JP2021076415A - Superimposed image display apparatus and computer program - Google Patents

Abstract

To provide a superimposed image display apparatus allowing an occupant to grasp the contents of a guidance spot on the basis of a guidance object superimposed on a landscape around a vehicle and to clearly identify a location of the guidance spot, and a computer program.SOLUTION: When there is a guidance spot 64 ahead in an advancing direction of a vehicle, a display apparatus displays a guidance object 63 for presenting a location of the guidance spot and the contents of the guidance spot. In displaying the guidance object, when a distance from the vehicle to the guidance spot is equal to or longer than a threshold, the display apparatus displays the guidance object in a first mode so as to present the contents of the guidance spot in preference to the location of the guidance spot, When the distance from the vehicle to the guidance spot is shorter than the threshold, the display apparatus displays the guidance object in a second mode so as to present the location of the guidance spot in preference to the contents of the guidance spot.SELECTED DRAWING: Figure 10

Description

The present invention relates to a superimposed image display device and a computer program that support the traveling of a vehicle.

Conventionally, various means have been used as information providing means for providing various information for providing various information for providing vehicle running support such as route guidance and obstacle warning to vehicle occupants. For example, a display on a liquid crystal display installed in a vehicle, a sound output from a speaker, or the like. In recent years, as one of such information providing means, there is a device that provides information by displaying an image superimposed on the surrounding environment (landscape, actual scenery) of the occupant. For example, in addition to a head-up display and a window shield display, a method of superimposing an image on a captured image of the surroundings of a vehicle displayed on a liquid crystal display and displaying the image is applicable.

For example, in Japanese Patent Application Laid-Open No. 2010-76533, the outside world information of the vehicle is acquired by using a camera or the like, the position of the target on which the display object is superimposed is specified, and the display object to be superimposed on the specified target position is specified. The display technology is disclosed. Here, when the vehicle occupant is guided to the guidance target point by displaying the object superimposed on the surrounding environment, the object is in addition to grasping the position of the guidance target point by the object. It is also important to let the occupants understand the contents of (that is, the contents of the guidance target point guided by the object).

Japanese Unexamined Patent Publication No. 2010-76533 (page 5-13)

In the technique described in Patent Document 1, for example, an object (arrow) is displayed on a road at a distance of 30 m or 120 m from a vehicle. However, in reality, since the road 120 m away from the vehicle can be visually recognized only very small, the size of the object superimposed on the road is also very small, and it becomes difficult to recognize the contents of the object. On the other hand, if an object of a certain size that is always visible to the occupant is displayed regardless of the distance to the overlapping position, the sense of distance becomes difficult to understand, and the position where the objects are superimposed, that is, the position of the guidance target point is determined. Difficult to grasp.

In addition, when displaying an object to be superimposed on the surrounding environment, the position where the object is superimposed when the context with the structure (for example, a building, a signboard, etc.) around the overlapping position is reproduced, that is, the position of the guidance target point. It becomes easy to grasp. However, when the context is reproduced, the visibility of the object deteriorates because the object is hidden by the structure.

That is, when the guidance target point is guided by an object superimposed on the surrounding environment, the guidance target point position is guided in a manner that makes it easy for the occupant to understand, and on the other hand, the content of the guidance target point is grasped. On the contrary, if the guidance is provided in a manner that makes it easy for the occupants to understand the contents of the guidance target point, on the other hand, there is a problem that it becomes difficult to grasp the position of the guidance target point.

The present invention has been made to solve the above-mentioned conventional problems, and it is possible to make the occupant grasp the contents of the guidance target point based on the guidance object displayed superimposed on the scenery around the vehicle. On the other hand, it is an object of the present invention to provide a superposed image display device and a computer program that enable the occupant to clearly recognize the position of the guidance target point.

In order to achieve the above object, the superimposed image display device according to the present invention is a superimposed image display device mounted on a vehicle and superimposing and visually recognizing a guide object for guiding information to the occupants of the vehicle on the scenery around the vehicle. There is an object display means for displaying the guidance object for guiding the position of the guidance target point and the contents of the guidance target point when there is a guidance target point to be guided ahead in the traveling direction of the vehicle. However, when the distance from the vehicle to the guidance target point is equal to or greater than the threshold value, the object display means gives priority to the content of the guidance target point over the position of the guidance target point. The second aspect is to display the guidance object in the above and when the distance from the vehicle to the guidance target point is less than the threshold value, the position of the guidance target point is prioritized over the content of the guidance target point. Displays the guidance object with.
The "landscape" includes, in addition to the scenery (actual scenery) actually seen from the vehicle, an image obtained by capturing the scenery, an image reproducing the scenery, and the like.

Further, the computer program according to the present invention is a program for supporting the traveling of a vehicle. Specifically, a superposed image display device mounted on the vehicle to superimpose and visually recognize a guidance object that guides information to the occupants of the vehicle on the scenery around the vehicle is to be guided in front of the vehicle in the traveling direction. A computer program for functioning as an object display means for displaying the guide object for guiding the position of the guide target point and the contents of the guide target point when there is a guide target point, and the object display means. Displays the guidance object in the first embodiment in which the content of the guidance target point is prioritized over the position of the guidance target point when the distance from the vehicle to the guidance target point is equal to or greater than the threshold value. However, when the distance from the vehicle to the guidance target point is less than the threshold value, the guidance object is displayed in the second mode in which the position of the guidance target point is prioritized over the content of the guidance target point. To do.

According to the superimposed image display device and the computer program according to the present invention having the above configuration, when the distance from the vehicle to the guidance target point is long, the content of the guidance target point is given priority over the position of the guidance target point. Since the guide object is visually recognized by the occupant in the mode, it is possible to make the occupant clearly recognize the contents of the guide target point even when the distance from the vehicle to the guide target point is long. On the other hand, when the distance from the vehicle to the guidance target point is approaching, the guidance object is visually recognized by the occupant in a manner in which the position of the guidance target point is prioritized over the content of the guidance target point, so the content of the guidance target point continues. This makes it possible for the occupants to clearly grasp the position of the guidance target point.

It is a block diagram which showed the navigation device which concerns on 1st Embodiment. It is a flowchart of the driving support processing program which concerns on 1st Embodiment. It is a figure which showed the arrangement example of the guide object. It is a figure which showed the arrangement example of the guide object. It is a figure which showed an example of the visual recognition image which visually recognized the guide object arranged in the three-dimensional space. It is a figure which showed the correspondence relationship between the transmittance of the target facility object and the shape of the guide object which is visually recognized. It is a figure which showed an example of the traveling guidance screen displayed on the liquid crystal display. It is a flowchart of the sub-processing program of the object conversion processing. It is a figure which showed the mode of changing the size of a guide object. It is a figure which showed the traveling guidance screen which is displayed on the liquid crystal display as the vehicle travels. It is a schematic block diagram of the superimposition image display device which concerns on 2nd Embodiment. It is a figure which showed the display example of the guide object in the superimposition image display apparatus which concerns on 2nd Embodiment.

