehicle system 10 may not be provided with the DSM 17. In this case, a driver's seat photographing camera for the HUD device 192 may be provided in the vehicle interior 3. Further, in this case, the position calculation of the viewpoint EP can be executed by the viewpoint position acquisition unit 216 in the display control device 20.

In each of the above embodiments, the accuracy of detecting the road lane marking DL on the road surface RS to which the own vehicle is traveling is determined or calculated by the accuracy determination unit 217. However, the present invention is not limited to such embodiments. That is, for example, the determination or calculation of the detection accuracy may be executed by the peripheral monitoring sensor 13, the driving support ECU 16, or the detection result acquisition unit 211. In this case, the detection accuracy is acquired in step 801 as the "detection result".

The recognition accuracy determination method by the accuracy determination unit 217 is not limited to the above specific example. That is, for example, the table of FIG. 5 can be formed in N rows and M columns. N and M are natural numbers of 2 or more, respectively. Further, the table of FIG. 6 can be formed in M rows and M columns.

For example, the contents of the table in FIG. 5 can be changed as appropriate. FIG. 18 shows a modified example. At this time, the table of FIG. 6 can also be appropriately modified to fit the table of FIG. Further, an appropriate numerical range can be used instead of "high", "medium", and "low" in FIG. There may be M such numerical ranges.

In FIG. 18, “map” is the accuracy of the lane marking information in the high-precision map information. "High" means that highly accurate lane marking information exists within a predetermined range from the current position of the own vehicle to the destination. "High-precision lane marking information" is lane marking information whose last information update date and time is within a predetermined short period (for example, one year) from the present. "Medium" means that the lane marking information with moderate accuracy exists within a predetermined range from the current position of the own vehicle to the destination. "Medium-precision lane marking information" is lane marking information in which the last information update date and time is within a predetermined medium period (for example, 1 to 5 years) from the present. "Low" means that low-precision lane marking information exists within a predetermined range from the current position of the own vehicle to the destination. "Low-precision lane marking information" is lane marking information for which the final information update has not been executed for a predetermined long period of time (for example, 5 years or more) from the present.

In the operation example using the table of FIG. 6, the content width according to the recognition accuracy was two types, wide width and narrow width. However, the present invention is not limited to such embodiments. Specifically, the content width according to the recognition accuracy may be three or more types. The same applies to other types of display modes such as length, color, and brightness.

In the above specific operation example, the display control unit 218 is designed to display the lane marking content during the ACC control or the lane keeping control. However, the present invention is not limited to such embodiments. Specifically, for example, the display control unit 218 may display the lane marking content even if the ACC control or the lane keeping control is not executed in the poor visibility environment.

Regardless of whether or not it also serves as accuracy content, the left side lane content CL and / or the right side lane content CR may be displayed so that a part or the whole thereof is visually recognized so as to overlap with the corresponding road lane marking DL. Good. That is, the left side own lane content CL and / or the right side own lane content CR may be superimposed and displayed on the road surface RS at substantially the same position as the corresponding road lane marking DL in the width direction. Alternatively, the left side own lane content CL may be superimposed and displayed on the road surface RS on the LX side of the other lane. The same applies to the accuracy content CP.

The left side lane content CL and the right side lane content CR may be displayed in the same line type as the corresponding actual road lane marking DL. As a result, the lane marking content is displayed in a state that matches the actual lane change scene. Therefore, the ease of grasping the road condition by the driver P when changing lanes is further improved.

The flowchart of FIG. 8 can also be changed as appropriate. For example, the process of step 809 may be executed before the process of step 801. Further, in step 807, the processing unit 201 may determine the recognition accuracy of the road lane marking DL without using the environmental information acquired in step 805.

In the tenth embodiment, the accuracy content CP superimposed and displayed on the road surface RS separately from the lane marking content has a shape imitating the road lane marking DL, similarly to the lane marking content. However, the present invention is not limited to such embodiments. That is, for example, the accuracy content CP may be icon-shaped superimposed content that is superimposed and displayed on the road surface RS at a position that overlaps with the lane marking content or a position near the lane marking content.

In the broadest sense, AR includes displaying electronic information superimposed on a real scene. Therefore, both the superposed content and the non-superimposed content are included in the AR content or the AR display object in the broadest sense as long as they can be visually recognized together with the actual scene. However, it is possible to interpret AR content in a narrow sense, including superimposed content but not non-superimposed content. In this case, the non-superimposed content can be said to be non-AR content or non-AR display object.

