JP7063856B2 - Display control device - Google Patents

Description

The present disclosure relates to a technique for controlling display by an in-vehicle display.

A head-up display (hereinafter referred to as AR-HUD) having an AR function for superimposing a virtual image on an object in a landscape outside a vehicle that can be seen through a windshield is known. AR is an abbreviation for Augmented Reality and is translated as augmented reality. HUD is an abbreviation for Head Up Display. The AR-HUD has a problem that the superimposed position of the virtual image in the landscape shifts due to the change in the pitch angle and the roll angle of the vehicle.

In Patent Document 1 below, the vehicle posture is estimated using an angle sensor and a roll sensor, and the angle of the mirror that projects the image on the windshield and the display position in the image are adjusted based on the estimated vehicle posture. As a result, a technique for suppressing the misalignment of the virtual image is disclosed.

International Publication No. 2018/042898

However, as a result of detailed examination by the inventor, in the prior art described in Patent Document 1, it is necessary to use two expensive sensors in order to estimate the vehicle posture, and the position of the driver's eye is determined by the vehicle behavior. There is also a problem that the misalignment of the virtual image becomes large when the misalignment occurs.

One aspect of the present disclosure is to provide a technique for accurately suppressing a misalignment of a virtual image superimposed and displayed on an object by a simple method.

One aspect of the present disclosure is a display control device, which includes an information generation unit (101), a load acquisition unit (102: S110), a vehicle height acquisition unit (102: S130), and a characteristic selection unit (102: S120). ), A pitch angle calculation unit (102: S150), an eye information acquisition unit (102: S160), and a correction processing unit (102: S170). The information generation unit acquires information on the object existing in the landscape visually recognized by the driver via the projection area, and in the projection area of the superimposed image superimposed on the object according to the three-dimensional position information of the object. Set the projection position at. The projection area is an area in the front window of the vehicle on which an image to be recognized as a virtual image by the driver is projected. The load acquisition unit acquires the load detection value, which is the detection result of the load state applied to the vehicle at a plurality of measurement positions. The vehicle height acquisition unit acquires the vehicle height displacement amount, which is the detection result of the displacement amount from the reference height for the vehicle height of the vehicle. The characteristic selection unit is prepared in association with the load state, and is characterized according to the load detection value acquired by the load acquisition unit from a plurality of types of characteristic information representing the relationship between the vehicle height displacement amount and the vehicle pitch angle. Select information. The pitch angle calculation unit calculates the pitch angle from the vehicle height displacement amount acquired by the vehicle height acquisition unit using the characteristic information selected by the characteristic selection unit. The eye information acquisition unit acquires eye information, which is a detection result of the amount of deviation of the driver's eye position from the reference position. The correction processing unit corrects the projection position of the superimposed image set by the information generation unit according to both the pitch angle and the eye information so that the superimposed image visually recognized by the driver is superimposed and displayed on the object.

According to such a configuration, the pitch angle of the vehicle is calculated from the vehicle height displacement amount, and the characteristic information used for the calculation is selected according to the load state applied to the vehicle, so that the vehicle height displacement amount is detected. The pitch angle can be calculated accurately from the detection result of the sensor. Further, since the projection position of the superimposed image is corrected according to not only the calculated pitch angle but also the position of the driver's eyes, it is possible to accurately suppress the positional deviation of the virtual image visually recognized by the driver from the object.

