JP6922425B2 - Vehicle display control device and display control program - Google Patents

Description

The present invention relates to a vehicle display control device and a display control program.

Conventionally, a head-up display (hereinafter, HUD) is known in which a virtual image is superimposed and displayed on the foreground of a vehicle by projecting an image onto a projection member such as a windshield. For example, Patent Document 1 discloses a technique of using a HUD to display a virtual sign such as a symbol indicating a sharp curve at a position where an event such as a sharp curve occurs.

Japanese Unexamined Patent Publication No. 2005-122583

However, in the technique disclosed in Patent Document 1, when an event in which the content of the virtual sign cannot be promptly understood by the driver is targeted only by the symbol of the virtual sign, the correct information can be promptly transmitted to the driver. There is a problem that cannot be done.

One object of this disclosure is to provide a vehicle display control device and a display control program that enable faster and more accurate transmission of information about road conditions to the driver.

The above object is achieved by a combination of the features described in the independent claims, and the sub-claims define further advantageous specific examples of the invention. The reference numerals in parentheses described in the claims indicate, as one embodiment, the correspondence with the specific means described in the embodiments described later, and do not limit the technical scope of the present invention. ..

In order to achieve the above object, the first vehicle display control device of the present invention is used in a vehicle, and a head-up display (220) that superimposes a virtual image on the foreground of the vehicle by projecting an image onto a projection member. An event that specifies a predetermined event in which the vehicle's running is restrained or guided, although there is no regulation or guidance by the traffic mark, which is at least one of a road sign and a road sign, which is a display control device for a vehicle that controls the display by For regulation, alerting, or guidance by the traffic mark in the course of the vehicle with the specific part (203), the traffic mark is superimposed and displayed, while for the predetermined event specified by the event specific part, the predetermined event. Is it a display control unit (207) that superimposes a pseudo-three-dimensional object that encourages restraint or guidance to be received by, and a supplementary target mark that can specify the position or range where the traffic mark is regulated or alerted? A mark determination unit (202) for determining whether or not the traffic mark is provided, and the display control unit is a traffic mark whose traffic mark is determined to be a supplementary target mark by the mark determination unit when performing a superimposed display representing a traffic mark. In some cases, a pseudo three-dimensional object indicating the position or range is also displayed on the position or range regulated or alerted by the traffic mark in the foreground, while the traffic mark is displayed on the mark determination unit. Supplement If the traffic mark is determined not to be the target mark, this pseudo three-dimensional object is not superimposed and displayed .
In order to achieve the above object, the second vehicle display control device of the present invention is used in a vehicle, and a head-up display (220) that superimposes a virtual image on the foreground of the vehicle by projecting an image onto a projection member. An event that specifies a predetermined event in which the vehicle's running is restrained or guided, although there is no regulation or guidance by the traffic mark, which is at least one of a road sign and a road sign, which is a display control device for a vehicle that controls the display by For regulation, alerting, or guidance by the traffic mark in the course of the vehicle with the specific part (203), the traffic mark is superimposed and displayed, while for the predetermined event specified by the event specific part, the predetermined event. Is it a display control unit (207) that superimposes a pseudo-three-dimensional object that encourages restraint or guidance to be received by, and a supplementary target mark that can specify the position or range where the traffic mark is regulated or alerted? A mark determination unit (202) for determining whether or not the traffic mark is provided, and the display control unit is a traffic mark whose traffic mark is determined to be a supplementary target mark by the mark determination unit when performing a superimposed display representing a traffic mark. In some cases, a pseudo three-dimensional object indicating the position or range is also displayed on the position or range regulated or alerted by the traffic mark in the foreground, while the traffic mark is displayed on the mark determination unit. Supplement If the traffic mark is judged not to be the target mark, the pseudo three-dimensional object is not superposed, but the superposed display is performed to represent the traffic mark in which the range where entry is restricted can be specified. If this is the case, a pseudo three-dimensional object that hinders driving in that range is superimposed and displayed in the range regulated by the traffic mark in the foreground.

Further, in order to achieve the above object, the first display control program of the present invention controls the display by the head-up display (220) that superimposes and displays a virtual image on the foreground of the vehicle by projecting an image on a projection member. A display control program, an event identification unit (203) that identifies a predetermined event in which the computer is not regulated or guided by a traffic mark, which is at least one of a road sign and a road sign, but the running of a vehicle should be suppressed or guided. ), The mark determination unit (202) that determines whether or not the traffic mark is a supplementary target mark whose position or range to be regulated or alerted can be specified, and the regulation and alert by the traffic mark in the course of the vehicle. Alternatively, for guidance, a superimposition display indicating the traffic mark is performed, and for a predetermined event specified by the event identification unit, a pseudo three-dimensional object that promotes suppression or guidance to be received by the predetermined event is superposed and displayed in the foreground. If the traffic mark is a traffic mark that is judged to be a supplementary target mark by the mark judgment unit, the traffic mark in the foreground is regulated or alerted. While the position or range is also displayed by superimposing a pseudo three-dimensional object indicating the position or range, if the traffic mark is a traffic mark determined by the mark determination unit to be not a supplementary target mark, this pseudo It functions as a display control unit (207) that does not perform superimposed display of a three-dimensional object.
Further, in order to achieve the above object, the second display control program of the present invention controls the display by the head-up display (220) that superimposes and displays a virtual image on the foreground of the vehicle by projecting an image on the projection member. A display control program, an event identification unit (203) that identifies a predetermined event in which the computer is not regulated or guided by a traffic mark, which is at least one of a road sign and a road sign, but the running of a vehicle should be suppressed or guided. ), The mark determination unit (202) that determines whether or not the traffic mark is a supplementary target mark whose position or range to be regulated or alerted can be specified, and the regulation and alert by the traffic mark in the course of the vehicle. Alternatively, for guidance, a superimposition display indicating the traffic mark is performed, and for a predetermined event specified by the event identification unit, a pseudo three-dimensional object that promotes suppression or guidance to be received by the predetermined event is superposed and displayed in the foreground. If the traffic mark is a traffic mark that is judged to be a supplementary target mark by the mark judgment unit, the traffic mark in the foreground is regulated or alerted. While the position or range is also displayed by superimposing a pseudo three-dimensional object indicating the position or range, if the traffic mark is a traffic mark determined by the mark determination unit to be not a supplementary target mark, this pseudo If you do not want to superimpose a three-dimensional object and want to superimpose a traffic mark that is identifiable in the area where entry is restricted, you can put it in the range regulated by the traffic mark in the foreground. It functions as a display control unit (207) that superimposes and displays a pseudo three-dimensional object that hinders traveling in that range.

According to these, regarding the regulation, alerting, or guidance by the traffic mark in the course of the vehicle, the head-up display is used to superimpose the traffic mark in the foreground. Therefore, it becomes possible for the driver to quickly recognize the road condition related to the traffic mark while facing the front of the course. In addition, for a predetermined event that should be restrained or guided by the vehicle running, although there is no regulation or guidance by the traffic mark, a pseudo three-dimensional object that encourages the restraint or guidance to be received by the predetermined event shall be superimposed and displayed in the foreground. become. Therefore, the driver is urged to suppress or guide the three-dimensional object, so that the driver can more accurately and more easily recognize the action to be taken in response to the predetermined event. As a result, it becomes possible to transmit information to the driver about the road condition more quickly and more accurately.

In order to achieve the above object, the third vehicle display control device of the present invention is used in a vehicle, and a head-up display (220) that superimposes a virtual image on the foreground of the vehicle by projecting an image onto a projection member. It is a display control device for vehicles that controls the display by, and superimposes the traffic mark on the regulation, alerting, or guidance by the traffic mark, which is at least one of the road sign and the road sign in the course of the vehicle. The display control unit (207) is provided with a display control unit (207) for determining whether or not the traffic mark is a supplementary target mark whose position or range for which a traffic mark is regulated or alerted can be specified. , When the traffic mark is superimposed and displayed, if the traffic mark is a traffic mark that is judged as a supplementary target mark by the mark judgment unit, the position that is regulated or alerted by the traffic mark in the foreground. Alternatively, while the range is also superposed with a pseudo three-dimensional object indicating the position or range, if the traffic mark is a traffic mark determined by the mark determination unit to be not a supplementary target mark, this pseudo Do not superimpose and display three-dimensional objects.
In order to achieve the above object, the fourth vehicle display control device of the present invention is used in a vehicle, and a head-up display (220) that superimposes a virtual image on the foreground of the vehicle by projecting an image onto a projection member. It is a display control device for vehicles that controls the display by, and superimposes the traffic mark on the regulation, alerting, or guidance by the traffic mark, which is at least one of the road sign and the road sign in the course of the vehicle. The display control unit (207) is provided with a display control unit (207) for determining whether or not the traffic mark is a supplementary target mark whose position or range for which a traffic mark is regulated or alerted can be specified. , When the traffic mark is superimposed and displayed, if the traffic mark is a traffic mark that is judged as a supplementary target mark by the mark judgment unit, the position that is regulated or alerted by the traffic mark in the foreground. Alternatively, while the range is also superposed with a pseudo three-dimensional object indicating the position or range, if the traffic mark is a traffic mark determined by the mark determination unit to be not a supplementary target mark, this pseudo If you do not want to superimpose a three-dimensional object and want to superimpose a traffic mark that is identifiable in the area where entry is restricted, you can put it in the range regulated by the traffic mark in the foreground. A pseudo three-dimensional object that hinders the running of the range is superimposed and displayed.

