JP2021036226A - Display control device and display control program - Google Patents

Abstract

To provide a display control device and the like which can present information that hardly gives the sense of discomfort to an occupant such as a driver.SOLUTION: An HCU is used in a vehicle A mounted with a navigation device and includes a function of a display control device which controls the display by a head-up display. The HCU acquires navigation information related to the route guidance of the navigation device and environmental information on the basis of the travel environment recognition of the vehicle periphery. The HCU displays a route guidance content so as to be overlapped on a front scene by the head-up display in a guidance area GA where the route guidance is performed by the navigation device. The HCU terminates the display of the route guidance content on the basis of the termination determination using at least the environmental information without using the termination notification that notifies of the termination of the route guidance by the navigation device.SELECTED DRAWING: Figure 4

Description

The disclosure according to this specification relates to a display control device and a display control program that control the display by the head-up display.

For example, Patent Document 1 describes a vehicle display device that superimposes a guidance display such as an arrow for performing route guidance such as turning left or right on the foreground using a head-up display. The vehicle display device of Patent Document 1 controls the timing at which the guidance display is started by using various conditions.

International Publication No. 2015/118859

Patent Document 1 does not specify the details of the timing for ending the guidance display such as an arrow. Therefore, the timing for ending the guidance display is not set appropriately, and there is a risk that the information will be presented so as to give the occupant a sense of discomfort.

An object of the present disclosure is to provide a display control device and a display control program capable of presenting information that does not give a sense of discomfort to an occupant.

In order to achieve the above object, one disclosed aspect is a display control device used in a vehicle (A) equipped with a navigation device (55) for route guidance and controlling a display by a head-up display (20). There is a navigation information acquisition unit (72) that acquires navigation information related to route guidance implemented by the navigation device, and an outside world information acquisition unit (74) that acquires outside world information based on recognition of the driving environment around the vehicle. In the guidance area (GA) where the route guidance is performed by the navigation device, the display control unit (76) for superimposing the superimposed content (CTsg) for route guidance on the foreground by the head-up display is provided. Is a display control device that ends the display of the superimposed content based on the end determination using at least the outside world information without using the end notification that notifies the end of the route guidance in the navigation device.

Further, one disclosed aspect is a display control program used in a vehicle (A) equipped with a navigation device (55) for providing route guidance and controlling a display by a head-up display (20), and at least one of them. The processing unit (11) acquires navigation information related to route guidance performed by the navigation device (S101), acquires external world information based on recognition of the driving environment around the vehicle (S102), and routes by the navigation device. In the guidance area (GA) where guidance is performed, the superimposed content (CTsg) for route guidance is superimposed and displayed on the foreground by a head-up display (S104), and the end notification for notifying the end of route guidance on the navigation device is used. It is a display control program that executes a process including ending the display of the superimposed content (S111, S113) based on the end determination using at least the outside world information.

In these aspects, by performing the end determination using at least the outside world information around the vehicle, the superimposed content for route guidance is displayed at an appropriate timing without depending on the end timing of the route guidance in the navigation device. Can be terminated. According to the above, even if the superimposed content is used, it is possible to present information that does not give a sense of discomfort to the occupants.

Further, one disclosed aspect is a display control device used in the vehicle (A) and controlling the display by the screen display (24) and the head-up display (20), for recognizing the traveling environment around the vehicle. In the external world information acquisition unit (74) that acquires the external world information based on the external world information and the guidance area (GA) that displays the route guidance image (Png) on the screen display, the superimposed content (CTsg) that provides the route guidance is displayed by the head-up display. A display control unit (76) that superimposes and displays on the foreground is provided, and the display control unit is faster than ending the display of the route guidance image by the screen display, and the superposed content is based on the end determination using at least the outside world information. It is a display control device that ends the display of.

Further, one disclosed aspect is a display control device used in a vehicle (A) equipped with a navigation device (55) for providing route guidance and controlling a display by a head-up display (20), which is used in the navigation device. The navigation device is a route with a navigation information acquisition unit (72) that acquires navigation information related to the route guidance to be carried out, an outside world information acquisition unit (74) that acquires outside world information based on recognition of the driving environment around the vehicle, and a navigation device. In the guidance area (GA) for displaying the guidance image (Png) on the screen, the display control unit includes a display control unit (76) for superimposing the superimposed content (CTsg) for route guidance on the foreground by a head-up display. , It is a display control device that terminates the display of the superimposed content based on the termination determination using at least the outside world information before the navigation device terminates the display of the route guidance image.

Further, one disclosed aspect is a display control program used in the vehicle (A) and controlling the display by the screen display (24) and the head-up display (20), and is at least one processing unit (11). In addition, in the guidance area (GA) where the outside world information based on the recognition of the driving environment around the vehicle is acquired (S202) and the route guidance image (Png) is displayed on the screen display, the superimposed content for route guidance is headed up. The superimposed content is displayed on the foreground by the display (S204), and the display of the superimposed content is terminated based on the termination determination using at least the outside world information, before the display of the route guidance image by the screen display is terminated (S212). It is a display control program that executes processing including.

Further, one disclosed aspect is a display control program used in a vehicle (A) equipped with a navigation device (55) for providing route guidance and controlling a display by a head-up display (20), and at least one of them. The processing unit (11) acquires navigation information related to route guidance performed by the navigation device (S101), acquires external world information based on recognition of the driving environment around the vehicle (S102), and the navigation device routes the route. In the guidance area (GA) for displaying the guidance image (Png) on the screen, the superimposed content (CTsg) for route guidance is superimposed and displayed on the foreground by the head-up display (S104), and the navigation device ends the display of the route guidance image. A display control program for executing a process including terminating the display of the superimposed content (S111, S113) based on the end determination using at least the outside world information earlier than the above.

In these aspects, by performing the end determination using at least the outside world information around the vehicle, the superimposed content for which the route guidance is performed can be appropriately terminated at a timing earlier than the display end of the route guidance image. According to the above, even if the superimposed content is used, it is possible to present information that does not give a sense of discomfort to the occupants.

Further, one disclosed aspect is a display control device used in a vehicle (A) equipped with a lane change function and controlling a display by a head-up display (20), which is based on recognition of the driving environment around the vehicle. In the scene where the lane change is performed by the lane change function and the outside world information acquisition unit (74) that acquires the outside world information, the superimposed content (CTlc) indicating the moving direction in the lane change is superimposed and displayed on the foreground by the head-up display. The display control device includes a display control unit (76) that terminates the display of the superimposed content based on the end determination using at least the outside world information.

Further, one disclosed aspect is a display control program used in a vehicle (A) equipped with a lane change function and controlling a display by a head-up display (20), and is used in at least one processing unit (11). , In the scene where the lane change is performed by the lane change function, the outside world information based on the recognition of the driving environment around the vehicle is acquired (S132), and the superimposed content (CTlc) indicating the moving direction in the lane change is displayed in the foreground by the head-up display. (S134), and based on the end determination using at least the outside world information, the display of the superimposed content is terminated (S136, S137).

In these embodiments, the superimposed content indicating the moving direction in the lane change can be terminated at an appropriate timing by performing the termination determination using at least the outside world information around the vehicle. According to the above, even if the superimposed content is used, it is possible to present information that does not give a sense of discomfort to the occupants.

The reference numbers in parentheses are merely examples of the correspondence with the specific configuration in the embodiment described later, and do not limit the technical scope at all.

It is a figure which shows the whole image of the vehicle-mounted network including the HCU according to the first embodiment of the present disclosure. It is a figure which shows an example of the head-up display mounted on the vehicle. It is a figure which shows an example of the schematic structure of the HCU in the 1st Embodiment. It is a figure which shows the detail of the display transition of each in-vehicle display device in the right turn guidance scene. It is a figure which shows the specific example of the superimposed content and non-superimposed content displayed by HUD in the route guidance scene shown in FIG. It is a figure for demonstrating the detail of the route guidance in the right turn scene in a multi-forked road. It is a figure for demonstrating the detail of the route guidance in a Y-shaped road. It is a figure for demonstrating the detail of the route guidance at an intersection with a stop. It is a figure for comparing and explaining the route guidance between a right turn scene and a left turn scene. It is a figure which shows the detail of the display transition of each in-vehicle display device in the scene of the left branch guidance. It is a figure which shows the specific example of the superimposed content and non-superimposed content displayed by HUD in the route guidance scene shown in FIG. It is a figure which shows the modification of the display transition shown in FIG. It is a figure which shows the detail of the display transition of each in-vehicle display device in the scene of changing a lane. It is a figure which shows the specific example of the superimposition content displayed by the HUD in the scene of changing an automobile line shown in FIG. It is a flowchart which shows the detail of the display control processing about a route guidance together with FIG. FIG. 15 is a flowchart showing details of the display control process together with FIG. It is a flowchart which shows the detail of the display control processing about the guidance of a self-propelled lane change. It is a figure which shows the whole image of the vehicle-mounted network in the second embodiment. It is a figure which shows an example of the schematic structure of the HCU of the second embodiment. It is a flowchart which shows the detail of the display control processing about the route guidance of 2nd Embodiment together with FIG. It is a flowchart which shows the detail of the display control processing together with FIG. It is a figure which shows a specific example of the method of detecting the edge of a road in a guide area for each shape of the road which forms an intersection. It is a figure which shows an example of the traveling route in which a vehicle is guided in the continuous route guidance at an intersection including a plurality of lanes. It is a figure for demonstrating the concept of the route guidance content in the continuous route guidance shown in FIG. 23. It is a figure which shows the display example of the route guidance content used for the route guidance when the intersection is outside the angle of view.

Hereinafter, a plurality of embodiments of the present disclosure will be described with reference to the drawings. By assigning the same reference numerals to the corresponding components in each embodiment, duplicate description may be omitted. When only a part of the configuration is described in each embodiment, the configuration of the other embodiment described above can be applied to the other parts of the configuration. Further, not only the combination of the configurations specified in the description of each embodiment but also the configurations of a plurality of embodiments can be partially combined even if the combination is not specified. Further, it is assumed that the unspecified combination of the configurations described in the plurality of embodiments and modifications is also disclosed by the following description.

(First Embodiment)
The function of the display control device according to the first embodiment of the present disclosure is realized by the HCU (Human Machine Interface Control Unit) 100 shown in FIGS. 1 and 2. The HCU 100 comprises an HMI (Human Machine Interface) system 10 used in the vehicle A together with a head-up display (hereinafter, HUD) 20 and the like. The HMI system 10 further includes a meter display 23, an operating device 26, a DSM (Driver Status Monitor) 27, and the like. The HMI system 10 has an input interface function that accepts a user operation by an occupant (for example, a driver) of the vehicle A, and an output interface function that presents information to the driver.

The HMI system 10 is communicably connected to the communication bus 99 of the vehicle-mounted network 1 mounted on the vehicle A. A peripheral monitoring sensor 30, a locator 40, a DCM49, a driving support ECU (Electronic Control Unit) 50, a navigation device 55, a steering ECU 61, a body ECU 63, and the like are connected to the communication bus 99. These nodes connected to the communication bus 99 can communicate with each other.

The peripheral monitoring sensor 30 is an autonomous sensor that monitors the surrounding environment of the vehicle A. From the detection range around the own vehicle, the peripheral monitoring sensor 30 includes moving objects such as pedestrians, cyclists, non-human animals, and other vehicles, as well as falling objects, guardrails, curbs, road markings, traveling lane markings, and the like. It is possible to detect stationary objects such as road markings and roadsides. The peripheral monitoring sensor 30 provides the detection information of detecting an object around the vehicle A to the driving support ECU 50 or the like through the communication bus 99.

The peripheral monitoring sensor 30 has a front camera 31 and a millimeter wave radar 32 as a detection configuration for object detection. The front camera 31 outputs at least one of the imaging data obtained by photographing the front range of the vehicle A and the analysis result of the imaging data as detection information. A plurality of millimeter-wave radars 32 are arranged, for example, on the front and rear bumpers of the vehicle A at intervals from each other. The millimeter wave radar 32 irradiates the millimeter wave or the quasi-millimeter wave toward the front range, the front side range, the rear range, the rear side range, and the like of the vehicle A. The millimeter wave radar 32 generates detection information by a process of receiving reflected waves reflected by a moving object, a stationary object, or the like. The peripheral monitoring sensor 30 may include detection configurations such as a rider and sonar.

The locator 40 generates highly accurate position information and the like of the vehicle A by compound positioning that combines a plurality of acquired information. The locator 40 includes a GNSS (Global Navigation Satellite System) receiver 41, an inertial sensor 42, a high-precision map database (hereinafter, high-precision map DB) 43, and a locator ECU 44.

