JP3932127B2 - Image display device for vehicle - Google Patents

Description

  The present invention relates to an image display technique for a vehicle that transmits information to a driver by displaying an image so as to be superimposed on a real landscape.

  Conventionally, there is a system that provides information about various facilities to a driver of a vehicle.

  In particular, in recent years, as the traffic network has developed and the driver can move freely over a wide area, it has become difficult for the driver to always grasp the complicated and changing road conditions. As a method for solving this problem, a navigation system that provides guidance information when moving to a destination by a vehicle such as an automobile is known and is widely used.

As an advanced form of such a navigation system, a system has been developed that displays an image in the vicinity of the front window so as to overlap the actual scenery. For example, Patent Document 1 discloses an apparatus that captures an actual scene with a camera and displays an image representing attribute information of the structure so as to be superimposed on the structure in the actual scene. Further, in Patent Document 2, a road that intersects the traveling direction of a vehicle that becomes a blind spot from the driver in a narrow crossroad is photographed with a camera, displayed on a side window, and from the intersecting road to another vehicle or person's crossroads. A safety confirmation system that can confirm the entry of a vehicle is disclosed.
JP 11-0665431 A Japanese Patent Laid-Open No. 2001-101666

  However, there is no conventional system that generates an image representing a road existing at the blind spot of a curve in the traveling direction and displays it as a virtual road. Therefore, when driving on a so-called blind curve with a blind spot that runs at a relatively high speed, unlike a low-speed crossroad, the vehicle is driving while imagining the shape of the road ahead in the direction of travel. If the curve is narrow or the curve curvature changes suddenly, it was easy to cause an accident. In addition, the driver was anxious because the road shape ahead could not be grasped without causing an accident.

  In particular, if the virtual road image is displayed so that the virtual road image and the road in the actual scenery are directly connected, the boundary portion between the virtual road image and the road in the actual scenery due to vibration during driving or a positioning error in the current location. There is a concern that the driver may shift or vibrate, and the driver tends to feel uncomfortable.

The present invention has been made in order to solve the above-described problems of the prior art, and the object of the present invention is to eliminate the driver's anxiety when traveling on a curve, prevent an accident, and prevent a virtual road. It is an object of the present invention to provide an image display device for a vehicle that can display an image smoothly connected to a road in a real landscape and prevent inconsistency between the virtual road display and the road in the real landscape.

In addition, it eliminates the driver's anxiety when driving on a curve, prevents accidents in advance, and refers to the image in front of the vehicle taken by the photographing means, and continuously displays the virtual road image with the road in the actual scenery. An object of the present invention is to provide an image display device for a vehicle which can be displayed at a visually recognizable position and can prevent inconsistency between a virtual road display and a real landscape road.

In order to solve such a problem, an image display device for a vehicle according to the present invention is an image display device for a vehicle that displays an image between a viewpoint position of a driver of a vehicle and an actual landscape , Using the current position data of the vehicle, using a blind spot detecting means for detecting a blind spot of a forward curve on the road on which the vehicle is traveling, using the viewpoint position, the map data, and the current position data, Display control means for generating a virtual road image representing a road existing in the detected blind spot, and displaying the virtual road image at a position continuous with the road on the real landscape as seen from the viewpoint position of the driver; The display control means blurs and displays the vicinity of the road in the actual scenery as special display control .

Another vehicular image display device according to the present invention is a vehicular image display device that displays an image between a viewpoint position of a vehicle driver and a real landscape, and includes map data and current vehicle position data. Using the blind spot detecting means for detecting the blind spot of the forward curve on the road on which the vehicle is traveling, and the detected blind spot using the viewpoint position, the map data, and the current position data. A virtual road image representing a road, and a display control means for displaying the virtual road image at a position continuous with the road on the real landscape as viewed from the viewpoint of the driver; Using the position data, extraction means for extracting from the map data road shape data existing in the blind spot of the curve ahead of the road on which the vehicle is traveling, and present in the blind spot based on the shape data Do Display control means for generating a blind spot road image representing a road, and displaying the blind spot road image at a position continuous with the road on the real scenery as seen from the viewpoint position of the driver, The means is characterized in that as a special display control, the vicinity of the road in the actual scenery is displayed lightly.