Further, in order to achieve the above object, the fourth display control program of the present invention controls the display by the head-up display (220) that superimposes and displays a virtual image on the foreground of the vehicle by projecting an image on a projection member. A display control program that uses a computer to determine whether a traffic mark, which is at least one of a road sign and a road sign, is a supplementary target mark whose position or range to be regulated or alerted can be specified. When the judgment unit (202) and the traffic mark for regulation, alerting, or guidance in the course of the vehicle are to be superimposed and displayed to represent the traffic mark, the traffic mark is to be displayed. If is a traffic mark that is determined to be a supplementary target mark by the mark judgment unit, a pseudo-three-dimensional object that indicates the position or range at the position or range regulated or alerted by the traffic mark in the foreground. On the other hand, if the traffic mark is a traffic mark that is determined not to be a supplementary target mark by the mark determination unit, the display control unit (207) does not perform the superimposed display of this pseudo three-dimensional object. To function as.
Further, in order to achieve the above object, the fourth display control program of the present invention controls the display by the head-up display (220) that superimposes and displays a virtual image on the foreground of the vehicle by projecting an image on a projection member. A display control program that uses a computer to determine whether a traffic mark, which is at least one of a road sign and a road sign, is a supplementary target mark whose position or range to be regulated or alerted can be specified. When the judgment unit (202) and the traffic mark for regulation, alerting, or guidance in the course of the vehicle are displayed in a superimposed manner indicating the traffic mark, the traffic mark is displayed. If is a traffic mark that is determined to be a supplementary target mark by the mark judgment unit, a pseudo-three-dimensional object that indicates the position or range at the position or range regulated or alerted by the traffic mark in the foreground. On the other hand, if the traffic mark is a traffic mark that is judged not to be a supplementary target mark by the mark determination unit, the superimposition display of this pseudo three-dimensional object is not performed and the entry is restricted. Display control that superimposes a pseudo three-dimensional object that hinders driving in the range in the range regulated by the traffic mark in the foreground when superimposing a traffic mark whose range is identifiable It functions as a unit (207).

According to these, regarding the regulation, alerting, or guidance by the traffic mark in the course of the vehicle, the head-up display is used to superimpose the traffic mark in the foreground. Therefore, it becomes possible for the driver to quickly recognize the road condition related to the traffic mark while facing the front of the course. In addition, for traffic marks that correspond to supplementary target marks for which the position or range to be regulated or alerted can be specified, in addition to the superposed display indicating the traffic mark, the position or range to be regulated or alerted by the traffic mark A pseudo three-dimensional object showing the position or range will also be displayed in an superimposed manner. Therefore, the driver can more accurately and more easily recognize the position or range of the traffic mark corresponding to the supplementary target mark, which is regulated or alerted by the traffic mark, by the three-dimensional object. As a result, it becomes possible to transmit information to the driver about the road condition more quickly and more accurately.

It is a figure which shows an example of the schematic structure of the vehicle system 1. It is a figure which shows the example of mounting HUD220 in a vehicle. It is a figure which shows an example of the schematic structure of HCU 20. Supplement It is a figure which shows the example of superimposition display when it is not a target mark. Supplement It is a figure which shows the example of superimposition display when it is not a target mark. It is a figure which shows the example of the superimposition display in the case of a supplementary target mark. It is a figure which shows the example of the superimposition display in the case of a supplementary target mark. It is a figure which shows the example of the superimposition display in the case of a supplementary target mark. It is a figure which shows the example of the superimposition display in the case of a supplementary target mark. It is a figure which shows the example of the superimposition display in the case of a supplementary target mark. It is a figure which shows the example of the superimposition display in the case of a supplementary target mark. It is a figure which shows the example of the superimposition display in the case of a supplementary target mark. It is a figure which shows the example of the superimposition display in the case of a supplementary target mark. It is a figure which shows the example of the 3D object which imitated the A type barricade. It is a figure which shows the example of the 3D object which imitated the state which the opening / closing bar of a tollhouse gate is closed. It is a figure which shows the example of the superimposition display when a predetermined event is specified. It is a figure which shows the example of the superimposition display when a predetermined event is specified. It is a figure which shows the example of the superimposition display when a predetermined event is specified. It is a figure which shows the example of the superimposition display when a predetermined event is specified. It is a figure which shows the example of the change of the aspect of the superimposition display of a 3D object according to the change of the positional relationship with the own vehicle. It is a figure which shows the example of the change of the aspect of the superimposition display of a 3D object according to the change of the positional relationship with the own vehicle. It is a figure which shows the example of the superimposition display when a predetermined event is specified. It is a figure which shows the example of the change of the aspect of the superimposition display of a 3D object according to the degree that the speed of the own vehicle exceeds the target speed. It is a flowchart which shows an example of the flow of the virtual image display control-related processing in HCU20.

A plurality of embodiments and modifications for disclosure will be described with reference to the drawings. For convenience of explanation, the parts having the same functions as the parts shown in the figures used in the explanations so far are designated by the same reference numerals among the plurality of embodiments and modifications, and the description thereof will be omitted. May be done. For the parts with the same reference numerals, the description in other embodiments and modifications can be referred to.

(Embodiment 1)
<Outline configuration of vehicle system 1>
Hereinafter, this embodiment will be described with reference to the drawings. The vehicle system 1 shown in FIG. 1 is used in a vehicle such as an automobile, and is an HMI (Human Machine Interface) system 2, a locator 3, a map database (hereinafter, map DB) 4, a vehicle status sensor 5, and a peripheral monitoring system. Contains 6. It is assumed that the HMI system 2, the locator 3, the map DB 4, the vehicle condition sensor 5, and the peripheral monitoring system 6 are connected to, for example, an in-vehicle LAN. Hereinafter, the vehicle using the vehicle system 1 is referred to as a own vehicle.

The locator 3 includes a GNSS (Global Navigation Satellite System) receiver and an inertial sensor. The GNSS receiver receives positioning signals from a plurality of artificial satellites. The inertial sensor includes, for example, a 3-axis gyro sensor and a 3-axis acceleration sensor. The locator 3 sequentially positions the vehicle position of the own vehicle equipped with the locator 3 by combining the positioning signal received by the GNSS receiver and the measurement result of the inertial sensor. The vehicle position may be determined by using the mileage obtained from the signals sequentially output from the vehicle speed sensor mounted on the own vehicle.

The map DB 4 is, for example, a non-volatile memory and stores map data such as link data and node data. The link data includes the link ID that identifies the link, the link length that indicates the length of the link, the link direction, the link travel time, the shape information of the link, the node coordinates (latitude / longitude) between the start and end of the link, and the road attributes. It is composed of each data such as. The map data may be acquired from the outside of the own vehicle using a communication module.

The road attribute data shall include, for example, data on a traffic mark that is at least one of a road sign and a road sign (hereinafter referred to as traffic mark data). In addition, for traffic marks for which the position or range to be regulated or alerted can be specified, the data of this position (hereinafter, target position) and the data of this range (hereinafter, target range) shall be included.

As an example of the target position, the position of the suspension for the regulation sign of the suspension, the position of the driving for the regulation sign of the slow speed, the prohibited approach point for the regulation sign of vehicle entry prohibition, and the warning sign with merging traffic. There is a confluence of. As an example of the target range, the section of the road closure for the traffic closure regulation sign, the parking / stop prohibition area for the parking / stop prohibition regulation sign, the height range for the height restriction regulation sign, and the width for the maximum width regulation sign. And so on. In addition, there are boundaries with adjacent lanes for overtaking prohibition signs and regulation signs, boundaries with adjacent lanes for two-way traffic warning signs that indicate oncoming vehicle caution, and crosswind caution areas for crosswind caution warning signs. .. In addition, there are also restricted sections for warning signs in the school zone.

The traffic mark data, the target position data, and the target range data may be stored in the map DB 4 as data other than the link data. The node data includes node ID with a unique number for each node on the map, node coordinates, node name, node type, connection link ID in which the link ID of the link connecting to the node is described, intersection type, and the like. Consists of.

