JP2023097939A - Superimposed image display device - Google Patents

Abstract

To provide a superimposed image display device which can suppress the occurrence of misunderstanding of a position of a destination when displaying a destination object indicating the position of the destination so as to be superimposed on scenery.SOLUTION: In a case where a destination object indicating a position of a destination is displayed, when a distance to the destination is equal to or less than a reference distance, the destination object in the translucent state is displayed so as to be superimposed on scenery in the periphery of a vehicle. In a case where it is determined that right/left turn is performed at a final right/left turn guide point that is the right/left turn guide point followed by right/left turn in a guided path and is closest to the destination, the destination object in the non-transparent state is displayed.SELECTED DRAWING: Figure 4

Description

The present invention relates to a superimposed image display device that assists driving of a vehicle.

2. Description of the Related Art Conventionally, various means have been used as information providing means for providing various types of information for assisting vehicle travel, such as route guidance and warnings of obstacles, to occupants of the vehicle. For example, it is the display by the liquid crystal display installed in the vehicle, the sound output from the 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, real scene) of the passenger. For example, a head-up display, a window shield display, or a method of displaying an image superimposed on a picked-up image of the surroundings of the vehicle displayed on a liquid crystal display.

For example, Japanese Unexamined Patent Application Publication No. 2021-28587 discloses a technology for displaying content indicating the direction of the destination of the vehicle on a head-up display. The in-vehicle display control device disclosed in Japanese Patent Application Laid-Open No. 2021-28587 projects arrow content onto the front windshield when the vehicle encounters traffic congestion and there is a bypass route to the destination. The in-vehicle display control device suggests the direction of the destination by the arrow direction of the content.

JP 2021-28587 (Fig. 5)

However, since the prior art document shows only the direction of the destination, there is a problem that it is difficult for the passenger to find the destination. Therefore, in order to display the destination in a way that is easier for the passengers to understand, it is conceivable to display an image indicating the position of the destination by superimposing it on the actual scenery around the vehicle or the captured image. However, when an image indicating the position of the destination is superimposed on the actual scenery around the vehicle or a captured image, the image indicating the position of the destination overlaps with objects existing in the actual scenery. The context is the problem. For example, when driving in a city with buildings lined up around the vehicle, the image showing the position of the destination is displayed on the building, even though the destination is located on the other side of the building and is not actually visible to the passengers. If the display is superimposed on the front, the passenger may misunderstand that the destination is located in front of the building. Therefore, there is a need for a technique for displaying the position of the destination in an easy-to-understand manner for passengers when the destination exists beyond an object in the actual scenery.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems in the conventional art. An object of the present invention is to provide an image display device.

In order to achieve the above object, the superimposed image display device according to the present invention is mounted on a vehicle and displays information relating to a guidance route to guide passengers of the vehicle by superimposing it on scenery around the vehicle. a reference distance determining means for determining whether or not the distance from the current position of the vehicle to the destination on the guidance route is equal to or less than a predetermined reference distance; When it is determined that the distance is equal to or less than the reference distance, a destination object indicating the position of the destination is superimposed and displayed in accordance with the position of the destination in the scenery around the vehicle; first object display means for displaying a ground object in a first display mode; and guidance from the current position of the vehicle to the destination when a process for displaying the destination object in the first display mode is executed. right/left turn determination means for determining whether or not a right/left turn guidance point involving a right/left turn on a route is made at a final right/left turn guidance point which is the right/left turn guidance point closest to the destination on the guidance route. a second object display means for displaying the destination object in a second display mode different from the first display mode when the right/left turn determination means determines that a right/left turn is made at the final right/left turn guidance point; , have
Note that the “landscape” includes not only a landscape (actual landscape) that is actually visually recognized from a vehicle, but also an image of the landscape, an image of the landscape, and the like.

According to the superimposed image display device according to the present invention having the above configuration, when the distance to the destination becomes equal to or less than the reference distance, the destination object in the first display mode is superimposed and displayed in accordance with the position of the destination. As a result, when the destination is a certain distance away and there is a high possibility that there is a right/left turn guide point that requires a right/left turn or a building or the like exists between the vehicle and the destination, the first display mode will be displayed. View objects. Then, when the vehicle turns right or left at the final right/left turn guidance point closest to the destination, the display mode of the destination object is changed to the second display mode. As a result, when the possibility of buildings, etc. existing between the vehicle and the destination becomes low after turning left or right at the final turn guidance point, that is, the possibility that the line of sight to the destination is secured. When the height rises, the destination object is displayed in the second display mode. Therefore, by changing the display mode of the destination object at a more appropriate timing according to the line of sight between the own vehicle and the destination, it is possible to make the occupants more accurately recognize the position of the destination. It becomes possible.

1 is a block diagram showing a navigation device according to a first embodiment; FIG. 4 is a flowchart of a driving support processing program according to the first embodiment; FIG. 3 is a diagram showing the state of a vehicle traveling along a guidance route toward a destination; It is a figure which shows the driving guidance screen displayed on a liquid crystal display. It is a figure which shows the driving guidance screen displayed on a liquid crystal display. It is a figure which shows the driving guidance screen displayed on a liquid crystal display. It is a figure which shows the driving guidance screen displayed on a liquid crystal display. FIG. 2 is a diagram showing a state of a vehicle traveling toward a destination along a guidance route on a straight road; It is a figure which shows an example of the driving guidance screen displayed on the liquid crystal display of another example. 9 is a flowchart of a driving support processing program according to the second embodiment; FIG. 10 is a diagram showing a state of a vehicle traveling along a guidance route toward a destination according to the second embodiment; FIG. 11 is a schematic configuration diagram of a superimposed image display device according to a third embodiment; FIG. 14 is a diagram showing a virtual image of a destination object image superimposed and displayed on the scenery through the windshield according to the third embodiment;

DETAILED DESCRIPTION OF THE INVENTION A first embodiment in which a superimposed image display device according to the present invention is embodied in a navigation device will be described in detail below with reference to the drawings.

[First embodiment]
First, a schematic configuration of a 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 section 11 for detecting the current position of a vehicle in which the navigation device 1 is mounted, and a data recording section 12 for recording various data. , a navigation ECU 13 that performs various types of arithmetic processing based on input information, an operation unit 14 that receives operations from a user, a liquid crystal display 15 that displays a real scene image taken in front of the user in the traveling direction, Communication is performed between a speaker 16 that outputs voice guidance related to route guidance, a DVD drive 17 that reads a 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. and a communication module 18 . Further, the navigation device 1 is connected to a front camera 19 and various sensors installed in the vehicle on which the navigation device 1 is mounted via an in-vehicle network such as CAN.

Each component of the navigation device 1 will be described in order below.
The current position detection unit 11 has a GPS 21, a vehicle speed sensor 22, a steering sensor 23, a gyro sensor 24, etc., and is capable of detecting the current vehicle position, direction, vehicle speed, current time, and the like. there is In particular, the vehicle speed sensor 22 is a sensor for detecting the moving distance and speed of the vehicle, generates a pulse according to the rotation of the driving wheels of the vehicle, and outputs the pulse signal to the navigation ECU 13 . The navigation ECU 13 then counts the generated pulses to calculate the rotational speed of the drive wheels and the travel distance. It should be noted that the navigation device 1 does not need to include all of the above four types of sensors, and the navigation device 1 may be configured to include only one or more of these sensors.