It is a block diagram which shows the structure of an information display system. It is explanatory drawing which shows the projection area. It is explanatory drawing which shows the arrangement of a HUD apparatus and the like. It is a flowchart of the process executed by the position correction part. It is explanatory drawing which shows the relationship between the change of the pitch angle and the deviation of the eye position, and the superimposition display position on the HUD display surface. It is explanatory drawing which shows the simplified model which shows the relationship between the detection value of a height sensor, and the vehicle pitch angle. It is a graph which shows the result of having measured the relationship between the detected value of a height sensor and a vehicle pitch angle in the case where there is no occupant in the passenger seat. It is a graph which shows the result of having measured the relationship between the detected value of a height sensor and a vehicle pitch angle in the case where there is an occupant in the passenger seat. It is a graph which shows the result of having measured the relationship between the detection value of a height sensor and a vehicle pitch angle for 4 patterns which combined the presence / absence of a passenger in a passenger seat and the presence / absence of luggage in a trunk. It is a graph which shows the result of having measured the relationship between the detection value of a height sensor and a vehicle pitch angle with and without a vertical gradient of a road. It is a graph which shows the result of having measured the relationship between the detected value of a height sensor and a vehicle pitch angle for each of the combination pattern of the presence / absence of a longitudinal gradient of a road and the inclination direction, and the presence / absence of a transverse gradient and the inclination direction.

Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.
[1. Constitution]
The information display system 1 shown in FIGS. 1 to 3 is mounted on a vehicle and used. Hereinafter, the vehicle equipped with the information display system 1 is referred to as an own vehicle. The information display system 1 includes a display control device 10. The information display system 1 includes a peripheral monitoring unit 2, a behavior detection unit 3, a driver detection unit 4, a map storage unit 5, a positioning unit 6, a navigation device 7, a characteristic storage unit 8, and a head-up display ( Hereinafter, the HUD) device 9 may be provided. HUD is an abbreviation for Head Up Display. Each part constituting the information display system 1 may send and receive information via the in-vehicle LAN. LAN is an abbreviation for Local Area Network.

The information display system 1 projects an image on the windshield 120 located in front of the driver's seat by the HUD device 9, and displays various information on the actual scenery visually recognized by the driver through the windshield. In the following, an image displayed superimposed on such an actual landscape is referred to as an AR image. AR is an abbreviation for Augmented Reality.

The peripheral monitoring unit 2 includes at least one of a radar sensor and a camera. The radar sensor uses infrared rays, millimeter waves, ultrasonic waves, etc. as radar waves, and detects the distance from the target that reflects the radar wave, the direction in which the target exists, and the like. As the camera, a visible light camera, an infrared camera, or the like is used. The camera is arranged so as to include a region visually recognized by the driver through the windshield (hereinafter referred to as a visible region) as an imaging range. Like the camera, the radar sensor is arranged so as to include the viewing area as the detection range.

The peripheral monitoring unit 2 detects a target existing on the traveling path of the own vehicle with a radar sensor and a camera, and generates target information including the position of the detected target. The detection target of the peripheral monitoring unit 2 includes, for example, various targets to be processed by the advanced driver assistance system (that is, ADAS: Advanced Driver Assistance System). The peripheral monitoring unit 2 may generate target information including the position of the target based on the map information stored in the map storage unit 5, which will be described later.

The behavior detection unit 3 outputs various sensors that output a signal indicating a driving operation by the driver, a signal indicating the behavior of the own vehicle as a result of the driving operation, and a signal indicating the state of the vehicle that affects the behavior of the own vehicle. including.

The behavior detection unit 3 includes at least a height sensor 31, a seat sensor 32, and a trunk sensor 33. The height sensor 31 is provided on one of the wheels of the own vehicle, and outputs a detection signal according to the relative displacement amount (hereinafter, referred to as vehicle height displacement amount) H between the axle of the wheel and the vehicle body. In this embodiment, it is provided on the right rear wheel. The seat sensor 32 is provided on each of the occupant seats of the own vehicle, and outputs a detection signal indicating the presence or absence of an occupant on each occupant seat. Here, there are a driver's seat (hereinafter, D seat), a passenger seat (hereinafter, P seat), a rear right seat (hereinafter, RR seat), and a rear left seat (hereinafter, RL seat). The trunk sensor 33 is provided in the trunk located near the rear end of the own vehicle, and outputs a detection signal indicating the presence or absence of luggage in the trunk. The seat sensor 32 and the trunk sensor 33 may be configured to output a detection signal indicating the weight of a load such as a occupant or luggage.

