JP2021037916A - Display control device and display control program - Google Patents

Abstract

To provide a display control device and the like that can realize information presentation of high convenience for a driver.SOLUTION: An HCU is used in a vehicle As, and has the function of a display control device for controlling a display using a head-up display. The HCU acquires information on a notification target NT existing in the periphery of the vehicle As, and displays a non-overlapping content CTn displayed at a specified position within a view angle VA of the head-up display, and an overlapping content CTs in which a display position is associated with the notification target NT. When issuing a notification of the existence of the notification target NT, the HCU displays the non-overlapping content CTn and the overlapping content CTs together, and then makes one of these contents non-display.SELECTED DRAWING: Figure 6

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 discloses a vehicle display device that superimposes a display image on a real image in front of a head-up display. In this vehicle display device, for example, a display object such as an arrow for guiding a lane change is superimposed and displayed on a road surface or the like in the foreground.

International Publication No. 2015/118859

The arrow for guidance disclosed in Patent Document 1 is a superposed content in which a display position is associated with a road surface in the foreground. On the other hand, the head-up display can also display non-superimposed content such as an icon at a specific position within the angle of view. However, it is insufficient in the configuration disclosed in Patent Document 1 to improve the comprehensibility for the driver by using the display of both the superposed content and the non-superimposed content.

An object of the present disclosure is to provide a display control device and a display control program capable of presenting information that is highly convenient for a driver.

In order to achieve the above object, one disclosed embodiment is a display control device used in a vehicle (As) and controlling the display of contents by a head-up display (20), and is a notification existing around the vehicle. The information acquisition unit (72) that acquires the information of the target (NT), the non-superimposed content (CTn) displayed at a specific position in the angle of view (VA) of the head-up display, and the display position are associated with the notification target. A display control unit (76) for displaying superimposed contents (CTs) is provided, and the display control unit displays both the non-superimposed contents and the superimposed contents when notifying the existence of the notification target, and then these. It is a display control device that hides one of them.

Further, one aspect disclosed is a display control program used in a vehicle (As) and controlling the display of contents by a head-up display (20), in which at least one processing unit (11) is connected to the surroundings of the vehicle. Non-superimposed content displayed at a specific position in the angle of view (VA) of the head-up display when the information of the notification target (NT) existing in (S101, S201) is acquired and the existence of the notification target is notified (S101, S201). After displaying both the CTn) and the superposed content (CTs) whose display position is associated with the notification target, one of the non-superimposed content and the superposed content is hidden (S107 to S109, S207). A display control program that executes processing including.

In these aspects, when notifying the notification target existing around the vehicle, after displaying both the non-superimposed content and the superposed content, one of them is hidden. Therefore, it becomes easy for the driver to know whether the content that has been continuously displayed is the non-superimposed content or the superposed content. Therefore, highly convenient information presentation is realized.

Further, one disclosed aspect is a display control device used in a vehicle (As) and controlling the display of contents by a head-up display (20), and a notification target (NT) existing around the vehicle. A communication information acquisition unit (73) that acquires information received from an external device (RsM) of the vehicle, and a detection information acquisition unit that acquires information to be notified based on the detection results of the external world sensor (31) mounted on the vehicle. Display control for displaying (74), non-superimposed content (CTn) displayed at a specific position in the image angle (VA) of the head-up display, and superposed content (CTs) whose display position is associated with the notification target. When the display control unit notifies the notification target, the display control unit displays the non-superimposed content based on the information of the notification target acquired by the communication information acquisition unit, and causes the detection information acquisition unit to display the non-superimposed content. It is a display control device that displays superimposed content based on the information of the notification target acquired in the above.

Further, one aspect disclosed is a display control program used in a vehicle (As) and controlling the display of contents by a head-up display (20), in which at least one processing unit (11) is connected to the surroundings of the vehicle. Information received from an external device (RsM) of the vehicle and information based on the detection result of the external sensor (31) mounted on the vehicle are acquired (S101, S201) for the notification target (NT) existing in the device. The non-superimposed content (CTn) that notifies the notification target is displayed at a specific position in the angle of view (VA) of the head-up display based on the information of the notification target received from (S104, S204), and the notification based on the detection result is displayed. It is a display control program that performs processing including displaying superimposed contents (CTs) whose display position is associated with the notification target using the target information (S107, S109, S207).

In these aspects, the non-superimposed content is displayed based on the information acquired by communication among the information of the notification target existing around the vehicle. On the other hand, the superimposed content is displayed using the information of the notification target based on the detection result of the external sensor. Therefore, the information source to be notified and the risk level to be notified can be easily understood by the driver. Therefore, highly convenient information presentation is realized.

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 HCU. It is a figure for demonstrating the right turn scene at an intersection. It is a figure which shows the specific example of the display of the pattern A including the non-superimposed content. It is a figure which shows the specific example of the display of the pattern B which accompanies the display transition from the non-superimposed content to the superimposed content. It is a figure which shows the specific example of the display of the pattern C which switches a superimposition content from a warning icon to a follow-up icon. It is a figure which shows the specific example of the display of the pattern D which accompanies the display transition from the non-superimposed content to the superimposed content. It is a figure for demonstrating the approach scene to the intersection where a pedestrian is waiting for a crossing. It is a flowchart which shows the detail of the display control processing of 1st Embodiment. It is a flowchart which shows the detail of the display control processing of 2nd Embodiment. It is a figure which shows the specific example of the display of the pattern A of the 2nd Embodiment. It is a figure which shows the specific example of the display of the pattern B of the 2nd Embodiment. It is a figure which shows the specific example of the display of the pattern C of the 2nd Embodiment. It is a figure which shows the specific example of the display of the pattern D of the 2nd Embodiment. It is a figure which shows the specific example of the display of the pattern C or the pattern D in the modification 1. It is a figure which shows the specific example of the display of the pattern C in the modification 2. It is a figure which shows the specific example of the display of the pattern B in the modification 3.