The data recording unit 12 also includes a hard disk (not shown) as an external storage device and recording medium, and a driver for reading the map information DB 31 and predetermined programs recorded in the hard disk and writing predetermined data to the hard disk. and a recording head (not shown). Note that 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. Alternatively, the map information DB 31 may be stored in an external server, and the navigation device 1 may acquire the map information through communication.

Here, the map information DB 31 includes, for example, link data 32 relating to roads (links), node data 33 relating to node points, branch point data 34 relating to branch points, point data relating to points such as facilities, and map display for displaying maps. Data, search data for searching for routes, search data for searching for points, etc. are stored.

The link data 32 includes the width, slope, cant, bank, condition of the road surface, number of lanes on the road, locations where the number of lanes decreases, and width of the road to which each link of the road belongs. For corners, data representing curvature, radius of curvature, intersections, T-junctions, corner entrances and exits, etc. For road attributes, data representing downhill roads, uphill roads, etc. , data representing highways and general roads (national roads, prefectural roads, narrow streets, etc.) are recorded for each road type.

The node data 33 includes coordinates (positions) of actual road branch points (including intersections, T-junctions, etc.) and node points set at predetermined distances according to the radius of curvature of each road, A node attribute that indicates whether a node corresponds to an intersection, etc., 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 links. A node number list, data about the height (altitude) of each node point, and the like are recorded.

The branch point data 34 includes the intersection name of the branch point, the corresponding node information specifying the node forming the branch point, the connection link information specifying the link connected to the branch point, and the link connected to the branch point. The name of the corresponding area, information specifying the shape of the branch point, and the like are stored. Also stored is a structure that can serve as a landmark when performing right/left turn guidance at a branch point.

On the other hand, a navigation ECU (electronic control unit) 13 is an electronic control unit that controls the entire navigation device 1, and includes a CPU 41 as an arithmetic device and a control device, and a working memory when the CPU 41 performs various arithmetic processing. In addition to the RAM 42 that stores the route data etc. when the route is searched, the ROM 43 that stores the driving support processing program (FIG. 2) etc. described later, etc. in addition to the control program It has an internal storage device such as a flash memory 44 for storing programs. The navigation ECU 13 has various means as processing algorithms. For example, the reference distance determination means determines whether or not the distance from the current position of the vehicle to the destination on the guidance route is equal to or less than a predetermined reference distance. The first object display means displays the position of the destination according to the position of the destination in the scenery around the vehicle when the reference distance determination means determines that the distance to the destination is equal to or less than the reference distance. The object is superimposed and displayed, and the destination object is displayed in the first display mode. When the destination object is displayed in the first display mode, the right/left turn determination means determines whether a right/left turn guidance point that involves a right/left turn on the guidance route from the current position of the vehicle to the destination is the destination object on the guidance route. It is determined whether or not the vehicle has made a right or left turn at the final right or left turn guidance point, which is the right or left turn guidance point closest to the ground. The second object display means displays the destination object in a second display mode different from the first display mode when the right/left turn determination means determines that the vehicle has made a right/left turn at the final right/left turn guidance point. The travel distance determination means determines whether or not the vehicle has traveled a predetermined travel distance after making the right or left turn at the final right/left turn guide point when the right/left turn determination means determines that the vehicle has made a right/left turn at the final right/left turn guidance point. determine whether The threshold distance determination means determines whether or not the distance from the current position of the vehicle to the destination is equal to or less than a predetermined threshold distance when the right/left turn determination means determines that the vehicle has made a left or right turn at the final right/left turn guidance point. .

The operation unit 14 is operated when inputting a departure point as a travel start point and a destination as a travel end point, and has a plurality of operation switches (not shown) such as various keys and buttons. Then, the navigation ECU 13 performs control to execute various corresponding operations based on switch signals output by pressing of 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 . Moreover, it is good also as a structure which has a microphone and a voice-recognition device.

The liquid crystal display 15 also displays a map image including roads, traffic information, operation guidance, operation menu, key guidance, guidance route from the departure point to the destination, guidance information along the guidance route, news, weather forecast, 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, the scenery (real scene image) around the vehicle at the present time (particularly in front of the vehicle) while the vehicle is running. display the guide object superimposed on the landscape.

Here, the guide objects superimposed on the scenery and displayed include various types of information used for assisting the driver in driving and information related to the vehicle. The guidance objects include, for example, the guidance route set by the navigation device 1 and information related to the guidance route (vehicle route, direction of travel, lane to enter, arrows indicating right and left turn directions, icons indicating guide junction marks, distance to guidance junctions, etc.); There are lane markings, current vehicle speed, shift position, remaining energy, advertisement images, facility information, guidance signs, map images, traffic information, news, weather forecasts, time, screens of connected smartphones, and so on. Also, in this embodiment, a case where a destination object indicating the position of the destination on the guidance route is adopted as the guidance object will be described.

In addition, the speaker 16 outputs voice guidance that guides the vehicle along the guidance route based on instructions from the navigation ECU 13 and traffic information guidance.

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

In addition, the communication module 18 is a communication device for receiving traffic information consisting of information such as congestion information, traffic regulation information, and traffic accident information transmitted from a traffic information center, such as a VICS center or a probe center. For example, mobile phones and DCMs correspond.

The front camera 19 is an imaging device having a camera using a solid-state imaging device such as a CCD, for example, and is installed with the optical axis directed forward in the traveling direction of the vehicle. The front camera 19 is attached behind the rearview mirror of the vehicle, for example. The captured image captured by the front camera 19 is displayed on the liquid crystal display 15 as the scenery (real scene image) around the vehicle (especially in front of the vehicle) as described above. Note that the front camera 19 may be attached to another location such as a bumper.

Next, a driving support processing program executed by the navigation ECU 13 in the navigation device 1 having the above configuration will be described with reference to FIGS. 2 to 8. FIG. FIG. 2 is a flow chart of a driving support processing program according to the first embodiment. Here, the driving support processing program is executed, for example, after the route guidance processing to the destination by the navigation device 1 is started, and is displayed on the liquid crystal display 15 according to the distance from the own vehicle to the destination. This is a program that assists the driving of a vehicle by visually recognizing a destination object superimposed on the scenery around the vehicle. 2 is stored in the RAM 42 and ROM 43 provided in the navigation device 1 and executed by the CPU 41. The program shown in FIG.

In the following description, an example of performing vehicle route guidance along a guidance route set by the navigation device 1 as vehicle driving support using a destination object will be described. The navigation device 1 can also provide guidance and information other than the driving assistance shown in FIGS. 2 to 8 by using guidance objects other than the destination object. For example, as a guide object, a warning for objects to be warned to passengers (other vehicles, pedestrians, guide signs), warnings displayed on the road surface (beware of rear-end collisions, speed limits, etc.), lane divisions in which the vehicle travels, etc. It is also possible to display lines, current vehicle speed, shift position, remaining energy, advertisement images, facility information, guide signs, map images, traffic information, news, weather forecasts, time, screens of connected smartphones, etc. Also, the occupant is not limited to the driver, and may be a fellow passenger.