In addition to the height sensor 31, seat sensor 32, and trunk sensor 33, the behavior detection unit 3 includes, for example, an accelerator pedal sensor, a brake pedal sensor, a steering angle sensor, a direction indicator switch, a vehicle speed sensor, an acceleration sensor, and a yaw rate sensor. May be included.

The driver detection unit 4 is a device that detects the driver's state such as the face position, face orientation, eye position, and line-of-sight direction from the driver's face image captured by the in-vehicle camera. The driver detection unit 4 is known as a so-called driver status monitoring system (that is, DSM: Driver Status Monitoring system).

Map information, AR information, and the like are stored in the map storage unit 5. The map information is used for route guidance by the navigation device 7 and for superimposing an AR image on the actual landscape.
Map information includes information on roads, lane markings such as white lines, information on road markings, and information on structures. The information about the road includes, for example, position information for each point, curve curvature and slope, and shape information such as connection relationship with other roads. Information on lane markings and road markings includes, for example, lane marking and road marking type information, location information, and three-dimensional shape information. The information about the structure includes, for example, type information, position information, and shape information of each structure. Here, the structure includes road signs, traffic lights, street lights, tunnels, overpasses, buildings facing the road, and the like.

The map information has the above-mentioned position information and shape information in the form of point cloud data, vector data, or the like of feature points represented by three-dimensional coordinates. That is, the map information represents a three-dimensional map including altitude in addition to latitude and longitude with respect to position information. Therefore, from the map information, it is possible to extract information on the slope of the road at each point on the road, specifically, a longitudinal slope along the traveling direction of the road and a cross slope along the width direction of the road. The location information contained in the map information has a relatively small error on the order of centimeters. The map information is highly accurate map data in that it has position information based on three-dimensional coordinates including height information, and it is also highly accurate in that the error in the position information is relatively small. It is data.

The AR information is data used for displaying an AR image, and includes symbols, characters, icons, and the like that are superimposed and displayed on the background. The AR information may include information for route guidance linked with the navigation device 7 (for example, an arrow superimposed on the road surface).

The positioning unit 6 is a device that generates position information for specifying the current position of the own vehicle. The positioning unit 6 includes, for example, a GNSS receiver and sensors for autonomous navigation such as a gyroscope and a distance sensor. GNSS is an abbreviation for Global Navigation Satellite System. The GNSS receiver receives the transmission signal from the artificial satellite and detects the position coordinates and altitude of the vehicle. The gyroscope outputs a detection signal according to the angular velocity of the rotational motion applied to the vehicle. The distance sensor outputs the mileage of the vehicle. The positioning unit 6 calculates the current position of the own vehicle based on the output signals from these devices. The positioning unit 6 generates highly accurate position information and the like of the vehicle by combined positioning that combines the information from the GNSS receiver and the information from the sensor for autonomous navigation. The positioning unit 6 has an accuracy of specifying the lane in which the vehicle travels among a plurality of lanes, for example.

The navigation device 7 provides route guidance based on the current position of the own vehicle and map data. The navigation device 7 identifies the current position and the traveling direction of the own vehicle on the road by the positioning result of the positioning unit 6 and the map matching using the map data. The navigation device 7 provides the display control device 10 with map information, AR information, and the like regarding the current position and direction of travel of the own vehicle, the route to the destination, the roads and facilities existing in the visual area of the driver, and the like.

The characteristic storage unit 8 includes a non-volatile memory. The characteristic storage unit 8 stores the characteristic information G used at the time of conversion from the detected value of the height sensor 31 to the vehicle pitch angle. The characteristic information G may be a mathematical formula or data in a table format. Further, a plurality of types of characteristic information G are prepared according to the detection results of the seat sensor 32 and the trunk sensor 33, that is, the load state specified from the arrangement of the occupants and the load in the vehicle.