The GNSS receiver 41 receives positioning signals transmitted from a plurality of artificial satellites (positioning satellites). The inertial sensor 42 includes, for example, a gyro sensor and an acceleration sensor. The high-precision map DB 43 is mainly composed of a non-volatile memory, and stores map data (hereinafter, high-precision map data) having higher accuracy than the map data used in the navigation device 55. The high-precision map data holds detailed information at least for information in the height (z) direction. High-precision map data includes information that can be used for advanced driving support and autonomous driving, such as three-dimensional shape information of roads, information on the number of lanes, and information indicating the direction of travel allowed for each lane.

The locator ECU 44 has a configuration mainly including a microcomputer including a processor, RAM, a storage unit, an input / output interface, a bus connecting them, and the like. The locator ECU 44 combines the positioning signal received by the GNSS receiver 41, the measurement result of the inertial sensor 42, the vehicle speed information output to the communication bus 99, and the like, and sequentially positions the own vehicle position, the traveling direction, and the like of the vehicle A. The locator ECU 44 can provide the position information and the direction information of the vehicle A based on the positioning result to the navigation device 55, the HCU 100, the driving support ECU 50, and the like as the locator information. The locator ECU 44 can provide the requested high-precision map data to the requesting ECU in response to a request from the HCU 100, the operation support ECU 50, and the like.

The DCM (Data Communication Module) 49 is a communication module mounted on the vehicle A. The DCM49 transmits and receives radio waves to and from base stations around the vehicle A by wireless communication in accordance with communication standards such as LTE (Long Term Evolution) and 5G. By installing the DCM49, the vehicle A becomes a connected car that can connect to the Internet. The DCM49 can receive the latest high-precision map data from a server provided on the cloud. The DCM49 cooperates with the locator ECU 44 to update the high-precision map data stored in the high-precision map DB 43 to the latest information.

The operation support ECU 50 has a configuration mainly including a computer including a processor, RAM, a storage unit, an input / output interface, a bus connecting them, and the like. The driving support ECU 50 has a driving support function that supports the driving operation of the driver. As an example, the driving support ECU 50 enables advanced driving support of about level 2 at the automatic driving level specified by the American Society of Automotive Engineers of Japan. The driving support ECU 50 has a driving environment recognition unit 51, a lane keeping control unit 52, and a lane change control unit 53 as functional units for driving support by executing a program by the processor.

The traveling environment recognition unit 51 recognizes the traveling environment around the vehicle A based on the detection information acquired from the peripheral monitoring sensor 30. The driving environment recognition unit 51 recognizes and recognizes a road lane marking, a vehicle in front, a parallel vehicle, etc. as a target related to driving control in the lane maintenance control unit 52 and the lane change control unit 53. Generates relative position information of.

The driving environment recognition unit 51 can recognize a target related to route guidance in addition to a target directly related to driving control, and generates relative position information, type information, and the like of the recognized target. To do. More specifically, when the vehicle A approaches the intersection GAi (see FIG. 4), the traveling environment recognition unit 51 recognizes a target related to the intersection GAi (hereinafter referred to as an intersection target). The intersection target is a target existing near or in front of the intersection GAi, and specifically, a road sign on the side of the road, a sidewalk line ROa, ROb, a stop line ROc, and the like. In addition, the traveling environment recognition unit 51 can detect the edge of the road forming the intersection GAi, and can recognize the intersection of the two edges (hereinafter, edge intersection ROe, see FIG. 4). As an example, the traveling environment recognition unit 51 detects two edges on the front side and the turning side of the intersection GAi, and recognizes these edge intersection ROes as intersection targets. The traveling environment recognition unit 51 is not limited to the crossroads, but at various types of intersections GAi such as multi-junctions, Y-shaped roads, T-shaped roads, and roundabouts (runabouts), the front side and turning side edges Ed1, Ed2 is detected (see FIGS. 6 to 9 and 22). Then, the traveling environment recognition unit 51 recognizes the edge intersection ROe of each of the detected edges Ed1 and Ed2.

Further, when the vehicle A approaches the branch point GAj (see FIG. 10) or the merging point, the traveling environment recognition unit 51 recognizes a target related to such a branch merging point (hereinafter referred to as a point target). The point target is a target existing near or in front of the branch confluence, and specifically, a signboard showing the distance to the branch confluence, a boundary line ROf between the main line lane and the branch lane Lnj (FIG. 10). (See), and the terminal ROg of the branch point GAj (see FIG. 10) and the like. The traveling environment recognition unit 51 outputs the intersection target information based on the recognition of the intersection target, the point target information based on the recognition of the point target, and the like to the communication bus 99.

The lane keeping control unit 52 is a functional unit that realizes the functions of LTC (Lane Trace Control) or LTA (Lane Tracing Assist) that controls the traveling of the vehicle A in the lane. The lane keeping control unit 52 generates a planned traveling locus that traces approximately the center of the traveling lane currently being traveled (hereinafter, own vehicle lane Lns, see FIG. 13) based on the driving environment recognition result by the driving environment recognition unit 51. To do. The lane keeping control unit 52 links the LTC function with the ACC (Adaptive Cruise Control) function that causes the vehicle A to travel at a constant speed or follows the vehicle A, and travels along the own vehicle lane (hereinafter, traveling in the lane). Perform operation control to continue. The lane keeping control unit 52 sequentially provides status information regarding the LTC function to the HCU 100 via the communication bus 99.

The lane change control unit 53 is a functional unit that realizes the function of LCA (Lane Change Assist) that controls the lane change of the vehicle A. The lane keeping control unit 52 has a planned traveling locus PLC having a shape that smoothly connects the center of the own vehicle lane Lns and the center of the adjacent lane Lnd (see FIG. 13) based on the driving environment recognition result by the driving environment recognition unit 51. (See FIG. 13) is generated. The lane change control unit 53 temporarily suspends the driving control of driving in the lane by the lane keeping control unit 52 based on the user operation instructing the execution of the lane change by the LCA function, and can leave the own lane Lns. To. Under such a state, the lane change control unit 53 automatically controls the steering angle of the steering wheel of the vehicle A according to the planned travel locus PLC to move the vehicle A from the own vehicle lane Lns to the adjacent lane Lnd.

The lane change control unit 53 sequentially provides the HCU 100 with status information related to the LCA function, shape information of the scheduled travel locus PLC, and the like via the communication bus 99. The status information is information indicating whether the operating state of the LCA function is a start-up state immediately after the start-up, a standby state waiting for the start of lane change, or an execution state.

The navigation device 55 is an in-vehicle device that cooperates with the HMI system 10 to provide route guidance to a destination set by a driver or the like. The navigation device 55 includes a map database for navigation (hereinafter referred to as a navigation map DB) 56 and a navigation display 57. The navigation map DB 56 is mainly composed of a non-volatile memory, and stores map data (hereinafter referred to as navigation map data) used for route guidance. The navigation map data includes link data, node data, and the like for roads.

Here, the navigation map data and the high-precision map data are map data having different accuracy from each other. For a specific range, the information recorded in the high-precision map data is more accurate and denser than the information recorded in the navigation map data. On the other hand, while the range of high-precision map data is limited to specific types of roads (for example, highways, etc.), navigation map data is low-precision map data, but general roads. It is comprehensively maintained over a wide area including.

The navigation display 57 is an image display such as a liquid crystal display and an organic EL display. The navigation display 57 is installed, for example, in the center of the upper surface of the instrument panel 9, the center cluster, or the like. On the display screen of the navigation display 57, for example, a route guidance image Png (see FIGS. 4 and 10), a map image based on the navigation map data, route information toward the destination, and the like are displayed.

The navigation device 55 acquires the operation information input to the operation device 26, and sets a destination based on the user operation and a route to the destination. By approaching the guidance area GA included in the set route, the navigation device 55 guides the driver in the traveling direction of the vehicle A in the guidance area GA by combining the screen display by the navigation display 57, the voice message, and the like.

The guidance area GA is a point where route guidance is performed. The guidance area GA is set so as to include an intersection GAi (see FIG. 4) for turning left and right, a branch confluence, and the like, and a range on the front side thereof. Further, the guide area GA may be set in the vicinity of the destination and the waypoint. The navigation device 55 provides the HCU 100 with navigation information such as a start notification for notifying the start of route guidance, an end notification for notifying the end of route guidance, and detailed route information indicating the contents of the route guidance in the guidance area GA. To do. The detailed route information includes, for example, position information and road shape information about an intersection GAi or a branch confluence, and direction information indicating a direction in which the vehicle A should travel at the intersection GAi or a branch confluence.

Here, instead of the navigation device 55, a user terminal such as a smartphone may be electrically connected to the in-vehicle network 1 or the HCU 100 by wire or wirelessly. Such a user terminal may be connected to the display audio mounted on the vehicle A by wire or wirelessly. The route to the destination is set in the application (navigation application, map application, etc.) executed on the user terminal based on the user operation. Similar to the navigation device 55, the user terminal executes route guidance combining screen display, voice, and the like, and outputs navigation information toward the HCU 100. In this case, the user terminal or the user terminal and the display audio correspond to the "navigation device mounted on the vehicle A".

The steering ECU 61 is an ECU provided in the steering control system of the vehicle A, and has a configuration mainly including a microcontroller. The steering ECU 61 controls the operation of the steering actuator based on at least one of the steering operation by the driver and the control command acquired from the driving support ECU 50, thereby defining the direction of the steering wheel and the traveling direction of the vehicle A. The steering ECU 61 can provide the steering wheel rotation direction and rotation angle (steering wheel angle) or the steering wheel steering direction and actual steering angle as steering information to the driving support ECU 50, the HCU 100, and the like.

The body ECU 63 is a control device including a microcontroller as a main body. The body ECU 63 has at least a function of controlling the operation of the lighting device mounted on the vehicle A. The body ECU 63 is electrically connected to the direction indicator switch 64. The direction indicator switch 64 is a lever-shaped operation unit provided on the steering column unit 8. The body ECU 63 starts blinking one of the left and right direction indicators corresponding to the operation direction based on the detection of the user operation input to the direction indicator switch 64.

In addition to the normal user operation for starting the blinking operation of the direction indicator, the direction indicator switch 64 has an on operation for instructing the lane change control unit 53 to execute the lane change control while the LTC function is activated. Entered. As an example, a user operation in which the direction indicator switch 64 is half-pressed for a predetermined time (for example, about 1 to 3 seconds) is an on operation of the LCA function. When the body ECU 63 detects the input of the on operation of the LCA function, it outputs the on operation information to the driving support ECU 50. The body ECU 63 cooperates with the driving support ECU 50 to keep the direction indicator blinking during the execution period of the lane change by the LCA function. The body ECU 63 provides the HCU 100 with operation information indicating the blinking operation state of the direction indicator through the communication bus 99.

Next, details of the meter display 23, the operating device 26, the DSM27, the HUD20, and the HCU100 included in the HMI system 10 will be described in order.

The meter display 23, along with the navigation display 57, the HUD 20, and the like, is mounted on the vehicle A as one of a plurality of in-vehicle display devices. The meter display 23 is an image display such as a liquid crystal display and an organic EL display. The meter display 23 is installed in front of the driver's seat, and the display screen is directed to the headrest portion of the driver's seat. The meter display 23 is electrically connected to the HCU 100, and sequentially acquires video data generated by the HCU 100. Based on the video data, the meter display 23 displays a pointer display image showing the vehicle speed, an indicator image showing the status information of each in-vehicle function, and the like on the display screen. Further, the meter display 23 displays a TBT (Turn by Turn) image Pmg (see FIGS. 4 and 10) for route guidance, a status image showing the operating state of the driving support function, and the like on the display screen. The status image includes, for example, a lane change image Pmc (see FIG. 13) that notifies the execution of the lane change in a scene where the lane change is performed by the LCA function.

The operation device 26 is an input unit that accepts user operations by a driver or the like. In the operation device 26, for example, a user operation for switching between starting and stopping is input for a driving support function, an automatic driving function, and the like. Specifically, the operation device 26 includes a steering switch provided on the spoke portion of the steering wheel, an operation lever provided on the steering column portion 8, a voice input device for detecting the driver's utterance, and the like.

The DSM27 includes a near-infrared light source, a near-infrared camera, and a control unit for controlling them. The DSM 27 is installed in a posture in which the near-infrared camera is directed toward the headrest portion of the driver's seat, for example, on the upper surface of the steering column portion 8 or the upper surface of the instrument panel 9. The DSM27 uses a near-infrared camera to photograph the head of the driver irradiated with near-infrared light by a near-infrared light source. The image captured by the near-infrared camera is image-analyzed by the control unit. The control unit extracts information such as the position of the eye point EP and the line-of-sight direction from the captured image, and sequentially outputs the extracted state information to the HCU 100.

The HUD 20 is electrically connected to the HCU 100 and sequentially acquires video data generated by the HCU 100. Based on the video data, the HUD 20 presents various information related to the vehicle A, such as route information, sign information, and status information of each in-vehicle function, to the driver using the virtual image Vi.