First, in the driving support processing program, in step (hereinafter abbreviated as S) 1 in FIG. 2, the CPU 41 puts the destination object in a non-display state. For example, when the CPU 41 receives a destination setting based on an operation input to the liquid crystal display 15, it searches for a guide route from the current position of the vehicle to the destination based on the map information DB31. After displaying the plurality of searched guidance routes on the liquid crystal display 15, the CPU 41 accepts selection of a guidance route on the liquid crystal display 15. FIG. When the liquid crystal display 15 receives an instruction to start guidance for the selected guidance route, the CPU 41 starts route guidance.

FIG. 3 shows a state of a vehicle 53 (self-vehicle) traveling along a guidance route 52 toward a destination 51. As shown in FIG. In the following description, as an example, a case of guiding the vehicle to the right/left turn guide point 54 of the crossroads from the approach route 55, turn right, travel along the exit route 56, and travel to the final guide point 57 will be described. The right/left turn guidance point 54 is a right/left turn guidance point that accompanies a left/right turn on the guidance route 52 from the current position (for example, position 58) of the vehicle 53 to the final guidance point 57, and is closest to the destination 51 on the guidance route 52. It is the nearest right/left turn guidance point, ie, the final right/left turn guidance point in the present application. FIG. 2 shows the case where there is only one right/left turn guide point 54 accompanying a right/left turn, but if there are a plurality of right/left turn guide points 54 accompanying a right/left turn, the final left/right turn guide point is For example, among the plurality of right/left turn guidance points 54 , the right/left turn guidance point 54 has the shortest distance along the guidance route 52 to the final guidance point 57 . Further, the final right/left turn guidance point is not limited to the right/left turn guidance point 54 having the shortest distance along the guide route 52, but may be the right/left turn guidance point 54 having the shortest straight line distance from the destination 51, for example. Also, FIG. 3 illustrates the destination object G for convenience of explanation.

Further, the right/left turn guidance point and the final right/left turn guidance point of the present application are not limited to crossroads, and may be T-junctions, Y-junctions, and junctions where five or more roads are connected. Further, the right/left turn guide point and the final right/left turn guide point are not limited to the branch point of the general road, but may be a branch point where the approach road and the exit road of the expressway are connected. In other words, the navigation device 1 may perform guidance using the destination objects G and G1, which will be described below, also in expressway route guidance. Specifically, for example, when a service area is set as a destination, the navigation device 1 determines a branch point leading to an exit road for entering the service area as a final right/left turn guide point, and determines a destination object. may be changed. Therefore, the right/left turn guidance points in the present application refer to various branch points (intersections) to which right/left turn instructions are given when the navigation device 1 provides travel guidance according to the guidance route 52 set in the navigation device 1. be.

The guidance route 52 is, for example, a guidance route from the position 58 of the vehicle 53 to the final guidance point 57, and connects, for example, the link of the approach route 55, the link of the exit route 56, the node of the right/left turn guidance point 54, and the like. This is the route taken. The final guidance point 57 is a point on the road that is a predetermined distance (for example, 50 m) away from the destination 51, and is a point that approaches the destination 51 by a predetermined distance when traveling along the guidance route 52. is. The CPU 41 guides the vehicle to the final guidance point 57 and ends the guidance when the vehicle 53 reaches the final guidance point 57 . In addition, when guiding the route within the facility of the destination 51, the CPU 41 may set the right/left turn guidance point 54 closest to the destination within the facility as the final right/left turn guidance point.

When the CPU 41 receives an instruction to start guidance, the CPU 41 displays, for example, a vehicle icon indicating the vehicle on a guidance map (planar map, etc.) on the liquid crystal display 15 and starts guidance along the set guidance route 52 . In addition, the CPU 41 executes the driving support processing program shown in FIG. 2 in accordance with the start of the guidance. The CPU 41 puts the destination object in a non-display state at the stage of starting execution of the driving support processing program (S1).

Next, the CPU 41 determines whether or not the distance 59 (see FIG. 3) from the vehicle 53 to the destination 51 is equal to or shorter than the reference distance TH1 (S2). The CPU 41 sets the distance from the current position 58 along the guidance route 52 to the final guidance point 57 as the distance 59 to the destination 51 . A distance 59 to the destination 51 at the position 58 in FIG. The distance to be compared with the reference distance TH1 is not limited to the distance 59 along the guide route 52 described above. For example, as shown in FIG. 3, the CPU 41 may use the linear distance 59A between the destination 51 and the position 58 of the vehicle 53 to determine the reference distance TH1 in S2.

When the distance 59 is greater than the reference distance TH1, the CPU 41 makes a negative determination in S2 (S2: NO), and repeats the determination process of S2. When the distance 59 becomes equal to or less than the reference distance TH1 (S2: YES), the CPU 41 displays the destination object in a translucent state (S3). Therefore, the CPU 41 starts displaying the destination object when the host vehicle approaches the position of the reference distance TH1 from the destination 51 . In other words, the reference distance TH1 is a distance for determining the timing to start displaying the destination object, and is 100 m, for example. Instead of using a fixed value as the reference distance TH1, the CPU 41 may, for example, make the reference distance TH1 on expressways longer than on general roads. This makes it possible to increase the reference distance TH1 and display the destination object at an appropriate timing when traveling at a higher speed. Further, if the vehicle 53 moves away from the vehicle 53 to a distance greater than the reference distance TH1 after approaching the vehicle 53 to the reference distance TH1 or less, the CPU 41 terminates the display of the destination object, and repeats the process of FIG. 2 from the beginning. You can start.

For example, assume that the destination object started to be displayed at position 58 in FIG. A position 58 is a point where the vehicle enters a crossroads 61 one before the right/left turn guidance point 54, which is the final right/left turn guidance point. FIG. 4 shows an example of a travel guidance screen displayed on the liquid crystal display 15, showing the screen before entering the crossroads 61. As shown in FIG. For example, in S3, the CPU 41 switches the display screen of the liquid crystal display 15 from the screen displaying the guide map and the vehicle icon to the screen displaying the destination object G1 and the guide object 63 shown in FIG. That is, the CPU 41 changes the screen from displaying the plan map, the own vehicle icon, and the like to guide the guide route 52 to the screen displaying the destination object G1. Note that the CPU 41 may display both the guide map screen and the image displaying the destination object G side by side on one screen.

As shown in FIG. 4, the liquid crystal display 15 displays images of the guide object 63 and the destination object G1 superimposed on the scenery 64 in front of the vehicle captured by the front camera 19 . The destination object in the semi-transparent state is referred to as a destination object G1 to distinguish it from the destination object G that is not in the semi-transparent state. As shown in the guide route 52 of FIG. 3, the route to be guided at the point of the position 58 is a route that goes straight through the crossroads 61 . Therefore, as shown in FIG. 4 , the CPU 41 displays images of a plurality of triangular guide objects 63 indicating the direction to go straight through the crossroads 61 in accordance with the positions of the crossroads 61 . Thus, it is possible to suggest to the occupant that the guidance route 52 toward the destination 51 is a direction to go straight through the crossroads 61 ahead in the direction of travel.