For example, the seat sensor 32 detects the presence or absence of a occupant in each of the four occupant seats (that is, the D seat, the P seat, the RR seat, and the RL seat), and the trunk sensor 33 detects the presence or absence of luggage in one trunk. do. In this case, there are 32 patterns of load states depending on the presence or absence of the load (that is, occupants or luggage) at the above five locations. However, assuming that the D seat always has an occupant, the load state is 16 patterns. Although characteristic information may be prepared for each of the 16 patterns, the number of characteristic information may be reduced by integrating patterns in a load state having similar conversion characteristics. Specifically, for example, the four patterns may be classified according to the presence / absence of a P-seat occupant and the presence / absence of luggage in the trunk, or the two patterns may be classified only by the presence / absence of a P-seat occupant.

As shown in FIGS. 2 and 3, the HUD device 9 is arranged on the instrument panel 110. The HUD device 9 includes a projector 91 and an optical system 92. The projector 91 includes a liquid crystal display (hereinafter referred to as LCD) panel and a backlight. The projector 91 is fixed with the display screen of the LCD panel facing the optical system 92. The projector 91 displays an image on the LCD panel according to an instruction from the display control device 10, transmits light by a backlight, and emits light formed as a virtual image toward the optical system 92. The optical system 92 has at least a concave mirror, reflects and magnifies the light emitted from the projector 91, and projects it onto a projection area 121, which is an area on the windshield 120 set in the driver's viewing area. do. As a result, the AR image is superimposed and displayed on the actual landscape in the visible area of the driver.

The display control device 10 includes a microcomputer having a CPU 11 and a semiconductor memory (hereinafter, simply memory 12) such as a ROM or RAM. Each function of the display control device 10 is realized by the CPU 11 executing a program stored in a non-transitional substantive recording medium. The display control device 10 is also called an HCU. HCU is an abbreviation for HMI Control Unit, and HMI is an abbreviation for Human Machine Interface.

The display control device 10 includes an information generation unit 101 and a position correction unit 102 as a functional configuration realized by executing a program stored in the memory 12.
The information generation unit 101 is visually recognized via the projection area 121 based on the detection result of the peripheral monitoring unit 2, the route information from the navigation device 7, the map information, and the like, and is a target for providing information to the driver. Extract the target object. The information generation unit 101 generates position information representing the three-dimensional position of the object and an AR image superimposed on the object. At this time, based on the three-dimensional position of the object and the standard eye position of the driver, when the vehicle is in the standard load state where only the driver is on board, the AR image is superimposed on the object and recognized. As such, the projection position of the AR image in the projection area 121 is set.

The position correction unit 102 has a projection area 121 generated by the information generation unit 101 based on the vehicle pitch angle calculated from the detection results of the sensors 31 to 33 and the characteristic information stored in the characteristic storage unit 8. Corrects the projection position of the AR image in.

The display control device 10 causes the HUD device 9 to display an AR image generated by the information generation unit 101 and whose projection position has been corrected by the position correction unit 102.
[2. process]
Next, the process executed by the display control device 10 in order to realize the function as the position correction unit 102 will be described with reference to the flowchart of FIG. This process is executed when the power supply to the HUD device 9 is started and the display becomes possible.

In S110, the display control device 10 acquires the detection results of the seat sensor 32 and the trunk sensor 33 as load detection values representing the load state applied to the vehicle. Here, as the load detection value, the presence / absence of an occupant and the presence / absence of a load such as luggage are used. In the following S120, the display control device 10 acquires the characteristic information G corresponding to the load state indicated by the load detection value from the characteristic storage unit 8.

In the following S130, the display control device 10 acquires the vehicle height detection value H, which is the detection value of the height sensor 31.
In the following S140, the display control device 10 obtains the current position acquired from the positioning unit 6, that is, the gradient information ψ representing the road gradient of the road on which the own vehicle is traveling, based on the map information stored in the map storage unit 5. get. The gradient information ψ here represents a longitudinal gradient.