Hereinafter, the first embodiment and the second embodiment in which the superimposed image display device according to the present invention is embodied in a navigation device will be described in detail with reference to the drawings.

[First Embodiment]
First, the schematic configuration of the navigation device 1 according to the first embodiment will be described with reference to FIG. FIG. 1 is a block diagram showing a navigation device 1 according to the first embodiment.

As shown in FIG. 1, the navigation device 1 according to the first embodiment includes a current position detection unit 11 that detects the current position of a vehicle on which the navigation device 1 is mounted, and a data recording unit 12 in which various data are recorded. , A navigation ECU 13 that performs various arithmetic processes based on the input information, an operation unit 14 that accepts operations from the user, and a liquid crystal display 15 that displays an actual scene image of the front in the traveling direction for the user. Communication is performed between the speaker 16 that outputs voice guidance regarding route guidance, the DVD drive 17 that reads DVD as a storage medium, and an information center such as a probe center or a VICS (registered trademark: Vehicle Information and Communication System) center. It has a communication module 18. Further, the navigation device 1 is connected to a front camera 19 and various sensors installed on the vehicle on which the navigation device 1 is mounted via an in-vehicle network such as CAN.

Hereinafter, each component of the navigation device 1 will be described in order.
The current position detection unit 11 includes a GPS 21, a vehicle speed sensor 22, a steering sensor 23, a gyro sensor 24, and the like, and can detect the current position and direction of the vehicle, the traveling speed of the vehicle, the current time, and the like. .. Here, in particular, the vehicle speed sensor 22 is a sensor for detecting the moving distance and the vehicle speed of the vehicle, generates a pulse according to the rotation of the driving wheel of the vehicle, and outputs the pulse signal to the navigation ECU 13. Then, the navigation ECU 13 calculates the rotation speed and the moving distance of the drive wheels by counting the generated pulses. It is not necessary for the navigation device 1 to include all of the above four types of sensors, and the navigation device 1 may include only one or a plurality of of these sensors.

Further, the data recording unit 12 is a driver for reading a hard disk (not shown) as an external storage device and a recording medium, a map information DB 31 recorded on the hard disk, a predetermined program, and the like, and writing predetermined data on the hard disk. It is equipped with a recording head (not shown). The data recording unit 12 may be configured by a flash memory, a memory card, or an optical disk such as a CD or DVD instead of the hard disk. Further, the map information DB 31 may be stored in an external server and acquired by the navigation device 1 by communication.

Here, the map information DB 31 is, for example, link data 32 related to a road (link), node data 33 related to a node point, point data 34 related to a point such as a facility, branch point data related to a branch point, and a map display for displaying a map. It is a storage means in which data, search data for searching a route, search data for searching a point, and the like are stored.

Further, the link data 32 includes the width of the road to which the link belongs, the width of the road, the cant, the bank, the condition of the road surface, the number of lanes of the road, the place where the number of lanes decreases, and the width of each link constituting the road. Data representing narrowed points, crossings, etc. are data representing corners such as radius of curvature, intersections, T-shaped roads, corner entrances and exits, and data representing road attributes such as downhill roads and uphill roads are roads. Data representing highways and general roads (national roads, prefectural roads, narrow streets, etc.) are recorded for each type.

Further, as the node data 33, the coordinates (positions) of the actual road branch points (including intersections, T-shaped roads, etc.) and the node points set for each predetermined distance according to the radius of curvature of each road, etc. A node attribute that indicates whether a node is a node corresponding to an intersection, a connection link number list that is a list of link numbers of links that connect to a node, and an adjacency that is a list of node numbers of nodes that are adjacent to a node via a link. Data related to the node number list, the height (altitude) of each node point, etc. are recorded.

Further, as the point data 34, information about a starting point, a destination, a guidance target, and the like in the navigation device 1 is stored. For example, accommodation facilities such as hotels and inns, refueling facilities such as gas stations, commercial facilities such as shopping malls, supermarkets, shopping centers, convenience stores, entertainment facilities such as theme parks and game centers, restaurants, bars, taverns, etc. Information on facilities, parking facilities such as public parking lots, transportation facilities, religious facilities such as temples and churches, and public facilities such as museums and museums is applicable. The information stored as the point data 34 includes, for example, a facility name, position coordinates, a genre, an address, business hours, and the like.

On the other hand, the navigation ECU (electronic control unit) 13 is an electronic control unit that controls the entire navigation device 1, and is a computing device, a CPU 41 as a control device, and a working memory when the CPU 41 performs various arithmetic processes. In addition to being used as a RAM 42 for storing route data and the like when a route is searched, a control program, and a ROM 43 and a ROM 43 in which a travel support processing program (FIG. 2) described later is recorded are read. It is provided with an internal storage device such as a flash memory 44 for storing a program. The navigation ECU 13 has various means as a processing algorithm. For example, the object display means displays a guidance object for guiding the position of the guidance target point and the content of the guidance target point when there is a guidance target point to be guided ahead in the traveling direction of the vehicle.

The operation unit 14 is operated when inputting a starting point as a traveling start point and a destination as a traveling end point, and has a plurality of operation switches (not shown) such as various keys and buttons. Then, the navigation ECU 13 controls to execute various corresponding operations based on the switch signals output by pressing each switch or the like. The operation unit 14 may have a touch panel provided on the front surface of the liquid crystal display 15. Further, the configuration may include a microphone and a voice recognition device.

Further, on the liquid crystal display 15, map images including roads, traffic information, operation guidance, operation menus, key guidance, guidance routes from the departure point to the destination, guidance information along the guidance routes, news, weather forecasts, etc. The time, mail, TV program, etc. are displayed. Further, particularly in the first embodiment, the liquid crystal display 15 displays an image captured by the front camera 19, that is, a landscape (actual view image) around the vehicle at the present time (particularly in front of the vehicle) during normal driving, which is further necessary. The guide object is superimposed and displayed on the landscape according to the above.

Here, as the guide object displayed superimposed on the landscape, there are various information used for supporting the driving of the occupant and the information about the vehicle. For example, a warning to an object (another vehicle, a pedestrian, a guide sign) to be warned to an occupant, a guide route set by the navigation device 1, and guidance information based on the guide route (arrow indicating the right / left turn direction, guidance branch). Icon indicating a dot mark, distance to a guide branch point, etc.), warning displayed on the road surface (crash caution, speed limit, etc.), lane marking line where the vehicle is traveling, current vehicle speed, shift position, remaining energy, advertisement There are images, facility information, information signs, map images, traffic information, news, weather forecasts, times, screens of connected smartphones, etc. In the first embodiment described below, the guidance object is the guidance information for guiding the facility in front of the vehicle in the traveling direction, and more specifically, the guidance object is a balloon displaying the facility information inside.

Further, the speaker 16 outputs voice guidance for guiding the traveling along the guidance route and traffic information guidance based on the instruction from the navigation ECU 13.