In addition, the CPU 41 displays an image of the destination object G1 indicating the position of the destination 51 in a translucent state in accordance with the position of the destination 51 in the landscape 64 . For example, the CPU 41 displays the destination object G1 in a predetermined color (such as red), and displays the destination object G1 by increasing the transmittance of the destination object G1 to a predetermined ratio (such as 70%). For example, the CPU 41 calculates the direction of the destination 51 based on the position 58 and the position of the destination 51, sets the position of the destination 51 in the landscape 64, and places the destination object G1 at the set destination 51 position. to display an image of As indicated by the destination object G1 in FIG. 4, at the position 58, the destination 51 is located diagonally forward right. In addition, the CPU 41 displays an image of the destination object G1 in which the letters "G indicating the goal" are displayed in a round shape, and a triangular shape indicating the position of the destination 51 is added to the lower side. The images of the destination objects G and G1 are not limited to the images shown in FIGS. 3 and 4, and may be images of polygons, circles, ellipses, stars, or a combination thereof. Also, the destination objects G and G1 may be figures without characters, or may be images with only characters and numbers.

A specific method for superimposing and displaying the image of the destination objects G, G1 and the guide object 63 (hereinafter sometimes referred to as the destination object G, etc.) on the actual scene image is not particularly limited. For example, the CPU 41 generates a three-dimensional space corresponding to the vicinity of the current position of the vehicle 53 (especially forward in the traveling direction). The CPU 41 generates, for example, a space in which only the road surface is set as a three-dimensional space. Based on the map information DB 31, the CPU 41 may model the roads such as the approach route 55, the right/left turn guidance points 54, and the exit route 56 in a three-dimensional space. Alternatively, the CPU 41 may also model buildings, road signs, etc. in a three-dimensional space in addition to roads. Alternatively, the information of the three-dimensional space may be stored in the map information DB 31 in advance as the three-dimensional map information, and the CPU 41 may read out the three-dimensional map information of the pertinent vehicle position from the map information DB 31 and use it. Also, the CPU 41 may generate a three-dimensional space based on an image captured by the front camera 19 . For example, by performing point group matching on an image captured by the front camera 19, it is possible to detect roads and structures around the roads and generate a three-dimensional space.

Based on the parameters detected by the current position detector 11, the CPU 41 identifies the current position and orientation of the vehicle in the generated three-dimensional space. For example, the position of the front camera 19 installed in the vehicle 53 is the current position of the vehicle, and the direction of the optical axis of the front camera 19 is the azimuth of the vehicle. By setting the position of the vehicle 53 to the position of the front camera 19, when the destination object G and the like are arranged in a three-dimensional space, the captured image can be viewed from the viewpoint of the front camera 19 in the traveling direction of the vehicle. It becomes an image that can be seen when The front camera 19 is attached, for example, to the rear side of the rearview mirror. Therefore, the position of the front camera 19 corresponds to the line of sight of the occupant of the vehicle 53 , that is, the direction of the optical axis of the front camera 19 corresponds to the line of sight of the occupant of the vehicle 53 . An image captured by the front camera 19 corresponds to an image seen (visually recognized) from the visual field of the vehicle occupant. Also, the CPU 41 generates, for example, a two-dimensional polygon as the destination object G, etc., and generates an object that is basically thin. However, a thick three-dimensional polygon may be used. The CPU 41 arranges the generated two-dimensional polygons such as the destination object G in the three-dimensional space based on the current position and direction of the own vehicle (front camera 19) and the position and direction of the destination 51 in the three-dimensional space.

The CPU 41 creates an image of the three-dimensional space in which the destination object G and the like are arranged, viewed from the specified position of the vehicle 53 (the position of the front camera 19 corresponding to the viewpoint) in the traveling direction of the vehicle 53 (hereinafter referred to as a viewed image). to get In particular, since the position of the vehicle 53 is the position of the front camera 19, the acquired visual image is obtained when the destination object G and the like arranged in the three-dimensional space are viewed from the viewpoint of the front camera 19 in the traveling direction of the vehicle 53. Although it is a visible image, it also corresponds to the visual field of the occupant of the vehicle 53 . The CPU 41 stores the shape, size and position of the destination object G etc. included in the visible image as the shape, size and position of the destination object G etc. to be displayed on the liquid crystal display 15 . The shape and size of the destination object G and the like stored here are those of the destination object G and the like arranged in the three-dimensional space when viewed from the viewpoint of the vehicle 53 (more precisely, the front camera 19). It is the shape and size of the destination object G or the like that can be visually recognized. In addition, the stored positions of the destination objects G and the like are those of the destination objects G and the like arranged in the three-dimensional space that can be visually recognized when viewed from the viewpoint of the vehicle 53 (more precisely, the front camera 19). This is the position of the ground object G and the like. Then, the CPU 41 causes the liquid crystal display 15 to display an image in which the destination object G and the like are superimposed on the scenery captured by the front camera 19 based on the stored shape, size and position of the destination object G and the like. As a result, of the destination objects G and the like arranged in the three-dimensional space, the destination object G and the like visible to the passenger at the current position are reflected on the liquid crystal display 15 . The shape, size, and position of the destination object G and the like are appropriately changed (enlarged/reduced, etc.) according to the position and orientation of the vehicle 53 . Note that the CPU 41 may keep the shape and size of the image of the destination object G or the like constant regardless of the position and orientation of the vehicle 53 .

Here, if the destination object G1 is displayed at the position of the destination 51 in the scenery 64, the object present in the scenery 64 and the destination object G1 overlap each other, and the anteroposterior relationship between them becomes a problem. For example, as shown in FIGS. 3 and 4, when a building 65 is built between the vehicle 53 and the destination 51, the destination 51 exists on the other side of the building 65 and is actually invisible to the passengers. The problem is whether it is located in front of the building 65 and visible to the passengers. Therefore, the CPU 41 displays the destination object G1 in a translucent state until the right turn is made at the right/left turn guide point 54, that is, until the right/left turn is made at the final right/left turn guide point. As shown in FIG. 4, the CPU 41 increases the transmittance of the destination object G1 so that the building 65 overlapping the destination object G1 can be seen through. This can suggest to the crew that the destination 51 is on the other side of the building 65 . It is possible to prevent the occupant from erroneously recognizing the position of the destination 51 and traveling in the wrong direction, such as turning right at the crossroads 61 .

Returning to FIG. 2, the CPU 41 executes S4 after executing S3. In S<b>4 , the CPU 41 determines whether or not there is a right/left turn guidance point (fork such as a crossroads or a T-junction) on the guidance route 52 to the destination 51 . Since the guide route 52 shown in FIG. 2 includes a right/left turn guide point 54 for turning right, the CPU 41 makes an affirmative determination (S4: YES) and executes S5.

In S5, the CPU 41 determines whether or not the vehicle has turned left or right at the final right or left turn guidance point closest to the destination 51 on the guidance route 52, ie, the right or left turn guidance point 54. FIG. If there are a plurality of right/left turn guidance points involving right/left turns between the position 58 and the destination 51, the CPU 41 waits until the right turn is made at the right/left turn guidance point 54, which is the final right/left turn guidance point. A negative determination is made in S5 (S5: YES) even if a right or left turn is made at the right or left turn guidance point.