Still another vehicular image display device of the present invention is a vehicular image display device that displays an image between a viewpoint position of a driver of a vehicle and an actual scene, and includes map data and current position data of the vehicle. Using a blind spot detecting means for detecting a blind spot of a forward curve on a road on which the vehicle is traveling, and the detected blind spot using the viewpoint position, the map data, and the current position data. Display control means for generating a virtual road image representing a road to be displayed, and displaying the virtual road image at a position continuous with the road on the real scenery as seen from the viewpoint position of the driver, The control means does not display the vicinity of the road in the actual scenery as the special display control.

Here, the display control means comprises means for detecting the brightness around the vehicle, when the brightness around the vehicle is in a predetermined or less, and characterized in that it does not perform the special display control To do.

Here, it further includes speed detection means for detecting the traveling speed of the vehicle, and the display control means adjusts the degree of display blur in the special display control according to the traveling speed, or the special display. The thinness of display in the control is adjusted, or the special display control is not performed when the traveling speed is lower than a predetermined value.

  According to the present invention, a virtual road image representing a road existing in a blind spot is generated, and the virtual road image is displayed so as to appear to overlap the blind spot, thereby eliminating the driver's anxiety when driving on a curve. Accidents can be prevented in advance. In addition, if an attempt is made to display a virtual road image so that the virtual road image and the road in the actual landscape are directly connected, the boundary portion between the virtual road image and the road in the actual landscape due to vibration during driving or a positioning error in the current location. Although there is a concern that the driver may experience a discrepancy or vibration, there is a tendency for the driver to feel uncomfortable. However, since the virtual road image is displayed smoothly connected to the road in the real landscape, the virtual road display and the road in the real landscape are displayed. Inconsistency can be prevented.

  In addition, the virtual road image may be displayed by blurring the vicinity of the road in the actual scenery of the virtual road image, thinly displaying the vicinity of the road in the actual scenery of the virtual road image, or not displaying the vicinity of the road in the actual scenery of the virtual road image. Inconsistency between the display and the road in the actual scenery can be prevented.

  Moreover, since the display change is stopped when the brightness around the vehicle is equal to or lower than a predetermined value, it is possible to eliminate useless processing when inconsistencies are not noticeable.

  In addition, since the display change level is adjusted in accordance with the level of accuracy between the virtual road image and the road in the actual scenery, it becomes less noticeable according to the degree of inconsistency.

  Further, since the display change level is adjusted according to the traveling speed, inconsistency processing corresponding to the vehicle speed can be performed.

  In addition, since the display change is stopped when the traveling speed is equal to or lower than the predetermined speed, it is possible to eliminate useless processing when inconsistency does not become a problem.

  If an attempt is made to display the virtual road image so that the virtual road image and the road in the actual landscape are directly connected, the boundary portion between the virtual road image and the road in the actual landscape is caused by vibration during driving or positioning error of the current location. Although there is a concern that the driver may experience a shift or vibration, there is a tendency for the driver to feel uncomfortable. However, referring to the image in front of the vehicle taken by the photographing means, the virtual road image is continuous with the road in the actual scenery. Therefore, it is possible to prevent inconsistency between the virtual road display and the actual scenery road.

  Further, when the brightness around the vehicle is less than or equal to a predetermined value, the image in front of the vehicle captured by the imaging unit is not referred to, so that it is possible to eliminate useless processing when inconsistencies are not noticeable.

  Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the drawings. However, the relative arrangement of components, the display screen, and the like described in this embodiment are not intended to limit the scope of the present invention only to those unless otherwise specified.

  The image display device for a vehicle according to the present invention relates to a curve so as to be superimposed on an actual scenery that can be viewed through a window from the driver of the vehicle in order to provide information regarding the curve that has become a blind spot ahead of the vehicle. An image is displayed. As an embodiment of the vehicle image display device according to the present invention, an in-vehicle system that provides information on various curves to the driver in conjunction with a car navigation system is conceivable. Only the part displaying the curve will be described.

<Example of vehicle equipped with in-vehicle system of this embodiment>
FIG. 1 is a diagram showing an overall configuration of a vehicle 1000 equipped with an in-vehicle system according to the present embodiment.