In the following S150, the display control device 10 uses the equation (1) based on the characteristic information G acquired in S120, the vehicle height detection value H acquired in S130, and the gradient information ψ acquired in S140. Then, the vehicle pitch angle θ, which is the inclination angle of the vehicle body in the front-rear direction with respect to the horizontal plane, is calculated. G (H) is a vehicle pitch angle estimated from the characteristic information G using the vehicle height detection value H. C is an experimentally determined constant.

続くＳ１６０では、表示制御装置１０は、ドライバ検知部４で検知されるドライバの眼位置を表す眼情報を取得する。眼情報は、標準的な眼位置からのずれ量で表される。

In the following S160, the display control device 10 acquires eye information indicating the driver's eye position detected by the driver detection unit 4. Eye information is represented by the amount of deviation from the standard eye position.

In the following S170, the display control device 10 determines the projection region 121 based on the vehicle tilt angle θ calculated in S150, the eye information acquired in S160, and the three-dimensional position of the object on which the AR image is superimposed. Calculate the correction amount of the projection position of the AR image in. The projected position of the AR image generated by the information generation unit 101 is corrected by this correction amount, and the AR image is supplied to the HUD device 9.

In the following S180, the display control device 10 determines whether or not the end condition is satisfied, returns the process to S130 if the end condition is not satisfied, and ends the process if the end condition is satisfied. The display control device 10 determines that the end condition is satisfied, for example, when the ignition switch is turned off or when a command to stop the operation of the HUD device 9 is input.

S110 corresponds to a load acquisition unit, S120 corresponds to a characteristic selection unit, S130 corresponds to a vehicle height acquisition unit, S140 corresponds to a gradient acquisition unit, S150 corresponds to a pitch angle calculation unit, S160 corresponds to an eye information acquisition unit, and S170 corresponds to a correction processing unit.

[3. How to calculate the amount of correction]
Next, the outline of the process for calculating the correction amount of the projection position of the AR image performed in S170 will be described with reference to FIG.

Here, for the sake of simplicity, the case where the gradient information is ψ = 0 ° will be described.
A case where the vehicle pitches and the vehicle body leans forward will be described. The eye position of the driver is represented by Ei, the projection area 121 is represented by Di, and the position where the light imaged as a virtual image is emitted, that is, the position of the projector 91 is represented by Si. Note that i = 0 indicates a position when the vehicle pitch angle is 0 °, and i = 1 indicates a position when the vehicle pitch angle is θ.

The driver's eye position E0, projection area D0, and light emission position S0 all change to positions E0 → E1, D0 → D1, S0 → S1 rotated by an angle θ with the vehicle center of gravity J as the center of rotation when the vehicle tilts forward. Moving.

When the vehicle pitch angle is 0 °, that is, when the eye position is at E0, the AR image superimposed on the object O is the position where the straight line connecting the eye position E0 and the object O intersects the projection area D0. It needs to be projected on Pa.

When the vehicle pitch angle is θ, that is, when the eye position is at E1, the AR image superimposed on the object O is the position Pb where the straight line connecting the eye position E1 and the object O intersects the projection area D1. Must be projected on.

That is, the projection position Pb in the projection area D1 is a position shifted upward as compared with the projection position Pa in the projection area D0.
Further, when the vehicle tilts forward, the position of the eyes shifts due to the driver's posture being distorted, and when the eye position E2 is located at a position lower than the eye position E1, the AR image superimposed on the object O is It needs to be projected on the position Pc on the projection area D1.

That is, the projection position Pc when the eye position is displaced is shifted downward as compared with the projected position Pb when the eye position is not displaced.
In this way, the AR image is obtained by summing the correction amount according to the vehicle pitch angle θ, that is, the deviation amount from Pa to Pb, and the correction amount caused by the deviation of the eye position, that is, the deviation amount from Pb to Pc. The correction amount of the projection position of is calculated.