The DVD drive 17 is a drive capable of reading data recorded on a recording medium such as a DVD or a CD. Then, based on the read data, music and video are reproduced, the map information DB 31 is updated, and the like. A card slot for reading and writing a memory card may be provided instead of the DVD drive 17.

Further, the communication module 18 is a communication device for receiving traffic information including various information such as traffic jam information, regulation information, and traffic accident information transmitted from a traffic information center, for example, a VICS center or a probe center. For example, mobile phones and DCM.

Further, the front camera 19 is an image pickup device having a camera using a solid-state image pickup element such as a CCD, and is installed with the optical axis direction facing forward in the traveling direction of the vehicle. Then, the captured image captured by the front camera 19 is displayed on the liquid crystal display 15 as a landscape (actual scene image) around the vehicle (particularly in front of the vehicle) as described above.

Subsequently, a travel support processing program executed by the navigation ECU 13 in the navigation device 1 having the above configuration will be described with reference to FIG. FIG. 2 is a flowchart of the traveling support processing program according to the first embodiment. Here, the travel support processing program is executed after the ACC power supply (accessory power supply) of the vehicle is turned on, and the vehicle travels by visually recognizing the guidance object superimposed on the scenery around the vehicle displayed on the liquid crystal display 15. It is a program that provides support. The programs shown in the flowcharts of FIGS. 2 and 8 below are stored in the RAM 42 and ROM 43 included in the navigation device 1 and executed by the CPU 41.

In the following description, as a vehicle running support using a guide object, an example of guiding facility information of a facility existing in front of the traveling direction while the vehicle is running will be described. In addition, the guidance object to be displayed is guidance information for guiding the facility in front of the vehicle in the traveling direction, and particularly points to the relevant facility and explains the contents of the facility (facility name, genre, business hours, etc.). The process of displaying the balloon in which the text is displayed as a guide object will be described as an example. However, the navigation device 1 can also provide guidance and information other than the above-mentioned traveling support by using the guidance object. Further, the guide object to be displayed may be other than the above balloon. For example, an arrow indicating the direction of travel of a vehicle as a guidance object, a warning to an object (other vehicle, pedestrian, guidance sign) to be warned to an occupant, a warning to be displayed on the road surface (crash caution, speed limit, etc.), It can also display lane markings, current vehicle speed, shift position, remaining energy, advertising images, guide signs, map images, traffic information, news, weather forecasts, time, screens of connected smartphones, etc. It is possible.

First, in the travel support processing program, in step 1 (hereinafter abbreviated as S) 1, the CPU 41 specifies the current position of the vehicle based on the detection result of the current position detection unit 11 and the map information. When specifying the current position of the vehicle, a map matching process for matching the current position of the vehicle with the map information is also performed. After that, the distance from the current position of the vehicle to the facility to be guided (hereinafter referred to as the facility to be guided) in front of the vehicle in the traveling direction is calculated. In addition, the facility to be guided is, for example, a facility corresponding to the destination when the destination is set, a facility corresponding to the registration point registered by the user, and a facility estimated to be of interest to the user from the user information. , A facility of a specific preset genre (eg convenience store, gas station). In addition, the position coordinates of the facility to be guided can be obtained from the map information.

Next, in S2, the CPU 41 determines whether or not the distance to the guidance target facility calculated in S1 is equal to or less than the predetermined guidance start distance. The guidance start distance is determined by the road type of the road on which the vehicle travels. For example, the expressway is 500 m, and the general road is 250 m, which is shorter than the expressway.

Then, when it is determined that the distance to the guidance target facility calculated in S1 is equal to or less than the guidance start distance (S2: YES), the process proceeds to S3. On the other hand, when it is determined that the distance to the guidance target facility calculated in S1 is not less than or equal to the guidance start distance (S2: NO), the process returns to S1.

In S3, the CPU 41 acquires the current position and orientation of the own vehicle based on the parameters detected by the current position detection unit 11. Further, the CPU 41 detects the position and shape of the structure existing around the front of the vehicle by performing image processing on the captured image of the landscape in front of the vehicle acquired by the front camera 19. The structure corresponds to, for example, a building, a road sign, a signboard, an elevated structure, etc., but it is desirable to include a natural object (tree, etc.). Further, not only a stationary object but also a moving object may be included. Further, when the information about the structure is included in the map information, the detection by the front camera 19 is unnecessary, and the information about the structure can be acquired from the map information.

Next, in S4, the CPU 41 uses the current position of the vehicle and the map information stored in the map information DB 31 to generate a three-dimensional space corresponding to the vicinity of the current position of the vehicle (particularly in front of the vehicle traveling direction). The map information can also be obtained from an external server. Roads (including intersections) specified based on map information are modeled in the three-dimensional space, but they are applicable based on information on structures and natural objects existing around the vehicle front acquired in S3 in addition to the roads. It is also modeled for structures and natural objects. Then, the modeled structure or natural object is arranged at a corresponding position in the three-dimensional space. However, it is not necessary to model all the structures and natural objects located around the vehicle, and for example, only the structures and natural objects located around the facility to be guided may be modeled.

Here, modeling is a process of creating the shape of a model (object) in a three-dimensional space, and more specifically, determining the coordinates of each vertex, determining the boundaries and parameters of equations expressing faces, etc. I do. Since modeling is a known technique, details will be omitted. Then, the modeled object (shape data) is expressed in the form of a "wireframe model" that displays only the sides, a "surface model" that displays the surface, or the like, depending on the intended use.

Further, the three-dimensional space may be stored in the map information DB 31 as three-dimensional map information in advance, and in S4, the three-dimensional map information around the position of the own vehicle may be read out from the map information DB 31. Further, a three-dimensional space may be generated based on the image captured by the front camera 19. For example, by performing point cloud matching on the captured image captured by the front camera 19, it is possible to detect a road or a structure around the road and generate a three-dimensional space.

Further, in S4, the CPU 41 also specifies the current position and orientation of the own vehicle in the generated three-dimensional space based on the parameters acquired in S3. In particular, the position of the front camera 19 installed in the vehicle is set as the current position of the own vehicle, and the optical axis direction of the front camera 19 is set as the direction of the own vehicle. The position of the front camera 19 corresponds to the position of the occupant of the vehicle, and the optical axis direction of the front camera 19 also corresponds to the line-of-sight direction of the occupant of the vehicle. In addition, the current position and orientation of the own vehicle in the three-dimensional space are appropriately updated as the own vehicle moves.

Subsequently, in S5, the CPU 41 transmits the objects of the structures and natural objects generated in the three-dimensional space generated in S4, particularly the objects located around the guide target facility (hereinafter referred to as the target facility object). Set the rate to the initial value. The initial value of the transmittance is 100% transmittance (not visible). As a result, the target facility object arranged in the three-dimensional space at the time of S5 is in a 100% transparent state (invisible state). In S7, which will be described later, the transmittance of the target facility object is appropriately changed from the initial value according to the relative distance from the vehicle to the guidance target facility. Further, in S5, the target facility object is an object located around the guidance target facility, but may be any object arranged in the three-dimensional space. Further, the target facility object may be an object located between the guidance target facility and the current position of the vehicle. Further, the display color of the target facility object is, for example, the same color system as the guide object arranged after that.