The HUD 20 is housed in a storage space in the instrument panel 9 below the windshield WS. The HUD 20 projects the light formed as a virtual image Vi toward the projection range PA of the windshield WS. The light projected on the windshield WS is reflected toward the driver's seat side in the projection range PA and is perceived by the driver. The driver visually recognizes the display in which the virtual image Vi is superimposed on the foreground seen through the projection range PA.

The HUD 20 includes a projector 21 and a magnifying optical system 22. The projector 21 has an LCD (Liquid Crystal Display) panel and a backlight. The projector 21 is fixed to the housing of the HUD 20 with the display surface of the LCD panel facing the magnifying optical system 22. The projector 21 displays each frame image of the video data on the display surface of the LCD panel, and transmits and illuminates the display surface with a backlight to emit light formed as a virtual image Vi toward the magnifying optical system 22. To do. The magnifying optical system 22 includes at least one optical element such as a concave mirror. The magnifying optical system 22 projects the light emitted from the projector 21 onto the upper projection range PA while spreading it by reflection.

The angle of view VA is set in the HUD 20. Assuming that the virtual range in the space where the virtual image Vi can be imaged by the HUD 20 is the image plane IS, the angle of view VA is defined based on the virtual line connecting the driver's eye point EP and the outer edge of the image plane IS. The viewing angle. The angle of view VA is an angle range in which the driver can visually recognize the virtual image Vi when viewed from the eye point EP. In the HUD 20, the horizontal angle of view (for example, about 10 to 12 °) in the horizontal direction is larger than the vertical angle of view (for example, about 4 to 5 °) in the vertical direction. When viewed from the eye point EP, the front range that overlaps with the image plane IS is the range within the angle of view VA.

The HUD 20 displays the superimposed content CTs (see FIG. 5 and the like) and the non-superimposed content CTn (see FIG. 5 and the like) as virtual images Vi. Superimposed content CTs are AR display objects used for augmented reality (AR) display. The display position of the superimposed content CTs is associated with a specific superimposed object existing in the foreground, such as a specific position on the road surface, a vehicle in front, a pedestrian, and a road sign. The superimposed content CTs are superimposed and displayed on a specific superimposed object in the foreground, and can be moved in the appearance of the driver following the superimposed object so as to be relatively fixed to the superimposed object. That is, the relative positional relationship between the driver's eye point EP, the superimposed object in the foreground, and the superimposed content CTs is continuously maintained. Therefore, the shape of the superimposed content CTs is continuously updated at a predetermined cycle according to the relative position and shape of the superimposed object. The superimposed content CTs are displayed in a posture closer to horizontal than the non-superimposed content CTn, and have a display shape extended in the depth direction as seen from the driver, for example.

The non-superimposed content CTn is a non-AR display object excluding the superimposed content CTs among the display objects superimposed and displayed in the foreground. Unlike the superimposed content CTs, the non-superimposed content CTn is displayed superimposed on the foreground without specifying the superimposed target. The display position of the non-superimposed content CTn is not associated with a specific superimposition target. The display position of the non-superimposed content CTn is a fixed position within the projection range PA (angle of view VA). Therefore, the non-superimposed content CTn is displayed as if it is relatively fixed to the vehicle configuration such as the windshield WS. In addition, the shape of the non-superimposed content CTn is substantially constant. Due to the positional relationship between the vehicle A and the superposed target, even if the non-superimposed content CTn is used, a timing may occur in which the superposed content CTs are superposed and displayed.

The HCU 100 is an electronic control device that integrally controls the display by the in-vehicle display device such as the meter display 23 and the HUD 20 in the HMI system 10. The HCU 100 mainly includes a computer including a processing unit 11, a RAM 12, a storage unit 13, an input / output interface 14, and a bus connecting them. The processing unit 11 is hardware for arithmetic processing combined with the RAM 12. The processing unit 11 has a configuration including at least one arithmetic core such as a CPU (Central Processing Unit) and a GPU (Graphics Processing Unit). The processing unit 11 may be configured to further include an FPGA (Field-Programmable Gate Array), an IP core having other dedicated functions, and the like. The RAM 12 may be configured to include a video RAM for video generation. The processing unit 11 executes various processes for realizing the display control method of the present disclosure by accessing the RAM 12. The storage unit 13 is configured to include a non-volatile storage medium. Various programs (display control programs, etc.) executed by the processing unit 11 are stored in the storage unit 13.

The HCU 100 shown in FIGS. 1 to 3 has a plurality of functional units for controlling the superimposed display of contents by the HUD 20 by executing the display control program stored in the storage unit 13 by the processing unit 11. Specifically, the HCU 100 is constructed with functional units such as a viewpoint position specifying unit 71, a navigation information acquisition unit 72, a map data acquisition unit 73, a control information acquisition unit 74, a state information acquisition unit 75, and a display generation unit 76. ..

The viewpoint position specifying unit 71 identifies the position of the eye point EP of the driver seated in the driver's seat based on the state information acquired from the DSM 27. The viewpoint position specifying unit 71 generates three-dimensional coordinates (hereinafter, eye point coordinates) indicating the position of the eye point EP, and sequentially provides the generated eye point coordinates to the display generation unit 76.

The navigation information acquisition unit 72 acquires navigation information from the navigation device 55 and provides the acquired navigation information to the display generation unit 76. The navigation information acquisition unit 72 sequentially acquires the above-mentioned start notification, route detailed information, and end notification, and grasps the content of the route guidance implemented by the navigation device 55.

The map data acquisition unit 73 can acquire navigation map data and high-precision map data as map data used by the display generation unit 76 to generate superimposed content CTs. The map data acquisition unit 73 acquires the high-precision map data together with the locator information from the locator ECU 44 in the road range where the high-precision map data is prepared. The map data acquisition unit 73 acquires navigation map data to be used as a substitute for the high-precision map data in response to a request to the navigation device 55 in a road range where the high-precision map data is not yet developed. As described above, the navigation device 55 preferentially acquires the high-precision map data over the navigation map data. The navigation device 55 provides the acquired high-precision map data or navigation map data to the display generation unit 76.

The control information acquisition unit 74 acquires the outside world information based on the driving environment recognition and the status information of each of the LTC function and the LCA function from the driving support ECU 50. The control information acquisition unit 74 sequentially provides the acquired external world information and status information to the display generation unit 76. The control information acquisition unit 74 can acquire intersection target information and point target information mainly based on the detection information of the front camera 31 as outside world information in the vicinity of the guidance area GA that provides route guidance. When the LTC function is being executed by the driving support ECU 50, the control information acquisition unit 74 acquires the left and right boundary recognition information of the own vehicle lane Lns (see FIG. 13) or the shape information of the planned traveling locus from the driving support ECU 50. To do. When the LCA function is being executed by the driving support ECU 50, the control information acquisition unit 74 provides driving support such as boundary recognition information of the adjacent lane Lnd (see FIG. 13) and shape information of the planned traveling locus PLC (see FIG. 13). Obtained from ECU 50. In addition, the control information acquisition unit 74 acquires information indicating the relative position and shape of the boundary line ROf (see FIG. 13) between the own vehicle lane Lns and the adjacent lane Lnd as external world information.

The state information acquisition unit 75 acquires operation information related to the operation of the driver. Specifically, the state information acquisition unit 75 acquires the above-mentioned steering information from the steering ECU 61 as operation information indicating the steering operation. In addition, the state information acquisition unit 75 acquires operation information indicating the operation state (on and off) of the direction indicator from the body ECU 63. The state information acquisition unit 75 sequentially provides the acquired steering information and operation information to the display generation unit 76.

The display generation unit 76 controls the presentation of information to the driver by the meter display 23 and the HUD 20 by generating video data that is sequentially output to the meter display 23 and the HUD 20. The display generation unit 76 draws the original image of each content displayed as a virtual image Vi on each frame image of the video data to be output toward the HUD 20. When drawing the original image of the superimposed content CTs (see FIG. 5 and the like) on the frame image, the display generation unit 76 draws the original image in the frame image and the drawing shape according to the eye point EP and each position of the overlay target. To correct. As a result, the superimposed content CTs are displayed at the position and shape correctly superimposed on the superimposed object when viewed from the eye point EP.

The display generation unit 76 repeats a simulation calculation for determining the image formation shape of the virtual image Vi on the image plane IS in order to make the superimposed content CTs follow the superposition target. The display generation unit 76 reproduces the current traveling environment of the vehicle A in the virtual space based on the navigation information, the locator information, the map data, and the like. The display generation unit 76 sets the own vehicle object at the reference position in the virtual three-dimensional space, associates the road model of the shape indicated by the high-precision map data with the own vehicle object based on the locator information, and creates the three-dimensional space. Map. Further, the display generation unit 76 sets the virtual viewpoint position at the virtual position corresponding to the driver's eye point EP in association with the own vehicle object. The virtual viewpoint position with respect to the own vehicle object is sequentially corrected based on the latest eye point coordinates acquired by the viewpoint position specifying unit 71.

The display generation unit 76 arranges a virtual object on the road surface of the road model in the three-dimensional space. The virtual object is an object that defines the shape of the superimposed content CTs. The display generation unit 76 refers to the coordinate information of the image plane IS stored in advance in the storage unit 13 or the like with respect to the vehicle A, and defines the image plane IS between the virtual object and the virtual viewpoint position in the virtual space. To do. The display generation unit 76 determines the shape of the virtual object projected onto the image plane IS as the imaged shape of the virtual image Vi along the virtual line of sight from the virtual viewpoint position toward the virtual object. The display generation unit 76 considers the enlargement ratio and distortion of the magnifying optical system 22 and the projection range PA so that the virtual image Vi of the determined shape is imaged on the image plane IS, and displays the original image of the superimposed content CTs as an image. Draw on the data.

Further, the display generation unit 76 maps the road model using the navigation map data when the high-precision map data cannot be acquired. In this case, the reproducibility and accuracy of the road model reproduced in the three-dimensional space will be lower than when the high-precision map data is used. Further, when the high-precision map data cannot be acquired, the display generation unit 76 can use the detection information of the front camera 31 provided through the driving support ECU 50 for mapping the road model together with the navigation map data. Specifically, stop lines ROc (see FIGS. 4 and 8), pedestrian crossing pedestrian lines ROa and ROb (see FIG. 4), left and right lane markings (FIG. 13 boundary line ROf), roadside edges, etc. are detected. The intersection and point markers are mapped to the road model. Such processing is correction processing for correcting the estimated position of the own vehicle by using the detection information of the front camera 31.

The display generation unit 76 displays the route guidance content CTsg, the route guidance icon CTng, and the like by the HUD 20 in the route guidance scene in the guidance area GA (see FIGS. 5 and 11). Further, the display generation unit 76 displays the LCA content CTlc, the LTC content CTlt, and the like by the HUD 20 in the scene in which the LCA function and the LTC function are operating (see FIG. 14).

The route guidance content CTsg (see FIGS. 5 and 11) are superimposed content CTs that provide route guidance in the guidance area GA. As an example, the route guidance content CTsg has a double line shape, and the vicinity of each of the left and right lane markings is superimposed on the road surface of the traveling lane. The route guidance content CTsg is displayed as if it is attached to the road surface, and due to the shape extending in a strip shape, the driving behavior to be selected in the guidance area GA, such as turning left or right, changing lanes, and going straight, in other words, the guidance area. Notify the driver of the driving route in GA. The route guidance content CTsg updates the drawing shape at a predetermined update cycle so as to match the road surface shape seen from the eye point EP according to the traveling of the vehicle A.

The route guidance icon CTng (see FIGS. 5 and 11) is a non-superimposed content CTn, and is used for route guidance in the guidance area GA in the same manner as the route guidance content CTsg. The route guidance icon CTng has a predetermined shape and is displayed at a position within the predetermined angle of view VA. As an example, the route guidance icon CTng is an animation display in which a plurality of triangular shapes fly in the traveling direction of the vehicle A. The route guidance icon CTng may be displayed together with the route guidance content CTsg (see FIG. 12), or may be displayed exclusively with the route guidance content CTsg (see FIG. 11).

The LTC content CTlt (see FIG. 14) are superimposed content CTs showing a planned traveling locus of traveling in the lane in a scene in which traveling in the lane is performed by the LTC function. The LTC content CTlt is displayed based on the status information indicating the execution status of the LTC function. As an example, the LTC content CTlt has a single line shape, and the road surface of the traveling lane is superposed. Based on the boundary recognition information of the own vehicle lane Lns or the shape information of the planned traveling locus acquired by the control information acquisition unit 74, the LTC content CTlt has the road surface shape of the own vehicle lane Lns visually recognized in the angle of view VA. At the same time, the drawing shape is updated at a predetermined update cycle.