FIG. 5 shows a travel guidance screen displayed on the liquid crystal display 15 when the vehicle 53 travels through the position 66 shown in FIG. A position 66 is a position immediately before entering the right/left turn guidance point 54 . As shown in FIG. 3, the destination 51 is located at a position after traveling a certain distance along an exit route 56 after turning right at a right/left turn guidance point 54 . Therefore, the destination 51 does not exist in the scenery 64 seen from the vehicle 53 at the position 66, that is, in the scenery 64 seen by the occupants. For example, the CPU 41 changes the display position of the destination object G1 as the vehicle 53 moves from position 58 to position 66 and the current position changes. In the example shown in FIG. 3, destination 51 shifts to the right in landscape 64 in front of the vehicle as it approaches position 66 from position 58 . In accordance with this, the CPU 41 shifts the position of the destination object G1 on the scenery 64 to the right in accordance with the progress of the vehicle 53 . As a result, as shown in FIG. 5, the destination 51 is out of the landscape 64, and the destination object G1 is temporarily hidden. The CPU 41 continues to calculate the position to display the destination object G1, and when the destination 51 enters the landscape 64 as the vehicle turns right at the right/left turn guide point 54, it resumes displaying the destination object G1.

Further, as shown in FIG. 5, the CPU 41 displays guide objects 67 and 68 that guide the driver to turn right at the right/left turn guide point 54 . For example, the CPU 41 displays the guide objects 67 and 68 when the vehicle 53 travels to a position a certain distance away from the right/left turn guide point 54 . The CPU 41 displays a plurality of triangular guide objects 67 indicating the traveling direction of the vehicle 53 and an arrow guide object 68 indicating the name of the intersection and the traveling direction in accordance with the positions of the right/left turn guide point 54 and the exit route 56 . As a result, the traveling direction of the right/left turn guide point 54 can be indicated to the occupant.

When the CPU 41 determines in S5 that the vehicle has turned right at the right/left turn guidance point 54 (S5: YES), it executes S6. For example, when the CPU 41 determines that the vehicle 53 has entered the exit route 56 based on the current position of the vehicle 53, the CPU 41 makes an affirmative determination in S5. Note that the method of determining whether or not the right and left turns have been completed is not limited to the method of determining whether or not the exit route 56 has been entered. For example, the CPU 41 may make an affirmative determination in S5 on condition that the direction of the vehicle 53 is along the exit route 56 based on the steering sensor 23, the gyro sensor 24, and the like.

In S6, the CPU 41 determines whether or not the vehicle has traveled the travel distance TH2 after making the right turn. Here, for example, when the position and orientation of the vehicle 53 are determined only by GPS, the position and orientation of the vehicle 53 detected by GPS and the actual position when the vehicle 53 makes a left or right turn to change the direction of travel. There is a possibility that an error may occur in the direction. In this state, if a destination object G whose semi-transparent state is canceled, which will be described later, is displayed in the landscape 64 , there is a risk that the destination object G will be displayed at a position different from the actual position of the destination 51 . As a result, there is a possibility that the occupant may erroneously recognize the position of the destination 51 . Therefore, as shown in FIG. 3, for example, the CPU 41 makes a negative determination in S6 (S6 : NO). Then, when the CPU 41 advances to the position 71 (S6: YES), it executes S7. As a result, the destination object G1 is displayed in a semi-transparent state until the position and orientation of the vehicle 53 can be accurately detected, and the semi-transmissive state, which will be described later, is released when the position and orientation of the vehicle 53 can be accurately detected. The destination object G can be displayed. The traveling distance TH2 is, for example, 3 m.

In S7, the CPU 41 determines whether or not the distance from the host vehicle to the destination 51 is equal to or less than the threshold distance TH3. For example, when the distance 73 along the guidance route 52 from the current position of the vehicle 53 to the final guidance point 57 shown in FIG. The ground object G1 is superimposed on the scenery 64 and displayed. That is, when the distance 73 from the current position of the vehicle 53 to the destination 51 (the final guidance point 57) is greater than or equal to the threshold distance TH3 after turning right at the final right/left turn guidance point (right/left turn guidance point 54), the exit route Even after entering 56, the destination object G1 in a semi-transparent state is displayed. This means that even if the road facing the destination 51 is entered, the destination 51 may overlap the building 65 if the distance 73 between the vehicle 53 and the destination 51 is long. Therefore, when the distance 73 to the destination 51 is greater than the threshold distance TH3 (S7: NO), the CPU 41 displays the destination object G1 in a semi-transparent state. Then, when the distance 73 to the destination 51 becomes equal to or less than the threshold distance TH3, the CPU 41 makes an affirmative determination in S7 (S7: YES), and cancels the translucent state of the destination object G1 (S8). Note that the distance 73 to be compared with the threshold distance TH3 is not limited to the distance between the current position of the vehicle 53 along the guidance route 52 and the final guidance point 57 . The CPU 41 may compare the linear distance from the current position to the destination 51 with the threshold distance TH3 in S7.

Moreover, CPU41 performs S7, when negative determination is carried out by S4 (S4:NO). For example, the case of traveling on the straight road shown in FIG. 8 will be described. In the example shown in FIG. 8, when the distance 76 from the current position 75 of the vehicle 53 traveling along the guidance route 74 to the final guidance point 57 becomes equal to or less than the reference distance TH1 of S2, the guidance to the destination 51 is started. There is no right/left turn guidance point on the route 74 . In this case, as shown in FIG. 6, when the distance 76 along the guide route 74 to the destination 51 is greater than the threshold distance TH3 (S7: NO), the CPU 41 displays the destination object G1 in a semi-transparent state. . Then, when the CPU 41 reaches a position 79 where the distance 77 to the final guidance point 57 shown in FIG. Release (S8).

In S8, as shown in FIG. 7, the CPU 41 displays the destination object G colored in a predetermined color (such as red) with a transmittance of 0%, for example. In the case of FIG. 3, when the vehicle turns right at the right/left turn guidance point 54, travels by the travel distance TH2, and approaches the destination 51 (final guidance point 57) by a distance equal to or less than the threshold distance TH3, the destination object The destination object G1 is changed to the destination object G. Further, if the distance equal to or less than the threshold distance TH3 is reached at the time when the traveled distance TH2 has progressed, the destination object is changed to the destination object G at that time. As a result, the destination object G1 in a semi-transparent state is displayed at a position before the right/left turn guide point 54, where the destination 51 is not directly visible, and the destination 51 after the right turn is visible. At a possible position, the destination object G whose semi-transparent state is canceled is displayed. By recognizing the change in the display mode of the destination objects G and G1, the passenger can more accurately recognize whether the destination 51 exists on the other side of the building.