Next, in S6, the CPU 41 acquires the coordinates of the points where the guide objects should be superimposed (arranged). In the first embodiment, the point where the guide object should be superimposed (arranged) is the point to be guided by the guide object, that is, the guide target facility, so the coordinates of the guide target facility are acquired. The coordinates of the facility to be guided are specified from the map information possessed by the navigation device 1, but may be specified by performing image recognition processing on the image captured by the front camera 19.

After that, in S7, the CPU 41 performs an object conversion process (FIG. 4) described later. The object conversion process is a process for specifically setting the size of the guide object to be arranged in the three-dimensional space and the transmittance of the target facility object based on the relative distance from the vehicle to the guide target facility.

Next, in S8, the CPU 41 generates a guide object to be displayed according to the size determined in the object conversion process of S7. In particular, in the first embodiment, the guidance object is used as guidance information for guiding the guidance target facility in front of the vehicle in the traveling direction, and as shown in FIG. 3, the guidance target facility is pointed to and the content of the guidance target facility ( In FIG. 3, a balloon 51 is generated in which a sentence explaining the facility name and business hours) is displayed inside. The size of the balloon 51 is the size determined in the object conversion process of S7. Further, the guide object generated in S8 is a two-dimensional polygon, and basically there is no thickness. However, it may be a three-dimensional polygon having a thickness. The transmittance of the guide object is, for example, 0%, but it may be semi-transparent (for example, the transmittance is 20%) in order to visually recognize the background.

Subsequently, in S9, the CPU 41 arranges the guide object generated in S8 with respect to the three-dimensional space generated in S4. The position where the guide object is arranged in the three-dimensional space is determined based on the "position where the guide object is superimposed on the landscape" acquired in S6.

In the first embodiment, as described above, the “position where the guide object is superimposed on the landscape” is the position of the guide target facility. Therefore, as shown in FIG. 3, the position of the guide target facility in the three-dimensional space (specifically, The blowout 51, which is a guide object, is arranged at the position coordinates X) of the facility to be guided. Here, FIG. 3 is a diagram showing an example of arrangement of guidance objects when the guidance target facility exists on the left side of the road on which the vehicle travels, as an example. As shown in FIG. 3, the balloon 51 is arranged at a position overlapping the object 54 of the facility to be guided so as to be parallel to the direction of intersection with the traveling direction (that is, to face the vehicle side). In particular, the portion pointed by the balloon 51 (the tip portion in the shape of an arrow) is set to a position that coincides with the coordinates X of the facility to be guided (matches in the horizontal direction). On the other hand, in the vertical direction, as shown in FIG. 4, the lower end of the balloon 51 is arranged at a position in contact with the upper end of the object 54 of the facility to be guided. However, it may be arranged at a position separated from the upper end of the object 54 of the facility to be guided by a predetermined distance (for example, 1 m).

Next, in S10, the CPU 41 first acquires an image (hereinafter, referred to as a visual image) in which the three-dimensional space in which the guide object is arranged is visually recognized in the traveling direction of the vehicle from the current position (corresponding to the viewpoint) of the vehicle. For example, FIG. 5 is a diagram showing a visual image 55 acquired when a vehicle, a guide object, an object related to a structure, a natural object, or the like is arranged in the manner shown in FIG. In particular, since the position of the vehicle is the position of the front camera 19, the acquired visual image 55 is an image that can be visually recognized when each object arranged in the three-dimensional space is visually recognized from the viewpoint of the front camera 19 in the traveling direction of the vehicle. However, it also corresponds to the visibility of the occupants of the vehicle.

After that, the CPU 41 stores the shape of the guide object and the position of the guide object included in the visual image 55 as the shape of the guide object to be displayed by the liquid crystal display 15 and the position of the guide object. Here, the shape of the guide object stored in S10 is the shape of the guide object that can be visually recognized when the guide object arranged in the three-dimensional space is visually recognized from the viewpoint of the vehicle (more accurately, the front camera 19). .. Further, the position of the guide object stored in S10 is the position of the guide object that can be visually recognized when the guide object arranged in the three-dimensional space is visually recognized from the viewpoint of the vehicle (more accurately, the front camera 19).

Here, when the target facility object 56 exists between the balloon 51, which is a guidance object, and the vehicle as shown in FIG. 5, a part or all of the balloon 51 may overlap with the target facility object 56. .. In such a case, for example, when the transmittance of the target facility object 56 is set to 100%, which is the initial value, the target facility object 56 cannot be visually recognized. Therefore, as shown in FIG. 6, all of the balloons 51 The shape is stored as it is with the set transmittance (for example, 0% or 20%). Further, when the transmittance of the target facility object 56 is set to semi-transparent by the object conversion process (S7), the entire shape of the blowout 51 is stored as shown in FIG. Since the overlapping range is an image that is visually recognized through the semitransparent target facility object 56, the translucency is higher than that of the non-overlapping range. The transmittance in the range overlapping with the target facility object 56 increases as the transmittance of the target facility object 56 decreases. When the transmittance of the target facility object 56 is set to 0% by the object conversion process (S7), the range of the blowout 51 that overlaps with the target facility object 56 is as shown in FIG. Is stored in a shape that is not visible by the target facility object 56 (the transmittance of the overlapping range is 100%).

Even if the target facility object 56 that overlaps with the balloon 51 exists, if the target facility object 56 exists on the distant side of the balloon 51 with respect to the vehicle, the transmittance of the target facility object 56 is high. Regardless of this, the entire shape of the balloon 51 is stored.

After that, in S11, the CPU 41 determines the range in which the guide object is displayed on the liquid crystal display 15 based on the shape of the guide object and the position of the guide object stored in S10. The display range of the guide object is a range in which the guide object having the shape stored in S10 is displayed at the same position as the guide object arranged in the three-dimensional space.

Subsequently, in S12, the CPU 41 transmits a control signal to the liquid crystal display 15, and the image of the guide object having the shape determined in S10 is displayed on the liquid crystal display 15 at the position (range) determined in S11. Display against. The liquid crystal display 15 displays an image captured by the front camera 19 in advance, that is, a landscape (actual view image) around the vehicle (particularly in front of the vehicle) at the present time. As a result, it becomes possible for the occupants of the vehicle to visually recognize the guide object superimposed on the landscape.