The LCA content CTlc (see FIG. 14) are superimposed content CTs indicating the moving direction in the lane change in the scene where the lane change is performed by the LCA function. The LCA content CTlc is displayed based on the status information indicating the execution status of the LCA function. As an example, the LCA content CTlc is displayed in such a manner as to fill the road surface of the adjacent lane Lnd (see FIG. 14) to which the vehicle is moved when changing lanes. As another example, the LCA content CTlc may be displayed in a band shape indicating the planned travel locus PLC (see FIG. 13). The LCA content CTlc is displayed exclusively with the LTC content CTlt. The LCA content CTlc is adjusted to the road surface shape of the adjacent lane Lnd visually recognized in the angle of view VA based on the boundary recognition information of the adjacent lane Lnd or the shape information of the planned traveling locus PLC acquired by the control information acquisition unit 74. Then, the drawing shape is updated at a predetermined update cycle.

Next, the details of the display transition of each in-vehicle display device in the scene of route guidance at the intersection GAi and the branch point GAj and the scene of changing the lane by the LCA function are shown in FIGS. 1 to 14 based on FIGS. 4 to 14. The following will be described with reference to 3.

At the intersection GAi and the branch point GAj where the route guidance is performed, the navigation device 55 sets the reference position GP based on the navigation map data. The reference position GP at the intersection GAi is, for example, the central node of the intersection GAi in the navigation map data (see FIG. 4). Further, the reference position GP at the branch point GAj is, for example, the node closest to the terminal ROg of the branch point GAj (see FIG. 10).

<Route guidance scene at an intersection>
In the right turn guidance scene at the intersection GAi shown in FIGS. 4 and 5, the navigation device is located at a position where the remaining distance Dr to the reference position GP is a predetermined distance (for example, about 300 m on a general road) (see point P1). 55 starts guiding the right turn route. At the point P1, the navigation device 55 starts displaying the route guidance image PNG on the navigation display 57, and also provides the communication bus 99 with a start notification for notifying the start of the route guidance and detailed route information indicating the contents of the route guidance. Output.

The start notification and route detailed information output from the navigation device 55 are acquired as navigation information by the navigation information acquisition unit 72 at the HCU 100. Based on such a start notification, the display generation unit 76 starts displaying the TBT image Pmg on the meter display 23 and superimposing the route guidance content CTsg on the HUD 20. The display generation unit 76 determines each drawing shape of the TBT image Pmg and the route guidance content CTsg based on the detailed route information. As described above, the TBT image Pmg and the route guidance content CTsg that perform the route guidance with substantially the same contents as the route guidance image Png at the timing substantially the same as the display start of the route guidance image PNG or at a timing slightly delayed. The display starts.

The driving support ECU 50 generates intersection target information related to the intersection GAi based on the approach of the vehicle A to the intersection GAi by the traveling environment recognition unit 51 and outputs the information to the communication bus 99. The intersection target information output from the driving support ECU 50 is acquired as outside world information by the control information acquisition unit 74 at the HCU 100.

The display generation unit 76 sets the display start position of the route guidance icon CTng (see point P2) and the display end position of the route guidance content CTsg (see point P3) on the front side of the intersection GAi with reference to the intersection target. To do. The point P2 may be farther from the reference position GP of the intersection GAi than the point P3, or may be at the same position as the point P3.

The display generation unit 76 continuously grasps the position of the own vehicle (vehicle A) with respect to the intersection GAi based on the locator information and the outside world information. When the vehicle A reaches the display start position (see point P2), the display generation unit 76 starts drawing the original image of the route guidance icon CTng on the video data. As a result, the HUD 20 is in a state in which both the route guidance content CTsg and the route guidance icon CTng are displayed as virtual images. When the vehicle A reaches the display end position (see point P3), the display generation unit 76 stops drawing the original image of the route guidance content CTsg on the video data. As a result, the route guidance content CTsg is hidden, and the HUD 20 is in a state of continuing the route guidance only by the route guidance icon CTng. As described above, the display generation unit 76 ends the display of the route guidance content CTsg based on the end determination using the intersection target information (outside world information) without using the end notification from the navigation device 55.

When the vehicle A that has completed the right turn at the intersection GAi reaches the point P4, the navigation device 55 ends the route guidance. The distance from the reference position GP to the point P4 is, for example, about 30 to 50 m. Point P4 is set, for example, at the position of the first node after passing the intersection GAi. At the point P4, the navigation device 55 ends the display of the route guidance image PNG on the navigation display 57, and outputs a end notification notifying the end of the route guidance to the communication bus 99.

In the HCU 100, the end notification output from the navigation device 55 is acquired as navigation information by the navigation information acquisition unit 72. Based on such an end notification, the display generation unit 76 ends both the display of the TBT image Pmg by the meter display 23 and the display of the route guidance icon CTng by the HUD 20 at the point P4. As described above, the display of the TBT image Pmg and the route guidance icon CTng is completed at substantially the same timing as the display end of the route guidance image PNG or at a timing slightly delayed.

As described above, the display generation unit 76 sets the conditions for establishing the display start determination of the non-superimposed content CTn and the conditions for establishing the display end determination of the superimposed content CTs. The display generation unit 76 specifies a recognizable intersection target for each intersection GAi, and uses the specified intersection target as a reference to establish the above-mentioned start determination and end determination.

As an example, the display generation unit 76 uses external world information (intersection target information) indicating relative positions of stop lines ROc, sidewalk lines ROa, ROb, road signs, traffic lights, information signs, road structures, etc., which are intersection targets. Then, the start judgment and the end judgment are established. As another example, the display generation unit 76 uses the node of the intersection GAi or the edge intersection ROe of the road structure as a reference at the intersection GAi in which none of the stop line ROc, the sidewalk line ROa, ROb, the road sign, etc. is recognized. Then, the start judgment and the end judgment are established.

The display generation unit 76 can set the conditions of a plurality of patterns using the intersection target, the edge intersection ROe, and the like as the conditions for establishing the end determination. Specifically, the display generation unit 76 can make the establishment condition of the end determination that the own vehicle has crossed the stop line ROc or the sidewalk lines ROa and ROb (hereinafter, condition 1). Further, the display generation unit 76 ends that the distance to any one of the stop line ROc, the sidewalk line ROa, ROb, the road sign, and the intersection GAi node is less than the threshold value (hereinafter, condition 2). It can be used as a condition for establishing the judgment. Further, the display generation unit 76 can make the establishment condition of the end determination that the stop line ROc or the sidewalk lines ROa and ROb are exceeded and the steering wheel angle exceeds a predetermined angle (hereinafter, condition 3). In addition, the display generation unit 76 determines that the end position GEp (see FIGS. 6 and 7) set on the exit path from the intersection is out of the angle of view VA (hereinafter, condition 4). Can be a condition. As an example, the end position GEp is set at or near the position of the node closest to the intersection GAi among the nodes defining the exit route. When the condition for satisfying the end condition is set, the display generation unit 76 further sets the condition for establishing the start determination corresponding to the set condition for establishing the end determination.

The display generation unit 76 can change the conditions for establishing the plurality of end determinations as described above based on the information related to at least one of the intersection GAi and the vehicle A. Specifically, the display generation unit 76 changes the conditions for establishing the end determination according to the shape of the intersection, the presence / absence of the stop line ROc, the direction of turning left / right at the intersection GAi, the superimposition accuracy of the superposed content CTs, and the like, and superimposes them. The overlay period of the content CTs can be adjusted.

<Change of superimposition period based on intersection shape>
The display generation unit 76 changes the conditions for establishing the end determination according to the road shape of the intersection GAi, which is the guidance area GA. As an example, when the display generation unit 76 provides route guidance at a complex intersection (see FIG. 6) such as a 5-junction and a 6-junction and a Y-shaped road (see FIG. 7), the route guidance content is more than the normal route guidance. The conditions for establishing the end determination are changed so that the end of the CTsg display is delayed. That is, the display generation unit 76 delays the establishment of the end determination so that the display of the route guidance content CTsg is continued more than usual.

Specifically, when the intersection GAi has a normal shape (crossroads, T-junction, etc.), the display generation unit 76 sets the above condition 2 as an end condition. On the other hand, when the intersection GAi is a complicated intersection (multi-forked road), the display generation unit 76 sets the above condition 1, condition 3 or condition 4 as the end condition. Similarly, even when the intersection GAi is a Y-shaped road, the display generation unit 76 sets the above condition 1, condition 3 or condition 4 as the end condition.

As described above, the display time of the route guidance content CTsg is longer on the multi-junction and the Y-shaped road than on the simple intersection having a normal shape. As a result, the route guidance content CTsg is hidden on the front side of the stop line ROc or the entrance of the intersection GAi, and it is unlikely that the departure direction will be unknown after entering the center of the intersection.

More specifically, when the above condition 4 is set as the end condition on the multi-forked road, the route guidance content CTsg extends from the own vehicle side to the end position GEp (see FIG. 6) so as to stick to the road surface. It will be in a state of doing. Since the end position GEp set on the multi-forked road is set to the exit route from the intersection GAi, it is possible to turn right (or turn left) even if there are multiple directions in which the intersection GAi can turn right (or in the direction in which the vehicle can turn left). ) Of the multiple directions, it is a point where the correct direction to go can be specified. Therefore, the route guidance content CTsg continues to be displayed until the correct exit route enters the angle of view VA, and is, for example, diagonally to the right back (see the left figure in FIG. 6) or to the right front direction (Fig. 6 right). (See figure) can be conveyed to the driver in an easy-to-understand manner.

Similarly, even when the above condition 4 is set as the end condition on the Y-shaped road, the route guidance content CTsg is on the own vehicle side up to the end position GEp (see FIG. 7) set on the exit road from the intersection GAi. It becomes a state of extending from. Therefore, in the route guidance content CTsg, the correct exit route is defined as to whether the Y-shaped junction is heading diagonally to the left back (see the left figure in FIG. 7) or diagonally to the right back (see the right figure in FIG. 7). You can tell the driver in an easy-to-understand manner until you enter the corner VA.

<Change of superimposition period based on the presence or absence of pause line>
The display generation unit 76 changes or adjusts the conditions for establishing the end determination based on whether or not there is a stop line ROc (see FIG. 8) instructing a temporary stop at the entrance of the intersection GAi, which is the guidance area GA, on the vehicle side. To do. Specifically, the display generation unit 76 sets the conditions for establishing the end determination so that when the stop line ROc is on the front side of the intersection GAi, the end of the display of the route guidance content CTsg is delayed as compared with the case where there is no stop line ROc. change.

Here, when the stop line ROc is set, the driver suspends the vehicle A before the stop line ROc. Therefore, the route guidance content CTsg is unlikely to interfere with the driver's peripheral confirmation even if it is the superimposed content CTs. Therefore, at the intersection GAi where the stop line ROc exists, even if the display period of the route guidance content CTsg is secured longer than at the intersection GAi where the stop line ROc does not exist, the driver is less likely to feel annoyed.

The display generation unit 76 sets the above condition 2 as a condition for establishing the end determination when it is a simple intersection such as a T-junction and there is no stop line ROc. On the other hand, when there is a stop line ROc on the own vehicle side of the T-junction (see the left figure in FIG. 8), the display generation unit 76 sets the above condition 1 as the end condition instead of the above condition 2. As described above, the display generation unit 76 continues the superimposed display of the route guidance content CTsg until after the vehicle A enters the intersection GAi.

Further, when the display generation unit 76 has a stop line ROc in the Y-junction (see the right figure in FIG. 8), the display generation unit 76 adjusts to increase the predetermined angle of the handle angle set as the condition for establishing the end determination (see condition 3 above). Alternatively, adjustment is performed to move the end position GEp away from the intersection GAi (see condition 4 above). As described above, the superimposed display of the route guidance content CTsg is continued at least until after the vehicle A enters the intersection GAi, and it is more difficult to end than when there is no stop line ROc.

<Change of superimposition period based on the direction of turning left and right>
The display generation unit 76 establishes an end determination so that when the vehicle does not cross the oncoming lane when turning left or right at the intersection GAi, which is the guidance area GA, the display of the route guidance content CTsg ends later than when crossing the oncoming lane. Change the conditions. As an example, in a country or region where vehicle A is traveling on the left side, the display generation unit 76 sets the conditions for establishing the end determination so that the timing of ending the display of the route guidance content CTsg is later than that of the right turn scene in the left turn scene. To change.

In this case, when the vehicle A turns right (see the right figure of FIG. 9), the route guidance content CTsg ends the display earlier than the right turn of the vehicle A starts. Therefore, it is unlikely that the route guidance content CTsg obstructs the visibility of the oncoming vehicle traveling in the oncoming lane toward the own vehicle. On the other hand, when the vehicle A turns left (see the left figure of FIG. 9), the route guidance content CTsg continues to be displayed until after the left turn of the vehicle A is started. In such a left turn scene, the route guidance content and the oncoming vehicle do not substantially overlap. In addition, even if the driver visually observes the pedestrian crossing on the exit route, the route guidance content CTsg is unlikely to interfere with the visual inspection of such a pedestrian crossing. Therefore, the display period of the route guidance content CTsg should be longer in the left turn scene than in the right turn scene.

