JP7088152B2 - Display control device and display control program - Google Patents

Description

The disclosure herein relates to techniques for controlling the display of content on a head-up display.

Patent Document 1 discloses a vehicle display device that superimposes and displays contents by a head-up display. This vehicle display device superimposes and displays a guidance display showing a route from the traveling position of the own vehicle to the guidance point in the front view of the occupant.

International Publication No. 2015/118859

Map information of the travel path may be required for content display control as shown in Patent Document 1. However, the map information includes high-precision map information and low-precision map information having relatively lower accuracy than high-precision map information. Therefore, there may be a case where the map information used for content display is switched as the vehicle travels. In this case, if the content display using the high-precision map information and the content display using the low-precision map information are switched without notification, there is a risk of giving a sense of discomfort to the occupants.

An object of the disclosure is to provide a display control device and a display control program capable of suppressing a sense of discomfort of an occupant due to a change of map information to be used.

The plurality of embodiments disclosed herein employ different technical means to achieve their respective objectives. Further, the scope of claims and the reference numerals in parentheses described in this section are examples showing the correspondence with the specific means described in the embodiment described later as one embodiment, and limit the technical scope. is not.

One of the disclosed display control devices is a display control device used in the vehicle (A) and controlling the display of contents by the head-up display (20), and has high-precision map information and high information about the travel path of the vehicle. A map information acquisition unit (103) that acquires at least one of low-precision map information that is less accurate than accurate map information, a high-precision map area that can acquire high-precision map information, and high-precision map information that cannot be acquired. Yes A display control unit (109) that displays switching contents (CTa, CTt, CTb) indicating the switching of the map area when the map area is switched between the low-precision map area from which low-precision map information can be acquired is provided. ..

One of the disclosed display control programs is a display control program used in the vehicle (A) and controlling the display of contents by the head-up display (20), and the display of the vehicle is transmitted to at least one processing unit (11). A high-precision map area that can acquire at least one of high-precision map information and low-precision map information that is less accurate than high-precision map information (S102; S201) and high-precision map information, and high-precision When the map area is switched between the low-precision map area where the map information cannot be acquired and the low-precision map information can be acquired, the switching content (CTa, CTt, CTb) indicating the switching of the map area is displayed (S106, S109; S205), the process including the above is executed.

According to these disclosures, when the map area is switched between the high-precision map area and the low-precision map area, the switching content indicating the switching is displayed. Therefore, the occupant who visually recognizes the switching content can easily recognize the switching of the map area. As described above, it is possible to provide a display control device and a display control program capable of suppressing the discomfort of the occupant due to the switching of the map information to be used.

One of the disclosed display control devices is a display control device used in the vehicle (A) and controlling the display of contents by the head-up display (20), and has high-precision map information and high information about the travel path of the vehicle. The map information acquisition unit (103) that acquires at least one of the low-precision map information that is less accurate than the accuracy map information, and the high-precision content based on the high-precision map information in the high-precision map area that can acquire the high-precision map information ( CTrh) is superimposed and displayed, and in the low-precision map area where high-precision map information cannot be acquired and low-precision map information can be acquired, a display control unit (CTrn) based on low-precision map information is superimposed and displayed. When the high-precision map area and the low-precision map area are switched, the display control unit switches after hiding the high-precision content and the low-precision content before the switching for a predetermined period. Display later content.

One of the disclosed display control programs is a display control program used in the vehicle (A) and controlling the display of contents by the head-up display (20), and the display of the vehicle is transmitted to at least one processing unit (11). For the driving route, at least one of high-precision map information and low-precision map information with lower accuracy than high-precision map information is acquired (S302), and high-precision map information is used in the high-precision map area where high-precision map information can be obtained. High-precision content (CTrh) based on is superimposed and displayed (S304), and low-precision content (CTrn) based on low-precision map information is displayed in the low-precision map area where high-precision map information cannot be acquired and low-precision map information can be acquired. (S305), and when the high-precision map area and the low-precision map area are switched, the high-precision content and the low-precision content before the switch are hidden for a predetermined period, and then the content after the switch is displayed. Display (S307), and execute the process including the above.