The vehicle state sensor 5 is a group of sensors for detecting the running state of the own vehicle. The vehicle state sensor 5 includes a vehicle speed sensor that detects the vehicle speed of the own vehicle. The vehicle condition sensor 5 outputs the detection result to the in-vehicle LAN. The detection result of the vehicle state sensor 5 may be output to the vehicle LAN via the ECU mounted on the own vehicle.

The peripheral monitoring system 6 includes a peripheral monitoring ECU 60 and a peripheral monitoring sensor 61. The peripheral monitoring system 6 recognizes the traveling environment of the own vehicle. The peripheral monitoring sensor 61 detects obstacles such as stationary objects and moving objects around the own vehicle, and detects road signs such as road signs, road markings, and traveling lane markings. The peripheral monitoring sensor 61 may be configured to use a front camera 610 whose imaging range is a predetermined range in front of the own vehicle. For example, the front camera 610 may be provided on the rearview mirror 11 (see FIG. 2) of the own vehicle. The front camera 610 may be provided on the upper surface of the instrument panel 12 (see FIG. 2) of the own vehicle. As the peripheral monitoring sensor 61, a camera that captures images other than the front of the own vehicle may be used, or a millimeter-wave radar, sonar, LIDAR (Light Detection and Ranging / Laser Imaging Detection and Ranging), or the like may be used.

The peripheral monitoring ECU 60 is mainly composed of a microcomputer including a processor, a memory, I / O, and a bus connecting these, and executes various processes by executing a control program stored in the memory. The peripheral monitoring ECU 60 recognizes the traveling environment of the own vehicle from the detection result of the peripheral monitoring sensor 61. For example, the peripheral monitoring ECU 60 recognizes a traffic mark or the presence or absence of an obstacle from a captured image (hereinafter referred to as a front image) acquired from the front camera 610 by a well-known image recognition process such as pattern matching. ..

Further, the peripheral monitoring ECU 60 recognizes the traveling environment of the own vehicle from the vehicle position of the own vehicle acquired from the locator 3, the map data acquired from the map DB 4, and the detection result by the peripheral monitoring sensor 61. As an example, the shape and moving state of an object around the own vehicle are recognized from the detection result of the peripheral monitoring sensor 61, and the shape of a sign around the own vehicle such as a lane marking is recognized. Then, by combining with the vehicle position and map data of the own vehicle, a virtual space that reproduces the actual driving environment in three dimensions is generated. Further, when the position information and the speed information can be acquired from the portable device carried by another vehicle or a passerby via the communication module, the driving environment may be recognized by using these information as well. The driving environment may be recognized by an ECU other than the peripheral monitoring ECU 60.

The HMI system 2 includes an HCU (Human Machine Interface Control Unit) 20, an operation device 21, and a display device 22, and accepts input operations from the driver of the own vehicle and presents information to the driver of the own vehicle. To do. The operation device 21 is a group of switches operated by the driver of the own vehicle. The operating device 21 is used to make various settings. For example, the operation device 21 includes a steering switch provided on the spoke portion of the steering of the own vehicle. As the display device 22, a head-up display (HUD) 220 is used. Here, the HUD 220 will be described with reference to FIG.

As shown in FIG. 2, the HUD 220 is provided on the instrument panel 12 of the own vehicle. The HUD 220 forms a display image based on the image data output from the HCU 20 by, for example, a liquid crystal display type or a scanning type projector 221. As the display image, for example, there is an image showing the own vehicle state such as the vehicle speed and the operating state of the automatic driving function. In addition, there are images representing traffic marks, images of pseudo-three-dimensional objects (hereinafter, 3D objects), and the like. It should be noted that an image showing information other than those listed here may be used.

The image representing the traffic mark may be, for example, an icon imitating the traffic mark. In the following, the description will be given by taking the case of using an icon imitating a traffic mark as an example. The image of the 3D object may be an image of a wall-shaped three-dimensional object, an image of a sheet-shaped three-dimensional object, an image of a three-dimensional object imitating an actual structure, or the like. As a three-dimensional object that imitates an actual structure, an image of a three-dimensional object that imitates a pylon, a road closure for construction work, a guide plate, a gate of a tollhouse, a signboard showing an entrance position, or the like may be used.

The HUD 220 projects the display image formed by the projector 221 onto a projection area defined on the front windshield 10 as a projection member through an optical system 222 such as a concave mirror. The projection area is, for example, located in front of the driver's seat. The luminous flux of the display image reflected on the vehicle interior side by the front windshield 10 is perceived by the driver seated in the driver's seat. Further, the luminous flux from the foreground as a landscape existing in front of the own vehicle, which has passed through the front windshield 10 formed of the translucent glass, is also perceived by the driver seated in the driver's seat. As a result, the driver can visually recognize the virtual image 100 of the display image formed in front of the front windshield 10 by superimposing it on a part of the foreground. That is, the HUD 220 superimposes and displays the virtual image 100 on the foreground of the own vehicle, and realizes a so-called AR (Augmented Reality) display.

The projection member on which the HUD 220 projects the display image is not limited to the front windshield 10, and may be a translucent combiner. Further, as the display device 22, in addition to the HUD 220, a device for displaying an image may be used. As an example, there are a combination meter, a CID (Center Information Display) and the like.

The HCU 20 is mainly composed of a microcomputer including a processor, a memory, an I / O, and a bus connecting them, and is connected to an operation device 21, a display device 22, and an in-vehicle LAN. The memory referred to here is a non-transitory tangible storage medium that stores programs and data that can be read by a computer non-transiently. Further, the non-transitional substantive storage medium is realized by a semiconductor memory, a magnetic disk, or the like. The HCU 20 controls the display by the HUD 220 by executing the control program stored in this memory. The HCU 20 corresponds to the vehicle display control device of the claim, and the control program for realizing the function of the HCU 20 regarding the control of the display by the HUD 220 corresponds to the display control program of the claim. The configuration of the HCU 20 regarding the control of the display by the HUD 220 will be described in detail below.

<Outline configuration of HCU20>
Here, the schematic configuration of the HCU 20 will be described with reference to FIG. Regarding the control of the display by the HUD 220, as shown in FIG. 3, the HCU 20 includes a driving environment acquisition unit 201, a mark determination unit 202, an event identification unit 203, a speed acquisition unit 204, a target speed setting unit 205, an excess determination unit 206, and The display control unit 207 is provided as a functional block. A part or all of the functions executed by the HCU 20 may be configured in hardware by one or a plurality of ICs or the like. Further, a part or all of the functional blocks included in the HCU 20 may be realized by a combination of software execution by a processor and hardware members.

The driving environment acquisition unit 201 acquires information on the driving environment recognized by the peripheral monitoring ECU 60. When the driving environment information acquired by the driving environment acquisition unit 201 includes information on a traffic mark in front of the vehicle's course, the mark determination unit 202 determines whether this traffic mark is a supplementary target mark that needs to be supplemented. Judge whether or not. The mark determination unit 202 determines a traffic mark whose position or range to be regulated or alerted can be specified as a supplement target mark. For example, the mark determination unit 202 may determine that the traffic mark in which the map DB 4 includes the data of the target position or the target range is the supplement target mark.

As an example of a traffic mark whose position to be regulated or alerted can be specified, there are a temporary stop regulation sign, a slow-moving regulation sign, a vehicle entry prohibition regulation sign, a warning sign with merging traffic, and the like. In addition, as an example of a traffic mark whose regulation or alert range can be specified, a traffic sign, a parking / stopping prohibition sign, a height restriction sign, a maximum width regulation sign, and an overtaking prohibition sign. There are regulatory signs, crosswind caution warning signs, stop prohibition part regulation signs, school zone warning signs, etc. Regarding the warning sign of the school zone, by including the information of the target time zone in the map data of the map DB4, if it corresponds to the target time zone, it is judged as a traffic mark that needs supplementation, but it corresponds to the target time zone. If this is not the case, it may be determined that the traffic mark does not require supplementation.

Note that the traffic mark that does not include the data of the target position and the target range in the map DB 4 may not be the supplementary target mark. Supplement As an example of a traffic mark that is not a target mark, there are a traffic mark that cannot identify a point such as a warning sign that an animal may jump out, and a traffic mark that does not have an important point such as a regulation sign for honking. For a traffic mark whose position or range to be regulated and alerted is ambiguous, whether or not it is a supplementary target mark may be distinguished depending on whether or not the map DB4 includes data on the target position or target range.

When the mark determination unit 202 determines that the mark is a supplementary target mark, the mark determination unit 202 determines the traffic mark specified from the map data of the map DB4 in addition to the traffic mark information in front of the course of the own vehicle acquired by the driving environment acquisition unit 201. The data of the target position or the target range is sent to the display control unit 207. On the other hand, when the mark determination unit 202 determines that the mark is not a supplementary target mark, the mark determination unit 202 does not send the data of the target position and the target range, but outputs the information of the traffic mark in front of the course of the own vehicle acquired by the driving environment acquisition unit 201. It is sent to the display control unit 207.