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 a vehicle As, together with a head-up display (hereinafter, “HUD”) 20 and the like. The HMI system 10 further includes an operation device 26, a DSM (Driver Status Monitor) 27, and the like. The HMI system 10 includes an input interface function that accepts user operations by an occupant (for example, a driver) of the vehicle As, 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 As. The HMI system 10 is one of a plurality of nodes provided in the vehicle-mounted network 1. A peripheral monitoring sensor 30, a V2X communication device 40, a driving support ECU (Electronic Control Unit) 50, a navigation device 55, and the like are connected as nodes to the communication bus 99 of the vehicle-mounted network 1. These nodes connected to the communication bus 99 can communicate with each other.

In the following description, the front-rear and left-right directions are defined with reference to the vehicle As stationary on a horizontal plane. Specifically, the front-rear direction is defined along the longitudinal direction of the vehicle As. The left-right direction is defined along the width direction of the vehicle As.

The peripheral monitoring sensor 30 is an autonomous sensor that monitors the surrounding environment of the vehicle As. 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 road markings and stationary objects such as structures on the side of the road. The peripheral monitoring sensor 30 provides the detection information of detecting an object around the vehicle As to the driving support ECU 50 and the like through the communication bus 99.

The peripheral monitoring sensor 30 has a front camera 31 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 As and the analysis result of the imaging data as detection information. The horizontal angle of view of the front camera 31 (hereinafter, “camera angle of view CAV”, see FIGS. 4 and 9) is set to about 60 ° as an example. When a plurality of front cameras 31 having different lens specifications are mounted on the vehicle As, the wide-angle camera angle of view CAV may be, for example, about 150 °. The peripheral monitoring sensor 30 may have a detection configuration such as a millimeter wave radar, a rider, and a sonar in addition to the front camera 31 or together with the front camera 31.

The V2X (Vehicle to Everything) communication device 40 is a communication module mounted on the vehicle As. The V2X communication device 40 has functions such as vehicle-to-vehicle (Vehicle to Vehicle, hereinafter “V2V”) communication and road-vehicle (Vehicle to roadside Infrastructure, hereinafter “V2I”) communication. The V2X communication device 40 may further have functions such as pedestrian-to-vehicle (Vehicle to Pedestrian, hereinafter “V2P”) communication and V2N (Vehicle to cellular Network) communication. The V2X communication device 40 can provide the information received by each communication function to the HCU 100 through the communication bus 99.

As an example, the V2X communication device 40 can wirelessly communicate with the roadside device RsM (see FIGS. 4 and 9) installed on the side of the road by the function of V2I communication. The roadside device RsM is set on the side of the road near an intersection or a pedestrian crossing, for example. The roadside device RsM includes a radio that communicates with the V2X communication device 40 of each vehicle As by radio waves or optical beacons, a straight-ahead vehicle in the oncoming lane (hereinafter, “oncoming vehicle”), and pedestrians and cyclists crossing the road. Includes a detection sensor and the like to detect. The roadside device RsM transmits detection information of oncoming vehicles, pedestrians, cyclists, etc., information of signal lights, etc., to vehicle As located in a predetermined range such as a right turn lane.

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. The driving support ECU 50 has a driving environment recognition unit 51 and a driving control unit 52 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 As based on the detection information acquired from the peripheral monitoring sensor 30. The driving environment recognition unit 51 recognizes and recognizes pedestrians and cyclists, road lane markings, vehicles in front and parallel vehicles, etc. as targets related to driving control in the operation control unit 52. Generate relative position information, type information, shape information, size information, and the like. Further, the traveling environment recognition unit 51 also generates relative position information for road markings such as the center of an intersection and a pedestrian crossing. The traveling environment recognition unit 51 can provide the recognized target position information, type information, and the like to the HCU 100 through the communication bus 99.

The driving control unit 52 can perform driving control of the vehicle As based on the position information, the type information, and the like of the target generated by the driving environment recognition unit 51. The driving control unit 52 realizes driving support functions such as an emergency automatic braking function, an ACC (Adaptive Cruise Control) function, an LTC (Lane Trace Control) function, and an LCA (Lane Change Assist) function.

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 navigation ECU 56 and a map database for navigation (hereinafter, “navigation map DB”) 57. The navigation ECU 56 is mainly composed of a microcomputer, and sets a destination and a traveling route to the destination based on a user operation input to the operation device 26. The navigation ECU 56 executes route guidance along a set travel route (hereinafter, “set route”) by combining display, voice, and the like. The navigation map DB 57 is mainly composed of a non-volatile memory, and stores map data (hereinafter, “navigation map data”) used for route guidance. The navigation ECU 56 can provide the route information indicating the set route to the HCU 100 through the communication bus 99 together with the related navigation map data. Instead of the navigation device 55, a user terminal such as a smartphone capable of executing a navigation application or the like may be electrically connected to the in-vehicle network 1 or the HCU 100.

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

The operation device 26 is an input unit that accepts user operations by a driver or the like. User operations related to, for example, a driving support function and a navigation function are input to the operation device 26. 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 As, 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 FIGS. 6 and 7) and the non-superimposed content CTn (see FIGS. 5 and 6) as virtual images Vi. Superimposed content CTs are AR display objects used for augmented reality (hereinafter referred to as “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 (see FIG. 7, notification target NT) in the foreground, and move in the appearance of the driver following the superimposed object so as to be relatively fixed to the superimposed object. It is possible. 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 specific 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 As and the superposed target, even if the non-superimposed content CTn is used, a timing may occur in which the superposed content CTs is 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 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 that control 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 target information acquisition unit 72, a vehicle 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 target information acquisition unit 72 is a functional unit that acquires information on the notification target NT existing around the vehicle As. The notification target NT includes oncoming vehicles, pedestrians, cyclists, and the like as described above. The target information acquisition unit 72 has a communication information acquisition unit 73 and a detection information acquisition unit 74 as sub-function units.

The communication information acquisition unit 73 acquires the detection information and the like transmitted from the roadside device RsM outside the vehicle As to the V2X communication device 40 by communicating with the V2X communication device 40. Specifically, the communication information acquisition unit 73 acquires the detection information of the notification target NT received by the V2X communication device 40 as the reception target information through the communication bus 99. The receiver target information acquired by the communication information acquisition unit 73 is information that simply notifies the existence of the notification target NT, and does not include specific position information of the notification target NT. In addition, the rough position information of the notification target NT may be included in the received object target information.