According to these disclosures, when the high-precision map area and the low-precision map area are switched, the content before the switching is hidden for a predetermined period, and then the content after the switching is displayed. Therefore, the occupant can easily recognize that the display is switched from one of the high-precision content and the low-precision content to the other by hiding the content. As described above, it is possible to provide a display control device and a display control program capable of suppressing the discomfort of the occupant due to the switching of the map information to be used.

One of the disclosed display control devices is a display control device used in the vehicle (A) and controlling the display of contents by the head-up display (20), and has high-precision map information and high information about the travel path of the vehicle. The map information acquisition unit (103) that acquires at least one of the low-precision map information that is less accurate than the accuracy map information, and the high-precision content based on the high-precision map information in the high-precision map area that can acquire the high-precision map information ( CTrh) is superimposed and displayed, and in the low-precision map area where high-precision map information cannot be acquired and low-precision map information can be acquired, a display control unit (CTrn) based on low-precision map information is superimposed and displayed. When the high-precision map area and the low-precision map area are switched, the display control unit superimposes and displays the high-precision content on the high-precision map area of the image angle (VA) of the head-up display. , The low-precision content is superimposed and displayed on the low-precision map area within the angle of view.

One of the disclosed display control programs is a display control program used in the vehicle (A) and controlling the display of contents by the head-up display (20), and the display of the vehicle is transmitted to at least one processing unit (11). For the driving route, at least one of high-precision map information and low-precision map information with lower accuracy than high-precision map information is acquired (S402), and high-precision map information is used in the high-precision map area where high-precision map information can be obtained. High-precision content (CTrh) based on is superimposed and displayed, and low-precision content (CTrn) based on low-precision map information is superimposed and displayed in the low-precision map area where high-precision map information cannot be acquired and low-precision map information can be acquired. (S405), when the high-precision map area and the low-precision map area are switched, the high-precision content is superimposed and displayed on the high-precision map area in the image angle (VA) of the head-up display, and the low in the image angle. The process including superimposing and displaying the low-precision content on the precision map area (S404) is executed.

According to these disclosures, when the map area is switched between the high-precision map area and the low-precision map area, the high-precision content is superimposed and displayed on the high-precision map area within the angle of view, and the low-precision map area is displayed with low precision. The content is superimposed and displayed. As a result, the contents corresponding to the different map areas are coexisted and displayed within the angle of view, so that the occupant can easily recognize the change of the map area. As described above, it is possible to provide a display control device and a display control program capable of suppressing the discomfort of the occupant due to the switching of the map information to be used.

It is a figure which shows the whole image of the in-vehicle network including HCU by 1st Embodiment of this disclosure. It is a figure which shows an example of the head-up display mounted on a vehicle. It is a figure which shows an example of the schematic structure of HCU. It is a figure which shows an example of the area switching display. It is a figure which shows an example of the area switching display. It is a flowchart which shows an example of the display control method executed by HCU. It is a figure which shows an example of the area switching display in 2nd Embodiment. It is a flowchart which shows an example of the display control method executed by HCU in 2nd Embodiment. It is a figure which shows an example of the area switching display in 3rd Embodiment. It is a figure which shows an example of the area switching display in 4th Embodiment. It is a figure which shows an example of the area switching display in 5th Embodiment. It is a flowchart which shows an example of the display control method executed by HCU in 5th Embodiment. It is a figure which shows an example of the area switching display in 6th Embodiment. It is a figure which shows an example of the area switching display in 6th Embodiment. It is a flowchart which shows an example of the display control method executed by HCU in 6th Embodiment. It is a figure which shows an example of the reliability display in 7th Embodiment. It is a flowchart which shows an example of the display control method executed by HCU in 7th Embodiment. It is a figure which shows an example of the area switching display in another embodiment.

(First Embodiment)
The function of the display control device according to the first embodiment of the present disclosure is realized by the HCU (Human Machine Interface Control Unit) 100 shown in FIGS. The HCU 100 comprises an HMI (Human Machine Interface) system 10 used in a vehicle A together with a head-up display (hereinafter, “HUD”) 20 and the like. The HMI system 10 further includes an operation device 26, a DSM (Driver Status Monitor) 27, and the like. The HMI system 10 has an input interface function that accepts a user operation by an occupant (for example, a driver) of the vehicle A, and an output interface function that presents information to the driver.