In a country or region where vehicle A is traveling on the right side, the display generation unit 76 sets the conditions for establishing the end determination so that the timing of ending the display of the route guidance content CTsg is later than that of the left turn scene in the right turn scene. change. By adjusting the timing in this way, it is possible to display the route guidance content CTsg that does not easily interfere with the driver's peripheral confirmation.

<Change of superimposition period according to superimposition accuracy>
The display generation unit 76 changes the conditions for establishing the end determination based on whether or not the high-precision map data used for generating the superimposed content CTs can be acquired. At the intersection GAi where the high-precision map data can be acquired, the display generation unit 76 can accurately superimpose and display the route guidance content CTsg as if it were attached to the road surface. On the other hand, at the intersection GAi where high-precision map data cannot be acquired, the route guidance content CTsg is likely to be displaced with respect to the road surface, which in turn is likely to be annoying. Therefore, the display generation unit 76 establishes the end determination so that the display of the route guidance content CTsg is continued longer when the high-precision map data can be acquired than when the high-precision map data cannot be acquired. Delay. Alternatively, the display generation unit 76 establishes the end determination so that the display period of the route guidance content CTsg is shorter when the high-precision map data cannot be acquired than when the high-precision map data can be acquired. Hurry up.

In addition, the display generation unit 76 determines whether or not there is information that can be used for generating the superimposed content CTs (hereinafter, camera recognition information) in the outside world information based on the detection information of the front camera 31. As described above, the camera recognition information is generated by the driving environment recognition unit 51 of the driving support ECU 50 based on the image data of the front camera 31, and is sequentially provided to the control information acquisition unit 74. The camera recognition information is, for example, external world information indicating the relative positions of the intersection target and the point target.

The display generation unit 76 changes the conditions for establishing the end determination based on whether or not the camera recognition information that can be used for generating the route guidance content CTsg has been acquired. Specifically, when the display generation unit 76 generates the route guidance content CTsg using the camera recognition information even if the high-precision map data cannot be acquired, the display generation unit 76 does not use the camera recognition information to generate the route guidance content CTsg. The position accuracy of the superposed display can be improved as compared with the case. Therefore, the display generation unit 76 delays the establishment of the end determination so that the display of the route guidance content CTsg is more difficult to end when the camera recognition information can be acquired than when the camera recognition information cannot be acquired. .. Alternatively, the display generation unit 76 accelerates the establishment of the end determination when the camera recognition information cannot be acquired, as compared with the case where the camera recognition information can be acquired.

Based on the presence / absence of the high-precision map data described above and the presence / absence of the camera recognition information of the front camera 31, the display generation unit 76 changes the conditions for establishing the end determination in three stages. Specifically, when the display generation unit 76 uses high-precision map data for drawing the route guidance content CTsg, the display generation unit 76 changes the conditions for establishing the end determination so that the display of the route guidance content CTsg is continued for the longest time. .. On the other hand, the display generation unit 76 uses the navigation map data for drawing the route guidance content CTsg, and when the camera recognition information is not acquired, the display of the route guidance content CTsg is finished in the shortest time. Set the conditions for establishing the end judgment. On the other hand, when the display generation unit 76 uses the navigation map data for drawing the route guidance content CTsg and the superimposed position can be corrected by using the camera recognition information, the condition for establishing the end determination is medium. Set to. The display period of the route guidance content CTsg in this case is shorter than the display period when the high-precision map data is used, and longer than the display period when the navigation map data is used without the camera recognition information.

As an example, when the display generation unit 76 draws the route guidance content CTsg using the navigation map data in the absence of the camera recognition information, the display generation unit 76 sets the conditions for establishing any of the above-mentioned end determinations. Further, when the display generation unit 76 draws the route guidance content CTsg using the navigation map data in the state where the camera is recognized, the determination value of the condition for satisfying the end condition is relaxed, and the superimposed display is continued for a long time. Further, when the display generation unit 76 uses the high-precision map data for drawing the superimposed content CTs, the display generation unit 76 does not substantially set the conditions for establishing the end determination. In this case, the display generation unit 76 continues the superimposed display of the route guidance content CTsg until the end notification is acquired by the navigation information acquisition unit 72.

<Route guidance scene at a branch point>
In the scene of the left branch guidance at the branch point GAj shown in FIGS. 10 to 12, the remaining distance Dr to the reference position GP is a predetermined distance (for example, about 1000 m on an expressway) at a position (see point P1). The navigation device 55 starts the guidance of the left branch. Even in the branch guidance scene, the navigation device 55 starts displaying the route guidance image PNG on the navigation display 57 at the point P1, and outputs a start notification and route detailed information to the HCU 100.

The display generation unit 76 starts displaying the TBT image Pmg on the meter display 23 and superimposing the route guidance content CTsg on the HUD 20 based on the start notification and the route detailed information acquired by the navigation information acquisition unit 72. The TBT image Pmg and the route guidance content CTsg are started to be displayed together with the route guidance image Png, and are contents instructing the lane change to the branch lane Lnj in the same manner as the route guidance image Png.

The driving support ECU 50 generates point target information related to the branch point GAj based on the approach of the vehicle A to the branch point GAj by the traveling environment recognition unit 51, and outputs the information to the HCU 100. The point target information is acquired as outside world information by the control information acquisition unit 74 at the HCU 100. The display generation unit 76 uses the point target as a reference, and uses the display start position of the route guidance icon CTng (see points P2 and P3) and the display end position of the route guidance content CTsg (see points P3 to P6) as a reference. Set to the front side of the position GP.

To describe in detail the points P3 to P6 that can be used as the display end position of the route guidance content CTsg, the point P3 is a position where at least a part of the vehicle A that has started lateral movement to the branch lane Lnj touches the boundary line ROf. .. The point P4 is a position where the center or the center of gravity of the vehicle A is on the boundary line ROf. Point P5 is a position where the entire vehicle A has crossed the boundary line ROf. Point P6 is a position where the blinking of the direction indicator is turned off. Further, the display end position may be set to the front side by a predetermined distance (for example, about 30 to 100 m) of points P3 to P6. Further, the point P2 that can be used as the display start position of the route guidance content CTsg is set to a position farther from the reference position GP by a predetermined distance than the point P3.

The display generation unit 76 continuously grasps the position of the own vehicle with respect to the branch point GAj based on the locator information and the outside world information. When the vehicle A reaches the display end position (see point P3), the display generation unit 76 ends the display of the route guidance content CTsg. As described above, the display generation unit 76 ends the display of the route guidance content CTsg based on the end determination using the point target information (outside world information) without using the end notification from the navigation device 55.

The display generation unit 76 sets the display start position (see point P3) of the route guidance icon CTng at the display end position of the route guidance content CTsg. When the vehicle A reaches the display start position, the display generation unit 76 starts displaying the route guidance icon CTng instead of the route guidance content CTsg. The display generation unit 76 continues the route guidance by displaying the route guidance icon CTng at least during the period after the display of the route guidance content CTsg is finished.

The display generation unit 76 changes the visibility of the route guidance icon CTng during the display period of the route guidance icon CTng. Specifically, the display generation unit 76 changes the mode to reduce the visibility of the route guidance icon CTng. As an example, the display generation unit 76 changes from the highly visible route guidance icon CTng (hereinafter, the first route guidance icon) to the less visible route guidance icon CTng (hereinafter, the second route guidance icon). To switch. The mode change for lowering the visibility is realized by, for example, reducing the display size, lowering the display brightness or the display saturation, suppressing or canceling the effect of animation or the like. The display generation unit 76 executes a display transition from the first route guidance icon to the second route guidance icon, for example, at a point (for example, point P6) on the front side of the reference position GP.

The display generation unit 76 can appropriately change the execution point of the display transition that lowers the visibility. Further, the display generation unit 76 may change the mode in which the visibility of the route guidance icon CTng is continuously lowered. Further, the route guidance icon CTng (first route guidance icon) may be started to be displayed from the point P2. In this case, at points P2 to P3, the route guidance content CTsg and the route guidance icon CTng are both displayed (see FIG. 12).

When the vehicle A that has completed the lane change to the branch lane Lnj passes the reference position GP and reaches the point P7, the navigation device 55 ends the route guidance. The distance from the reference position GP to the point P7 is, for example, about 30 to 100 m. The point P7 is set, for example, at the position of the first node after passing the reference position GP. At the point P7, the navigation device 55 ends the display of the route guidance image PNG on the navigation display 57, and outputs a end notification for notifying the end of the route guidance to the HCU 100.

The display generation unit 76 displays the TBT image Pmg on the meter display 23 and the route guidance icon CTng on the HUD 20 at the point P7 based on the end notification acquired as the navigation information by the navigation information acquisition unit 72. , End together. As described above, the display of the TBT image Pmg and the route guidance icon CTng (second route guidance icon) is also completed in accordance with the end of the display of the route guidance image PNG.

As described above, the display generation unit 76 also sets the conditions for establishing the display start determination of the non-superimposed content CTn and the conditions for establishing the display end determination of the superimposed content CTs even at the branch point GAj. Then, the display generation unit 76 establishes the start determination and the end determination by using the outside world information (point target information) indicating the relative position of the boundary line ROf or the end ROg which is the point target.

Specifically, the display generation unit 76 can set the condition for establishing the end determination to be that it straddles the boundary line ROf of the branch lane Lnj (see points P3 and P4, hereinafter, condition 5). The display generation unit 76 can use the fact that the boundary line ROf of the branch lane Lnj has been crossed (see point P5, hereinafter referred to as condition 6) as a condition for establishing the end determination. The display generation unit 76 can set that the direction indicator is turned off (see point P6, hereinafter, condition 7) as a condition for establishing the end determination. The display generation unit 76 predicts the positions of the points P3 to P6, and can set the condition for establishing the end determination that the position reaches a position that is a predetermined distance before the points P3 to P6 (hereinafter, condition 8). At the branch point GAj, the conditions for establishing the start determination may be appropriately set according to the conditions for establishing the end determination.

<Scene of changing lanes>
In the scene of changing the lane shown in FIGS. 13 and 14, the HCU 100 determines the timing at which the LCA function shifts to the execution state (see point P1) based on the status information of the LCA function acquired by the control information acquisition unit 74. Grasp. The HCU 100 may grasp the timing at which the LCA function transitions from the off state to the activated state instead of the execution transition timing of the LCA function.

The display generation unit 76 starts the display of the lane change image Pmc by the meter display 23 and the superimposed display of the LCA content CTlc by the HUD 20 based on the status information indicating the execution state of the LCA function. Both the lane change image Pmc and the LCA content CTlc are contents indicating the moving direction of the vehicle A in the lane change.

In the HCU 100, the control information acquisition unit 74 acquires the outside world information indicating the relative position of the boundary line ROf between the own vehicle lane Lns and the adjacent lane Lnd. The display generation unit 76 uses the outside world information about the boundary line ROf to set the display transition position (see points P2 to P6) for transitioning the superimposed content CTs from the LCA content CTlc to the LTC content CTlt.

To describe in detail the points P2 to P6 that can be used as the display transition positions, the point P2 is a position where at least a part of the vehicle A that has started lateral movement to the adjacent lane Lnd touches the boundary line ROf. The point P3 is a position where the center or the center of gravity of the vehicle A is on the boundary line ROf. Point P4 is a position where the entire vehicle A has crossed the boundary line ROf. Point P5 is a position where the control body of the operation control transitions from the LCA function to the LTC function. Point P6 is a position where the blinking of the direction indicator is turned off. Any one of these points P2 to P6 is set as a display transition position by the display generation unit 76 (point P2 in FIG. 13).

As described above, the display generation unit 76 grasps the position of the vehicle A with respect to the boundary line ROf from the outside world information, and ends the display of the LCA content CTlc based on the end determination using at least the outside world information. Further, the display generation unit 76 continues the display of the lane change image Pmc on the meter display 23 until the blinking of the direction indicator is turned off. Therefore, when the display transition position is set to the points P2 to P5, the display generation unit 76 ends the display of the lane change image Pmc earlier than the end determination using at least the outside world information, and the LCA content CTlc. End the display of.

Next, the details of the display control method for realizing the route guidance and the lane change guidance described so far, particularly the contents related to the display of the superimposed content CTs, are shown in FIGS. 1 and 17 based on the flowcharts shown in FIGS. This will be described below with reference to FIGS. 4 to 14.

The display control process shown in FIGS. 15 and 16 is started by the HCU 100 that has received the start notification from the navigation device 55. In S101 of the display control process shown in FIG. 15, detailed route information and the like necessary for displaying the TBT image Pmg, the route guidance content CTsg, and the like are acquired, and the process proceeds to S102. In S102, acquisition of the outside world information required for drawing the route guidance content CTsg, in other words, the outside world information used for the simulation calculation of the display layout of the superimposed content CTs, is started, and the process proceeds to S103.

In S103, the map data used for the simulation calculation of the display layout of the superimposed content CTs is acquired, and the process proceeds to S104. In S103, priority is given to the acquisition of the high-precision map data from the locator 40, and when there is no high-precision map data of the guidance area GA, the navigation map data of the guidance area GA is acquired from the navigation device 55.