FIG. 7 is a diagram showing an example of a traveling guide screen 61 displayed on the liquid crystal display 15 in S12. As shown in FIG. 7, the liquid crystal display 15 displays the current scenery 62 in front of the vehicle captured by the front camera 19. Then, the image 63 of the guide object is displayed so as to be superimposed on the landscape 62 in front of the vehicle. The image 63 of the guidance object is displayed superimposed on the guidance target facility 64 which is the guidance target in the landscape 62, and has a balloon shape for displaying information about the guidance target facility 64. Therefore, when the occupant of the vehicle visually recognizes the traveling guidance screen 61, the position of the guidance target facility 64 and the contents (name, genre, business hours, etc.) of the guidance target facility 64 can be grasped. However, the example shown in FIG. 7 is an example of the traveling guidance screen 61 displayed in a state where the distance from the vehicle to the guidance target facility 64 is long, and when the distance from the vehicle to the guidance target facility 64 is short as described later. Of the image 63 of the guide object, the range that overlaps with other structures and natural objects in the landscape 62 (facility 65 on the front side of the facility 64 to be guided in FIG. 7) may or may not be displayed semi-transparently. In some cases.

After that, in S13, the CPU 41 determines whether or not the vehicle has passed the guidance target facility. For example, the determination is made based on the current position of the vehicle detected by the current position detection unit 11 and the map information.

Then, when it is determined that the vehicle has passed the guidance target facility (S13: YES), a control signal is transmitted to the liquid crystal display 15 to hide the guidance object displayed on the liquid crystal display 15. (S14). The captured image captured by the front camera 19, that is, the landscape (actual view image) around the vehicle at the present time (particularly in front of the vehicle) is continuously displayed. However, the landscape image may also be hidden and the display screen of the liquid crystal display 15 may be switched to a map image display or the like.

On the other hand, when it is determined that the vehicle has not passed the guidance target facility (S13: NO), the process returns to S7 and the guidance object is continuously displayed.

Next, a sub-process of the object conversion process executed in S7 will be described with reference to FIG. FIG. 8 is a flowchart of a sub-processing program for object conversion processing.

First, in S21, the CPU 41 identifies the current position of the vehicle based on the detection result of the current position detection unit 11 and the map information. When specifying the current position of the vehicle, a map matching process for matching the current position of the vehicle with the map information is also performed. After that, the distance (relative distance) from the current position of the specified vehicle to the facility to be guided is calculated.

Next, in S22, the CPU 41 determines whether or not the distance to the guidance target facility calculated in S21 is less than a predetermined threshold value. The threshold value may be a fixed value, but may be determined according to the road type of the road on which the vehicle travels. For example, the expressway is 200 m, and the general road is 100 m, which is shorter than the expressway. Further, it may be changed depending on the current vehicle speed of the vehicle. For example, the faster the current vehicle speed of the vehicle, the larger the threshold value is set.

Then, when it is determined that the distance to the guidance target facility calculated in S21 is less than the threshold value (S22: YES), the process proceeds to S24. On the other hand, when it is determined that the distance to the guidance target facility calculated in S21 is equal to or greater than the threshold value (S22: NO), the process proceeds to S23.

In S23, assuming that the CPU 41 arranges the guide object in the three-dimensional space generated in S4, particularly at the "position where the guide object is superimposed on the landscape" acquired in S6, the current state of the vehicle is assumed. The size of the guide object is set according to the distance from the vehicle to the facility to be guided so that the size of the guide object visually recognized from the position (that is, the viewpoint) is fixed. The fixed size of the guide object to be visually recognized is determined based on, for example, the screen size of the liquid crystal display 15.

Here, regarding the size of the guide object visually recognized from the viewpoint in the three-dimensional space, assuming that the guide objects of the same size are arranged at the same position, the longer the distance from the viewpoint to the guide object, the more the guide is guided from the viewpoint. The object is visible small. Therefore, as shown in FIG. 9, the longer the distance from the current position of the vehicle to the guidance target facility (that is, the distance from the viewpoint to the guidance object), the larger the size of the balloon 51, which is the guidance object, is set. As a result, when the distance (relative distance) from the current position of the vehicle to the facility to be guided is equal to or greater than the threshold value, the size of the guide object visually recognized from the viewpoint in the subsequent S10 is always the same regardless of the position of the vehicle. .. As a result, as shown in FIG. 10, the size of the image 63 of the guide object displayed on the liquid crystal display 15 is always the same size (fixed size regardless of the distance from the vehicle to the facility to be guided).

Further, in S23, the CPU 41 does not change the transmittance of the target facility object. That is, the initial value (transparency 100%) of the target facility object is maintained. As a result, when the distance from the vehicle to the facility to be guided is equal to or greater than the threshold value, the image 63 of the guidance object displayed on the liquid crystal display 15 is closer to the vehicle than the facility 64 to be guided as shown in FIG. Even if there is a range that overlaps with the facility 65, the entire image including the overlapping range is displayed with a transmittance of 0%. After that, it shifts to S8.

On the other hand, in S24, the CPU 41 sets the size of the guide object arranged in the three-dimensional space to a fixed value. The size of the guide object specifically set is the size set in S23 when the distance from the current position of the vehicle to the facility to be guided is the threshold value. Therefore, the guidance displayed on the liquid crystal display 15 at the timing when the distance from the current position of the vehicle to the facility to be guided crosses the threshold value (the timing when the display mode of the guidance object is switched from the first mode to the second mode). It is possible to prevent the occupants of the vehicle who visually recognize the guide object from feeling uncomfortable without changing the size of the object significantly.

Here, regarding the size of the guide object visually recognized from the viewpoint in the three-dimensional space, assuming that the guide objects of the same size are arranged at the same position, the shorter the distance from the viewpoint to the guide object, the more the guide is guided from the viewpoint. The object is greatly visible. Therefore, when the distance (relative distance) from the current position of the vehicle to the guidance target facility is less than the threshold value, the closer the vehicle is to the guidance target facility, the larger the size of the guidance object that is visually recognized from the viewpoint in the subsequent S10. As a result, as the distance from the vehicle to the facility to be guided becomes shorter, the size of the image 63 of the guide object displayed on the liquid crystal display 15 is gradually increased as shown in FIG.

After that, in S25, the CPU 41 sets the transmittance of the target facility object according to the distance from the current position of the vehicle to the guidance target facility. Specifically, the transmittance is set to gradually decrease as the distance from the current position of the vehicle to the facility to be guided becomes shorter. For example, when the distance from the current position of the vehicle to the facility to be guided is a threshold value, the transmittance is set to 100% (initial value), and then the transmittance is lowered in the order of 100% → 90% → 80% → .... Then, when the vehicle finally reaches the facility to be guided, the transmittance becomes 0%.

As a result, when the distance from the vehicle to the guidance target facility is less than the threshold value, the guidance object image 63 displayed on the liquid crystal display 15 is closer to the vehicle side than the guidance target facility 64 as shown in FIG. As for the range overlapping with the facility 65, when the distance from the vehicle to the guidance target facility 64 becomes shorter, the transmittance gradually increases in inverse proportion to the decrease in the transmittance of the target facility object and is displayed. When the transmittance of the target facility object finally reaches 0%, the range of the image 63 of the guide object that overlaps with the facility 65 on the vehicle side of the guide target facility 64 is not displayed (transparency). The rate is 100%). After that, it shifts to S8.