Similar expressions such as "acquisition", "calculation", "estimation", "detection", "detection", and "determination" can be appropriately replaced with each other within a technically consistent range. Both "detection" and "extraction" can be appropriately replaced within a technically consistent range.

It goes without saying that the elements constituting each of the above embodiments are not necessarily essential except when it is clearly stated that they are essential and when they are clearly considered to be essential in principle. In addition, when numerical values such as the number, numerical value, quantity, and range of components are mentioned, unless it is clearly stated that they are indispensable, or when the number is clearly limited in principle, the specification is specified. The present invention is not limited to the number of. Similarly, except when the shape, direction, positional relationship, etc. of the constituent elements are mentioned, when it is clearly stated that it is particularly essential, or when it is limited to a specific shape, direction, positional relationship, etc. in principle. The present invention is not limited to the shape, direction, positional relationship, and the like.

Modifications are also not limited to the above examples. Also, a plurality of variants can be combined with each other. Further, all or part of each of the above embodiments and all or part of the modifications may be combined with each other.

(Summary)
The disclosure presented by each of the above embodiments and variations includes the following aspects of the method and program: The following viewpoints can be applied in combination with each other as long as there is no technical contradiction.

According to the first aspect, the display that controls the display of the display image in the head-up display device (192) that superimposes and displays the display image on the foreground that is visually recognized through the front windshield (4) of the vehicle (1). The control method is
The process of acquiring the detection result of the road lane marking on the road surface (RS) where the vehicle is traveling, and
A process of acquiring the lane marking information corresponding to the road surface based on the map information including the lane marking information regarding the laying state of the road lane marking and the current position of the vehicle.
A process of determining the recognition accuracy of the road lane marking on the road surface based on the acquired detection result and the lane marking information.
A process of superimposing and displaying accuracy content (CL, CR, CS), which is the display image according to the determined recognition accuracy, on the road surface.
including.
Further, according to the first viewpoint, the display of the display image in the head-up display device (192) that superimposes and displays the display image on the foreground that is visually recognized through the front windshield (4) of the vehicle (1) is controlled. The display control program executed by the display control device (20) configured as described above is a process executed by the display control device.
The process of acquiring the detection result of the road lane marking on the road surface (RS) where the vehicle is traveling, and
A process of acquiring the lane marking information corresponding to the road surface based on the map information including the lane marking information regarding the laying state of the road lane marking and the current position of the vehicle.
A process of determining the recognition accuracy of the road lane marking on the road surface based on the acquired detection result and the lane marking information.
A process of superimposing and displaying accuracy content (CL, CR, CS), which is the display image according to the determined recognition accuracy, on the road surface.
including.

According to the second aspect, when the division line information cannot be acquired, the process of determining the recognition accuracy determines the recognition accuracy based on the acquired detection result.

According to the third aspect, when the road lane marking cannot be detected, the process of determining the recognition accuracy determines the recognition accuracy based on the acquired lane marking information.

According to the fourth aspect, when the road lane marking cannot be detected but the lane marking information can be acquired, the process of determining the recognition accuracy is such that the recognition accuracy is between a high level and a low level. Decide on a medium level.

According to the fifth aspect, the process of superimposing and displaying on the road surface changes the display mode of the accuracy content according to the recognition accuracy determined by the accuracy determination unit.

According to the sixth aspect, in the process of superimposing and displaying on the road surface, the accuracy content is superposed on the road surface at the road marking line or a position in the vicinity thereof in a shape imitating the road marking line.

According to the seventh aspect, the process of superimposing and displaying on the road surface changes the display mode of the accuracy content according to the determined recognition accuracy.

According to the eighth viewpoint, in the process of superimposing and displaying on the road surface, when the lane marking information can be acquired while the road lane marking cannot be detected, the superimposing display position of the accuracy content on the road surface is displayed. Offset to the center side in the width direction.

According to the ninth viewpoint, the process of superimposing and displaying on the road surface is
The accuracy content was applied to the recognition accuracy different between the proximal portion (CT1) corresponding to the proximal side and the distal portion (CT2) corresponding to the distal side in the extending direction of the road marking line. It can be displayed in a different display mode,
Display contents (W2, W3) according to the calculation result of the recognition accuracy corresponding to the proximal portion or the recognition accuracy corresponding to the proximal portion and the recognition accuracy corresponding to the distal portion. The display is performed on a display device (191A) different from the head-up display device.