In S104, the information acquired in S101 to S103 is used to start the display of the route guidance content CTsg by HUD20, and the process proceeds to S105. In S104, the display of the TBT image Pmg on the meter display 23 is also started together with the route guidance content CTsg.

In S105, it is determined whether or not the high-precision map data used for generating the route guidance content CTsg has been acquired. If it is determined in S105 that the high-precision map data can be acquired, the process proceeds to S106. On the other hand, if it is determined in S105 that the high-precision map data cannot be acquired, the process proceeds to S107.

In S107, it is determined whether or not the camera recognition information used for generating the route guidance content CTsg has been acquired. If it is determined in S107 that the camera recognition information has been acquired, the process proceeds to S108. On the other hand, if it is determined in S107 that the camera recognition information cannot be acquired, the process proceeds to S109.

In S106, the conditions for the end determination when using the high-precision map data are set, and the process proceeds to S110. On the other hand, in S108, the condition for establishing the end determination when the navigation map data is used in the presence of the camera recognition information is set, and the process proceeds to S110. Further, in S109, a condition for establishing the end determination when the navigation map data is used without the camera recognition information is set, and the process proceeds to S110.

As described above, when the superimposed content CTs are generated using the high-precision map data, the end determination is made so that the display is more difficult to end than when the superimposed content CTs are generated using the navigation map data. The conditions are changed (relaxed). In addition, when there is camera recognition information, the condition of the end determination is changed (relaxed) so that the display is more difficult to end than when there is no camera recognition information. Further, in S106, S108 and S109, the conditions for determining the end are changed according to the road shape of the guide area GA, the presence / absence of the stop line ROc, the direction of turning left / right, and the like.

In S106, it is not necessary to set the end condition. In this case, as will be described later, the display of the route guidance content CTsg is terminated based on the failure of the termination condition (S111: NO) and the acquisition of the termination notification (S112: YES).

In S110 shown in FIG. 16, acquisition of steering information (operation information) including information such as steering wheel angle is started, and the process proceeds to S111. If the operation information is not used in the end determination condition set in S106, S108, or S109, S110 may be skipped.

In S111, at least the outside world information is used to determine whether or not the end condition set in S106, S108 or S109 is satisfied. If it is determined in S111 that the end condition is satisfied, the process proceeds to S113. On the other hand, if it is determined in S111 that the end determination is not established, the process proceeds to S112.

In S112, it is determined whether or not the end notification has been acquired from the navigation device 55. If it is determined in S112 that the end notification has not been acquired, the process returns to S110. As a result, the display of the route guidance content CTsg is continued. On the other hand, if it is determined in S112 that the end notification has been acquired, the process proceeds to S113.

In S113, the display of the route guidance content CTsg is terminated based on the establishment of the end determination in S111 or the acquisition of the end notification in S112, and the display control process related to the route guidance is terminated. When the end determination is established in S111, the display of the route guidance content CTsg ends without waiting for the reception of the end notification from the navigation device 55. Even after the display of the route guidance content CTsg is completed, the display of the route guidance icon CTng and the TBT image Pmg is continued.

The display control process shown in FIG. 17 is started by, for example, the HCU 100 that has received the status information notifying the transition to the execution state of the LCA function. In S131 of the display control process shown in FIG. 17, the shape information of the planned traveling locus PLC in the scheduled lane change is acquired, and the process proceeds to S132. In S132, acquisition of the outside world information necessary for drawing the LCA content CTlc is started, and the process proceeds to S133. In S133, the map data of the road section including the entire planned travel locus PLC is acquired, and the process proceeds to S134. In S133 as well, in the same manner as in S103, priority is given to the acquisition of high-precision map data from the locator 40.

In S134, the information acquired in S131 to S133 is used to start the display of the LCA content CTlc by the HUD 20, and the process proceeds to S135. In S134, the superimposed display is switched from the LTC content CTlt to the LCA content CTlc. Further, in S134, the display of the lane change image Pmc on the meter display 23 is started together with the LCA content CTlc.

In S135, the conditions for establishing the end determination for ending the display of the LCA content CTlc are set, and the process proceeds to S136. In S136, it is determined whether or not the end condition set in S135 is satisfied by using at least the outside world information. If it is determined in S136 that the end condition is satisfied, the process proceeds to S137. On the other hand, if it is determined in S136 that the end determination has not been established, S136 is repeated and the end determination is waited for.

In S137, the display of the LCA content CTlc is terminated, the display of the LTC content CTlt is started, and the process proceeds to S138. In S138, it is determined whether or not the blinking of the direction indicator has been turned off, in other words, whether or not a series of lane changes have been completed. If it is determined in S138 that the turn signal is turned off, the process proceeds to S139. In S139, the display of the lane change image Pmc on the meter display 23 is terminated, and a series of display control processes are terminated. As described above, based on the end determination of S136 using at least the outside world information, the display of the LCA content CTlc is terminated earlier than the end of the display of the lane change image Pmc.

According to the first embodiment described so far, by implementing the end determination using at least the outside world information around the vehicle A, the route guidance content CTsg does not depend on the end timing of the route guidance in the navigation device 55. , The display can be terminated at an appropriate time. Based on the above, it is unlikely that the route guidance content CTsg will continue to be displayed at a prominent position even though the vehicle A has finished turning left or right. Therefore, even if the superimposed content CTs are used, it is possible to present information that does not give a sense of discomfort to the occupants such as the driver.

In addition, in the first embodiment, the route guidance content CTsg is appropriately displayed at a timing earlier than the display end of the route guidance image Png by performing the end determination using at least the outside world information around the vehicle A. obtain. According to the above, even if the superimposed content CTs are used, it is possible to present information that does not give a sense of discomfort to the occupants such as the driver.

Further, in the first embodiment, when the intersection GAi is set as the guide area GA, the intersection target information related to the intersection GAi is acquired as the outside world information. Then, the display generation unit 76 ends the display of the route guidance content CTsg based on the end determination using the intersection target information. As described above, according to the use of the intersection target recognized by the traveling environment recognition unit 51, the display generation unit 76 can further optimize the display end timing of the route guidance content CTsg according to the traveling intersection GAi. ..

Further, in the first embodiment, when the intersection GAi serving as the guidance area GA is a predetermined complex intersection, the display generation unit 76 sets the display of the route guidance content CTsg later than when it is not a complex intersection. , Change the conditions for establishing the end judgment. Therefore, the route guidance content CTsg can be superimposed on the road surface of the correct exit route from the intersection GAi. As a result, the route guidance content CTsg can perform route guidance that is easy for the driver to understand.

In addition, in the first embodiment, when the stop line ROc is on the front side of the intersection GAi which is the guidance area GA, the display is generated so that the display of the route guidance content CTsg ends later than when there is no stop line ROc. Part 76 changes the conditions for establishing the end determination. Therefore, in a scene where the route guidance content CTsg is unlikely to be in the way due to the temporary stop of the vehicle A, the display period of the route guidance content CTsg is secured. As a result, route guidance that is easy for the driver to understand is implemented.

Further, in the first embodiment, when the vehicle does not cross the oncoming lane when turning right or left at the intersection GAi which is the guidance area GA, it is displayed so that the display of the route guidance content CTsg ends later than when crossing the oncoming lane. The generation unit 76 changes the conditions for establishing the end determination. Based on the above, it is unlikely that the route guidance content CTsg obstructs the visibility of an oncoming vehicle in a right turn scene. Further, in a left turn scene where confirmation of an oncoming vehicle is not required, route guidance that is easy for the driver to understand is performed by securing a display period of the route guidance content CTsg.

Further, in the first embodiment, when the branch point GAj is set as the guide area GA, the point target information related to the branch point GAj is acquired as the outside world information. Then, the display generation unit 76 ends the display of the route guidance content CTsg based on the end determination using the point target information. As described above, according to the use of the point target recognized by the traveling environment recognition unit 51, the display generation unit 76 further optimizes the display end timing of the route guidance content CTsg according to the branch point GAj during traveling. Can be transformed into. The display generation unit 76 is not limited to the branch point GAj, and can optimize the display end timing of the route guidance content CTsg even at the confluence point based on the end determination using the point target information.

In addition, the control information acquisition unit 74 of the first embodiment can acquire the position information of the edge intersection ROe obtained by detecting the edge of the road in the guide area GA as the outside world information. Then, the display generation unit 76 uses the position information of the edge intersection ROe for the end determination, and terminates the route guidance content CTsg based on the end determination. According to the use of detection processing derived from the road structure such as edge detection, the display generation unit 76 displays the route guidance content CTsg even in the guidance area GA in which a specific target such as a road marking and a road sign does not exist. Can be properly terminated.

Further, the display generation unit 76 of the first embodiment can change the condition of the end determination according to the road shape of the guide area GA. Therefore, the display generation unit 76 can reduce the sense of incongruity while utilizing the advantages of the superimposed content CTs as needed.

Further, in the first embodiment, the route guidance icon CTng is displayed as the non-superimposed content CTn that continues the route guidance in the period after the display of the route guidance content is finished. Then, the display generation unit 76 changes the mode in which the visibility of the route guidance icon CTng is lowered during the display period of the route guidance icon CTng. Therefore, the troublesomeness of the display is reduced by the process of lowering the visibility of the route guidance icon CTng while realizing the easy-to-understand route guidance by displaying the route guidance icon CTng.

In addition, in the first embodiment, the display of the LCA content CTlc indicating the moving direction in the lane change can be terminated at an appropriate timing by performing the termination determination using at least the outside world information around the vehicle A. Based on the above, it is unlikely that the LCA content CTlc will continue to be displayed in a prominent position even though the lane change of the vehicle A has been completed. Therefore, even if the superimposed content CTs are used, it is possible to present information that does not give a sense of discomfort to the occupants such as the driver.

Further, in the first embodiment, in the scene of changing the lane by the LCA function, the display generation unit 76 is earlier than the end of displaying the lane change image Pmc by the meter display 23, and is based on the end determination using the outside world information. The display of CTlc is terminated. As described above, if the state of the LCA function can be confirmed visually by the meter display 23, the display end timing of the LCA content CTlc can be appropriately advanced so as not to give a sense of discomfort to the occupant.

Further, in the first embodiment, navigation map data and high-precision map data having different accuracy are acquired as map data used for generating superimposed content CTs. Then, the display generation unit 76 can change the condition of the end determination based on whether or not the high-precision map data can be acquired. Based on the above, the display generation unit 76 can optimize the display end timing of the superimposed content CTs according to the accuracy of the map data.

Specifically, when the display generation unit 76 draws the superimposed content CTs using the high-precision map data, the display of the superimposed content CTs is less likely to be completed than when the superimposed content CTs are drawn using the navigation map data. The condition of the end judgment is relaxed so as to be. In other words, the display generation unit 76 can end the display of the superimposed content CTs at an early stage when it cannot be accurately superimposed on the road surface. Therefore, in a situation where the superimposed content CTs are likely to be disturbed due to the accuracy of the map data, the display generation unit 76 can appropriately stop the display of the superimposed content CTs.

In addition, when the camera recognition information based on the image data of the front camera 31 is used for content generation, the display generation unit 76 of the first embodiment displays the route guidance content CTsg as compared with the case where the camera recognition information is not used for content generation. Make it difficult to finish. According to such a change in the condition for establishing the end determination, when the superimposition accuracy of the route guidance content CTsg is ensured, the display period of the route guidance content CTsg can be easily secured. As a result, route guidance that is easy for the driver to understand can be performed.

Further, in the first embodiment, in addition to the outside world information, operation information (steering information, etc.) related to the driver's operation is used for the end determination. Therefore, even after the vehicle A has moved to a position where the target such as the stop line ROc, the sidewalk line ROa, or ROb is outside the angle of view of the front camera 31, the display generation unit 76 still uses the route guidance content CTsg. The display can be terminated. As described above, by using the operation information for the end determination, the degree of freedom in setting the display end timing can be further improved.

In the first embodiment, the meter display 23 corresponds to the "screen display" and the front camera 31 corresponds to the "vehicle-mounted camera". Further, the control information acquisition unit 74 corresponds to the "external world information acquisition unit", the state information acquisition unit 75 corresponds to the "operation information acquisition unit", the display generation unit 76 corresponds to the "display control unit", and the HCU 100 corresponds to the HCU 100. Corresponds to "display control device". Further, the route guidance content CTsg and the LCA content CTlc correspond to "superimposed content", the route guidance icon CTng corresponds to "non-superimposed content", and the navigation map data corresponds to "low-precision map data". The LCA function corresponds to the "lane change function", the relative position information of the edge intersection ROe corresponds to the "edge position information", and the stop line ROc corresponds to the "pause line".