In the case of the straight road in FIG. 8, the destination object G1 is displayed while the distance between the vehicle 53 and the destination 51 is equal to or less than the reference distance TH1 and greater than the threshold distance TH3. The destination object G is displayed when the distance to the ground 51 becomes equal to or less than the threshold distance TH3. Accordingly, when the distance to the destination 51 is long, the passenger can more accurately recognize the position of the destination 51 by displaying the destination object G1 in a semi-transparent state. After executing S8, the CPU 41 ends the execution of the driving support processing program shown in FIG. For example, when the vehicle 53 reaches the final guidance point 57 and the guidance of the guidance route 52 is completed, the CPU 41 ends the display of the destination object G and displays the plane map and the own vehicle icon on the liquid crystal display 15 .

In the above description, the semi-transparent destination object G1 is used as the first display mode of the present application, and the non-transparent destination object G is used as the second display mode, but the invention is not limited to this. Moreover, each of the first and second display modes is not limited to one display mode. For example, the CPU 41 may change the display mode of the destination objects G and G1 according to the distance between the current position of the vehicle 53 and the destination 51 . After displaying the destination object G, the CPU 41 may change the display mode of the destination object G as shown in FIG. The CPU 41 may rotate the characters and graphics of the destination object G. Thus, by adding movement to the destination object G, the three-dimensional effect of the destination object G can be expressed, and the position of the destination 51 can be indicated to the passenger in an easy-to-understand manner.

Further, the CPU 41 may display an image 78 that emphasizes the destination object G in yellow or the like on the background of the destination object G when the destination 51 is approached by a predetermined distance shorter than the threshold distance TH3. Also, the CPU 41 may change the color and density of the destination object G and the image 78 according to the distance to the destination 51 . For example, if the distance is long, the destination object G may be displayed in yellow, and if the distance is short, the destination object G may be displayed in red. Alternatively, the color of the destination object G may be gradually darkened as the distance to the destination 51 becomes shorter. Thus, the occupant can be made to recognize that the distance to the destination 51 is getting shorter by the color depth of the destination object G and the image 78 .

Also, the CPU 41 may change the brightness of the destination object G and the image 78 according to the time zone for display. For example, the CPU 41 may set the brightness of the destination object G higher during the daytime and set the brightness of the destination object G lower at night. As a result, fatigue and flickering of the passenger's eyes looking at the destination object G can be suppressed.

Further, the CPU 41 may, for example, gradually decrease the transmittance of the destination object G1 as the destination 51 is approached while the destination object G1 is being displayed. The CPU 41 may decrease the transmittance to 70%, 60%, 50% as the distance to the destination 51 decreases to 100m, 90m, 80m, and so on. Thereby, the passenger can be made to recognize that the distance to the destination 51 is shortened by the transmittance of the destination object G1.

Incidentally, in the first embodiment, the navigation device 1 is an example of a superimposed image display device. The CPU 41 is an example of reference distance determination means, first object display means, right/left turn determination means, second object display means, traveling distance determination means, and threshold distance determination means. The right/left turn guidance point 54 is an example of a final right/left turn guidance point. Positions 58, 66, 71, 75, and 79 are examples of current positions.

As described above in detail, according to the navigation device 1 according to the first embodiment and the computer program executed by the navigation device 1, the CPU 41 determines that the distance to the destination 51 is equal to or less than the reference distance TH1 (S2 : YES), the destination object G1 in a translucent state (an example of the first display mode of the present application) is superimposed on the landscape 64 and displayed on the liquid crystal display 15 (S3). Then, when the CPU 41 determines that the right turn has been made at the right/left turn guidance point 54, which is the final right/left turn guidance point (S5: YES), the purpose of the state in which the translucent state is canceled (an example of the second display mode of the present application) is A ground object G is displayed (S8). As a result, when the possibility that a building 65 or the like exists between the vehicle and the destination 51 after turning right at the final right/left turn guidance point becomes low and the possibility that the line of sight is secured becomes high, the non-transparent destination object Display G. Therefore, it is possible to make the occupant more clearly recognize the position of the destination 51 , and to suppress the occurrence of misidentification of the position of the destination 51 .

Further, the CPU 41 changes the destination object from the destination object G1 in the semi-transparent state to the destination object G in the non-transparent state. Thus, by displaying the destination object G1 in a semi-transparent state, the destination 51 existing beyond the building 65 can be displayed as if it were seen through. In addition, by displaying the non-transparent destination object G superimposed on the building of the destination 51 after visibility has improved, the passenger can recognize that the building on which the destination object G overlaps is the building of the destination 51. can suggest to

When the CPU 41 determines that the vehicle 53 has traveled the travel distance TH2 after turning right at the right/left turn guide point 54 (S6: YES), the destination object G is displayed in a non-transparent state. As a result, when an error occurs in the detection of the position and orientation of the vehicle 53 due to a left or right turn, the destination object G1 is displayed in a semi-transparent state until the position and orientation can be detected with high accuracy, enabling accurate detection. The destination object G in a non-transparent state can be displayed from the point of time.

When the CPU 41 determines that the distance to the destination 51 is equal to or less than the threshold distance TH3 after turning right at the right/left turn guidance point 54 (S7: YES), the CPU 41 displays the destination object G in a non-transparent state. As a result, when the distance to the destination 51 is long and the destination 51 cannot be seen due to another building 65 or the like even after turning left or right at the final right or left turn guidance point, the destination object G1 is continuously displayed to indicate the destination. Misidentification of the position of the ground 51 can be suppressed. By displaying the non-transparent destination object G after the vehicle has sufficiently approached the destination 51, the passenger can be made to recognize the position of the destination 51 accurately.

[Second embodiment]
Next, a superimposed image display device according to the second embodiment will be described with reference to FIGS. 10 and 11. FIG. In the following description, the same reference numerals as in the configuration of the superimposed image display device according to the first embodiment shown in FIGS. is shown.

The configuration of the navigation device according to the second embodiment is the same as that of the navigation device 1 according to the first embodiment. Also, FIG. 10 shows a flow chart of the driving support processing program of the second embodiment. As shown in FIG. 10, in the second embodiment, if an affirmative determination is made in S6, S9 is executed to determine the angle formed between the own vehicle and the destination after turning left or right at the final right/left turn guidance point. Different from the form. In the following description, the description of processing contents similar to those of the first embodiment will be omitted as appropriate.

When the determination in S6 is affirmative (S6: YES), the CPU 41 determines whether or not the angle formed by the vehicle 53, which is the host vehicle, and the destination 51 is equal to or less than the threshold angle θTH (S9). As shown in FIG. 11 , for example, if there is a curve 81 after turning right at the right/left turn guidance point 54 , there is a possibility that the destination 51 cannot be seen directly due to the building 65 . Therefore, the CPU 41 of the second embodiment determines the angle θ formed after turning right at the right/left turn guidance point 54 and displays the destination object G after turning the curve 81 .

Specifically, in S9, the CPU 41 determines that the angle ? It is determined whether or not it is equal to or less than θTH. As described above, the threshold angle θTH is a value that can determine the angle θ at which the destination 51 may not be directly visible from the building 65 or the like due to the curve 81. For example, it is several tens of degrees (30 degrees, 45 degrees, 90 degrees, etc.).