The detection information acquisition unit 74 acquires information on the notification target NT (hereinafter, “sensor recognition information”) based on the detection result of the front camera 31 mounted on the vehicle As from the traveling environment recognition unit 51. The sensor recognition information acquired by the detection information acquisition unit 74 includes information indicating the relative position of the notification target NT in addition to the information indicating the existence of the notification target NT. The sensor recognition information further includes relative position information of road markings such as the center of an intersection and a pedestrian crossing, in addition to the information related to the notification target NT. In addition, the sensor recognition information may further include information indicating the type and size of the notification target NT.

The own vehicle information acquisition unit 75 acquires information related to the vehicle As (own vehicle). The own vehicle information acquisition unit 75 can acquire the route information set in the navigation device 55, the current position information, and the like from the navigation ECU 56. In addition, the own vehicle information acquisition unit 75 can acquire vehicle speed information indicating the current traveling speed of the vehicle As through the communication bus 99. The vehicle speed information is generated by, for example, the brake control ECU 98 or the like based on the detection signal of the wheel speed sensor provided on the hub portion of each wheel, and is output to the communication bus 99. The brake control ECU 98 is an in-vehicle ECU that controls the distribution of braking force for each wheel.

The display generation unit 76 controls the presentation of information to the driver by the HUD 20 by generating video data that is sequentially output to 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 FIGS. 6 and 7) on the frame image, the display generation unit 76 uses the eye point coordinates acquired by the viewpoint position specifying unit 71 and the detection information acquisition unit 74. Refer to the position information of the acquired notification target NT (see FIGS. 6 and 7). The display generation unit 76 corrects the drawing position and drawing shape of the original image in the frame image according to the position of the eye point EP and the position of the notification target NT which is the superimposition target. The display generation unit 76 repeats the simulation calculation for determining the image formation shape of the virtual image Vi on the image formation surface IS in order to make the superimposed content CTs follow the notification target NT. As a result, the superimposed content CTs are displayed at the position and shape correctly superimposed on the notification target NT when viewed from the eye point EP. In addition, the display generation unit 76 determines whether or not the notification target NT is within the angle of view VA from the positional relationship between the eye point EP, the notification target NT, and the image plane IS.

The display generation unit 76 displays the attention icon CTpn (see FIG. 5), the warning icon CTpw (see FIG. 6), the follow-up icon CTpf (see FIG. 7), and the like in the scene for alerting or warning the driver of the notification target NT to the HUD20. To display by. Hereinafter, for details of information presentation using each content, refer to FIGS. 3 and 5 to 8 by taking a right turn scene at an intersection shown in FIG. 4 and an approaching scene to a pedestrian crossing shown in FIG. 9 as examples. I will explain while.

<Right turn scene at an intersection>
In the right turn scene at the intersection shown in FIG. 4, a pedestrian who is the notification target NT is about to cross the pedestrian crossing on the right turn path of the vehicle As. The roadside device RsM detects the notification target NT and distributes the detection information indicating the existence of the notification target NT to the vehicle As or the like waiting for a right turn. At this time, the notification target NT is located outside the camera angle of view CAV of the front camera 31 mounted on the vehicle As. Therefore, in the vehicle As, the receiver target information acquired by the communication information acquisition unit 73 indicates the existence of the notification target NT, while the sensor recognition information acquired by the detection information acquisition unit 74 indicates the presence of the notification target NT. It does not indicate the existence. In such a state, the display generation unit 76 starts the display of the "pattern A" shown in FIG.

The display of the pattern A is started based on the fact that the communication information acquisition unit 73 has acquired the receiver target information indicating the existence of the notification target NT. At least the caution icon CTpn is included in the display of the pattern A. The attention icon CTpn is a non-superimposed content CTn that alerts the driver to the presence of the notification target NT existing around the vehicle As. The caution icon CTpn is content associated with V2X communication, and is started to be displayed based on information reception from the roadside device RsM. The caution icon CTpn is displayed at a specific position (for example, the lower right corner) in the angle of view VA. The caution icon CTpn is a state in which an image portion imitating a “!” Is surrounded by an annular image portion in the center of. The attention icon CTpn is displayed in an emission color such as yellow associated with the alert.

In the scene shown in FIG. 4, when the vehicle As and the notification target NT continue to move, the notification target NT is located within the camera angle of view CAV of the front camera 31. At this time, the sensor recognition information acquired by the detection information acquisition unit 74 also has the content indicating the existence of the notification target NT, like the received object target information. In such a state, the display generation unit 76 starts the display of the "pattern B" shown in FIG.

The display of the pattern B is started based on the fact that the detection information acquisition unit 74 has acquired the sensor recognition information indicating the existence of the notification target NT. In the display of the pattern B, the display transition from the caution icon CTpn to the warning icon CTpw is performed. Specifically, after the caution icon CTpn and the warning icon CTpw are both displayed, the caution icon CTpn is hidden.

The warning icon CTpw is a superposed content CTs that warns the driver of the existence of the notification target NT existing around the vehicle As. The warning icon CTpw is content associated with the front camera 31, and the display is started based on the recognition of the notification target NT by the traveling environment recognition unit 51. Therefore, the risk level of the notification target NT presented by the warning icon CTpw is higher than the risk level presented by the caution icon CTpn. The warning icon CTpw is displayed in a warning color that is more attractive than the caution icon CTpn, for example, an emission color such as amber.

The warning icon CTpw is a display object including the main body image unit BP and the stretched image unit SL. The main body image unit BP is drawn, for example, in a flat isosceles triangle shape. The main body image unit BP is superimposed and displayed on the road surface on the front side such as the center of the intersection and the pedestrian crossing based on the relative position information of the road marking acquired by the detection information acquisition unit 74. As the vehicle As travels, the main body image unit BP frame-outs below the angle of view VA together with the road surface to be superimposed.

The stretched image unit SL is drawn using the relative position information of the notification target NT acquired by the detection information acquisition unit 74. The stretched image section SL has a shape that stretches in a straight strip shape from the main body image section BP toward the notification target NT outside the angle of view VA. The stretched image unit SL changes the stretched direction in accordance with the change in the relative position of the notification target NT with respect to the vehicle As. The stretched image unit SL points in the direction in which the notification target NT exists.