The HMI system 10 is communicably connected to the communication bus 99 of the vehicle-mounted network mounted on the vehicle A. The HMI system 10 is one of a plurality of nodes provided in the vehicle-mounted network. For example, a peripheral monitoring sensor 30, a locator 40, a DCM49, a driving support ECU 50, a navigation device 60, and the like are connected to the communication bus 99 of the vehicle-mounted network as nodes. These nodes connected to the communication bus 99 can communicate with each other.

The peripheral monitoring sensor 30 is an autonomous sensor that monitors the surrounding environment of the vehicle A. From the detection range around the own vehicle, the peripheral monitoring sensor 30 includes pedestrians, cyclists, animals other than humans, moving objects such as other vehicles B, falling objects on the road, guardrails, curbs, road markings, driving lane markings, etc. It is possible to detect road markings and stationary objects such as roadside structures. The peripheral monitoring sensor 30 provides the detection information of detecting an object around the vehicle A to the driving support ECU 50 and the like through the communication bus 99.

The peripheral monitoring sensor 30 has a front camera 31 and a millimeter wave radar 32 as a detection configuration for object detection. The front camera 31 outputs at least one of the image pickup data obtained by photographing the front range of the vehicle A and the analysis result of the image pickup data as detection information. A plurality of millimeter-wave radars 32 are arranged, for example, on the front and rear bumpers of the vehicle A at intervals from each other. The millimeter wave radar 32 irradiates the millimeter wave or the quasi-millimeter wave toward the front range, the front side range, the rear range, the rear side range, and the like of the vehicle A. The millimeter wave radar 32 generates detection information by a process of receiving reflected waves reflected by a moving object, a stationary object, or the like. The sonar 33 irradiates ultrasonic waves toward the front range, the front side range, the rear range, the rear side range, and the like of the vehicle A. The sonar 33 acquires detection information by a process of receiving ultrasonic waves reflected by a moving object, a stationary object, or the like existing in the irradiation direction. In addition, other detection configurations such as a rider may be included in the peripheral monitoring sensor 30.

The locator 40 generates highly accurate position information and the like of the vehicle A by compound positioning that combines a plurality of acquired information. The locator 40 can specify, for example, the lane in which the vehicle A travels among a plurality of lanes. The locator 40 includes a GNSS (Global Navigation Satellite System) receiver 41, an inertial sensor 42, a high-precision map database (hereinafter, “high-precision map DB”) 43, and a locator ECU 44.

The GNSS receiver 41 receives positioning signals transmitted from a plurality of artificial satellites (positioning satellites). The GNSS receiver 41 can receive a positioning signal from each positioning satellite of at least one satellite positioning system among satellite positioning systems such as GPS, GLONASS, Galileo, IRNSS, QZSS, and Beidou. The inertial sensor 42 has, for example, a gyro sensor and an acceleration sensor.

The high-precision map DB 43 is mainly composed of a non-volatile memory, and stores high-precision map data (high-precision map information). The high-precision map data has higher accuracy and higher density than the navigation map data described later. The high-precision map data holds detailed information at least about the information in the height (z) direction. High-precision map data contains information that can be used for advanced driving assistance and autonomous driving.

More specifically, the high-precision map data has information on roads, lane markings such as white lines, information on road markings, information on structures, and the like. Information about roads includes, for example, position information for each point, shape information such as curve curvature and slope, connection relationship with other roads, road type information, lane information such as the number of lanes and the direction of travel allowed for each lane. include. 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 structures are road signs, traffic lights, street lights, tunnels, overpasses, buildings facing the road, and the like.

The high-precision map data has the above-mentioned various position information and shape information as point cloud data, vector data, and the like of feature points represented by three-dimensional coordinates. That is, it can be said that the high-precision map data is a three-dimensional map that includes altitude in addition to latitude and longitude with respect to position information. The high-precision map data has these position information with a relatively small error (for example, on the order of centimeters). The high-precision map data is highly accurate map data in that it has position information in three-dimensional coordinates including height information. In addition, it can be said that the map data is highly accurate in that the error of the position information is relatively small.

High-precision map data is created based on the information collected by measurement vehicles traveling on actual roads. High-precision map data is created for areas where information is collected and is out of range for areas where information is not collected. In general, high-precision map data is currently maintained with relatively wide coverage for expressways and motorways, and relatively narrow coverage for general roads. In the following, the area where the high-precision map data is prepared, that is, the area where the high-precision map data can be acquired is referred to as the high-precision map area Mh.