When the formed angle θ is equal to or less than the threshold angle θTH (S9: YES), the CPU 41 executes S7 and subsequent steps as in the first embodiment. On the other hand, if the formed angle θ is greater than the threshold angle θTH (S9: NO), the CPU 41 determines the final curve which is the curve on the guidance route 86 from the current position to the final guidance point 57 and which is closest to the destination 51. is bent (S10). In the example shown in FIG. 11, only one curve 81 exists on the guide route 86. In the example shown in FIG. Therefore, when the CPU 41 determines that the curve 81 has turned left (S10: YES), it executes S7 and subsequent steps. A method for determining whether or not the curve 81 has been turned is not particularly limited, but for example, it may be determined that the vehicle has turned based on the fact that the current position of the vehicle 53 is the position of the exit of the curve 81 . Alternatively, it may be determined that the vehicle 53 has turned based on the fact that the traveling direction of the vehicle 53 has become the direction along the travel path 87 after the turn.

Further, when there are a plurality of curves 81 on the guidance route 86 after turning the right/left turn guidance point 54, the CPU 41 makes a negative determination in S10 until the final curve closest to the destination 51 is turned (S10: NO), when the final curve is turned (S10: YES), S7 is executed. As a result, when one or a plurality of curves 81 exist on the guide route 86 after turning the right/left turn guide point 54 and the destination 51 cannot be seen directly, the destination 51 can be reached after the last curve 81 is turned. A ground object G1 can be displayed. As a result, the passenger can recognize the position of the destination 51 more accurately.

It should be noted that the determination method of the curve 81 described above is an example. For example, the CPU 41 may determine the curve 81 using the map information DB 31 without using the formed angle θ or the threshold angle θTH. In this case, information about the position and curvature of the curve 81 is set in the map information DB 31 . Then, based on the map information DB 31, if there is a curve 81 with a curvature of a predetermined angle or more in the guidance route 86 after turning the right/left turn guidance point 54, the CPU 41 turns the curve 81 and then the destination object G may be displayed. In addition, the CPU 41 may execute S7 if there is no curve on the guide route 86 even though a negative determination is made in S9 (S9: NO).

Incidentally, in the above-described second embodiment, the CPU 41 is an example of angle determination means and curve determination means. The second straight line 84 is an example of a straight line.

As described in detail above, according to the navigation device 1 according to the second embodiment and the computer program executed by the navigation device 1, when the CPU 41 determines that the angle θ is not equal to or less than the threshold angle θTH (S9: NO), it is determined whether or not the curve 81 closest to the destination 51 has been turned (S10). Then, the CPU 41 displays the destination object G after turning the curve 81 (S8). According to this, when there is a curve 81 larger than a predetermined angle after turning at the final right/left turn guidance point, the semi-transparent state of the destination object can be canceled after turning the curve 81 . As a result, misidentification of the position of the destination 51 can be suppressed.

[Third embodiment]
Next, a superimposed image display device according to a third embodiment will be described with reference to FIGS. 12 and 13. FIG. In the following description, the same reference numerals as in the configuration of the superimposed image display device according to the first embodiment shown in FIGS. is shown.

The schematic configuration of the superimposed image display device according to the third embodiment is substantially the same as that of the superimposed image display device according to the first embodiment. Also, various control processes are substantially the same as those of the superimposed image display apparatus 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 displays the destination objects G and G1 on the liquid crystal display 15. By displaying, the position of the destination 51 is suggested, whereas the superimposed image display device according to the third embodiment uses a head-up display system as means for displaying an image superimposed on the scenery around the vehicle. different.

A schematic configuration of the superimposed image display device according to the third embodiment will be described below with reference to FIG. 12 . FIG. 12 is a schematic configuration diagram of a superimposed image display device 91 according to the second embodiment. As shown in FIG. 12 , the superimposed image display device 91 has a navigation device 93 mounted on a vehicle 92 and a front display 94 also mounted on the vehicle 92 and connected to the navigation device 93 . The front display 94 functions as a head-up display together with the windshield 95 of the vehicle 92 and serves as information providing means for providing various information to the occupants 96 of the vehicle 92 .

Here, the front display 94 is a liquid crystal display installed inside the dashboard 97 of the vehicle 92 and having a function of displaying an image on an image display surface provided on the front surface. CCFLs (cold cathode tubes) and white LEDs, for example, are used as backlights. As the front display 94, in addition to the liquid crystal display, an organic EL display or a combination of a liquid crystal projector and a screen may be used.

The front display 94 is configured to reflect an image output from the front display 94 onto a windshield 95 in front of the driver's seat so that an occupant 96 of the vehicle 92 can view the image. When the occupant 96 visually recognizes the image displayed on the front display 94 due to the reflection of the windshield 95, the occupant 96 sees the image displayed on the front display 94 not at the position of the windshield 95 but at a distant position beyond the windshield 95. The projected image is visually recognized as a virtual image 101 . In addition, the virtual image 101 is superimposed on the surrounding environment (landscape, real scene) in front of the vehicle and displayed. It is also possible to display

Here, the position where the virtual image 101 is generated, more specifically, the distance L from the occupant 96 to the virtual image 101 (hereinafter referred to as imaging distance) is determined by the position of the front display 94 . For example, the imaging 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 94 to the windshield 95 . For example, the optical path length is set so that the imaging distance L is 1.5 m.

A front camera 102 is installed above the front bumper of the vehicle 92, behind the rearview mirror, or the like. In the example shown in FIG. 12, the front camera 102 is attached above the front bumper. The front camera 102 is an imaging device having a camera using a solid-state imaging device such as a CCD, for example, and is installed with the optical axis directed forward in the traveling direction of the vehicle 92 . By performing image processing on the captured image captured by the front camera 102, the situation of the forward environment (that is, the environment in which the virtual image 101 is superimposed) that is visually recognized by the passenger 96 through the windshield is detected. be. A sensor such as a millimeter wave radar may be used instead of the front camera 102 .

Then, the superimposed image display device according to the third embodiment displays the guide object 63 (Fig. 4) and images 112 of the destination objects G and G1 are displayed. Note that FIG. 13 shows a state in which the virtual image 114 of the destination object G1 is displayed. As a result, when the images 111 and 112 displayed on the front display 94 are viewed by the occupant 96 of the vehicle 92, the images 111 and 111 of the guide object 63 and the destination objects G and G1 are superimposed on the scenery through the windshield 95. Virtual images 113 and 114 of 112 are visually recognized.

As a result, the course of the vehicle 92 and the position of the destination can be suggested to the occupant 96 in the same manner as the superimposed image display device according to the first embodiment. Further, by changing the display mode of the destination objects G and G1 from the translucent state to the non-transparent state, the passenger 96 can more accurately grasp the position of the destination 51 . Also, the superimposed image display device 91 may set the height at which the virtual images 114 of the destination objects G and G1 are displayed to a predetermined height from the upper surface of the road on which the vehicle is running, for example. The predetermined height here is, for example, a position above the pedestrian's head. As a result, it is possible to prevent the pedestrians and the like from being difficult to see due to the destination objects G and G1. It should be noted that the destination objects G and G1 may not be displayed at a predetermined height from the top surface of the road on which the vehicle is traveling. For example, the superimposed image display device 91 may display the destination objects G and G1 at the ground level of the destination 51, or may display the destination objects G and G1 above the scenery (such as the sky). good.