1 Vehicle 4 Front windshield 192 Head-up display device 20 Display control device 211 Detection result acquisition unit 214 Section line information acquisition unit 215 Accuracy determination unit 219 Display control unit CL Left side own lane content (accuracy content)
CR Right lane content (precision content)

Claims (11)

A display control device (display control device) configured to control the display of the display image in the head-up display device (192) that superimposes and displays the display image on the foreground that is visually recognized through the front windshield (4) of the vehicle (1). 20) And
The detection result acquisition unit (211) for acquiring the detection result of the road lane marking on the road surface (RS) where the vehicle is traveling, and
A lane marking information acquisition unit (214) that acquires the lane marking information corresponding to the road surface based on map information including lane marking information regarding the laying state of the road lane marking and the current position of the vehicle.
An accuracy determination unit (215) that determines the recognition accuracy of the road lane marking on the road surface based on the detection result acquired by the detection result acquisition unit and the lane marking information acquired by the lane marking information acquisition unit. When,
A display control unit (219) that superimposes and displays accuracy content (CL, CR, CS, CP), which is the display image according to the recognition accuracy determined by the accuracy determination unit, on the road surface.
Display control device equipped with. When the division line information cannot be acquired, the accuracy determination unit determines the recognition accuracy based on the detection result acquired by the detection result acquisition unit.
The display control device according to claim 1. When the road lane marking cannot be detected, the accuracy determination unit determines the recognition accuracy based on the lane marking information acquired by the lane marking information acquisition unit.
The display control device according to claim 1 or 2. If the road lane marking cannot be detected while the lane marking information can be obtained, the accuracy determination unit determines the recognition accuracy to a medium level between a high level and a low level.
The display control device according to claim 3. The display control unit changes the display mode of the accuracy content according to the recognition accuracy determined by the accuracy determination unit.
The display control device according to any one of claims 1 to 4. The display control unit superimposes and displays the accuracy content on the road surface at the road marking line or a position in the vicinity thereof in a shape imitating the road marking line.
The display control device according to any one of claims 1 to 4. The display control unit changes the display mode of the accuracy content according to the recognition accuracy determined by the accuracy determination unit.
The display control device according to claim 6. When the road marking line cannot be detected but the marking line information can be acquired, the display control unit offsets the superimposed display position of the accuracy content on the road surface toward the center side in the width direction.
The display control device according to claim 7. The display control unit
The accuracy content was applied to the recognition accuracy different between the proximal portion (CT1) corresponding to the proximal side and the distal portion (CT2) corresponding to the distal side in the extending direction of the road marking line. It can be displayed in a different display mode,
Display contents (W2, W3) according to the calculation result of the recognition accuracy corresponding to the proximal portion or the recognition accuracy corresponding to the proximal portion and the recognition accuracy corresponding to the distal portion. Display on a display device (191A) different from the head-up display device.
The display control device according to claim 7 or 8. A display control method for controlling the display of the display image in the head-up display device (192) that superimposes and displays the display image on the foreground that is visually recognized through the front windshield (4) of the vehicle (1).
The process of acquiring the detection result of the road lane marking on the road surface (RS) where the vehicle is traveling, and
A process of acquiring the lane marking information corresponding to the road surface based on the map information including the lane marking information regarding the laying state of the road lane marking and the current position of the vehicle.
A process of determining the recognition accuracy of the road lane marking on the road surface based on the acquired detection result and the lane marking information.
A process of superimposing and displaying accuracy content (CL, CR, CS), which is the display image according to the determined recognition accuracy, on the road surface.
Display control method including. A display control device (20) configured to control the display of the display image in the head-up display device (192) that superimposes and displays the display image on the foreground that is visually recognized through the front windshield (4) of the vehicle (1). ) Is a display control program executed by
The process executed by the display control device is
The process of acquiring the detection result of the road lane marking on the road surface (RS) where the vehicle is traveling, and
A process of acquiring the lane marking information corresponding to the road surface based on the map information including the lane marking information regarding the laying state of the road lane marking and the current position of the vehicle.
A process of determining the recognition accuracy of the road lane marking on the road surface based on the acquired detection result and the lane marking information.
A process of superimposing and displaying accuracy content (CL, CR, CS), which is the display image according to the determined recognition accuracy, on the road surface.
Display control program including.

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