[4. Characteristic information]
The characteristic information stored in the characteristic storage unit 8 will be described.
Using the simple two-wheel model shown in FIG. 6, the relationship between the detected value of the height sensor 31 and the vehicle pitch angle is theoretically derived. Here, the distance from the front wheel to the position of the center of gravity of the load applied to the vehicle is a, and the distance from the front wheel to the rear wheel is b. The spring constant of the front suspension is Kf, the spring constant of the rear suspension is Kr, the displacement amount of the front suspension is xf, and the displacement amount of the rear suspension is xr. Let F be the load applied to the vehicle by the occupants and the load, and θ be the vehicle pitch angle, which is the tilt angle of the vehicle body due to this load.

Equation (2) can be obtained from the balance of forces, and equation (3) can be obtained from the balance of moments around the front.

（３）式をｘｒについて解くと（４）式が得られ、（４）式を（２）式に代入して整理すると（５）式が得られる。

Solving Eq. (3) for xr gives Eq. (4), and substituting Eq. (4) into Eq. (2) for rearrangement gives Eq. (5).

このとき、車両ピッチ角θは、（６）式で表され、これをθについて解くことで（７）式が得られる。

At this time, the vehicle pitch angle θ is expressed by Eq. (6), and by solving this with respect to θ, Eq. (7) can be obtained.

つまり、ハイトセンサ３１によってｘｆが得られれば、（５）式からＦを求めることができ、そのＦを用いて、（４）式からｘｒが算出される。同様に、ハイトセンサ３１によってｘｒが得られれば、（４）式からＦを求めることができ、そのＦを用いて、（５）式からｘｆが算出される。

That is, if xf is obtained by the height sensor 31, F can be obtained from the equation (5), and xr is calculated from the equation (4) using the F. Similarly, if xr is obtained by the height sensor 31, F can be obtained from the equation (4), and xf is calculated from the equation (5) using the F.

The vehicle pitch angle θ can be obtained by using the values of xf and xr thus obtained and the equation (7). From this relationship, it can be seen that there is a corresponding relationship between the detected value of the height sensor 31 and the vehicle pitch angle θ.

[5. measurement]
The result of measuring the relationship between the detected value of the height sensor 31 and the vehicle pitch angle θ is shown. Both assume that the driver is present in the driver's seat.

7 and 8 show the results of measuring the load state by classifying it into two patterns according to whether or not there is an occupant in the passenger seat. FIG. 7 shows the passenger seat in FIG. 8 when there is no occupant in the passenger seat. This is the case with a occupant. The presence or absence of occupants in the rear right and rear left seats, and the presence or absence of cargo in the trunk were measured for all patterns.

An approximate line is obtained by the least squares method, and a linear function representing the approximate line or a table generated based on the approximate line is used as characteristic information.
FIG. 9 shows the results of measuring the load state by classifying it into four patterns according to the presence or absence of a passenger in the passenger seat and the presence or absence of luggage in the trunk. When the maximum error of the vehicle pitch angle θ is calculated from the results shown in FIGS. 7 to 9 by using a linear function as the characteristic information, it is suppressed that the load state is classified into 4 patterns rather than 2 patterns. I understand.

FIG. 10 shows the results of measurement by classifying into two patterns according to the presence or absence of a longitudinal gradient. It can be seen that the vehicle pitch angle θ increases due to the addition of the longitudinal gradient.
FIG. 11 is a graph showing the measurement results for each combination pattern of the vertical gradient and the horizontal gradient. The approximate line was calculated using the measurement results for all patterns without dividing into patterns. However, for the vertical gradient, three patterns of no gradient, forward inclination, and backward inclination were used, and for the horizontal gradient, three patterns of no gradient, right inclination, and left inclination were used.