  The position of the eye (eye point) 10a of the driver 10 sitting in the driver's seat of the vehicle 1000 is a position corresponding to the body shape and posture. Then, as shown in FIG. 1, the driver 10 can see a real landscape spreading in front of the vehicle 1000 through the front window 1100. That is, the field of view 10b from the eye point includes a partial area of the front window 1100 and a real landscape spreading in front of the vehicle. Therefore, in the present embodiment, information on the blind spot curve is provided by displaying an image (computer graphics) on the front window 1100 (or in the vicinity thereof) using the display unit 110 and displaying the image superimposed on the actual scenery. To do. For this reason, the vehicle 1000 has a blind spot according to the eye point camera 150 for detecting the position of the eye point 10a of the driver 10, the position of the eye point 10a of the driver 10, the vehicle position, 3D map data, and the like. The control unit 100 is provided for generating an image of the curve and displaying it from the display unit 110. Further, the vehicle 1000 is provided with a camera 160 for photographing the front of the vehicle, and the photographed image is used for blind spot detection and matching of curve display.

  FIG. 2 is a diagram illustrating an example of an image displayed by the in-vehicle system according to the present embodiment. For convenience, the driver is not shown in FIG.

  As shown in FIG. 2, the driver can visually recognize mountains, roads, buildings, and the like through the front window 1100 as actual scenery. Then, an image 200 of the virtual road is displayed so that the curve appears to be superimposed on the blind spot portion 210 of such a real landscape curve. A broken line portion indicated by 230 indicates the vicinity of the road in the actual landscape on the virtual road, which is a portion that reduces inconsistencies in the present embodiment.

For such a virtual road image 200, it is necessary to improve the convenience and security for the driver and to prevent the inconsistency between the virtual road display and the actual road connection. In the display control of the virtual road image 200 according to the present embodiment, the following measures are taken.
(1) The vicinity of the road in the actual scenery of the virtual road image is blurred and displayed.
(2) The vicinity of the road in the actual scenery of the virtual road image is displayed lightly.
(3) Do not display the vicinity of the road in the actual scenery of the virtual road image.
(4) When the surrounding brightness of the vehicle is below a predetermined level, the above display change is stopped.
(5) The display change level is adjusted in accordance with the level of accuracy between the virtual road image and the road in the actual scenery.
(6) Adjust the display change level according to the running speed.
(7) Stop changing the display when the running speed is below the specified value.
(8) An imaging unit that captures the front of the vehicle is provided, and the virtual road image is displayed at a position that can be visually recognized continuously with the road in the real scenery with reference to the image in front of the vehicle captured by the imaging unit.
(9) When the brightness around the vehicle is equal to or lower than the predetermined value, the image in front of the vehicle captured by the imaging unit is not referred to.
The vehicular image display device according to claim 12.

  In addition, the said device is a typical example and is not limited to these. Also, control combining a plurality of these examples is possible.

<Configuration example of in-vehicle system of this embodiment>
Next, the configuration of the in-vehicle system will be described with reference to FIGS. 3 and 4.

  FIG. 3 is a block diagram illustrating a configuration example of the in-vehicle system according to the present embodiment.

  As shown in FIG. 3, this system includes a display control unit 100 that controls the entire system and a display unit 110 that displays an image on the front window. The display control unit 100 calculates a current position as a peripheral device. A GPS receiver 120 for receiving GPS signals, a map database 130 used for detection of blind spots and curve images, a position sensor 140 for detecting a driver's position (head), and a driver An eye point camera 150 that captures and detects an eye point position, a camera 160 that captures the front of the vehicle, a wireless communication device 170 that communicates via a network with a server installed in the information center 200 outside the vehicle, and the like It has a sensor 180 for detecting the traveling speed and a sensor 190 for detecting the vibration of the vehicle.

  For use as a navigation system, a microphone that receives instructions from the driver, a speaker that provides information to the driver by voice, an operation unit that inputs instructions from the driver, and various types that detect the behavior and position of the vehicle. It also has a sensor (not shown).

  If a head-up display using a hologram is used as the display unit 110, the focus of the driver's eyes can be made substantially the same as when viewing a real landscape. However, the display unit 110 here is not limited to this, and any unit can be used as long as it can display an image so as to be superimposed on the actual scenery when viewed from the driver. . For example, a configuration in which an image is projected by a projector on a translucent screen attached to the front window may be used, or a configuration in which a transflective liquid crystal display is attached to the front window and a liquid crystal display is driven to display a desired image may be used. The details of such a display method have been disclosed in various past documents (for example, Japanese Patent Laid-Open No. 1-219883 and Japanese Patent Laid-Open No. 4-125679).