As described above, when the distance from the vehicle to the facility to be guided is equal to or greater than the threshold value, the display size of the image 63 of the guidance object displayed on the liquid crystal display 15 is fixed, and other surrounding facilities that overlap are ignored. The entire display of the guide object is displayed with the transmittance (for example, 0% or 20%) as it is. That is, the guide object is displayed in a manner that gives priority to the visibility of the guide object and does not consider the context with the facilities around the facility to be guided. Therefore, although it is difficult to grasp the context of the surrounding facilities, it is possible to grasp the guidance contents of the guidance object even when the distance from the vehicle to the guidance target facility is long. The display mode of the guidance object as described above is defined as the "first mode" in which the content of the guidance target facility is given priority over the position of the guidance target facility.

On the other hand, when the distance from the vehicle to the facility to be guided is less than the threshold value, the display size of the image 63 of the guidance object displayed on the liquid crystal display 15 is enlarged as the vehicle approaches the facility to be guided, and the vehicle side. The area that overlaps with the surrounding facilities in is displayed with a higher transmittance than the area that does not overlap. That is, the guide object is displayed in a manner showing the context with the facilities around the facility to be guided without giving priority to the visibility of the guide object. Therefore, it is difficult to grasp the guidance content of the guidance object, but it is possible to clearly grasp the context with the surrounding facilities. The display mode of the guidance object as described above is referred to as a "second mode" in which the position of the guidance target facility is given priority over the content of the guidance target facility.

As described in detail above, according to the navigation device 1 and the computer program executed by the navigation device 1 according to the first embodiment, when there is a guidance target point to be guided ahead in the traveling direction of the vehicle, the guidance target is to be guided. The guidance object for guiding the position of the point and the content of the guidance target point is displayed (S12). On the other hand, when the guidance object is displayed, if the distance from the vehicle to the guidance target point is equal to or greater than the threshold value. , The guidance object is displayed in the first mode in which the content of the guidance target point is prioritized over the position of the guidance target point, and when the distance from the vehicle to the guidance target point is less than the threshold value, the guidance target point is displayed. Since the guidance object is displayed in the second mode (S21 to S25) in which the position of the guidance target point is prioritized over the content of the guidance target point, the guidance target point can be displayed even when the distance from the vehicle to the guidance target point is long. It is possible to make the occupants clearly recognize the contents. On the other hand, when the distance from the vehicle to the guidance target point is approaching, the guidance object is visually recognized by the occupant in a manner in which the position of the guidance target point is prioritized over the content of the guidance target point, so the content of the guidance target point continues. This makes it possible for the occupants to clearly grasp the position of the guidance target point.

[Second Embodiment]
Next, the superimposed image display device according to the second embodiment will be described with reference to FIGS. 11 and 12. In the following description, the same reference numerals as the configuration of the superimposed image display device according to the first embodiment of FIGS. 1 to 10 are the same as or corresponding to the configuration of the superimposed image display device or the like according to the first embodiment. It shows.

The schematic configuration of the superimposed image display device according to the second embodiment is almost the same as that of the superimposed image display device according to the first embodiment. Further, various control processes are also substantially the same as the superimposed image display device according to the first embodiment.
However, the superimposed image display device according to the first embodiment displays the captured image captured by the front camera 19 on the liquid crystal display 15 of the navigation device 1, and further displays the guide object on the liquid crystal display 15. , While the guide object is superimposed and displayed on the landscape around the vehicle, the superimposed image display device according to the second embodiment uses a head-up display system as a means for displaying the image superimposed on the landscape around the vehicle. Is different.

The schematic configuration of the superimposed image display device according to the second embodiment will be described below with reference to FIG. FIG. 11 is a schematic configuration diagram of the superimposed image display device 101 according to the second embodiment.
As shown in FIG. 11, the superimposed image display device 101 basically includes a navigation device 103 mounted on the vehicle 102 and a front display 104 mounted on the vehicle 102 and connected to the navigation device 103. The front display 104 functions as a head-up display together with the windshield 105 of the vehicle 102, and serves as an information providing means for providing various information to the occupant 106 of the vehicle 102.

Here, the front display 104 is a liquid crystal display installed inside the dashboard 107 of the vehicle 102 and having a function of displaying an image on an image display surface provided on the front surface. As the backlight, for example, CCFL (cold cathode fluorescent lamp) or white LED is used. As the front display 104, a combination of an organic EL display or a liquid crystal projector and a screen may be used in addition to the liquid crystal display.

Then, the front display 104 functions as a head-up display together with the windshield 105 of the vehicle 102, and the image output from the front display 104 is reflected on the windshield 105 in front of the driver's seat to be visually recognized by the occupant 106 of the vehicle 102. It is configured as follows. A guide object is displayed on the front display 104 as needed. In the second embodiment described below, the guidance object is the guidance information for guiding the facility in front of the vehicle in the traveling direction, and more specifically, the guidance object is a balloon displaying the facility information inside.

Further, when the occupant 106 visually recognizes the image displayed on the front display 104 by reflecting the windshield 105, the occupant 106 does not have the position of the windshield 105 but the front display at a position far beyond the windshield 105. The image displayed on the 104 is configured to be visually recognized as a virtual image 110. Further, the virtual image 110 is displayed superimposed on the surrounding environment (landscape, actual scenery) in front of the vehicle, and is superimposed on, for example, an arbitrary object (road surface, building, object to be warned, etc.) located in front of the vehicle. It is also possible to display it.

Here, the position where the virtual image 110 is generated, more specifically, the distance L from the occupant 106 to the virtual image 110 (hereinafter, referred to as an imaging distance) L is determined by the position of the front display 104. For example, the image formation distance L is determined by the distance (optical path length) along the optical path from the position where the image is displayed on the front display 104 to the windshield 105. For example, the optical path length is set so that the imaging distance L is 1.5 m.

Further, the front camera 111 is installed above the front bumper of the vehicle, behind the rearview mirror, and the like. The front camera 111 is an image pickup device having a camera using a solid-state image sensor such as a CCD, and is installed with the optical axis direction facing forward in the traveling direction of the vehicle. Then, by performing image processing on the captured image captured by the front camera 111, the situation of the front environment (that is, the environment in which the virtual image 110 is superimposed) visually recognized by the occupant 106 through the front glass is detected. To. A sensor such as a millimeter wave radar may be used instead of the front camera 111.

In addition, an in-vehicle camera 112 is installed on the upper surface of the instrument panel of the vehicle. The in-vehicle camera 112 is an image pickup device having a camera using a solid-state image sensor such as a CCD, and is installed with the optical axis direction facing the driver's seat. The range in which the face of the occupant is generally expected to be located in the vehicle is set as the detection range (the imaging range of the in-vehicle camera 112), and the face of the occupant 106 sitting in the driver's seat is imaged. Then, image processing is performed on the captured image captured by the in-vehicle camera 112 to detect the eye position (line-of-sight start point) and the line-of-sight direction of the occupant 106.