It should be noted that the present invention is not limited to the above-described embodiments, and of course various improvements and modifications are possible without departing from the gist of the present invention.
For example, the contents, order, etc. of each step of the driving support processing program shown in FIGS. 2 and 10 are examples, and can be changed as appropriate. For example, when the CPU 41 makes a negative determination in S4, that is, when there is no right/left turn guidance point with a right/left turn on the guidance route 52 (S4: NO), the CPU 41 executes S8 to display the destination object G1. You can
Further, the CPU 41 may display the destination object G by executing S8 based on the affirmative determination in S5, ie, the turning to the left or right at the final right or left turn guidance point. In this case, the processing of S6 and S7 may not be executed. Alternatively, the CPU 41 may execute S8 without executing S7 when an affirmative determination is made in S6.
Further, the CPU 41 may hide both the destination objects G and G1 during the execution of the determination process of S6, that is, during the period from when the final right/left turn guidance point is turned to the right/left until the progress distance TH2 is reached. good. For example, the CPU 41 may execute S1 while making a negative determination in S6 (S6: NO). As a result, the destination objects G and G1 including the destination object G1 are hidden while the detection error of the position and orientation of the vehicle 53 is occurring, and misrecognition of the destination 51 can be suppressed.
Further, the distance to be compared with the traveling distance TH2 in S6 is not limited to the distance based on the boundary point between the right/left turn guidance point 54 and the exit route 56 described above. For example, the CPU 41 may determine the distance from the center of the right/left turn guidance point 54 based on the traveling distance TH2.
Further, when the destination 51 is near the right/left turn guide point 54, the CPU 41 determines that the destination 51 is located at a distance slightly longer or shorter than the travel distance TH2 from the boundary point between the right/left turn guide point 54 and the exit route 56, for example. If so, the display of the destination object G may be executed while turning left or right at the right or left turn guidance point 54 . Alternatively, the CPU 41 may display the destination object G in a non-transparent state before entering the right/left turn guidance point 54 .

As means for displaying an image superimposed on the scenery around the vehicle, the first and second embodiments use the liquid crystal display 15 displaying the actual scene image, and the third embodiment uses a head-up display system. A window shield display (WSD) that displays an image on the windshield may be used. In WSD, the front glass may be used as a screen to display an image from a projector, or the front glass may be used as a transmissive liquid crystal display. The image displayed on the windshield by WSD is an image superimposed on the scenery around the vehicle.
Further, in each of the above-described embodiments, the guide objects 63, 67, and 68 that guide the direction of travel are displayed as the guide objects, but these guide objects may not be displayed. That is, the CPU 41 may execute only the display processing of the destination objects G and G1.
In addition, in the first to third embodiments, the driving support using the destination objects G and G1 is performed when driving on a general road, but it may be performed when driving on an expressway, and both general roads and expressways are supported. You can go when you are running. For example, when a service area is set as the destination 51, the branch point entering the service area may be determined as the final right/left turn guide point, and the destination objects G and G1 may be displayed.

Further, in the first and second embodiments, the actual scene image captured by the front camera 19 and the destination objects G and G1 are displayed on the liquid crystal display 15 of the navigation device 1. , G1 may be a display other than the liquid crystal display 15 as long as it is a display arranged in the vehicle.
In the third embodiment, the virtual images 113 and 114 are generated in front of the windshield 95 of the vehicle 92 by the front display 94, but the virtual images 113 and 114 are generated in front of windows other than the windshield 95. It is good as Also, the object on which the image is reflected by the front display 94 may be a visor (combiner) installed around the windshield 95 instead of the windshield 95 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 (FIGS. 2 and 10), but the executing body can be changed as appropriate. . For example, the configuration may be such that the controller of the liquid crystal display 15, the vehicle control ECU, or other on-vehicle equipment executes.

1, 93 navigation device (an example of a superimposed image display device), 41 CPU (reference distance determination means, first object display means, right/left turn determination means, second object display means, traveling distance determination means, threshold distance determination means, angle determination means, curve determination means), 51 Destination, 53 Vehicle, 54 Right/left turn guidance point (an example of final right/left turn guidance point), 52, 74 Guidance route, 64 Scenery, 58, 66, 71, 75, 79 Position (example of current position), 59, 73, 76, 77 Distance, 84 Second straight line (example of straight line), 96 Passenger, TH1 Reference distance, TH2 Travel distance, TH3 Threshold distance, θ Angle, θTH Threshold angle.

Claims (5)

A superimposed image display device that is mounted on a vehicle and displays information related to a guide route for guiding an occupant of the vehicle by superimposing it on scenery around the vehicle,
Reference distance determination means for determining whether or not the distance from the current position of the vehicle to the destination on the guidance route is equal to or less than a predetermined reference distance;
A destination object indicating the position of the destination in accordance with the position of the destination in the scenery around the vehicle when the reference distance determination means determines that the distance to the destination is equal to or less than the reference distance. a first object display means for superimposing and displaying the destination object in a first display mode;
When the process of displaying the destination object in the first display mode is executed, for a right/left turn guidance point involving a right/left turn on the guidance route from the current position of the vehicle to the destination, the right/left turn determination means for determining whether or not a right/left turn is made at a final right/left turn guidance point which is the right/left turn guidance point closest to the destination;
second object display means for displaying the destination object in a second display mode different from the first display mode when the right/left turn determination means determines that a right/left turn is made at the final right/left turn guidance point;
A superimposed image display device having The first object display means is
displaying the destination object in a translucent state as the first display mode;
The second object display means is
2. The superimposed image display device according to claim 1, wherein the destination object is displayed in a non-transparent state as the second display mode. When the right/left turn determining means determines that a right/left turn has been performed at the final right/left turn guidance point, it is determined whether or not the vehicle has traveled a predetermined distance after the right/left turn has been performed at the final right/left turn guidance point. Having a travel distance determination means for determining,
The second object display means is
2. The destination object is displayed in the second display mode when the travel distance determining means determines that the vehicle has traveled the travel distance after turning left or right at the final right or left turn guidance point. The superimposed image display device according to claim 1 or 2. A threshold distance for determining whether or not a distance from the current position of the vehicle to the destination is equal to or less than a predetermined threshold distance when the right/left turn determination means determines that the vehicle has made a right/left turn at the final right/left turn guidance point. having determination means;
The second object display means is
4. The destination object is displayed in the second display mode when the threshold distance determination means determines that the distance to the destination is equal to or less than the threshold distance. 10. The superimposed image display device according to Item 1. Whether the angle formed by the traveling direction of the vehicle and a straight line connecting the vehicle and the destination is equal to or less than a threshold angle when the right/left turn determination means determines that the vehicle has made a right/left turn at the final right/left turn guidance point. an angle determination means for determining whether
curve determination means for determining whether or not a curve closest to the destination on the guidance route is turned when the angle determination means determines that the formed angle is not equal to or less than the threshold angle;
has
The second object display means is
5. The superimposed image display device according to any one of claims 1 to 4, wherein the destination object is displayed in the second display mode when the curve determination means determines that the curve is turned.

Images