  The GPS receiver 120 mainly performs spread spectrum communication using the DS (Direct Sequence) method, detects and demodulates the received radio waves from the GPS satellites, obtains positioning data, and based on that, obtains the positioning data of the vehicle by GPS navigation. The current position and traveling direction are calculated.

  The map database 130 is composed of map information stored on a large-capacity disk, CD, or the like. From the 3D information that can detect the blind spot of the curve to the one that is sequentially downloaded from the information center 200 with only a part of the map information according to the capacity There can be.

  The driver position sensor 140 detects the position of the driver's head in the vehicle. The driver position sensor 140 may be shared by the eye point camera 150.

  The eye point camera 150 is a camera that captures the driver's head, identifies the driver's eyes from the captured image, and calculates the position of the eyes and the direction of the line of sight.

  The vehicle front camera 160 is disposed on the upper part of the front window, the upper part of the cabinet, etc., and captures information such as photographing the road and scenery in front of the vehicle and detecting blind spots and matching the curve display.

  The wireless communication device 170 can access the communication network by downloading radio waves to the base station closest to the vehicle, and download the latest map data from a specific server. The downloaded map data is stored in the map database 130 or the display control unit 100. Data can be uploaded to the server from the driver's home or the like, and the data can be downloaded by the wireless communication device 170. Furthermore, it is also possible to incorporate the data into the map data on the server side and download it via the wireless communication device 170.

  The speed sensor 180 is a sensor such as a rotary encoder, for example, and detects the speed of the vehicle by taking in vehicle speed pulses. The vibration sensor (acceleration sensor) 190 detects the acceleration applied to the vehicle by taking pressure change information using inertia such as a diaphragm, for example.

  In addition, an operation unit (not shown) includes input operation keys such as a numeric keypad and various touch switches and an interface circuit thereof, and receives an operation input from an occupant such as a driver. The operation unit may have a display for displaying various setting contents. Further, the other various sensors include an orientation sensor and the like. The direction sensor detects the direction of the vehicle using a gyro mechanism such as a gimbal, for example. Note that the positioning of the current position and the determination of the heading are performed by mixing and correcting the data from GPS navigation and the data from autonomous navigation. 8-11170 and Japanese Patent Laid-Open No. 10-307036), details of which are disclosed, and a description thereof will be omitted.

(Configuration example of control unit 100)
The display control unit 100 fetches information from the peripheral devices every predetermined period in the course of executing various programs, comprehensively determines such information, and derives an image to be output to the display unit 110.

  As shown in FIG. 3, the display control unit 100 includes a display control unit 201, a blind spot detection unit 202, a display image creation unit 203, a visual recognition position / direction detection unit 204, a connection unit display control unit 205, and a connection unit position control unit 206. Each functional block is included.

  Here, the display control unit 201 controls image display of the display unit 110 based on information from the blind spot detection unit 202 and the display image creation unit 203. The display image creation unit 203 creates a display image based on information from the viewing position / direction detection unit 204, the connection unit display control unit 205, and the connection unit position control unit 206.

  The blind spot detection unit 202 detects that there is a blind spot due to an obstacle on the curve ahead of the vehicle, for example, in the following procedure. (1) The distance in the curve direction measured by the radar (not shown) is compared with the distance to the curve on the map. If the measured distance is short, it is determined that there is a blind spot. (2) The image captured by the vehicle front camera 160 is compared with an obstacle image held in advance, and if there is an obstacle image in the captured image, it is determined that there is a blind spot. (3) It is determined that there is a blind spot based on the current position from the 3D image of the map database.

  The display image creation unit 203 uses the map information from the map database 130 and the eye position and line-of-sight direction of the driver of the visual position / direction detection unit 204 so that the position of the virtual road does not deviate from the actual position. A display image of the virtual road to be displayed on the front window 1100 is created and its display position is calculated so that the landscape road and the virtual road are smoothly connected. As will be described later, it is desirable to form the display image until the end of the curve. Further, a display image as shown in FIG. 2 is created under the control of the information from the connection part display control part 205 and the connection part position control part 206. Further, because of a signal from a brightness sensor around the vehicle (not shown), inconsistency is not conspicuous in the dark, and thus control is performed so that the processing of the connection portion display control unit 205 and the connection portion position control unit 206 is not performed.

  The visual recognition position / direction detection unit 204 detects the visual recognition position and direction of the driver from the information of the driver position sensor 140 and the eye point camera 150, and uses the information for the image creation and display position of the display image creation unit 203. Used for calculation.