In the scene shown in FIG. 4, when the movement of the vehicle As and the notification target NT is further continued, the notification target NT is located within the angle of view VA of the HUD 20. In such a state, the display generation unit 76 starts the display of the "pattern C" shown in FIG. 7. In the display of the pattern C, the display transition from the warning icon CTpw to the follow-up icon CTpf is performed.

The follow-up icon CTpf is the superimposed content CTs that warns the driver of the existence of the notification target NT, similarly to the warning icon CTpw. The follow-up icon CTpf is displayed in a display color such as amber, like the warning icon CTpw. The follow-up icon CTpf is drawn based on the sensor recognition information indicating the relative position of the notification target NT, and is superimposed and displayed below the notification target NT on the appearance of the driver. As an example, the follow-up icon CTpf is configured to include a plurality of linear image portions extending in the horizontal direction. The entire tracking icon CTpf moves within the angle of view VA in accordance with the apparent movement of the notification target NT. The follow-up icon CTpf is a display object that emphasizes the notification target NT in the foreground.

Further, the display generation unit 76 sets a predetermined condition for starting the display of the superimposed content CTs. The predetermined condition is set based on, for example, the running state of the vehicle As. In the display generation unit 76 of the first embodiment, whether or not the vehicle is running is preset as a predetermined condition. The display generation unit 76 determines whether the vehicle As is running or stopped based on the vehicle speed information acquired by the own vehicle information acquisition unit 75. When the display generation unit 76 determines that the vehicle As is running and the predetermined condition is satisfied, the display generation unit 76 superimposes the vehicle As based on the acquisition of the sensor recognition information indicating the existence of the notification target NT as in the above pattern B. Start displaying the contents CTs.

On the other hand, the display generation unit 76 determines that the predetermined condition is not satisfied when the vehicle As is stopped in the right turn lane. In this case, the display generation unit 76 continues to display the caution icon CTpn until the notification target NT moves within the angle of view VA. Such control corresponds to a decrease in the risk level of the notification target NT for the vehicle As when the vehicle As is stopped. Then, the display generation unit 76 starts the display of the "pattern D" shown in FIG. 8 based on the determination that the notification target NT has moved within the angle of view VA.

In the display of the pattern D, the display transition from the attention icon CTpn to the follow-up icon CTpf is performed. Specifically, after the attention icon CTpn and the follow-up icon CTpf are both displayed, the attention icon CTpn is hidden. Then, similarly to the display of the pattern C (see FIG. 7), the entire tracking icon CTpf moves in the angle of view VA in accordance with the apparent movement of the notification target NT to emphasize the notification target NT.

<Pedestrian crossing passage scene>
In the approaching scene to the pedestrian crossing shown in FIG. 9, a pedestrian who is the notification target NT is trying to cross the pedestrian crossing in the traveling direction of the vehicle As. The roadside device RsM installed near the pedestrian crossing detects the notification target NT and distributes the detection information indicating the existence of the notification target NT to the vehicle As or the like approaching the pedestrian crossing.

At this time, if there are a large number of parked vehicle Aps, the notification target NT is located in the blind spot range BS of the front camera 31 (see the dot range in FIG. 9) in the vehicle As. In this case, the received object target information acquired by the communication information acquisition unit 73 indicates the existence of the notification target NT, while the sensor recognition information acquired by the detection information acquisition unit 74 indicates the existence of the notification target NT. It does not become the content. When the above state occurs, the display generation unit 76 starts the display of the above-mentioned "pattern A (see FIG. 5)" in the same manner as the right turn scene at the intersection.

When the vehicle As continues to travel, the notification target NT deviates from the blind spot range BS of the front camera 31 and can be recognized by the traveling environment recognition unit 51. Therefore, the sensor recognition information acquired by the detection information acquisition unit 74 is a content indicating the existence of the notification target NT. As a result, the display generation unit 76 starts displaying the above-mentioned "pattern B (see FIG. 6)".

Then, when the notification target NT starts crossing as the vehicle As decelerates and stops, the notification target NT is located within the angle of view VA of the HUD 20 when viewed from the driver. As a result, the display generation unit 76 starts the display of the above-mentioned "pattern C (see FIG. 7)" or "pattern D (see FIG. 8)".

Next, the details of the display control method for realizing the display transition described so far will be described below with reference to FIGS. 3 to 8 and the like based on the flowchart shown in FIG. The display control process shown in FIG. 10 is repeatedly started by the HCU 100 based on the fact that the notification function of the HCU 100 is turned on.

In S101, the acquisition of the information of the notification target NT existing around the vehicle As is started, and the process proceeds to S102. In S101, the communication information acquisition unit 73 starts to acquire the receiver target information and the detection information acquisition unit 74 starts to acquire the sensor recognition information for the notification target NT. The information acquisition about the notification target NT started in S101 is continued until the end of the display control process.

In S102, the presence / absence of the notification target NT is determined. If neither the receiver target information indicating the existence of the notification target NT nor the sensor recognition information is acquired, it is estimated in S102 that the notification target NT does not exist. In this case, the process of S102 is repeated to wait for the occurrence of the notification target NT. On the other hand, when at least one of the received object target information and the sensor recognition information has the content indicating the existence of the notification target NT, the process proceeds from S102 to S103.

In S103, it is determined whether or not the position of the notification target NT can be followed. In S103, it is determined whether or not the position tracking is possible based on whether or not the sensor recognition information including the position information of the notification target NT can be acquired. If the sensor recognition information has not been acquired, in other words, if only the received object target information has been acquired, it is determined that the position tracking is impossible, and the process proceeds to S104. On the other hand, if the sensor recognition information is acquired in S103 and it is determined that the position tracking of the notification target NT is possible, the process proceeds to S105.

In S104, the non-superimposed content CTn that notifies the existence of the notification target NT is displayed at a specific position in the angle of view VA based on the received target information of the notification target NT received from the roadside device RsM, and returns to S103. Specifically, in S104, the above-mentioned pattern A in which the caution icon CTpn (see FIG. 5) is lit in the lower right corner of the angle of view VA is displayed.