As shown in FIGS. 7 to 9, by using the characteristic information divided into patterns according to the load state, the estimation accuracy when estimating the vehicle pitch angle θ from the detected value of the height sensor 31 can be improved. Understand.

As shown in FIGS. 10 to 11, by using the characteristic information divided into patterns according to the presence or absence of the gradient, the estimation accuracy when estimating the vehicle pitch angle θ from the detected value of the height sensor 31 is improved. I understand.

[6. effect]
According to the embodiment described in detail above, the following effects are obtained.
(6a) In the information display system 1, the vehicle pitch angle θ is calculated from the vehicle height displacement amount H detected by the height sensor 31, and the characteristic information G used for the calculation is selected according to the load state applied to the vehicle. Therefore, the vehicle pitch angle θ can be calculated accurately from the detection result of one sensor that detects the vehicle height displacement amount H.

(6b) In the information display system 1, not only the vehicle pitch angle but also the projection position of the AR image is corrected according to the position of the driver's eyes, so that the position shift of the virtual image visually recognized by the driver with respect to the object is accurate. Can be suppressed.

(6c) In the information display system 1, when the vehicle pitch angle θ is calculated, the road gradient information ψ is reflected, so that the calculation accuracy of the vehicle pitch angle θ can be further improved.
[7. Other embodiments]
Although the embodiments of the present disclosure have been described above, the present disclosure is not limited to the above-described embodiments, and can be variously modified and implemented.

(7a) In the above embodiment, the characteristic information representing the conversion characteristic from the detected value of the height sensor 31 to the vehicle pitch angle θ is configured to be selected according to the load state, and the road gradient information ψ is calculated. Although reflected in the vehicle pitch angle θ, the present disclosure is not limited to this. For example, the characteristic information G may be selected depending on the load state and the gradient information ψ. Further, the reflection of the gradient information ψ on the vehicle pitch angle θ may be omitted.

(7b) In the above embodiment, the seat sensor 32 and the trunk sensor 33 have described the case of detecting the presence / absence of an occupant and the presence / absence of a load, but are configured to detect the weight of the occupant and the weight of the load. May be done. In this case, the load state can be calculated more accurately, and the calculation accuracy of the vehicle pitch angle θ can be further improved. That is, the load detection value may be the presence or absence of an occupant or a load, or may be the weight of an occupant or a load. Further, instead of the seat sensor 32 and the trunk sensor 33, the presence or absence of an occupant or a load may be detected based on an image taken from a camera that captures the inside of the vehicle interior or the inside of the trunk.

(7c) The display control device 10 and methods thereof described in the present disclosure are provided by configuring a processor and memory programmed to perform one or more functions embodied by a computer program. It may be realized by a dedicated computer. Alternatively, the display control device 10 and its method described in the present disclosure may be realized by a dedicated computer provided by configuring a processor with one or more dedicated hardware logic circuits. Alternatively, the display control device 10 and its method described in the present disclosure comprises a processor and memory programmed to perform one or more functions and a processor composed of one or more hardware logic circuits. It may be realized by one or more dedicated computers configured by a combination. The computer program may also be stored on a computer-readable non-transitional tangible recording medium as an instruction executed by the computer. The method for realizing the functions of each part included in the display control device 10 does not necessarily include software, and all the functions may be realized by using one or a plurality of hardware.

(7d) A plurality of functions possessed by one component in the above embodiment may be realized by a plurality of components, or one function possessed by one component may be realized by a plurality of components. .. Further, a plurality of functions possessed by the plurality of components may be realized by one component, or one function realized by the plurality of components may be realized by one component. Further, a part of the configuration of the above embodiment may be omitted. Further, at least a part of the configuration of the above embodiment may be added or replaced with the configuration of the other above embodiment.

(7e) In addition to the above-mentioned display control device 10, a system having the display control device 10 as a component, a program for operating a computer as the display control device 10, a non-transitional non-transitional memory such as a semiconductor memory in which this program is recorded, etc. The present disclosure can also be realized in various forms such as an actual recording medium and a display control method.