Based on the driving environment information acquired by the driving environment acquisition unit 201, the event identification unit 203 specifies a predetermined event in which the traveling of the own vehicle should be suppressed or guided, although there is no regulation or guidance by the traffic mark. Predetermined events include areas where driving should be avoided, areas where the vehicle should head, and situations where the speed of the vehicle should be suppressed. When a predetermined event is specified, the event identification unit 203 sends information on the specified predetermined event to the display control unit 207.

Examples of areas where driving should be avoided include areas of sudden obstacles such as falling objects, temporary road closure sections due to road construction, and lanes for automatic charging when the on-board unit for automatic charging is unavailable. be. The area of the sudden obstacle may be specified by comparing the map data of the map DB4 with the information of the driving environment acquired by the traveling environment acquisition unit 201. Temporarily closed sections due to road construction, etc. are specified by comparing the map data of the map DB4 with the driving environment information acquired by the driving environment acquisition unit 201, or by the traffic information acquired via the communication module. You can do it. The unavailability of the on-board unit for automatic billing may be specified from the signal indicating that the signal of the on-board unit is not detected, the signal indicating that the IC card of the on-board unit is not inserted, and the like.

Examples of areas where the vehicle should head include parking lot entrances set as transit points or destinations by the navigation function, lanes where the vehicle should change lanes due to road construction, and the like. The information on the parking lot entrance set as the waypoint or the destination by the navigation function may be specified by acquiring it from the device having the navigation function. Lanes that cannot be passed due to road construction, etc. can be identified by comparing the map data of the map DB4 with the driving environment information acquired by the driving environment acquisition unit 201, or by identifying from the traffic information acquired via the communication module. Just do it.

As an example of a situation in which the speed of the own vehicle should be suppressed, there is a situation in which the vehicle is traveling in a section without a speed sign and a speed sign. In addition, as an example of a situation in which the speed of the own vehicle should be suppressed, there is a situation in which the road surface is wet due to rain or the road surface is frozen due to low temperature and slips easily. The fact that the road surface is wet due to rain can be estimated from the brightness of the road surface captured by the front camera 610, estimated from the detection result of the rain sensor in the vehicle condition sensor 5, or the weather information acquired via the communication module. It may be specified from the above. The fact that the road surface is frozen due to the low temperature may be estimated from the detection result of the outside air temperature sensor in the vehicle condition sensor 5, or may be specified from the weather information or the like acquired via the communication module. In addition, when the information of the slip-prone section is included in the map data of the map DB4, based on this map data, the traveling time of the slip-prone section is specified as a situation in which the speed of the own vehicle should be suppressed. You may.

The speed acquisition unit 204 sequentially acquires the speed of the own vehicle from the vehicle speed sensor of the vehicle condition sensor 5. When the traffic mark determined by the mark determination unit 202 as the supplementary target mark is a traffic mark that requires suspension or slowing, the target speed setting unit 205 is a vehicle for complying with the regulation of suspension or driving. Set the target speed of. Traffic marks that require a temporary stop or slow-moving include, for example, a temporary stop regulation sign and a slow-moving regulation sign.

As an example of complying with the suspension regulation, the target speed that should not be exceeded in order to pause at this position may be sequentially set according to the distance to the position of the suspension regulation sign. For example, by storing the correspondence between the distance to the position of the stop regulation sign and the target speed in the memory of the HCU 20 in advance, this correspondence can be stored based on the distance to the position of the stop regulation sign. The target speed may be set sequentially with reference to it. When complying with the regulation of driving, it is sufficient to sequentially set the target speed that should not be exceeded in order to decelerate to the speed corresponding to the driving at the position of the regulation sign of driving.

Further, when the predetermined event specified by the event specifying unit 203 is a situation in which the speed of the own vehicle should be suppressed, the target speed setting unit 205 sets the target speed of the own vehicle according to this situation. As an example, when traveling in a section without a speed sign or a speed sign, the setting may be made based on the road type and the type of the own vehicle in this section. For example, when the own vehicle travels on a general road, it may be set to 60 km / h. As another example, for a slip-prone situation, if there is a speed sign or speed sign, the speed may be set by subtracting a predetermined speed from the regulated speed by the speed sign or speed sign. If there is no speed sign or speed sign, the speed may be set by subtracting the predetermined speed from the legal speed. The predetermined speed referred to here is a value that can be arbitrarily set as long as it is a value considered to be sufficient to avoid slipping. Further, in a situation where slipping is likely to occur, a fixed speed that is considered sufficient to avoid slipping may be set.

The excess determination unit 206 determines whether or not the speed of the own vehicle sequentially acquired by the speed acquisition unit 204 exceeds the target speed set by the target speed setting unit 205. Further, when the excess determination unit 206 determines that the speed of the own vehicle exceeds the target speed, it is preferable that the excess determination unit 206 also determines the degree to which the speed of the own vehicle exceeds the target speed.

The display control unit 207 controls the display by the HUD 220. As shown in FIG. 3, the display control unit 207 includes a mark display control unit 208, a supplementary display control unit 209, an event-specific display determination unit 210, and an event-specific display control unit 211 as sub-function blocks.

Based on the traffic mark information obtained from the mark determination unit 202, the mark display control unit 208 superimposes and displays an icon imitating this traffic mark (hereinafter, traffic mark icon) in the foreground by the HUD 220. The display position of the traffic mark icon is preferably a position in the projected area that does not obstruct the driver's field of vision. The mark display control unit 208 is configured to superimpose and display the traffic mark icon on both the traffic mark determined by the mark determination unit 202 to be not the supplement target mark and the traffic mark determined by the mark determination unit 202 as the supplement target mark. Just do it.

Here, FIGS. 4 and 5 show an example of superimposed display when the mark is not a supplementary target mark. FIG. 4 is a display example of an icon that imitates a warning sign that an animal may pop out, which is not a supplementary target mark. FIG. 5 is a display example of an icon imitating a regulation sign for honking, which is not a supplementary target mark. Ic in FIGS. 4 and 5 indicates a traffic mark icon. The same applies to FIGS. 6 to 13 below.

Since the traffic mark icon is superimposed and displayed in the foreground by the HUD 220, the driver of the own vehicle can check the traffic mark while keeping the movement of the line of sight while driving small. Moreover, even if the actual traffic mark is overlooked, the traffic mark can be confirmed. In addition, since the movement of the line of sight for confirmation is less in the road sign than in the road sign among the traffic marks, the traffic mark that displays the traffic mark icon by the HUD220 is used as the road sign and the road sign. The configuration may be limited to our road sign.

The supplementary display control unit 209 superimposes and displays a 3D object on the foreground by the HUD 220 for the traffic mark determined by the mark determination unit 202 as the supplementary target mark. That is, for the supplementary target mark, a 3D object is superimposed and displayed in the foreground as a supplement in addition to the traffic mark icon. The supplementary display control unit 209 sets the position or range of the supplementary target mark obtained from the mark determination unit 202 to the position or range regulated or alerted by the supplementary target mark in the foreground based on the data of the target position or the target range. A 3D object showing the position or range is superimposed and displayed.

For example, when the supplementary display control unit 209 superimposes and displays a traffic mark icon representing a supplementary target mark whose approach is restricted range (hereinafter referred to as “access restricted range”) in the foreground, the supplementary display control unit 209 is in the foreground. A 3D object that prevents the vehicle from traveling in the entry restriction range may be superimposed and displayed on the entry restriction range. This makes it easier for the driver to recognize that the entry to the entry restriction range is restricted by the 3D object, and makes it easier to understand the content of the supplementary target mark more quickly and more accurately.

As an example, when the supplementary target mark is a traffic closure regulation sign, as shown in FIG. 6, a wall-shaped 3D object may be superimposed and displayed at the entrance position of the traffic closure section in the foreground. Ob in FIG. 6 shows a 3D object. The same applies to FIGS. 7 to 13, 16 to 19, and 22 below. In addition, when the supplementary target mark is a parking / stopping prohibition regulation sign, as shown in FIG. 7, a sheet-shaped 3D object may be superimposed and displayed along the road surface in the parking / stopping prohibition range in the foreground. Just do it. In addition, when the supplementary target mark is a regulation sign of the school zone, a semi-equivalent wall-shaped 3D object may be superimposed and displayed on the boundary with the range of the school zone in the foreground. Further, when the supplementary target mark is a regulation sign or a regulation marking prohibiting overtaking, a wall-shaped 3D object may be superimposed and displayed on the boundary with the adjacent lane in the foreground. As the 3D object that prevents the vehicle from traveling in the restricted entry range, a 3D object that imitates a pylon may be used.