In S105, it is determined whether or not the notification target NT is located within the angle of view VA of the HUD 20. If it is determined in S105 that the notification target NT is within the angle of view VA, the process proceeds to S109. On the other hand, if it is determined in S105 that the notification target NT is outside the angle of view VA, the process proceeds to S106.

In S106, a predetermined condition set in advance, specifically, whether the vehicle As is running or stopped is determined based on the vehicle speed information. If it is determined in S106 that the traveling speed indicated by the vehicle speed information is not substantially zero and the vehicle As is traveling, the process proceeds to S107. On the other hand, if it is determined in S106 that the traveling speed indicated by the vehicle speed information is substantially zero and the vehicle As is stopped, the process proceeds to S108.

In S107, using the sensor recognition information about the notification target NT, the display of the superimposed content CTs whose display position is associated with the notification target NT, that is, the warning icon CTpw (see FIG. 6) is started, and the process returns to S105. When the caution icon CTpn is already displayed, the above-mentioned pattern B is displayed in S107. As a result, after the caution icon CTpn and the warning icon CTpw are both displayed, the caution icon CTpn is hidden and the warning icon CTpw continues to be displayed.

In S108, the display of the caution icon CTpn is started, or the display of the caution icon CTpn is continued, and the process returns to S105. As an example, when the vehicle As shifts from the running state to the stopped state at the timing of waiting for a right turn, the predetermined condition changes from being satisfied to not being satisfied. In this case, the display transition from the superimposed content CTs to the non-superimposed content CTn is performed. Specifically, in addition to the warning icon CTpw that has already been displayed, the caution icon CTpn is further displayed, and these icons CTpw and CTpn are both displayed. After that, the warning icon CTpw is hidden and the caution icon CTpn continues to be displayed.

In S109, the display of the tracking icon CTpf (see FIGS. 7 and 8), which is the superimposed content CTs, is started by using the sensor recognition information about the notification target NT. When the warning icon CTpw is already displayed, the above-mentioned pattern C is displayed. As a result, the stretched image portion SL of the warning icon CTpw is hidden, and the display of the tracking icon CTpf is started. At this time, the state in which both the warning icon CTpw and the follow-up icon CTpf are displayed does not have to be formed.

On the other hand, when the caution icon CTpn is already displayed, the above-mentioned pattern D is displayed. As a result, after the attention icon CTpn and the follow-up icon CTpf are both displayed, the attention icon CTpn is hidden and the follow-up icon CTpf continues to be displayed. When the tracking icon CTpf displayed in this way is framed out from the angle of view VA, the display control process is temporarily terminated.

In the first embodiment described so far, when the notification target NT is notified, after displaying both the non-superimposed content CTn and the superposed content CTs, one of them is hidden. Therefore, it becomes easy for the driver to know whether the content that has been continuously displayed is the non-superimposed content CTn or the superposed content CTs. Therefore, highly convenient information presentation is realized.

More specifically, for example, the caution icon CTpn may be visually recognized as overlapping with the notification target NT in the appearance of the driver, depending on the relative position of the notification target NT in the foreground, even if the non-superimposed content CTn. .. At this time, it becomes difficult for the driver to determine whether the caution icon CTpn is the non-superimposed content CTn or the superposed content CTs.

In response to such a problem, in the first embodiment, both the non-superimposed content CTn and the superposed content CTs are once displayed, and then one of them is hidden. Therefore, even if the non-superimposed content CTn and the superposed content CTs are switched and displayed, the driver can easily determine the type of non-superimposed and superposed content for the displayed content.

In addition, in the first embodiment, the non-superimposed content CTn is displayed based on the information acquired by the V2X communication among the information of the notification target NT existing around the vehicle As. On the other hand, the superimposed content CTs are displayed using the information of the notification target NT based on the detection result of the front camera 31. Therefore, the information source of the notification target NT, and thus the risk level of the notification target NT, becomes easy for the driver to understand. Therefore, highly convenient information presentation is realized.

More specifically, the receiver target information acquired by V2X communication generally does not include detailed location information. Therefore, even if the existence of the notification target NT can be recognized only by the reception recognition information, it is impossible to track the position. Therefore, it is desirable that the received object target information is associated with the non-superimposed content CTn. On the other hand, if there is sensor recognition information, not only the notification target NT exists, but also the position of the notification target NT can be tracked. Therefore, it is desirable that the sensor recognition information is associated with the superimposed content CTs. By associating the information source with the content as described above, it is possible to appropriately display each content, and the driver can grasp the acquisition state of the information from the displayed content.

Further, in the first embodiment, the non-superimposed content CTn and the superposed content CTs are both displayed based on the sensor recognition information of the notification target NT being acquired by the detection information acquisition unit 74. Specifically, the caution icon CTpn and the warning icon CTpw are both displayed (see FIG. 6). According to the above, the increase in the risk level from the alert state in which the information of the notification target NT is acquired by communication to the warning state in which the notification target NT can be detected by the front camera 31 is simultaneously displayed. Is emphasized and presented to the driver.

Further, in the first embodiment, the non-superimposed content CTn and the superposed content CTs are both displayed based on the determination that the notification target NT has moved within the angle of view VA of the HUD 20. Specifically, the attention icon CTpn and the follow-up icon CTpf are both displayed (see FIG. 8), and the attention icon CTpn is terminated while the follow-up icon CTpf is superimposed on the notification target NT. With such a display transition, the driver can easily grasp that each content before and after the transition notifies the same notification target NT.

In addition, in the first embodiment, the timing of the display transition from the non-superimposed content CTn to the superposed content CTs is changed based on whether or not the predetermined condition is satisfied. In this way, if the timing of the display transition is changed according to a predetermined condition, the information presentation using the switching between the non-superimposed content CTn and the superposed content CTs can be more easily understood by the driver.

Specifically, in the first embodiment, when the vehicle As is traveling, the display transition is started based on the acquisition of the sensor recognition information indicating the notification target NT. On the other hand, when the vehicle As is stopped, the display transition is started based on the movement of the notification target NT into the angle of view VA. As described above, according to the control in which the display start of the superimposed content CTs is made to wait until the vehicle As travels resumed, it is possible to avoid a situation in which the driver feels annoyed by the early warning using the warning icon CTpw.