1 ... Information display system, 2 ... Peripheral monitoring unit, 3 ... Behavior detection unit, 4 ... Driver detection unit, 5 ... Map storage unit, 6 ... Positioning unit, 7 ... Navigation device, 8 ... Characteristic storage unit, 9 ... HUD device 10, ... Display control device, 11 ... CPU, 12 ... Memory, 31 ... Height sensor, 32 ... Sheet sensor, 33 ... Trunk sensor, 91 ... Projector, 92 ... Optical system, 101 ... Information generation unit, 102 ... Correction processing unit , 110 ... Instrument panel, 120 ... Windshield, 121 ... Projection area.

Claims (5)

The area in the front window of the vehicle on which the image to be recognized as a virtual image by the driver is projected is set as the projection area, and the information of the object existing in the landscape visible to the driver is acquired through the projection area, and the object is said. An information generation unit (101) configured to set the projection position of the superimposed image superimposed on the object in the projection region according to the three-dimensional position information of the object.
A load acquisition unit (102: S110) configured to acquire a load detection value which is a detection result of a load state applied to the vehicle at a plurality of measurement positions, and a load acquisition unit (102: S110).
The vehicle height acquisition unit (102: S130) configured to acquire the vehicle height displacement amount, which is the detection result of the displacement amount from the reference height for the vehicle height of the vehicle, and the vehicle height acquisition unit (102: S130).
The said according to the load detection value acquired by the load acquisition unit from a plurality of types of characteristic information representing the relationship between the vehicle height displacement amount and the pitch angle of the vehicle prepared in association with the load state. A characteristic selection unit (102: S120) configured to select characteristic information, and
The pitch angle calculation unit (102) configured to calculate the pitch angle from the vehicle height displacement amount acquired by the vehicle height acquisition unit using the characteristic information selected by the characteristic selection unit. : S150) and
An eye information acquisition unit (102: S160) configured to acquire eye information which is a detection result of the amount of deviation of the driver's eye position from the reference eye position, and the eye information acquisition unit (102: S160).
The projection position of the superimposed image set by the information generator is corrected according to both the pitch angle and the eye information so that the superimposed image visually recognized by the driver is superimposed and displayed on the object. The configured correction processing unit (102: S170) and
Equipped with
The information generation unit sets a position where the line connecting the reference eye position (E0) and the object (O) intersects the projection area (D0) as the projection position (Pa).
The correction processing unit has the center of gravity of the vehicle, the reference eye position (E0), the emission position (S0) at which the light imaged as a virtual image is emitted, and the projection region (D0), respectively. The reference eye after the rotational movement is rotated around the vehicle center of gravity (J) according to the pitch angle, and in the direction connecting the vehicle center of gravity (J) and the reference eye position (E1) after the rotational movement. The position (E1) is shifted according to the eye information, and the position where the line connecting the reference eye position (E2) after the shift and the object (O) intersects with the projection area (D1) after the rotational movement is The projection position (Pa) generated by the information generation unit is corrected so as to be the corrected projection position (Pb).
Display control device. The display control device according to claim 1.
The display control device including the presence / absence of a load detected at each of the measurement positions in the load detection value acquired by the load acquisition unit. The display control device according to claim 2.
The display control device including the weight of the load detected at each of the measurement positions in the load detection value acquired by the load acquisition unit. The display control device according to any one of claims 1 to 3.
A display control device including at least one of a passenger seat and a trunk in the plurality of measurement positions. The display control device according to any one of claims 1 to 4.
Further comprising a gradient acquisition unit (102: S140) configured to acquire gradient information representing the gradient of the road on which the vehicle is traveling.
The pitch angle calculation unit is a display control device configured to calculate the pitch angle by adding the gradient information acquired by the gradient acquisition unit.

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