Further, when the supplementary display control unit 209 superimposes and displays a traffic mark icon representing a supplementary target mark whose attention-calling position or range (hereinafter, attention area) can be specified in the foreground, the supplementary display control unit 209 is in the foreground. A 3D object indicating the attention area may be superimposed and displayed on the attention area. This makes it easier for the driver to recognize the attention area by the 3D object, and makes it easier to understand the content of the supplementary target mark more quickly and more accurately.

As an example, when the supplementary target mark is a warning sign for two-way traffic indicating caution for oncoming vehicles, as shown in FIG. 8, a sheet-shaped 3D along the road surface at the boundary with the adjacent lane in the foreground. The objects may be superimposed and displayed. Further, when the supplementary target mark is a warning sign with merging traffic, as shown in FIG. 9, a sheet-shaped 3D object may be superimposed and displayed along the road surface of the merging flow path in the foreground. In addition, when the supplementary target mark is a warning sign for crosswind caution, as shown in FIG. 10, a sheet-shaped 3D object is displayed along the road surface on the side where the crosswind is blown in the crosswind caution area in the foreground. It may be superimposed and displayed.

Further, when the supplementary display control unit 209 superimposes and displays the traffic mark icon representing the supplementary target mark whose regulated range is identifiable in the foreground, the supplementary display control unit 209 regulates the regulated range in the foreground. A 3D object indicating the range to be displayed may be superimposed and displayed. According to this, it becomes easier for the driver to recognize the regulated range by the 3D object, and it becomes easier to understand the content of the supplementary target mark more quickly and more accurately. As an example, when the supplementary target mark is a height-restricted regulation sign, as shown in FIG. 11, the seat is along the road surface of the section in which the structure subject to the height-restricted structure exists in the foreground. The 3D object in the shape may be superimposed and displayed.

In addition, the supplementary display control unit 209 displays a traffic mark icon in the foreground that represents a supplementary target mark in which the position to pause (hereinafter referred to as the "pause position") and the position to drive slowly (hereinafter referred to as the "driving position") can be specified. In the case of superimposing the display, a 3D object that obstructs the traveling may be superposed on the temporary stop position or the slow-moving position in the foreground. This makes it easier for the driver to recognize the pause position and the slow-moving position by the 3D object, and makes it easier to understand the content of the supplementary target mark more quickly and more accurately.

As an example, the supplementary display control unit 209 sets the distance between the own vehicle and the temporary stop position based on the distance between the own vehicle and the temporary stop position included in the driving environment information acquired by the driving environment acquisition unit 201. When the distance is less than or equal to the distance, as shown in FIG. 12, the superimposed display of the 3D object that hinders the traveling may be started. The set distance is a value that can be arbitrarily set as long as the vehicle can be stopped at the temporary stop position without sudden deceleration. The set distance may be set longer as the speed of the own vehicle acquired by the speed acquisition unit 204 increases. According to this, by urging the driver to decelerate by superimposing a 3D object that hinders driving, it is possible to urge the driver to pause at the pause position or to drive slowly at the slow-moving position. The superimposed display of the 3D object that hinders the traveling may be configured to end when the own vehicle reaches the temporary stop position or the slow-moving position, for example.

Further, it is preferable that the supplementary display control unit 209 has a configuration in which the display mode of the 3D object to be superimposed and displayed on the pause position or the slow-moving position is changed according to the deceleration of the own vehicle. As an example, when the excess determination unit 206 determines that the speed of the own vehicle exceeds the target speed, a 3D object standing upright on the road surface in the foreground is superimposed and displayed (see FIG. 12), while the excess is exceeded. When the determination unit 206 determines that the speed of the own vehicle is less than the target speed, as shown in FIG. 13, a 3D object that appears to stick to the road surface in the foreground may be superimposed and displayed.

According to this, the display mode of the 3D object is changed according to whether or not the speed of the own vehicle is suitable for the pause at the pause position or the slow speed at the slow-moving position, so that the speed of the own vehicle is paused. It makes it easier for the driver to recognize whether the speed is suitable for pausing at a position or slowing at a driving position. The traffic mark icon Ic indicating a pause or slowing may be displayed in front of the driver to encourage the pause or slowing.

Further, it is preferable that the supplementary display control unit 209 has a configuration in which the display mode of the 3D object to be superimposed and displayed on the pause position or the slow-moving position is changed stepwise according to the degree of deceleration of the own vehicle. As an example, when the excess determination unit 206 determines the degree to which the speed of the own vehicle exceeds the target speed, the degree to which the speed exceeds the target speed becomes smaller, and the road surface in the foreground becomes smaller. The angle of the upright 3D object with respect to the road surface may be gradually reduced. That is, the 3D object may be laid down on the road surface as the degree of deceleration increases.

According to this, it becomes easy for the driver to recognize how much the speed of the own vehicle exceeds the speed suitable for the pause at the pause position or the slow speed at the slow-moving position. Further, the greater the degree of excess, the larger the angle of the 3D object with respect to the road surface is displayed, and the greater the degree of excess, the more the driver can be urged to decelerate.

When a predetermined event is specified by the event identification unit 203, the event-specific display determination unit 210 determines a 3D object to be superimposed and displayed in the foreground according to the specified predetermined event. For example, by storing the correspondence between the predetermined event and the type of 3D object to be superimposed and displayed in the foreground in advance in the non-volatile memory of the HCU 20, for example, the 3D object corresponding to the predetermined event can be referred to by referring to this correspondence. It may be configured to determine.

As an example, when a predetermined event is a region to avoid traveling, it may be determined as a 3D object that blocks traveling in that region. For example, when the predetermined event is a region of a sudden obstacle such as a falling object, it may be determined as a 3D object imitating a pylon. When the predetermined event is a temporarily closed section due to road construction or the like, it may be determined as a 3D object (see FIG. 14) imitating an A-type barricade. If the predetermined event is the lane for automatic billing when the on-board unit for automatic billing is unavailable, it should be determined as a 3D object (see FIG. 15) that imitates the state where the open / close bar of the tollhouse gate is closed. Just do it. If the predetermined event is a road shoulder area without a guardrail, it may be determined to be a fence-shaped 3D object.

Further, when the predetermined event is an area where the own vehicle should go, it may be determined as a 3D object that encourages the own vehicle to go to that area. For example, when the predetermined event is the parking lot entrance to which the own vehicle should go, it may be determined to be a 3D object imitating the signboard of the entrance guide. When the predetermined event is a lane in which the own vehicle should change lanes due to road construction or the like, it may be determined as a 3D object imitating a guide plate with an arrow. Further, when the predetermined event is a situation in which the speed of the own vehicle should be suppressed, it may be determined as a 3D object that promotes the suppression of the speed. For example, it may be determined to be a rectangular 3D object. It should be noted that the above description is merely an example, and the combination of the predetermined event and the type of the 3D object may be a combination other than those described above.

When a predetermined event is specified by the event identification unit 203, the event-specific display control unit 211 superimposes and displays the 3D object determined by the event-specific display determination unit 210 in the foreground according to the specified predetermined event. When the predetermined event is an area where the traveling should be avoided, the 3D object that hinders the traveling in the area is superimposed and displayed in or around the area in the foreground.

For example, when a predetermined event is an area of a sudden obstacle such as a falling object, as shown in FIG. 16, a 3D object imitating a pylon is superimposed and displayed so as to surround the area in the foreground. Just do it. When the predetermined event is a temporarily closed section due to road construction or the like, a 3D object (see FIG. 14) imitating an A-type barricade may be superimposed and displayed at the entrance of the closed section. If the predetermined event is the lane for automatic billing when the on-board unit for automatic billing is unavailable, a 3D object (see FIG. 15) that imitates the state where the open / close bar of the tollhouse gate is closed is automatically charged. It may be superimposed and displayed at the entrance of the lane. When the predetermined event is a road shoulder area without a guardrail, as shown in FIG. 17, a fence-shaped 3D object may be superimposed and displayed on the road shoulder area.

In addition, when the predetermined event is an area where the vehicle should head, a 3D object that encourages the vehicle to head to that area is superimposed and displayed in the foreground. For example, when the predetermined event is the parking lot entrance to which the vehicle should head, as shown in FIG. 18, a 3D object imitating the signboard of the entrance guide is used to indicate the direction in which the vehicle should not head in the foreground. It may be superimposed and displayed at the position where it is closed. If the predetermined event is a lane in which the vehicle should change lanes due to road construction, etc., as shown in FIG. 19, the vehicle in the foreground heads for a 3D object imitating a guide plate with an arrow. It may be superimposed and displayed at a position that blocks the direction in which it should not be.