Further, in the first embodiment, the entire tracking icon CTpf displayed as the superimposed content CTs moves according to the change in the relative position of the notification target NT. Such a tracking icon CTpf can appropriately emphasize the notification target NT visually recognized in the angle of view VA.

Further, in the first embodiment, the warning icon CTpw displayed as the superimposed content CTs includes a stretched image portion SL extending toward the notification target NT. Such a warning icon CTpw can easily suggest to the driver the relative position of the notification target NT outside the angle of view VA by changing the stretching direction of the stretched image unit SL according to the relative position of the notification target NT.

In the first embodiment, the front camera 31 corresponds to the "outside world sensor", the target information acquisition unit 72 corresponds to the "information acquisition unit", and the display generation unit 76 corresponds to the "display control unit". Further, the roadside device RsM corresponds to "a device (outside the vehicle)", and the HCU 100 corresponds to a "display control device".

(Second Embodiment)
The second embodiment of the present disclosure shown in FIGS. 11 to 15 is a modification of the first embodiment. The display generation unit 76 of the second embodiment does not perform a process of changing the timing of the display transition from the non-superimposed content CTn to the superposed content CTs by using a predetermined condition. In addition, in the second embodiment, the modes of the non-superimposed content CTn and the superposed content CTs are different from those in the first embodiment. Hereinafter, the details of the display control process and each content in the second embodiment will be described in order. It should be noted that FIGS. 12 to 15 show an example of displaying contents in a scene of approaching a pedestrian crossing (see FIG. 9).

In S201 to S205 of the display control process shown in FIG. 11, substantially the same process as S101 to S105 of the first embodiment is performed. In the display of the pattern A performed in S204, the caution icon CTpn, which is the non-superimposed content CTn, is displayed substantially in the center of the angle of view VA (see FIG. 12).

When it is determined in S205 that the notification target NT is outside the angle of view VA of the HUD 20, the display generation unit 76 starts the display of the pattern B in S206. In the display of the pattern B of the second embodiment, the display of the non-superimposed content CTn, that is, the attention icon CTpn is continued. When the display transitions from the pattern A to the display of the pattern B, the display position of the caution icon CTpn is changed. Specifically, the caution icon CTpn is displayed near the left or right edge of the angle of view VA based on the relative position information of the notification target NT included in the sensor recognition information (see FIG. 13). The caution icon CTpn is displayed on the side closer to the notification target NT with respect to the center of the angle of view VA to indicate to the driver the direction in which the notification target NT exists. The display of the pattern B may be substantially the same as the display of the pattern A. That is, the caution icon CTpn may continue to be displayed in the center of the angle of view VA.

On the other hand, when it is determined in S205 that the notification target NT is within the angle of view VA of the HUD 20, the display generation unit 76 uses the sensor recognition information about the notification target NT in S207 to display the tracking icon CTpf. Let's get started. When the caution icon CTpn is displayed near the edge of the angle of view VA by the display of the pattern B, the display generation unit 76 starts the display of the pattern C (see FIG. 14) in S207. In the display of the pattern C, the display generation unit 76 further displays the follow-up icon CTpf in addition to the attention icon CTpn. After that, the display generation unit 76 hides the attention icon CTpn and continues the follow-up display of the follow-up icon CTpf.

On the other hand, when the caution icon CTpn is displayed in the center of the angle of view VA, the display generation unit 76 starts the display of the pattern D (see FIG. 15) in S207. In the pattern D table, the display generation unit 76 moves the caution icon CTpn toward the notification target NT along the horizontal direction of the angle of view VA. In addition, the display generation unit 76 displays the follow-up icon CTpf below the notification target NT in accordance with the movement of the attention icon CTpn. As described above, both the caution icon CTpn and the follow-up content are displayed in the vicinity of the notification target NT. After that, the display generation unit 76 hides the moved attention icon CTpn and starts the follow-up display by the follow-up icon CTpf.

Also in the second embodiment described so far, the non-superimposed content CTn is hidden after both the non-superimposed content CTn and the superposed content CTs are displayed. In addition, also in the second embodiment, the non-superimposed content CTn is displayed based on the received object target information, while the superposed content CTs are displayed using the sensor recognition information. According to the above, the second embodiment also has the same effect as that of the first embodiment, and the information presentation that is easy for the driver to understand and is highly convenient is realized.

(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.

In the first modification of the second embodiment, the caution icon CTpn is displayed at the center of the angle of view VA in each display of the pattern A and the pattern B. Further, in each display of the pattern C and the pattern D of the modification 1, as shown in FIG. 16, the follow-up line CTpl as the superimposed content CTs is superimposed and displayed below the notification target NT together with the caution icon CTpn. Also in the first modification, a state in which the follow-up line CTpl and the attention icon CTpn are displayed together is formed.

The follow-up line CTpl includes a plurality of concave quadrangular image portions. The image units are arranged at intervals from each other along the horizontal direction of the angle of view VA in a posture in which the tip is directed in the moving direction of the notification target NT. The follow-up line CTpl is displayed in an emission color such as amber as in the follow-up icon CTpf (see FIG. 14), and moves in the angle of view VA according to the notification target NT.

In the second modification of the second embodiment, in the display of the pattern C, the display transition from the attention icon CTpn to the follow-up icon CTpf is presented by animation. More specifically, as shown in FIG. 17, the caution icon CTpn that has moved to the vicinity of the edge of the angle of view VA starts moving downward as the notification target NT moves into the angle of view VA. The attention icon CTpn approximates the display shape to the follow-up icon CTpf while collapsing toward the apparent back side as it moves downward. At this time, the tracking icon CTpf is gradually displayed below the notification target NT. Then, the attention icon CTpn that has moved downward is absorbed by the follow-up icon CTpf. As described above, the display transition from the attention icon CTpn to the tracking icon is completed. As in the second modification, the simultaneous display of the non-superimposed content CTn and the superposed content CTs may be performed in a state in which the specific content is deformed or lightly displayed.