(Second Embodiment)
The second embodiment of the present disclosure shown in FIGS. 18 to 22 is a modification of the first embodiment. In the second embodiment, the configuration of the HMI system 210 is different from that of the first embodiment. The HMI system 210 has a function corresponding to the navigation device 55 (see FIG. 1) of the first embodiment, and has a navigation display 24 and a navigation map DB 25. The navigation display 24 and the navigation map DB 25 have substantially the same configurations as the navigation display 57 and the navigation map DB 56 (see FIG. 1) of the first embodiment.

Similar to the first embodiment, the HCU 100 shown in FIGS. 18 and 19 provides route guidance at intersection GAi and branch point GAj (see FIGS. 4 to 12) and guidance for changing lanes (see FIGS. 13 and 14). ) And. The HCU 100 includes a navigation information generation unit 272 as a functional unit in addition to the viewpoint position identification unit 71, the map data acquisition unit 73, the control information acquisition unit 74, the state information acquisition unit 75, and the display generation unit 76.

The navigation information generation unit 272 sets a destination based on the user operation and a route to the destination by using the navigation map data acquired from the navigation map DB 25 and the locator information acquired from the locator ECU 44. The navigation information generation unit 272 executes route guidance according to the set route. In addition to the HUD 20 and the meter display 23, the display generation unit 76 generates video data sequentially output to the navigation display 24 and controls the presentation of information to the driver by the navigation display 24. The navigation information generation unit 272 and the display generation unit 76 display the traveling direction of the vehicle A in the guidance area GA on the navigation display 24 by approaching the guidance area GA (see FIG. 4 and the like) included in the set route. The driver is guided by the route guidance image PNG (see FIG. 4 and the like).

The navigation information generation unit 272 grasps the remaining distance Dr to the reference position GP of the guidance area GA included in the set route based on the locator information, and when the remaining distance Dr becomes less than the predetermined distance, FIGS. 20 and 21. The HCU 100 is started to perform the display control process shown in 1. The predetermined distance is about 300 m on a general road and about 1000 m on an expressway, as in the first embodiment.

In S201 of the display control process shown in FIGS. 20 and 21, the detailed route information of the guidance area GA generated by the navigation information generation unit 272 is provided with the TBT image Pmg (see FIGS. 4 and 10) and the route guidance content CTsg (see FIGS. 4 and 10). (See FIGS. 5 and 11) and the like are prepared for drawing. Then, in S202 and S203, the outside world information and the map data are acquired, and the process proceeds to S204. In S203, priority is given to the acquisition of high-precision map data from the locator 40, and when there is no high-precision map data, the navigation map data is acquired from the navigation map DB 25.

In S204, the information acquired in S201 to S203 is used to start the display of the route guidance content CTsg by HUD20, and the process proceeds to S205. In S204, the display of the route guidance image PNG (see FIGS. 4 and 10) on the navigation display 24 and the display of the TBT image Pmg on the meter display 23 are also started.

In S205 to S209, similarly to S105 to S109 (see FIG. 15) of the first embodiment, the conditions for establishing the end determination according to the presence / absence of high-precision map data and the presence / absence of camera recognition information are set, and the process proceeds to S210. .. In addition, in S205 to S209, the conditions for establishing the end determination are adjusted according to the road shape of the guide area GA, the presence / absence of the stop line ROc, the direction of turning left / right, and the like. In S210, acquisition of driver operation information is started, and the process proceeds to S211.

In S211 it is determined whether or not the end condition set in S206, S208 or S209 is satisfied by using the outside world information (and the operation information). If it is determined in S211 that the end condition is satisfied, the process proceeds to S212. In S212, the display of the route guidance content CTsg is terminated based on the establishment of the end determination in S211 and the process proceeds to S213.

In S213, it is determined whether or not the vehicle A has reached the end point of the route guidance (see point P4 in FIG. 4). If it is determined in S213 that the vehicle A has reached the end point of the route guidance, the process proceeds to S214. In S214, both the display of the route guidance image PNG on the navigation display 24 and the display of the TBT image Pmg on the meter display 23 are terminated, and a series of display control processes are terminated. As described above, the display of the route guidance content CTsg is terminated earlier than the end of the display of the route guidance image Png based on the end determination of S211 using at least the outside world information.

The second embodiment described so far also has the same effect as that of the first embodiment, and by implementing the end determination using the outside world information, the route guidance content CTsg is at a timing earlier than the end of the display of the route guidance image PNG. , Can be properly terminated. Based on the above, it is unlikely that the highly attractive route guidance content CTsg will continue to be displayed even after the end of the right or left turn. Therefore, it is possible to present information that does not give a sense of discomfort to the occupants such as the driver.

In addition, also in the second embodiment, the HCU 100 provides guidance on the lane change by the same display control process (see FIGS. 15 and 16) as in the first embodiment in the scene where the lane change is performed by the LCA function. carry out. As a result, the display end timing of the LCA content CTlc can be appropriately set based on the end determination using the outside world information. Based on the above, it is unlikely that the highly attractive LCA content CTlc will continue to be displayed even though the lane change has been completed. Therefore, even in the scene of changing the lane, it is possible to present information that does not give a sense of discomfort to the occupants such as the driver. In the second embodiment, the navigation display 24 corresponds to a "screen display".

(Other embodiments)
Although a plurality of embodiments and modifications of the present disclosure have been described above, the present disclosure is not construed as being limited to the above embodiments and modifications, and various embodiments are made without departing from the gist of the present disclosure. It can be applied to embodiments and combinations.

As described in the above embodiment, the control information acquisition unit 74 acquires the relative position information of the edge intersection ROe on the front side and the turning side of the intersection GAi as the intersection target information. The shape of such an intersection GAi is not limited to the crossroads. The control information acquisition unit 74 receives edges Ed1 and Ed2 on the front side and the turning side at various intersections GAi such as a multi-junction (6 junctions), a Y-shaped road, a T-shaped road, and a runabout as shown in FIG. Can be detected and the relative position information of the edge intersection ROe can be acquired.

The navigation device 55 and the navigation information generation unit 272 of the above-described embodiment can carry out complex route guidance when right and left turns at a plurality of intersections GAi are continuous. As an example, as shown in FIG. 23, when the right turn at the intersection GAi which is the first guide area GA1 and the left turn at the intersection GAi which is the second guide area GA2 are continuous, the second Route guidance considering a left turn is carried out in the first guidance area GA1.

Specifically, in the guidance route GR generated by the navigation device 55 or the navigation information generation unit 272, in the approach section to the first intersection GAi, the vehicle A is the leftmost lane among the plurality of right turn lanes. Is guided to. This leftmost right turn lane is a lane connected to the left turn lane at the second intersection GAi. When vehicle A is traveling in a lane other than the leftmost lane among a plurality of right turn lanes, as shown in FIG. 24, the lane change toward the leftmost right turn lane in the approach section to the first intersection GAi. Guidance is carried out by the route guidance content CTsg.

More specifically, the route guidance content CTsg includes an approach portion CTg1 indicating a route to the intersection GAi, a position portion CTg2 indicating an approach position to the intersection GAi, and an exit direction portion CTg3 indicating an exit direction from the intersection GAi. Become. In the complex route guidance, the detailed route information acquired by the HCU100 includes advance preparation information for instructing to change lanes to the leftmost right turn lane in the approach section due to a left turn at the second intersection GAi. It has been added. Based on such advance preparation information, the HCU 100 generates an approach portion CTg1 in a manner of inducing a lane change to the left side. If the lane change to the right turn lane at the left end is completed according to the guidance of the route guidance content CTsg, the vehicle A can smoothly make a left turn at the second intersection GAi.

As shown in FIG. 25, when the intersection GAi is outside the angle of view VA until just before reaching the intersection GAi due to the road shape and slope of the guidance area GA, the mode of the route guidance content CTsg is changed. As an example, the HCU displays the approach portion CTg1 as the superimposed content CTs, while displaying the position portion CTg2 and the exit direction portion CTg3 as the non-superimposed content CTn. The approach portion CTg1 has a strip-shaped stretched shape attached to the road surface, similarly to the route guidance content CTsg (see FIG. 5) of the above embodiment. On the other hand, the position portion CTg2 and the exit direction portion CTg3 are displayed at one of the four corners of the horizontally long rectangular angle of view VA closest to the intersection GAi. The position portion CTg2 is displayed in a partial annular shape that emphasizes the corner of the angle of view VA, and emphasizes the intersection outside the angle of view VA. The exit direction portion CTg3 is displayed in the shape of an arrow indicating the turning direction at the intersection GAi. When the left turn guidance is carried out at the intersection GAi, the exit direction portion CTg3 has a shape pointing to the left direction.

In the above embodiment, the conditions for establishing the end determination of the route guidance content CTsg are changed according to the presence / absence of the camera recognition information in addition to the presence / absence of the high-precision map data. However, in the first modification of the above embodiment, the presence / absence of the camera recognition information is not reflected in the change of the condition for establishing the end determination. That is, in the first modification, S107 and S108 (see FIG. 15) or S207 and S208 (see FIG. 20) in the display control process are omitted.

In the above embodiment, the display of the superimposed content is terminated based on the termination determination using at least the outside world information. However, in the second modification of the above embodiment, the display control unit performs the end determination using at least the high-precision map data or the navigation map data and the position information of the own vehicle instead of the end determination using at least the outside world information. carry out. Then, the display control unit identifies the position of the own vehicle with respect to the guidance area based on the end determination using at least the high-precision map data or the navigation map data and the position information of the own vehicle, and ends the display of the superimposed content. Even by such processing, the display of the superimposed content can be appropriately terminated.

In the above embodiment, the stop line ROc, the sidewalk line ROa, ROb, the road sign, and the like are recognized mainly based on the detection information (captured image) of the front camera 31, and are provided to the HCU 100 as outside world information. Then, the display generation unit 76 performed the end determination using the information of these targets. However, for example, when information such as the stop line ROc and the sidewalk lines ROa and ROb is added to the navigation map data, the display generation unit 76 can further utilize these information to perform the end determination.

The conditions for establishing the end determination adopted by the display generation unit 76 may be determined based on the angle of view VA of the HUD 20. More specifically, when the angle of view VA of the HUD 20 is expanded to the depression angle side, the superimposition possible range of the superimposed content CTs is also expanded to the vicinity side of the own vehicle. As a result, even if the display end timing of the superimposed content CTs is delayed, the superimposed content CTs remain attached to the superimposed target. Therefore, it is preferable that the display end timing of the superimposed content CTs is set so as to coincide with the timing when the superimposed object frames out from the angle of view VA.

The route guidance content CTsg of the third modification of the above embodiment is superimposed and displayed in a manner that fills the road surface range corresponding to the guidance route. Further, the LCA content CTlc of the modification 3 has a double-line shape extending from the own vehicle lane Lns toward the adjacent lane Lnd according to the shape of the planned traveling locus PLC. Further, the LTC content CTlt of the third modification is superimposed on the vicinity of the left and right lane markings of the own vehicle lane Lns, and has a two-line shape extending along each section line.

The route guidance content CTsg of the modified example 4 of the above embodiment has a single linear shape that is superimposed on the center of the road surface of the traveling lane corresponding to the guidance route and extends in the traveling direction. Further, the LCA content CTlc of the modified example 4 has a single linear shape showing the shape of the planned traveling locus PLC. Further, the LTC content CTlt of the modified example 4 is superimposed and displayed in a manner that fills the road surface of the own vehicle lane Lns.

As in the above modified examples 3 and 4, the display mode of each superimposed content CTs may be changed as appropriate. Further, the modes of the route guidance content CTsg, the LCA content CTlc, and the LTC content CTlt may be the same as each other or may be different from each other.

In the above embodiment, the conditions for establishing the end determination of the route guidance content CTsg are changed according to the road shapes of the intersection GAi, the branch point GAj, and the confluence point, and the presence / absence of high-precision map data and camera recognition information. Further, the conditions for establishing the end determination were changed depending on the presence / absence of the stop line ROc and the direction of turning left / right at the intersection GAi. However, at least a part of this information may not be used for changing or adjusting the conditions for establishing the end determination. Further, regardless of the road shape, the accuracy of the map data, and the like, the conditions for establishing the end determination may be constant. Further, the conditions for establishing the end determination of the LCA content CTlc may also be changed depending on whether or not the high-precision map data and the camera recognition information can be acquired. In addition, the map data that can be acquired by the HCU 100 may be only one of the high-precision map data and the navigation map data. Further, in addition to the external world information and the operation information, other information acquired by the HCU 100 may be used for the end determination.

The imaging data used as the camera recognition information is not limited to the data captured by the front camera 31. For example, the outside world information based on the image data captured by the rear camera, the front side camera, and the rear side camera may be used as the camera recognition information to generate the superimposed content.

Each content of the above embodiment has static elements such as display color, display brightness, and reference display shape, and dynamic elements such as blinking presence / absence, blinking cycle, animation presence / absence, and animation operation. May be changed as appropriate. Further, the static or dynamic elements of each content may be changed according to the driver's preference. Further, the traveling scene in which the route guidance display is illustrated in the description of the above embodiment and the modified example is an example. The HCU can perform route guidance display using both non-superimposed content and superposed content in a driving scene different from the above.