It should be noted that the event-specific display control unit 211 is 3D so that the relative position of the 3D object with respect to the own vehicle appears to change in accordance with the change in the positional relationship between the display position of the 3D object and the own vehicle. It is preferable to display the object. For example, the size of the 3D object may be displayed larger as the vehicle approaches the display position of the 3D object. Further, as shown in FIG. 20, the display of the shadow of the 3D object may be changed according to the change in the direction of the own vehicle with respect to the position of the 3D object. Alternatively, the pattern of the 3D object may be changed as shown in FIG. 21 as the orientation of the own vehicle with respect to the position of the 3D object changes.

Further, when the predetermined event is a situation in which the speed of the own vehicle should be suppressed, the event-specific display control unit 211 superimposes and displays a 3D object for promoting the suppression of the speed in the foreground. For example, as shown in FIG. 22, a plurality of rectangular 3D objects that appear to have risen from the road surface may be superimposed and displayed along the section line of the traveling lane of the own vehicle. It should be noted that the rectangular 3D objects to be superimposed and displayed along the section line may be configured to have a larger angle with respect to the road surface as they are closer to the own vehicle, or as a configuration to reduce the angle with respect to the road surface as they are closer to the own vehicle. Alternatively, the configuration may be such that the angles with respect to the road surface are uniformly the same.

When the event-specific display control unit 211 determines that the speed of the own vehicle exceeds the target speed by the excess determination unit 206, the superimposition display of the 3D object that prompts the speed suppression may be started. According to this, it is possible to prevent the annoyance caused by the superimposition display of the 3D object that promotes the suppression of the speed when the target speed is not exceeded. The superimposed display of the 3D object that promotes the suppression of the speed may be configured to end when the own vehicle becomes the target speed or less, for example.

It should be noted that the start of the superimposed display of the 3D object that promotes the suppression of the speed referred to here is not limited to the start of the display of the 3D object itself. For example, when a 3D object that is superimposed and displayed so as to stick to the road surface and does not promote the suppression of speed is superimposed and displayed so as to rise from the road surface, it corresponds to the case where the superimposed display of the 3D object that promotes the suppression of speed is started. ..

Further, when the event-specific display control unit 211 determines that the speed of the own vehicle exceeds the target speed by the excess determination unit 206, the excess determination unit 206 sets the display mode of the 3D object for prompting the suppression of the speed. It is preferable that the speed of the own vehicle to be determined is changed according to the degree of exceeding the target speed. As an example, the angle of the 3D object with respect to the road surface may be gradually increased as the degree of exceeding the target speed increases. Here, a specific example will be described with reference to FIG. 23. In FIG. 23, a case where a plurality of rectangular 3D objects are superimposed and displayed along the section line of the traveling lane of the own vehicle will be described as an example.

First, when the speed of the own vehicle does not exceed the target speed, as shown in A of FIG. 23, a rectangular 3D object along the lane marking is superimposed and displayed so as to be attached to the road surface. Subsequently, when the speed of the own vehicle exceeds the target speed and the degree of the excess exceeds, for example, within the range in which the vehicle can naturally decelerate, as shown in B of FIG. 23, this 3D object is placed on the road surface. Get up a little from. Then, when the degree of excess reaches, for example, a range in which deceleration is not naturally possible, the 3D object is further raised from the road surface as shown in C of FIG. 23. According to this, the greater the degree to which the speed of the own vehicle exceeds the target speed, the larger the angle of the 3D object with respect to the road surface is displayed, and the greater the degree of exceeding, the more the driver can be urged to decelerate. become.

The event-specific display control unit 211 is configured to gradually increase the height of the 3D object without changing the angle of the 3D object with respect to the road surface as the degree of exceeding the target speed increases. May be.

Further, the configuration is not limited to a configuration in which the angle of the 3D object with respect to the road surface is gradually increased as the degree to which the speed of the own vehicle exceeds the target speed increases. For example, the width between the 3D objects to be superimposed and displayed on both the left and right sides of the traveling lane of the own vehicle may be narrowed as the degree to which the speed of the own vehicle exceeds the target speed increases.

In addition, the 3D object that promotes speed suppression is not limited to a configuration in which a rectangular 3D object is superimposed and displayed along the section line of the traveling lane of the own vehicle as long as it has a shape and display position that promotes speed suppression. .. For example, the pole-shaped 3D object may be superimposed and displayed, or the 3D object may be superimposed and displayed in the center of the traveling lane of the own vehicle.

Further, the sudden obstacle to be displayed by superimposing the 3D object may include a specific target such as a pedestrian, a bicycle, or another vehicle whose example is shown by a frame other than the 3D object. However, the configuration may not include a specific target. When the configuration does not include the specific object, the display control unit 207 may superimpose and display a frame or the like surrounding the specific object in the foreground so that the 3D object is not superimposed and displayed.

<Processing related to virtual image display control in HCU20>
Subsequently, an example of the flow of the process related to the display control by the HUD 220 in the HCU 20 (hereinafter, the virtual image display control related process) will be described with reference to the flowchart of FIG. 24. In the flowchart of FIG. 24, the configuration may be such that the operation is started when the power of the HUD 220 is turned on and the function of the HUD 220 is turned on. The function of the HUD 220 may be turned on and off according to the input operation received by the operation device 21. Further, the power supply of the HUD 220 may be turned on / off according to the on / off of the switch for starting the internal combustion engine or the motor generator of the own vehicle (hereinafter referred to as the power switch).

First, in step S1, if the information on the traveling environment acquired by the traveling environment acquisition unit 201 includes the information on the traffic mark in front of the course of the own vehicle (YES in S1), the process proceeds to step S2. On the other hand, if the information of the traffic mark in front of the course of the own vehicle is not included (NO in S1), the process proceeds to step S5. In step S2, the mark determination unit 202 determines whether or not the traffic mark in front of the course of the own vehicle is a supplement target mark. Then, when it is determined that the mark is a supplementary target mark (YES in S2), the process proceeds to step S4. On the other hand, if it is determined that the mark is not a supplementary target mark (NO in S2), the process proceeds to step S3.

In step S3, the mark display control unit 208 superimposes and displays the traffic mark icon imitating the traffic mark determined in S2 that it is not the supplement target mark in the foreground by the HUD 220, and proceeds to step S5. In step S4, the mark display control unit 208 superimposes and displays the traffic mark icon imitating the traffic mark determined as the supplement target mark in S2 on the foreground by the HUD 220. Further, the supplementary display control unit 209 superimposes and displays a 3D object on the foreground of the traffic mark determined to be the supplementary target mark in S2 by the HUD 220, and proceeds to step S5. That is, in S4, in addition to the traffic mark icon, a 3D object is superimposed and displayed in the foreground as a supplement.

In step S5, based on the driving environment information acquired by the driving environment acquisition unit 201, the event identification unit 203 determines a predetermined event in which the traveling of the own vehicle should be suppressed or guided, although there is no regulation or guidance by the traffic mark. Identify. Then, when a predetermined event is specified (YES in S5), the process proceeds to step S6. On the other hand, if the predetermined event is not specified (NO in S5), the process proceeds to step S7. In step S6, the event-specific display control unit 211 superimposes and displays the 3D object determined by the event-specific display determination unit 210 in the foreground according to the predetermined event specified by the event identification unit 203, and proceeds to step S7.

In step S7, when it is the end timing of the virtual image display control-related processing (YES in S7), the virtual image display control-related processing is ended. On the other hand, if it is not the end timing of the virtual image display control-related processing (NO in S7), the process returns to S1 and the processing is repeated. As an example of the end timing of the virtual image display control-related processing, there is a case where the power switch of the own vehicle is turned off, a case where the function of the HUD 220 is turned off, and the like.

<Summary of Embodiment 1>
According to the configuration of the first embodiment, the HUD 220 causes the HUD 220 to superimpose the traffic mark icon representing the traffic mark on the regulation, alerting, or guidance by the traffic mark in the course of the own vehicle. Therefore, the driver can check the traffic mark icon while facing the front of the course, and can quickly recognize the road condition related to the traffic mark. In addition, for a predetermined event in which the vehicle's running should be suppressed or guided, although there is no regulation or guidance by the traffic mark, a 3D object, which is a pseudo three-dimensional object that promotes the suppression or guidance to be received by the predetermined event, is placed in the foreground. It will be superimposed and displayed. Therefore, the driver is prompted to suppress or guide the 3D object, which makes it easier for the driver to more accurately and more easily recognize the action to be taken for the predetermined event.

In addition, for traffic marks that correspond to supplementary target marks for which the position or range to be regulated or alerted can be specified, in addition to the superimposed display indicating the traffic mark, the position or range to be regulated or alerted by the traffic mark A 3D object, which is a pseudo-three-dimensional object indicating the position or range, is also displayed in a superimposed manner. Therefore, the driver can more accurately and more easily recognize the position or range of the traffic mark corresponding to the supplementary target mark, which is regulated or alerted by the traffic mark, by the 3D object. As a result, it becomes possible to transmit information to the driver about the road condition more quickly and more accurately.