In the third modification of the above embodiment, as shown in FIG. 18, the caution area map CTam included in the display of the pattern B presents the rough position of the notification target NT to the driver as incidental information. The caution area map CTam is a non-superimposed content CTn, and is a combination of a map image portion showing an approximate shape of an intersection and an image portion substantially the same as the caution icon CTpn described above. The map image of the caution area map CTam is drawn using, for example, the navigation map data acquired by the own vehicle information acquisition unit 75. According to the presentation of such incidental information, the driver can more easily grasp the notification target NT located outside the angle of view VA of the HUD 20.

In the modified examples 4 to 6 of the first embodiment, the contents of the predetermined conditions used for changing the timing of the display transition are different from those of the first embodiment. In the modification 4 and the modification 5, the display generation unit 76 changes the timing of the display transition according to the road attribute of the road on which the planned route of the vehicle As is set. Further, the display generation unit 76 of the modification 6 changes the display transition timing according to the behavior of the notification target NT recognized by the traveling environment recognition unit 51.

More specifically, the display generation unit 76 of the modified example 4 refers to the route information acquired by the own vehicle information acquisition unit 75, and sets the latest travel area as the vehicle As in the travel route set by the navigation device 55. Determines whether or not is scheduled to go straight. When the vehicle As is scheduled to go straight, the display generation unit 76 determines that the predetermined conditions are satisfied. In this case, the display generation unit 76 starts the display of the pattern B based on the acquisition of the sensor recognition information indicating the existence of the notification target NT. On the other hand, when the vehicle As is scheduled to turn right or the like, the display generation unit 76 determines that the predetermined condition is not satisfied. In this case, the display generation unit 76 starts the display of the pattern D based on the determination that the notification target NT has moved within the angle of view VA.

When the vehicle As makes a right turn or a left turn, it is difficult for the notification target NT to enter the camera angle of view CAV. Therefore, if the display start of the superimposed content CTs is made to wait until the notification target NT enters the angle of view VA of the HUD 20, the warning of the notification target NT is likely to be started at an appropriate timing. On the other hand, if the display of the superimposed content CTs can be presented at an early stage on the road scheduled to go straight, the driver can deal with it with a margin even if the grace time until approaching the notification target NT is short.

The display generation unit 76 of the modification 5 refers to the navigation map data acquired by the own vehicle information acquisition unit 75, and determines whether or not the number of lanes in the latest traveling area is less than a predetermined number. When the number of lanes is less than a predetermined number, the display generation unit 76 determines that the predetermined condition is satisfied. In this case, the display generation unit 76 starts the display of the pattern B based on the acquisition of the sensor recognition information. On the other hand, when the number of lanes is equal to or greater than the predetermined number, the display generation unit 76 determines that the predetermined condition is not satisfied. In this case, the display generation unit 76 starts the display of the pattern D based on the movement of the notification target NT into the angle of view VA. According to the above, the warning of the notification target NT can be started at an appropriate timing even on a road having an attribute that makes it difficult for the notification target NT to enter the camera angle of view CAV due to the large number of lanes and the long pedestrian crossing.

The display generation unit 76 of the modification 6 refers to the sensor recognition information acquired by the detection information acquisition unit 74, and determines whether or not the detected notification target NT is continuously moving. When the notification target NT is continuously moving, the display generation unit 76 determines that the predetermined condition is satisfied. In this case, the display generation unit 76 starts the display of the pattern B based on the acquisition of the sensor recognition information. On the other hand, when the movement of the notification target NT is not continuous, the display generation unit 76 determines that the predetermined condition is not satisfied. In this case, the display generation unit 76 starts the display of the pattern D based on the movement of the notification target NT into the angle of view VA.

When the notification target NT moves continuously, it is easy to secure the prediction accuracy of the future position. Therefore, for the continuously moving notification target, it is desirable to start the display of the superimposed content CTs at an early stage and give an early warning. On the other hand, it is desirable to delay the start of display of the superimposed content CTs for the notification target NT whose movement is discontinuous so that the notification by the superimposed content CTs is annoying to the driver.

As described in the first embodiment, after displaying both the non-superimposed content CTn and the superposed content CTs, the content to be hidden may be the superposed content CTs (see FIG. 10S108). Further, in the display transition between the non-superimposed content CTn and the superposed content CTs, the simultaneous display of the two contents is performed, while in the display transition between the different superposed content CTs, the simultaneous display of the two contents is not performed. As an example, in the display transition from the warning icon CTpw to the follow-up icon CTpf, simultaneous display is omitted. From the above, the display transition with switching between superimposition and non-superimposition can be easily distinguished from the display transition without switching.

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. In addition, content different from the alert and warning of the notification target may be displayed within the angle of view together with each of the above contents.

Further, the traveling scene illustrated in the description of the above embodiment and the modified example is an example. The HCU can perform information presentation accompanied by switching between non-superimposed content and superposed content in a driving scene different from the above. In addition, the target to be notified is not limited to pedestrians as long as it can be detected by the roadside device and the peripheral monitoring sensor. A target corresponding to the driving scene may be appropriately set in the notification target NT. Further, the setting of associating the received object target information with the non-superimposed content and associating the sensor recognition information with the superposed content can also be changed. For example, the sensor recognition information of different external world sensors may be associated with the non-superimposed content and the superposed content, respectively. As an example, the sensor recognition information of the radar may be associated with the non-superimposed content, and the sensor recognition information of the rider may be associated with the superimposed content.

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 modification 7 controls the projection shape and the projection position of the virtual image light imaged as the superimposed content by using the setting information of the center of the reference eye point set in advance without using the detection information of the DSM. To do.

Further, the HCU of the modified example 8 further uses the detection information of the gyro sensor provided in the HUD, for example, in addition to the position information of the eye point detected by the DSM, to form the virtual image light as the superimposed content. The projected shape and projected position can be controlled sequentially. The gyro sensor is a posture sensor that mainly detects a posture change in the pitch direction of a vehicle. By using such an attitude sensor, the superimposed content can be superimposed on the superimposed object more accurately.

The HUD projector of the ninth modification 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 10 is provided with a laser module (hereinafter referred to as “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 the modified example 11 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 modified example 12, a projector using LCOS (Liquid Crystal On Silicon) is adopted. Further, in the HUD of the modified example 13, 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 14 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, the HCU of the modification 15 is provided in the HMI system as a meter ECU.