The HCU of the above embodiment uses the position information of the eye point detected by the DSM so that the superimposed content is superimposed on the superimposed object without deviation when viewed from the driver, and the virtual image light imaged as the superimposed content CTs. The projection shape and projection position of the above were controlled sequentially. However, the HCU of the modified example 5 of the above embodiment does not use the detection information of the DSM, but uses the setting information of the center of the reference eye point set in advance, and the projected shape of the virtual image light imaged as the superimposed content and the projection shape Control the projection position.

On the other hand, in the modification 6 of the above embodiment, in addition to the position information of the eye point detected by the DSM, for example, the detection information of the gyro sensor provided in the HUD is further used to form a virtual image formed as superimposed content. The projected shape and projected position of light are sequentially controlled. The gyro sensor is a posture sensor that mainly detects the posture of the vehicle A in the pitch direction. According to the use of the attitude sensor that detects the vehicle attitude, the superimposed content can be superimposed on the superimposed object more accurately.

The HUD projector of the modified example 7 is provided with an EL (Electro Luminescence) panel instead of the LCD panel and the backlight. Further, instead of the EL panel, a projector using a display such as a plasma display panel, a cathode ray tube and an LED can be adopted for the HUD 20.

The HUD of the modified example 8 is provided with a laser module (hereinafter, LSM) and a screen instead of the LCD and the backlight. The LSM includes, for example, a laser light source, a MEMS (Micro Electro Mechanical Systems) scanner, and the like. The screen is, for example, a micromirror array or a microlens array. In such a HUD, a display image is drawn on the screen by scanning the laser beam emitted from the LSM. The HUD projects the display image drawn on the screen onto the windshield by the magnifying optical element, and displays the virtual image in the air.

The HUD of Modification 9 is provided with a DLP (Digital Light Processing, registered trademark) projector. A DLP projector has a digital mirror device (hereinafter, DMD) provided with a large number of micromirrors, and a projection light source that projects light toward the DMD. The DLP projector draws a display image on the screen under the control of linking the DMD and the projection light source.

Further, in the HUD of the modification example 10, a projector using LCOS (Liquid Crystal On Silicon) is adopted. Further, in the HUD of the modified example 11, a holographic optical element is adopted as one of the optical systems for displaying the virtual image Vi in the air.

In the modified example 12 of the above embodiment, the HCU and the HUD are integrally configured. That is, the HUD control circuit is equipped with the HCU processing function. Further, in the modified example 13, an HCU is provided as a meter ECU.

In the modified example 14 of the above embodiment, the HCU 100 is provided with a camera image acquisition unit that acquires the imaged data obtained by capturing the foreground of the own vehicle, which is the imaged data of the front camera 31. The display generation unit 76 generates video data obtained by superimposing original images such as route guidance content CTsg, LCA content CTlc, and LTC content CTlt on a real image of the foreground based on the captured data. Based on such video data, the HUD 20 displays a video in which each content is superimposed on a real image as a virtual image in the foreground. As described above, when the angle of view VA of the HUD 20 is not sufficient, a virtual image display in which the original image such as the content used for the AR display is superimposed on the real image may be performed.

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

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

The vehicle equipped with the HMI system is not limited to a general private passenger car, and may be a vehicle for rent-a-car, a vehicle for a manned taxi, a vehicle for ride sharing, a freight vehicle, a bus, or the like. Further, the driverless vehicle used for the mobility service may be equipped with an HMI system including an HCU.

The vehicle equipped with the HMI system may be a right-hand drive vehicle or a left-hand drive vehicle. Further, the traffic environment in which the vehicle travels may be a traffic environment premised on left-hand traffic, or may be a traffic environment premised on right-hand traffic. The lane keeping control and its related display according to the present disclosure are appropriately optimized according to the road traffic law of each country and region, the steering wheel position of the vehicle, and the like.

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

A vehicle, CTlc LCA content (superimposed content), CTsg route guidance content (superimposed content), CTng route guidance icon (non-superimposed content), GA guidance area, GAi intersection, GAj branch point (branch confluence), ROc stop line ( Pause line), Pmc lane change image, Png route guidance image, 11 processing unit, 20 HUD (head-up display), 23 meter display (screen display), 24 navigation display (screen display), 31 front camera (vehicle) Camera), 55 navigation device, 72 navigation information acquisition unit, 73 map data acquisition unit, 74 control information acquisition unit (external world information acquisition unit), 75 state information acquisition unit (operation information acquisition unit), 76 display generation unit (display control) Department), 100 HCU (display control device)

Claims (22)

It is a display control device used in a vehicle (A) equipped with a navigation device (55) that provides route guidance and controls a display by a head-up display (20).
A navigation information acquisition unit (72) that acquires navigation information related to route guidance performed by the navigation device, and a navigation information acquisition unit (72).
The outside world information acquisition unit (74) that acquires the outside world information based on the recognition of the driving environment around the vehicle, and
In the guidance area (GA) where route guidance is performed by the navigation device, a display control unit (76) for superimposing and displaying superposed content (CTsg) for route guidance on the foreground by the head-up display is provided.
The display control unit is a display control device that ends the display of the superimposed content based on the end determination using at least the outside world information without using the end notification for notifying the end of the route guidance in the navigation device. A display control device used in a vehicle (A) to control a display by a screen display (24) and a head-up display (20).
The outside world information acquisition unit (74) that acquires the outside world information based on the recognition of the driving environment around the vehicle, and
In the guidance area (GA) for displaying the route guidance image (Png) on the screen display, the display control unit (76) for displaying the superposed content (CTsg) for route guidance on the foreground by the head-up display. With
The display control unit is a display control device that ends the display of the superimposed content based on the end determination using at least the outside world information before ending the display of the route guidance image by the screen display. It is a display control device used in a vehicle (A) equipped with a navigation device (55) that provides route guidance and controls a display by a head-up display (20).
A navigation information acquisition unit (72) that acquires navigation information related to route guidance performed by the navigation device, and a navigation information acquisition unit (72).
The outside world information acquisition unit (74) that acquires the outside world information based on the recognition of the driving environment around the vehicle, and
In the guidance area (GA) where the navigation device displays the route guidance image (Png) on the screen, the display control unit (76) that superimposes and displays the superposed content (CTsg) for route guidance on the foreground by the head-up display. Prepare,
The display control unit is a display control device that terminates the display of the superimposed content based on the termination determination using at least the outside world information before the navigation device terminates the display of the route guidance image. The display control device according to any one of claims 1 to 3, wherein the guidance area is an intersection (GAi) where the vehicle is scheduled to turn left or right. The outside world information acquisition unit acquires the intersection target information based on the recognition of the target related to the intersection as the outside world information.
The display control device according to claim 4, wherein the display control unit ends the display of the superimposed content based on the end determination using the intersection target information. When the intersection serving as the guidance area is a predetermined complex intersection, the display control unit determines the end so that the display of the superimposed content is delayed more than when the intersection is not the complex intersection. The display control device according to claim 4 or 5, wherein the establishment conditions are changed. When the display control unit has a pause line (ROc) on the front side of the intersection serving as the guide area, the display control unit ends the display of the superimposed content later than when there is no pause line. The display control device according to any one of claims 4 to 6, wherein the conditions for establishing the determination are changed. When the display control unit does not cross the oncoming lane when turning right or left at the intersection which is the guidance area, the end determination is made so that the display of the superimposed content is delayed more than when crossing the oncoming lane. The display control device according to any one of claims 4 to 7, wherein the conditions for establishing the above are changed. The guidance area is a branching / merging point where the vehicle plans to change lanes.
The outside world information acquisition unit acquires the point target information based on the recognition of the target related to the branch confluence point as the outside world information.
The display control device according to any one of claims 1 to 8, wherein the display control unit ends the display of the superimposed content based on the end determination using the point target information. The outside world information acquisition unit acquires edge position information obtained by detecting the edge of the road in the guidance area as the outside world information.
The display control device according to any one of claims 1 to 9, wherein the display control unit ends the display of the superimposed content based on the end determination using the edge position information. The display control device according to any one of claims 1 to 10, wherein the display control unit changes the conditions for establishing the end determination according to the road shape of the guidance area. The display control unit
At least during the period after the display of the superimposed content is finished, the non-superimposed content (CTng) that continues the route guidance is displayed.
The display control device according to any one of claims 1 to 11, wherein the mode is changed to reduce the visibility of the non-superimposed content during the display period of the non-superimposed content. It is a display control device used in a vehicle (A) equipped with a lane change function and controls a display by a head-up display (20).
The outside world information acquisition unit (74) that acquires the outside world information based on the recognition of the driving environment around the vehicle, and
In the scene where the lane change is performed by the lane change function, the superimposed content (CTlc) indicating the moving direction in the lane change is superimposed and displayed on the foreground by the head-up display, and based on the end determination using at least the outside world information. A display control device including a display control unit (76) that terminates the display of the superimposed content. A display control device that further controls the display of the screen display (23).
The display control unit
In a scene where a lane change is performed by the lane change function, a lane change image (Pmc) for notifying the implementation of the lane change is displayed on the screen of the screen display.
The display control device according to claim 13, wherein the display of the superimposed content is terminated based on the termination determination using at least the outside world information before the display of the lane change image by the screen display is terminated. As the map data used by the display control unit to generate the superimposed content, a map data acquisition unit (73) for acquiring low-precision map data and high-precision map data having different accuracy from each other is further provided.
The display control unit according to any one of claims 1 to 14, which changes the condition of the end determination based on whether or not the high-precision map data used for generating the superimposed content can be acquired. Display control device. When the display control unit generates the superposed content using the high-precision map data, it is more difficult to end the display of the superposed content than when the superposed content is generated using the low-precision map data. The display control device according to claim 15, wherein the conditions for establishing the end determination are changed. The outside world information acquisition unit acquires camera recognition information based on the image pickup data of the vehicle-mounted camera (31) mounted on the vehicle as the outside world information.
When the display control unit generates the superimposed content using the camera recognition information based on the imaging data, the display of the superimposed content is completed as compared with the case where the camera recognition information is not used for generating the superimposed content. The display control device according to any one of claims 1 to 16, which changes the conditions for establishing the end determination so as to make it difficult to perform. An operation information acquisition unit (75) for acquiring operation information related to the operation of the occupant of the vehicle is further provided.
The display control device according to any one of claims 1 to 17, wherein the display control unit terminates the display of the superimposed content based on the end determination using the operation information in addition to the external world information. It is a display control program used in a vehicle (A) equipped with a navigation device (55) that provides route guidance and controls a display by a head-up display (20).
In at least one processing unit (11)
The navigation information related to the route guidance performed by the navigation device is acquired (S101), and the navigation information is acquired.
Obtaining external world information based on the recognition of the driving environment around the vehicle (S102),
In the guidance area (GA) where the route guidance is performed by the navigation device, the superposed content (CTsg) for route guidance is superimposed and displayed on the foreground by the head-up display (S104).
The display of the superimposed content is terminated based on the termination determination using at least the outside world information without using the termination notification for notifying the termination of the route guidance in the navigation device (S111, S113).
A display control program that executes processing including the above. A display control program used in the vehicle (A) to control the display by the screen display (24) and the head-up display (20).
In at least one processing unit (11)
Obtaining external world information based on the recognition of the driving environment around the vehicle (S202),
In the guidance area (GA) where the route guidance image (Png) is displayed on the screen of the screen display, the superimposed content for route guidance is superimposed and displayed on the foreground by the head-up display (S204).
The display of the superimposed content is terminated based on the termination determination using at least the outside world information, before the display of the route guidance image by the screen display is terminated (S212).
A display control program that executes processing including the above. It is a display control program used in a vehicle (A) equipped with a navigation device (55) that provides route guidance and controls a display by a head-up display (20).
In at least one processing unit (11)
The navigation information related to the route guidance performed by the navigation device is acquired (S101), and the navigation information is acquired.
Obtaining external world information based on the recognition of the driving environment around the vehicle (S102),
In the guidance area (GA) where the navigation device displays the route guidance image (Png) on the screen, the superposed content (CTsg) for route guidance is superimposed and displayed on the foreground by the head-up display (S104).
The display of the superimposed content is terminated (S111, S113) based on the termination determination using at least the outside world information before the navigation device terminates the display of the route guidance image.
A display control program that executes processing including the above. It is a display control program used in a vehicle (A) equipped with a lane change function and controls a display by a head-up display (20).
In at least one processing unit (11)
In the scene where the lane change is performed by the lane change function, the outside world information based on the recognition of the driving environment around the vehicle is acquired (S132).
The superimposed content (CTlc) indicating the moving direction when changing lanes is superimposed and displayed on the foreground by the head-up display (S134).
Based on the end determination using at least the outside world information, the display of the superimposed content is terminated (S136, S137).
A display control program that executes processing including the above.

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