(Modification example 1)
In the first embodiment, as supplementary target marks, a traffic mark in which the position to be regulated or alerted can be specified and a traffic mark in which the range to be regulated or alerted can be specified are given as an example. The configuration is not necessarily limited to this, and only one of them may be used as the supplementary target mark.

(Modification 2)
In the first embodiment, there are a temporary stop regulation sign, a slow-moving regulation sign, a vehicle entry prohibition regulation sign, and merging traffic as traffic marks that correspond to the supplementary target mark and have a position to be regulated or called attention. I mentioned the warning sign, but it is not necessarily limited to this. For example, it may be only a part of these, or it may be configured to target road signs and road markings other than these.

(Modification example 3)
In the first embodiment, as the traffic mark corresponding to the supplementary target mark and the range to be regulated or alerted can be specified, the traffic sign, the parking / stopping prohibition sign, the height limit sign, and the maximum width are specified. However, the signs for prohibiting overtaking, warning signs for crosswind caution, regulatory signs for prohibited parts of stopping, and warning signs for school zones are listed, but they are not necessarily limited to these. For example, it may be only a part of these, or it may be configured to target road signs and road markings other than these.

(Modification example 4)
In the first embodiment, as predetermined events specified by the event identification unit 203, an area where the vehicle should be avoided, an area where the vehicle should head, and a situation where the speed of the vehicle should be suppressed are mentioned, but the present invention is not necessarily limited to this. For example, a configuration may be configured in which only a part of these is specified as a predetermined event.

(Modification 5)
In the first embodiment, as an area to avoid traveling, which corresponds to a predetermined event, an area of a sudden obstacle such as a falling object, a temporary closed section due to road construction, etc., and when an in-vehicle device for automatic billing cannot be used. The lanes for automatic billing, etc. in are mentioned, but they are not necessarily limited to this. For example, it may be only a part of these, or it may be configured to specify a region other than these as a predetermined event to avoid traveling.

(Modification 6)
In the first embodiment, as the area to which the vehicle should head, which corresponds to a predetermined event, the parking lot entrance set as the waypoint or the destination by the navigation function, the lane in which the vehicle should change lanes due to road construction, etc. are listed. However, this is not always the case. For example, it may be only a part of these, or it may be configured to specify the area to which the own vehicle should go other than these as a predetermined event.

(Modification 7)
In the first embodiment, as a situation in which the speed of the own vehicle should be suppressed, which corresponds to a predetermined event, a situation in which the vehicle is traveling in a section without a speed sign and a speed sign, the road surface is wet due to rain, or the road surface is frozen due to low temperature. I mentioned the situation where it is easy to slip, but it is not always limited to this. For example, only a part of these may be used, or other situations in which the speed of the own vehicle should be suppressed may be specified as a predetermined event.

(Embodiment 2)
In the first embodiment, when the traffic mark icon representing the supplementary target mark is superimposed and displayed in the foreground, the supplementary display control unit 209 superimposes and displays a 3D object as a supplement in addition to the traffic mark icon. Although shown, it is not always limited to this. For example, regardless of whether the traffic mark is a mark to be supplemented or not, the superimposed display of the traffic mark icon may not be supplemented with the superimposed display of the 3D object (hereinafter, the second embodiment). In this case, the HCU 20 may not be provided with the mark determination unit 202 and the supplementary display control unit 209.

Even in the configuration of the second embodiment, there is no regulation or guidance by the traffic mark, but for a predetermined event in which the running of the vehicle should be suppressed or guided, a pseudo three-dimensional object for promoting the suppression or guidance to be received by the predetermined event. The 3D object is superimposed and displayed in the foreground. Therefore, the driver is prompted to suppress or guide the 3D object, which makes it easier for the driver to more accurately and more easily recognize the action to be taken for the predetermined event. As a result, it becomes possible to transmit information to the driver about the road condition more quickly and more accurately.

(Embodiment 3)
In the first embodiment, when a predetermined event in which the traveling of the own vehicle should be suppressed or guided is specified by the event identification unit 203, although there is no regulation or guidance by the traffic mark, a 3D object corresponding to the specified predetermined event is in the foreground. Although the configuration for superimposing the display on the above is shown, the present invention is not necessarily limited to this. For example, the configuration may be such that the superimposed display of the 3D object according to a predetermined event is not performed (hereinafter, the third embodiment). In this case, the HCU 20 may not be provided with the event-specific display determination unit 210 and the event-specific display control unit 211.

Even in the configuration of the third embodiment, the traffic mark corresponding to the supplementary target mark whose position or range to be regulated or alerted can be specified is regulated or cautioned by the traffic mark in addition to the superimposed display indicating the traffic mark. A 3D object, which is a pseudo-three-dimensional object indicating the position or range, is also superimposed and displayed on the aroused position or range. Therefore, the driver can more accurately and more easily recognize the position or range of the traffic mark corresponding to the supplementary target mark, which is regulated or alerted by the traffic mark, by the 3D object. As a result, it becomes possible to transmit information to the driver about the road condition more quickly and more accurately.

The present invention is not limited to the above-described embodiments and modifications, and various modifications can be made within the scope of the claims, and the technical means disclosed in the different embodiments and modifications, respectively. The embodiments obtained by appropriately combining the above are also included in the technical scope of the present invention.

1 Vehicle system, 2 HMI system, 3 Locator, 4 Map DB, 5 Vehicle status sensor, 6 Peripheral monitoring system, 10 Front windshield (projection member), 20 HCU (Vehicle display control device), 60 Peripheral monitoring ECU, 61 Peripheral monitoring sensor, 100 virtual image, 201 driving environment acquisition unit, 202 mark judgment unit, 203 event identification unit, 204 speed acquisition unit, 205 target speed setting unit, 206 excess judgment unit, 207 display control unit, 208 mark display control unit, 209 Supplementary display control unit, 210 event-specific display determination unit, 211 event-specific display control unit, 220 HUD (head-up display), 610 front camera

Claims (18)