  The connection unit display control unit 205 does not give the driver discomfort at the part where the real road and the virtual road are connected, so that the display of the virtual road is relieved from the inconsistency with the real road, For example, the virtual road is displayed in a blurred manner near the actual road, or is adjusted so as to be displayed or not displayed so as to make the inconsistency inconspicuous. The level of adjustment (change level) is controlled based on the accuracy and travel speed between the virtual road image and the road in the actual landscape.

  Based on the image from the vehicle front camera 160, the connecting unit position control unit 206 adjusts the position so that inconsistency does not occur at the portion where the real road and the virtual road are connected.

  Note that the display control unit 201, the blind spot detection unit 202, the display image creation unit 203, the visual recognition position direction detection unit 204, the display position determination unit 205, the connection unit control unit 206, the virtual component that configure the display control unit 100 of FIG. Each function of the obstacle creating unit 207 is realized by the CPU 101 reading and executing the program module stored in the ROM 102 of FIG.

  Although not shown in FIG. 3, means for determining the accuracy between the virtual road image and the road in the actual scenery performs processing based on information from the peripheral device, but will not be described in detail here.

(Example of hardware configuration of display control unit 100)
FIG. 4 is a block diagram illustrating a hardware configuration example of the display control unit according to the present embodiment.

  The display control unit 100 internally stores a CPU (specifically a microprocessor) 101 for arithmetic control, a ROM (Read Only Memory) 102 for storing fixed values and various program modules, and temporarily stores various data and programs. A random access memory (RAM) 103, a hard disk drive (HDD) 104 that stores 3D map data 104 and various setting data 104b, and an input / output port (I / O) 106 with an external unit are further provided. . Here, 3D map data and setting data are stored in the HDD 104, but this can be replaced by a drive of a recording medium such as a DVD or a CD-ROM, or a nonvolatile semiconductor memory such as a flash memory. is there. The 3D map data 104a corresponds to the map database 130 in FIG. 3, and each peripheral device in FIG. 4 corresponds to each peripheral device in FIG. The various program modules may be stored in the HD 104, loaded into the RAM 103, and executed by the CPU 101.

  The CPU 101 controls the entire in-vehicle system by executing a main routine program stored in the ROM and various program modules.

  The ROM 102 includes a display control module 102a for controlling the display of the curve generated from the 3D map data 104a on the display unit 110 of the virtual road, and when there is a blind spot due to an obstacle on the curve, from the 3D map data 104a Based on the display image creation module 102b that creates a display image on the front window based on the viewing position direction, a separation distance by a radar (not shown), a front shot image by a vehicle front camera, 3D map data, and the like, the tip of the curve A blind spot detection module 102c that detects whether there is a blind spot obstructed by an obstacle, a connection part display control module module 102d that displays a virtual road so as to relieve the mismatch with the real road, and a vehicle front Based on the image from the camera 160, the portion where the real road and the virtual road are connected is irregular. Stores such connection portion position module 102e adjust the position so as not to.

  The RAM 103 temporarily stores a program execution area 103a for executing various programs, a map data storage area 103b for temporarily storing 3D map data 104a read from the HDD 104, and a display image created by the display image creation module 102b. Display data storage area 103c to be stored automatically, and vehicle data storage area 103d to temporarily store data relating to the behavior and position of the vehicle input from cameras 150, 160 and various sensors 140, 180, 190, and the like.

  The 3D map data 104a includes data on the shape and position of buildings, parks, roads, intersections, and other natural objects such as mountains. Further, road information on road routes and road widths, and positions of road intersections are included. Contains information and other data. The setting contents stored in the various setting data 104b can be set by an operation unit or a personal computer connected to the server via a network and used for navigation. However, since it is not main information in this embodiment, it will not be described in detail.

<Example of processing procedure of in-vehicle system of this embodiment>
A basic flow performed in the in-vehicle system will be described with reference to the flowchart of FIG. This basic flow is illustrated as a flow that also serves to provide facility information for displaying a target facility or the like as navigation, together with the virtual road display of the curve on the front window of the present embodiment.

  First, when the engine of the vehicle is started, initial setting of the system is performed in step S10. Next, in step S20, the destination is set from the operation unit. In step S30, the current location of the vehicle is detected by a signal from the GPS receiver.