In the modified example 16 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 an original image such as a warning icon CTpw and a tracking icon CTpf 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 notification display of pedestrians and the like according to the present disclosure is 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.

As vehicle, NT notification target, RsM roadside device (equipment), CTn non-superimposed content, CTs superposed content, SL stretched image section, VA angle of view, 11 processing section, 20 HUD (head-up display), 31 front camera (outside world sensor) ), 72 Target information acquisition unit (information acquisition unit), 73 Communication information acquisition unit, 74 Detection information acquisition unit, 76 Display generation unit (display control unit), 100 HCU (display control device)

Claims (13)

A display control device used in a vehicle (As) that controls the display of content on the head-up display (20).
An information acquisition unit (72) that acquires information on a notification target (NT) existing around the vehicle, and
A display control unit (76) that displays non-superimposed content (CTn) displayed at a specific position in the angle of view (VA) of the head-up display and superposed content (CTs) whose display position is associated with the notification target. ), And
The display control unit is a display control device that, when notifying the existence of the notification target, displays both the non-superimposed content and the superposed content, and then hides one of them. The information acquisition unit
A communication information acquisition unit (73) that acquires information of the notification target received from an external device (RsM) of the vehicle, and a communication information acquisition unit (73).
The detection information acquisition unit (74) that acquires the information of the notification target based on the detection result of the external world sensor (31) mounted on the vehicle is included.
The display control unit
Based on the information of the notification target acquired by the communication information acquisition unit, the non-superimposed content is displayed.
The display control device according to claim 1, wherein the superimposed content is displayed based on the information of the notification target acquired by the detection information acquisition unit. A display control device used in a vehicle (As) that controls the display of content on the head-up display (20).
A communication information acquisition unit (73) that acquires information received from an external device (RsM) of the vehicle for a notification target (NT) existing around the vehicle.
The detection information acquisition unit (74) that acquires the information of the notification target based on the detection result of the external world sensor (31) mounted on the vehicle, and the detection information acquisition unit (74).
A display control unit (76) that displays non-superimposed content (CTn) displayed at a specific position in the angle of view (VA) of the head-up display and superposed content (CTs) whose display position is associated with the notification target. ), And
When the display control unit notifies the notification target, the display control unit notifies the notification target.
Based on the information of the notification target acquired by the communication information acquisition unit, the non-superimposed content is displayed.
A display control device that displays the superimposed content based on the information of the notification target acquired by the detection information acquisition unit. The display control device according to claim 2 or 3, wherein the display control unit displays both the non-superimposed content and the superposed content based on the acquisition of the information to be notified by the detection information acquisition unit. The display control unit
It is determined whether or not the notification target is within the angle of view, and
The display control device according to any one of claims 1 to 4, wherein when it is determined that the notification target has moved within the angle of view, both the non-superimposed content and the superposed content are displayed. The display control unit
A predetermined condition for starting the display of the superimposed content is set, and the display is started.
When the predetermined condition is satisfied, the non-superimposed content and the superposed content are displayed together based on the acquisition of the information to be notified by the detection information acquisition unit.
The display control device according to claim 4, wherein when the predetermined condition is not satisfied, the non-superimposed content and the superposed content are displayed together based on the determination that the notification target has moved within the angle of view. The display control unit
Whether or not the vehicle is running is set as the predetermined condition, and
When the vehicle is traveling, the non-superimposed content and the superposed content are both displayed based on the acquisition of the information to be notified by the detection information acquisition unit.
The display control device according to claim 6, wherein when the vehicle is stopped, the non-superimposed content and the superposed content are displayed together based on the determination that the notification target has moved within the angle of view. .. The display control unit
Whether or not the vehicle is scheduled to go straight is set as the predetermined condition, and
When the vehicle is scheduled to go straight, the non-superimposed content and the superposed content are both displayed based on the acquisition of the information to be notified by the detection information acquisition unit.
The display control device according to claim 6, wherein when the vehicle is not scheduled to travel straight, the non-superimposed content and the superposed content are both displayed based on the determination that the notification target has moved within the angle of view. The display control unit
Whether or not the movement of the notification target is continuous is set as the predetermined condition, and
When the movement of the notification target is continuous, the non-superimposition content and the superimposition content are both displayed based on the acquisition of the information of the notification target by the detection information acquisition unit.
The display according to claim 6, wherein when the movement of the notification target is not continuous, the non-superimposition content and the superimposition content are displayed together based on the determination that the notification target has moved within the angle of view. Control device. The display control device according to any one of claims 1 to 9, wherein the display control unit moves the entire superimposed content within the angle of view in accordance with a change in the relative position of the notification target with respect to the vehicle. The display control unit
The superimposed content including the stretched image unit (SL) extending toward the notification target is displayed.
The display control device according to any one of claims 1 to 10, wherein the stretching direction of the stretched image unit is changed according to a change in the relative position of the notification target with respect to the vehicle. A display control program used in a vehicle (As) that controls the display of content on the head-up display (20).
In at least one processing unit (11)
Information on the notification target (NT) existing around the vehicle is acquired (S101, S201), and the information is obtained.
When notifying the existence of the notification target, non-superimposed content (CTn) displayed at a specific position in the angle of view (VA) of the head-up display and superimposed content (CTs) whose display position is associated with the notification target. ) And, and then hide one of the non-superimposed content and the superposed content (S107 to S109, S207).
A display control program that executes processing including the above. A display control program used in a vehicle (As) that controls the display of content on the head-up display (20).
In at least one processing unit (11)
Regarding the notification target (NT) existing around the vehicle, information received from an external device (RsM) of the vehicle and information based on the detection result of the external world sensor (31) mounted on the vehicle are acquired ( S101, S201),
Based on the information of the notification target received from the device, the non-superimposed content (CTn) for notifying the notification target is displayed at a specific position in the angle of view (VA) of the head-up display (S104, S204).
Using the information of the notification target based on the detection result, the superimposed contents (CTs) whose display position is associated with the notification target are displayed (S107, S109, S207).
A display control program that executes processing including the above.

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