A vehicle display control device used in a vehicle that controls a display by a head-up display (220) that superimposes and displays a virtual image on the foreground of the vehicle by projecting an image onto a projection member.
An event identification unit (203) that specifies a predetermined event in which the running of the vehicle should be suppressed or guided, although there is no regulation or guidance by a traffic mark which is at least one of a road sign and a road marking.
Regarding the regulation, alerting, or guidance by the traffic mark in the course of the vehicle, the superimposed display indicating the traffic mark is performed, while the predetermined event specified by the event identification unit is determined by the predetermined event. A display control unit (207) that superimposes and displays a pseudo three-dimensional object that encourages suppression or guidance to be received in the foreground .
It is provided with a mark determination unit (202) for determining whether or not the traffic mark is a supplementary target mark whose position or range to be regulated or alerted can be specified.
When the display control unit performs the superposed display representing the traffic mark, if the traffic mark is a traffic mark determined to be a supplement target mark by the mark determination unit, the traffic in the foreground. While the superimposition display of a pseudo three-dimensional object indicating the position or range is also performed on the position or range restricted or alerted by the mark, the traffic mark is determined by the mark determination unit to be not a supplementary target mark. In the case of a traffic mark, a display control device for a vehicle that does not perform the superimposed display of this pseudo three-dimensional object. A vehicle display control device used in a vehicle that controls a display by a head-up display (220) that superimposes and displays a virtual image on the foreground of the vehicle by projecting an image onto a projection member.
An event identification unit (203) that specifies a predetermined event in which the running of the vehicle should be suppressed or guided, although there is no regulation or guidance by a traffic mark which is at least one of a road sign and a road marking.
Regarding the regulation, alerting, or guidance by the traffic mark in the course of the vehicle, the superimposed display indicating the traffic mark is performed, while the predetermined event specified by the event identification unit is determined by the predetermined event. A display control unit (207) that superimposes and displays a pseudo three-dimensional object that encourages suppression or guidance to be received in the foreground .
It is provided with a mark determination unit (202) for determining whether or not the traffic mark is a supplementary target mark whose position or range to be regulated or alerted can be specified.
When the display control unit performs the superposed display representing the traffic mark, if the traffic mark is a traffic mark determined to be a supplement target mark by the mark determination unit, the traffic in the foreground. The mark determination unit determines that the traffic mark is not a supplementary target mark, while the superimposition display of a pseudo three-dimensional object indicating the position or range is also performed on the position or range restricted or alerted by the mark. In the case of a traffic mark, the superimposed display of the pseudo three-dimensional object is not performed, and in the case of displaying the superimposed display representing the traffic mark in which the range in which entry is restricted can be specified, the superimposed display is performed. A display control device for a vehicle that superimposes and displays a pseudo three-dimensional object that hinders traveling in the range regulated by the traffic mark in the foreground. The predetermined event specified by the event specifying unit is at least an area where running should be avoided.
The display control unit claims that, with respect to the region specified by the event identification unit, a pseudo three-dimensional object that hinders the running of the region is superimposed and displayed in or around the region in the foreground. Or the display control device for a vehicle according to 2. The predetermined event specified by the event identification unit is at least an area to which the vehicle should head.
3. Display control device for vehicles described in. The predetermined event specified by the event specifying unit is at least a situation in which the speed of the vehicle should be suppressed.
According to any one of claims 1 to 4 , the display control unit displays a pseudo three-dimensional object that promotes deceleration of the vehicle in the foreground in the situation specified by the event identification unit. The vehicle display control device described. The display control device for a vehicle according to claim 5 , wherein the display control unit changes the display mode of a pseudo three-dimensional object that promotes deceleration of the vehicle according to the degree of excess with respect to a target speed. The display control unit claims that the angle of a pseudo-three-dimensional object tilted toward the front of the vehicle's course with respect to the road surface in the foreground is gradually increased according to the degree of excess with respect to the target speed. Item 6. The vehicle display control device according to item 6. The vehicle display control device according to claim 6 or 7 , wherein the display control unit starts the superposed display of a pseudo three-dimensional object that promotes deceleration of the vehicle when an excess speed with respect to a target speed occurs. .. A vehicle display control device used in a vehicle that controls a display by a head-up display (220) that superimposes and displays a virtual image on the foreground of the vehicle by projecting an image onto a projection member.
With respect to regulation, alerting, or guidance by a traffic mark, which is at least one of a road sign and a road marking in the course of the vehicle, a display control unit (207) for performing the superimposed display representing the traffic mark, and a display control unit (207).
It is provided with a mark determination unit (202) for determining whether or not the traffic mark is a supplementary target mark whose position or range to be regulated or alerted can be specified.
When the display control unit performs the superposed display representing the traffic mark, if the traffic mark is a traffic mark determined to be a supplement target mark by the mark determination unit, the traffic in the foreground. While the superimposition display of a pseudo three-dimensional object indicating the position or range is also performed on the position or range restricted or alerted by the mark, the traffic mark is determined by the mark determination unit to be not a supplementary target mark. In the case of a traffic mark, a display control device for a vehicle that does not perform the superimposed display of this pseudo three-dimensional object. A vehicle display control device used in a vehicle that controls a display by a head-up display (220) that superimposes and displays a virtual image on the foreground of the vehicle by projecting an image onto a projection member.
With respect to regulation, alerting, or guidance by a traffic mark, which is at least one of a road sign and a road marking in the course of the vehicle, a display control unit (207) for performing the superimposed display representing the traffic mark, and a display control unit (207).
It is provided with a mark determination unit (202) for determining whether or not the traffic mark is a supplementary target mark whose position or range to be regulated or alerted can be specified.
When the display control unit performs the superposed display representing the traffic mark, if the traffic mark is a traffic mark determined to be a supplement target mark by the mark determination unit, the traffic in the foreground. The mark determination unit determines that the traffic mark is not a supplementary target mark, while the superimposition display of a pseudo three-dimensional object indicating the position or range is also performed on the position or range restricted or alerted by the mark. In the case of a traffic mark, the superimposed display of the pseudo three-dimensional object is not performed, and in the case of displaying the superimposed display representing the traffic mark in which the range in which entry is restricted can be specified, the superimposed display is performed. A display control device for a vehicle that superimposes and displays a pseudo three-dimensional object that hinders traveling in the range regulated by the traffic mark in the foreground. When the display control unit performs the superimposed display representing the traffic mark whose position for pausing or slowing down is identifiable, a pseudo three-dimensional object that hinders driving is placed at that position in the foreground. The vehicle display control device according to any one of claims 1 to 10 for superimposing and displaying. The vehicle display control device according to claim 11, wherein the display control unit changes the display mode of the pseudo three-dimensional object that hinders traveling in response to deceleration. The vehicle display control device according to claim 12, wherein the display control unit gradually reduces the angle of the pseudo-three-dimensional object that hinders traveling with respect to the road surface in the foreground in response to deceleration. 11. Display control device for vehicles. A display control program that controls display by a head-up display (220) that superimposes and displays a virtual image on the foreground of a vehicle by projecting an image onto a projection member.
Computer,
An event identification unit (203) that specifies a predetermined event in which the running of the vehicle should be suppressed or guided, although there is no regulation or guidance by a traffic mark which is at least one of a road sign and a road marking.
A mark determination unit (202) that determines whether or not the traffic mark is a supplementary target mark whose position or range to be regulated or alerted can be specified.
Regarding the regulation, alerting, or guidance by the traffic mark in the course of the vehicle, the superimposed display indicating the traffic mark is performed, while the predetermined event specified by the event identification unit is determined by the predetermined event. When a pseudo three-dimensional object that encourages restraint or guidance to be received is superposed in the foreground and the superposed display representing the traffic mark is performed, the traffic mark is determined by the mark determination unit as a supplementary target mark. In the case of a traffic mark to be used, the position or range regulated or alerted by the traffic mark in the foreground is also displayed with the superimposition of a pseudo three-dimensional object indicating the position or range. When the traffic mark is a traffic mark that is determined by the mark determination unit to be not a supplementary target mark, a display for functioning as a display control unit (207) that does not perform the superimposed display of this pseudo three-dimensional object. Control program. A display control program that controls display by a head-up display (220) that superimposes and displays a virtual image on the foreground of a vehicle by projecting an image onto a projection member.
Computer,
An event identification unit (203) that specifies a predetermined event in which the running of the vehicle should be suppressed or guided, although there is no regulation or guidance by a traffic mark which is at least one of a road sign and a road marking.
A mark determination unit (202) that determines whether or not the traffic mark is a supplementary target mark whose position or range to be regulated or alerted can be specified.
Regarding the regulation, alerting, or guidance by the traffic mark in the course of the vehicle, the superimposed display indicating the traffic mark is performed, while the predetermined event specified by the event identification unit is determined by the predetermined event. When a pseudo three-dimensional object that encourages restraint or guidance to be received is superposed in the foreground and the superposed display representing the traffic mark is performed, the traffic mark is determined by the mark determination unit as a supplementary target mark. In the case of a traffic mark to be used, the position or range regulated or alerted by the traffic mark in the foreground is also displayed with the superimposition of a pseudo three-dimensional object indicating the position or range. When the traffic mark is a traffic mark that is determined by the mark determination unit to be not a supplementary target mark, the range in which entry is restricted can be specified without performing the superimposed display of this pseudo-three-dimensional object. and wherein when to perform the superimposition display representing the traffic mark, the ranges regulated by the traffic mark in the foreground, the display control unit a pseudo three-dimensional object Ru is the superimposed display that prevents the running of the range A display control program for functioning as (207). A display control program that controls display by a head-up display (220) that superimposes and displays a virtual image on the foreground of a vehicle by projecting an image onto a projection member.
Computer,
A mark determination unit (202) that determines whether or not a traffic mark, which is at least one of a road sign and a road marking, is a supplementary target mark whose position or range to be regulated or alerted can be specified.
Regarding the regulation, alerting, or guidance by the traffic mark in the course of the vehicle, when the superimposition display representing the traffic mark is performed and the superimposition display representing the traffic mark is performed, the traffic mark is the said. If the traffic mark is determined to be a supplementary target mark by the mark determination unit, a pseudo three-dimensional object indicating the position or range at the position or range restricted or alerted by the traffic mark in the foreground. While the superimposed display is also performed, when the traffic mark is a traffic mark determined by the mark determination unit to be not a supplementary target mark, the display control unit that does not perform the superimposed display of this pseudo three-dimensional object. A display control program for functioning as (207). A display control program that controls display by a head-up display (220) that superimposes and displays a virtual image on the foreground of a vehicle by projecting an image onto a projection member.
Computer,
A mark determination unit (202) that determines whether or not a traffic mark, which is at least one of a road sign and a road marking, is a supplementary target mark whose position or range to be regulated or alerted can be specified.
Regarding the regulation, alerting, or guidance by the traffic mark in the course of the vehicle, when the superimposition display representing the traffic mark is performed and the superimposition display representing the traffic mark is performed, the traffic mark is the said. If the traffic mark is determined to be a supplementary target mark by the mark determination unit, a pseudo three-dimensional object indicating the position or range at the position or range restricted or alerted by the traffic mark in the foreground. On the other hand, if the traffic mark is a traffic mark that is determined by the mark determination unit to be not a supplementary target mark, the superimposition display of the pseudo three-dimensional object is not performed and the approach is made. When the superimposed display representing the traffic mark whose regulated range is identifiable is to be performed, a pseudo three-dimensional object that hinders driving in the range regulated by the traffic mark in the foreground. display control program for functioning as a display control unit which Ru is the superimposed display (207) a.

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