  Step S40 is a characteristic process in the present embodiment, and information is also provided regarding the blind spot due to the obstacle on the curve. Details will be described with reference to FIG.

  In step S50, facility information is displayed and provided on the front window in connection with navigation to the destination.

(Procedure for providing detailed curve blind spot information)
Here, the curve blind spot information provision processing in step S40, which is a characteristic part of the present embodiment, will be described in detail with reference to the flowchart of FIG. The flowchart of FIG. 6 shows the best mode for how to change the display mode of the virtual road image when the conditions are satisfied in step S40. It is not necessary to include all of them, and even if each condition is evaluated and controlled independently, each effect can be obtained.

  First, in step S41, map information around the current location is downloaded from a 3D map database or an information center and read.

  In step S42, it is detected whether there is a blind spot where the curve ahead of the vehicle is blocked by an obstacle. If there is no blind spot, return. There are various methods for detecting the blind spot. For example, (1) The distance in the curve direction measured by the radar (not shown) is compared with the distance to the curve on the map. Is determined. (2) The image captured by the vehicle front camera 160 is compared with an obstacle image held in advance, and if there is an obstacle image in the captured image, it is determined that there is a blind spot. (3) It is determined that there is a blind spot based on the current position from the 3D image of the map database. and so on.

  If a blind spot is detected, the process proceeds to step S43, and a virtual road is displayed at a predetermined start / end timing according to the curve blind spot. In addition, from the idea of displaying as few virtual roads as possible, the display of virtual roads after the current curve becomes useless or obstructive when the curve continues from a straight line or the opposite curve. Only display it. The detailed control in step S43 will be described later in detail according to FIG.

  In step S44, it is determined that the display is finished, for example, when the distance until the blind spot is more than a predetermined distance (for example, 15m: this value is preferably changed according to the vehicle speed) and the like, Finish displaying the road.

  A control example of this embodiment of the virtual road display according to the curve blind spot in step S43 will be described in detail according to the flowchart of FIG. It should be noted that the steps of FIG. 7 can solve the problems of the present invention even if they are executed independently or in any selected combination. Therefore, before and after the processes of steps S431 to S433 are not specified. FIG. 7 shows an example in which the steps are executed in consideration of the priority as the best mode.

  In step S431, it is determined whether or not the surroundings of the vehicle are darker than a predetermined brightness. If it is dark, the inconsistency is inconspicuous, so the process proceeds to step S434, and a normal virtual road is displayed. If the brightness is greater than or equal to a predetermined level, inconsistency is conspicuous, and it is determined in step S432 whether the accuracy of the superimposed display is poor. The accuracy determination includes a cause based on the virtual road image creation result and an external cause that causes the vehicle to vibrate and cause inconsistencies. If it is determined that the accuracy is poor, the display of the virtual road is changed in step S435. The change method is to display the above-described (1) the vicinity of the road in the actual landscape of the virtual road image in a blurred manner. (2) The vicinity of the road in the actual scenery of the virtual road image is displayed lightly. (3) Do not display the vicinity of the road in the actual scenery of the virtual road image. Etc.

  If the accuracy is not low, the process proceeds to step S433, and it is determined whether or not the vehicle speed is lower than a predetermined speed. If it is low, the inconsistency is inconspicuous or has little influence on the driver, so that a normal virtual road display is performed in step S434. When the vehicle speed is fast, the process proceeds to step S435, and the display of the virtual road is changed.

  It should be noted that the degree of blurring or thinning is preferably changed according to the level of accuracy and the traveling speed.

  FIG. 8 is a flowchart for explaining in detail another control example of this embodiment of the virtual road display according to the curve blind spot.

  First, in step S436, photographing is performed by the vehicle front camera. Next, in step S437, it is determined whether or not the surroundings of the vehicle are higher than a predetermined brightness. If it is bright, the process proceeds to step S438, and the position is controlled so that the boundary is matched with the image captured by the camera. If it is dark, the inconsistency is not conspicuous, so the process proceeds to step S439 and the matching process is not performed. In step S440, a virtual road is displayed.

  It should be noted that the processing for reducing the mismatch between FIGS. 7 and 8 may be performed alone or in combination.

<Effect of embodiment>
According to the present embodiment, since the road that becomes a blind spot due to an obstacle on the curve is displayed so as to be superimposed on the real landscape in the virtual road image, the driver is not anxious when driving the curve while driving. In addition, accidents can be prevented and inconsistencies between the virtual road image and the actual road can be reduced (inconspicuous), so that inconsistencies between the virtual road display and the actual scenery road can be prevented.