Then, the superimposed image display device according to the second embodiment displays the image 120 of the guide object on the front display 104 as shown in FIG. 12 in S12 of the traveling support processing program (FIG. 2) described above. As a result, as shown in FIG. 12, when the vehicle occupant visually recognizes the image 120 of the guide object displayed on the front display 104, the virtual image 121 of the image 120 of the guide object is superimposed on the landscape through the windshield 105. It is visually recognized.

As a result, the position of the guidance target facility and the contents of the guidance target facility can be accurately grasped as in the superimposed image display device according to the first embodiment. In the superimposed image display device according to the second embodiment, in the guide object display position determination process of S11, the shape of the guide object to be displayed on the front display 104 and the position (range) where the guide object is displayed are determined. .. Further, it is desirable that the current position and orientation of the own vehicle specified in the three-dimensional space are the position of the occupant of the vehicle and the line-of-sight direction of the occupant detected by using the in-vehicle camera 112.

It should be noted that the present invention is not limited to the above embodiment, and it goes without saying that various improvements and modifications can be made without departing from the gist of the present invention.
For example, as a means for displaying an image superimposed on the scenery around the vehicle, the liquid crystal display 15 on which the actual scene image is displayed is used in the first embodiment, and the head-up display system is used in the second embodiment, but the windshield is used. On the other hand, a window shield display (WSD) that displays an image may be used. In WSD, the windshield may be used as a screen to display an image from the projector, or the windshield may be used as a transmissive liquid crystal display. The image displayed on the windshield by the WSD is an image superimposed on the scenery around the vehicle.

Further, in the first and second embodiments, the guide object is an image of a balloon displaying facility information inside, but other images may be used. For example, an image of an arrow indicating the direction of travel of a vehicle, an image of a warning for an object to be warned to a vehicle occupant (for example, another vehicle, a pedestrian, a guide sign), an image of a lane marking in which the vehicle is traveling, etc. good.

Further, in the first and second embodiments, the guide object is used to guide the facility to be guided, but the point to be guided by the guide object is not limited to the facility to be guided, for example, a guide intersection or a lane. It may be another point that calls attention to the occupants of the vehicle, such as a reduction point or a confluence section. In addition, it is desirable to change the content of the guidance object to be displayed depending on the type of guidance target point.

Further, in the first and second embodiments, when the guide object is displayed in the first aspect, the distance from the vehicle to the guide target facility is fixed in order to fix the display size of the guide object regardless of the position of the vehicle. The farther the guide object is, the larger the size of the guide object to be placed in the three-dimensional space (S23), but even if the position to be placed is moved to the vehicle side without changing the size of the guide object to be placed in the three-dimensional space. good. Even in that case, it is possible to fix the display size of the guide object.

Further, in the first embodiment, the actual scene image and the guidance object captured by the front camera 19 are displayed on the liquid crystal display 15 of the navigation device 1, but the display for displaying the actual scene image and the guidance object is in the vehicle. As long as it is an arranged display, it may be a display other than the liquid crystal display 15.

Further, in the second embodiment, the front display 104 is configured to generate a virtual image in front of the windshield 105 of the vehicle 102, but a configuration in which a virtual image is generated in front of a window other than the windshield 105 may be used. Further, the target for reflecting the image by the front display 104 may be a visor (combiner) installed around the windshield 105 instead of the windshield 105 itself.

Further, in the first and second embodiments, the navigation ECU 13 of the navigation device 1 executes the processing of the driving support processing program (FIG. 2), but the execution subject can be changed as appropriate. For example, it may be configured to be executed by the control unit of the liquid crystal display 15, the vehicle control ECU, or other in-vehicle device.

Further, although the embodiment in which the superimposed image display device according to the present invention is embodied has been described above, the superimposed image display device can also have the following configuration, and in that case, the following effects are obtained.

For example, the first configuration is as follows.
A superposed image display device (1) that superimposes and visually recognizes a guidance object (63) mounted on a vehicle and guides information to the occupants of the vehicle on the scenery around the vehicle, and guides the vehicle forward in the traveling direction of the vehicle. When there is a target guidance target point (64), the object has an object display means (41) for displaying the position of the guidance target point and the guidance object for guiding the contents of the guidance target point, and the object. When the distance from the vehicle to the guidance target point is equal to or greater than the threshold value, the display means guides the guidance object with priority given to the content of the guidance target point over the position of the guidance target point. Is displayed, and when the distance from the vehicle to the guidance target point is less than the threshold value, the guidance object is guided in the second mode in which the position of the guidance target point is prioritized over the content of the guidance target point. Is displayed.
According to the superimposed image display device having the above configuration, when the distance from the vehicle to the guidance target point is long, the guidance object is given to the occupant in a manner of giving priority to the content of the guidance target point over the position of the guidance target point. Since it is visually recognized, it is possible for the occupant to clearly recognize the contents of the guidance target point even when the distance from the vehicle to the guidance target point is long. On the other hand, when the distance from the vehicle to the guidance target point is approaching, the guidance object is visually recognized by the occupant in a manner in which the position of the guidance target point is prioritized over the content of the guidance target point, so the content of the guidance target point continues. This makes it possible for the occupants to clearly grasp the position of the guidance target point.

The second configuration is as follows.
When the guide object (63) is displayed in the first aspect, the object display means (41) fixes the display size of the guide object and displays the guide object in the second aspect. In this case, the display size of the guide object is gradually enlarged and displayed as the distance from the vehicle to the guide target point becomes shorter.
According to the superimposed image display device having the above configuration, even when the distance from the vehicle to the guidance target point is far away, the display size of the guidance object does not become too small, and the contents of the guidance target point are clearly recognized by the occupant. It becomes possible to make it. On the other hand, when the distance from the vehicle to the guidance target point is approaching, the size of the guidance object increases as the distance from the vehicle to the guidance target point approaches, so it is possible to display the sense of distance to the position of the guidance object in an easy-to-understand manner. It becomes.

The third configuration is as follows.
The guide object arranging means (41) for arranging the guide object to be displayed in the three-dimensional space corresponding to the area around the area on which the guide object (63) is superimposed, and the three-dimensional space corresponding to the current position of the vehicle. The object display means (41) has a viewpoint setting means (41) for setting a viewpoint at an internal position, and the object display means (41) has a shape in which the guide object arranged in the three-dimensional space is visually recognized from the viewpoint. When displaying the guide object and displaying the guide object in the first aspect, the guide object arranging means (41) arranges the guide object at the position of the guide target point and visually recognizes the guide object from the viewpoint. When the size of the guide object arranged according to the distance from the vehicle to the guide target point is changed so that the size of the guide object is fixed, and the guide object is displayed in the second aspect. , The guide object is arranged at the position of the guide target point, and the size of the arranged guide object is fixed.
According to the superimposed image display device having the above configuration, when the guide object is displayed in the first aspect, the size of the guide object arranged in the three-dimensional space is changed to move from the vehicle to the guide target point. It is possible to fix the display size of the guide object regardless of the distance. On the other hand, when the guide object is displayed in the second aspect, the display size of the guide object is changed according to the distance from the vehicle to the guide target point by fixing the size of the guide object arranged in the three-dimensional space. It becomes possible to expand. That is, it is possible to display the sense of distance to the position of the guide object in an easy-to-understand manner.

The fourth configuration is as follows.
When displaying the guide object (63) in the first aspect, the object display means (41) does not consider the context with the structure around the guide target point. Is displayed, and when the guide object is displayed in the second aspect, the guide object is displayed in an aspect showing the front-back relationship with the structure around the guide target point.
According to the superimposed image display device having the above configuration, when the guide object is displayed in the first aspect, it is easy for the occupant to visually recognize the guide object without considering the front-rear relationship with the structure around the guide target point. It is possible to display the guidance object with. On the other hand, when the guide object is displayed in the second mode, the position of the guide target point can be easily grasped by displaying the guide object in a mode showing the front-back relationship with the structure around the guide target point. It will be possible.

The fifth configuration is as follows.
When the object display means (41) displays the guide object (63) in the first aspect, the object display means (41) sets a range that overlaps with a structure on the vehicle side of the guide target point and a range that does not overlap. Display with the same transmittance.
According to the superimposed image display device having the above configuration, when the guide object is displayed in the first aspect, it is easy for the occupant to visually recognize the guide object without considering the front-rear relationship with the structure around the guide target point. It is possible to display the guidance object with.

The sixth configuration is as follows.
When the object display means (41) displays the guide object (63) in the second aspect, the range that overlaps with the structure on the vehicle side of the guide target point is a range that does not overlap. Display with higher transmittance.
According to the superimposed image display device having the above configuration, when the guide object is displayed in the second mode, the guide object is displayed by displaying the guide object in a mode showing the front-back relationship with the structure around the guide target point. It is possible to display the position of the point so that it can be easily grasped.

The seventh configuration is as follows.
When the object display means (41) displays the guide object (63) in the second aspect, the object display means (41) is described from the vehicle as long as the range overlaps with the structure on the vehicle side of the guide target point. The transmittance is gradually increased and displayed as the distance to the guidance target point becomes shorter.
According to the superimposed image display device having the above configuration, it is possible to gradually switch to the guidance in which the position of the guidance target point is prioritized over the content of the guidance target point without giving a sense of discomfort to the occupants of the vehicle.

The eighth configuration is as follows.
The guide object (63) has a balloon shape that points to the guide target point and internally displays characters or marks explaining the contents of the guide target point.
According to the superimposed image display device having the above configuration, it is possible to guide the position and contents of the guidance target point when guiding the guidance target point.

1 Navigation device 15 Liquid crystal display 19 Front camera 41 CPU
42 RAM
43 ROM
51 Balloon (an example of a guide object)
56 Target facility object 61 Driving guidance screen 62 Landscape 63 Guide object image 64 Guidance target facility

Claims (9)

A superimposed image display device that superimposes and visually recognizes a guide object mounted on a vehicle and guiding information to the occupants of the vehicle on the scenery around the vehicle.
It has an object display means for displaying the guidance object for guiding the position of the guidance target point and the contents of the guidance target point when there is a guidance target point to be guided ahead in the traveling direction of the vehicle.
The object display means is
When the distance from the vehicle to the guidance target point is equal to or greater than the threshold value, the guidance object is displayed in the first mode in which the content of the guidance target point is prioritized over the position of the guidance target point.
When the distance from the vehicle to the guidance target point is less than the threshold value, the guidance object is displayed in the second mode in which the position of the guidance target point is prioritized over the content of the guidance target point. Image display device. The object display means is
When the guide object is displayed in the first aspect, the display size of the guide object is fixed.
When the guide object is displayed in the second aspect, the display size of the guide object is gradually enlarged and displayed as the distance from the vehicle to the guide target point becomes shorter. The superimposed image display device according to the above. A guide object arranging means for arranging the guide object to be displayed in a three-dimensional space corresponding to the area around the area on which the guide object is superimposed, and a guide object arranging means.
It has a viewpoint setting means for setting a viewpoint at a position in the three-dimensional space corresponding to the current position of the vehicle.
The object display means is
The guide object arranged in the three-dimensional space is displayed in a shape that can be visually recognized from the viewpoint.
The guide object arranging means is
When the guide object is displayed in the first aspect, the guide object is arranged at the position of the guide target point, and the size of the guide object visually recognized from the viewpoint is fixed from the vehicle. Change the size of the guidance object placed according to the distance to the guidance target point,
The superimposed image according to claim 2, wherein when the guide object is displayed in the second aspect, the guide object is arranged at the position of the guide target point and the size of the arranged guide object is fixed. Display device. The object display means is
When the guide object is displayed in the first aspect, the guide object is displayed in a manner that does not consider the context with the structure around the guide target point.
When the guide object is displayed in the second aspect, any one of claims 1 to 3 for displaying the guide object in an aspect showing a front-back relationship with a structure around the guide target point. The superimposed image display device according to the above. The object display means is
The fourth aspect of claim 4, wherein when the guide object is displayed in the first aspect, a range that overlaps with a structure on the vehicle side of the guide target point and a range that does not overlap are displayed with the same transmittance. Superimposed image display device. The object display means is
When the guide object is displayed in the second aspect, the range overlapping the structure on the vehicle side of the guide target point is displayed with a higher transmittance than the non-overlapping range. The superimposed image display device according to claim 5. The object display means is
When the guide object is displayed in the second aspect, the distance from the vehicle to the guide target point becomes shorter in the range overlapping with the structure on the vehicle side of the guide target point. The superimposed image display device according to claim 6, wherein the transmittance is gradually increased and displayed. The superimposed image display according to any one of claims 1 to 7, wherein the guide object has a balloon shape that points to the guide target point and internally displays characters or marks explaining the contents of the guide target point. apparatus. A superposed image display device that is mounted on a vehicle and superimposes and visually recognizes a guidance object that guides information to the occupants of the vehicle on the scenery around the vehicle.
To function as an object display means for displaying the guidance object for guiding the position of the guidance target point and the contents of the guidance target point when there is a guidance target point to be guided ahead in the traveling direction of the vehicle. It ’s a computer program
The object display means is
When the distance from the vehicle to the guidance target point is equal to or greater than the threshold value, the guidance object is displayed in the first mode in which the content of the guidance target point is prioritized over the position of the guidance target point.
When the distance from the vehicle to the guidance target point is less than the threshold value, a computer that displays the guidance object in the second mode of giving priority to the position of the guidance target point over the content of the guidance target point. program.

Images