<Other embodiments>
In the above embodiment, the above-described effect is achieved by the CPU 101 described above reading out and executing a program capable of realizing each processing described in FIG. 6 from some storage medium. In addition to a readable / writable semiconductor memory and a hard disk, any storage device such as an optical disk, a magnetic disk, or a magneto-optical disk can be employed, and such a storage medium and a program itself are also included in the scope of the present invention. Therefore, data transmitted through a telecommunication line by using the Internet or the like can be included in the scope of the present invention. Moreover, the vehicle image display apparatus according to the present invention may be a part of the in-vehicle system as shown in the above embodiment, or may be a single dedicated unit.

1 is a diagram showing an overall configuration of a vehicle equipped with an in-vehicle system according to the present embodiment. It is a figure which shows an example of the image displayed by the vehicle-mounted system which concerns on this embodiment. It is a block diagram which shows the structural example of the vehicle-mounted system which concerns on this embodiment. It is a figure which shows the hardware structural example of the vehicle-mounted system which concerns on this embodiment. It is a flowchart for demonstrating the operation | movement of the whole vehicle-mounted system which concerns on this embodiment. It is a flowchart for demonstrating in detail the operation example of curve blind spot information provision of the vehicle-mounted system which concerns on this embodiment. It is a flowchart explaining in detail an example of display control of the virtual road of the vehicle-mounted system which concerns on this embodiment. It is a flowchart explaining in detail about the other example of the display control of the virtual road of the vehicle-mounted system which concerns on this embodiment.

Claims (7)

An image display device for a vehicle that displays an image between a viewpoint position of a driver of a vehicle and a real landscape ,
Using the map data and the current position data of the vehicle, a blind spot detecting means for detecting a blind spot of a forward curve on the road on which the vehicle is traveling,
Using the viewpoint position, the map data, and the current position data, a virtual road image representing a road existing at the detected blind spot is generated, and when viewed from the driver's viewpoint position, Display control means for displaying the virtual road image at successive positions;
With
The image display device for vehicles , wherein the display control means blurs and displays the vicinity of the road in the virtual landscape in the virtual road image as special display control . An image display device for a vehicle that displays an image between a viewpoint position of a driver of a vehicle and a real landscape ,
Using the map data and the current position data of the vehicle, a blind spot detecting means for detecting a blind spot of a forward curve on the road on which the vehicle is traveling,
Using the viewpoint position, the map data, and the current position data, a virtual road image representing a road existing at the detected blind spot is generated, and the road on the actual landscape is viewed from the viewpoint position of the driver. Display control means for displaying the virtual road image at successive positions;
With
The image display device for a vehicle , wherein the display control means displays, as special display control, a portion of the virtual road image in the vicinity of a road in a real landscape . An image display device for a vehicle that displays an image between a viewpoint position of a driver of a vehicle and a real landscape ,
Using the map data and the current position data of the vehicle, a blind spot detecting means for detecting a blind spot of a forward curve on the road on which the vehicle is traveling,
Using the viewpoint position, the map data, and the current position data, a virtual road image representing a road existing at the detected blind spot is generated, and the road on the actual landscape is viewed from the viewpoint position of the driver. Display control means for displaying the virtual road image at successive positions;
With
The image display device for a vehicle , wherein the display control means does not display the vicinity of a road in an actual landscape in the virtual road image as special display control . It said display control means comprises means for detecting the brightness around the vehicle, according to claim brightness around the vehicle is in a predetermined case below, characterized in that does not perform the special display control The image display device for a vehicle according to any one of 1 to 3 . Further comprising speed detection means for detecting the traveling speed of the vehicle;
Wherein the display control unit, characterized in that said adjusting the blurriness of display in the special display control claim 1 vehicular image display apparatus according according to the running speed. Further comprising speed detection means for detecting the traveling speed of the vehicle;
The image display device for a vehicle according to claim 2 , wherein the display control means adjusts the thinness of the display in the special display control according to the traveling speed. Further comprising speed detection means for detecting the traveling speed of the vehicle;
Wherein the display control unit, the vehicle image display apparatus according to any one of claims 1 to 3 wherein the traveling speed is equal to or not to perform the special display control when a predetermined or less.

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