The locator ECU 44 is a control unit having a configuration mainly including a microcomputer including a processor, RAM, a storage unit, an input / output interface, and a bus connecting them. The locator ECU 44 combines the positioning signal received by the GNSS receiver 41, the measurement result of the inertial sensor 42, the vehicle speed information output to the communication bus 99, and the like, and sequentially positions the own vehicle position, the traveling direction, and the like of the vehicle A. The locator ECU 44 provides the position information and the direction information of the vehicle A based on the positioning result to the HCU 100, the driving support ECU 50, and the like through the communication bus 99.

The vehicle speed information is information indicating the current traveling speed of the vehicle A, and is generated based on the detection signal of the wheel speed sensor provided in the hub portion of each wheel of the vehicle A. The node (ECU) that generates vehicle speed information and outputs it to the communication bus 99 may be appropriately changed. For example, a brake control ECU that controls the distribution of braking force for each wheel, or an in-vehicle ECU such as the HCU100 is electrically connected to the wheel speed sensor for each wheel, and generates vehicle speed information and outputs it to the communication bus 99. Implement continuously.

The locator ECU 44 determines the range included in the high-precision map area Mh for the traveling path of the vehicle A based on the measured position of the own vehicle and the like. For example, the locator ECU 44 determines the range included in the high-precision map area Mh with respect to the traveling path within the discrimination target range including at least the superimposed range SA described later. The locator ECU 44 sequentially provides the determination result to the HCU 100. When at least a part of the determined travel path is included in the high-precision map area Mh, the locator ECU 44 reads the high-precision map data in the corresponding range from the high-precision map DB 43 and provides it to the HCU 100. The locator ECU 44 may further determine the range included in the navigation map area Mn, which will be described later, for the travel path based on the information provided by the navigation ECU 62.

The DCM (Data Communication Module) 49 is a communication module mounted on the vehicle A. The DCM49 transmits and receives radio waves to and from base stations around the vehicle A by wireless communication in accordance with communication standards such as LTE (Long Term Evolution) and 5G. By installing the DCM49, the vehicle A becomes a connected car that can connect to the Internet. The DCM49 can acquire the latest high-precision map data from a probe server installed on the cloud. The DCM49 cooperates with the locator ECU 44 to update the high-precision map data stored in the high-precision map DB 43 to the latest information.

The operation support ECU 50 is a control unit having a configuration mainly including a computer including a processing unit, a RAM, a storage unit, an input / output interface, and a bus connecting them. The driving support ECU 50 has a driving support function that supports the driving operation of the driver.

The driving support ECU 50 analyzes the detection information about the peripheral range of the vehicle A acquired from the peripheral monitoring sensor 30, and recognizes the traveling environment around the vehicle A. Specifically, the driving support ECU 50 specifies the relative positions of the left and right lane markings or road ends of the lane in which the vehicle A is currently traveling (hereinafter, "own lane Lns", see FIGS. 4 and 5). The left-right direction is a direction that coincides with the width direction of the vehicle A stationary on the horizontal plane, and is set with reference to the traveling direction of the vehicle A. The driving support ECU 50 sequentially provides the analysis result of the detection information to the HCU 100 and the like as the analyzed detection information.

The driving support ECU 50 can exert a plurality of functions for realizing advanced driving support by executing a program stored in the storage unit by the processing unit. The plurality of functions include, for example, an ACC (Adaptive Cruise Control) function, an LTC (Lane Trace Control) function, and the like.

The navigation device 60 searches for a route to the set destination and guides the traveling along the searched route. The navigation device 60 includes a navigation map database (hereinafter referred to as a navigation map DB) 61 and a navigation ECU 62.

The navigation map DB 61 is a non-volatile memory and stores navigation map data (hereinafter referred to as navigation map data) such as link data, node data, and road shape. Navigation map data is maintained in a relatively wider area than high-precision map data. The link data is composed of data such as a link ID that identifies the link, a link length that indicates the length of the link, a link direction, a link travel time, node coordinates between the start and end of the link, and road attributes. 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 navigation map data has node coordinates as two-dimensional position coordinate information. That is, it can be said that the navigation map data is a two-dimensional map including the latitude and longitude with respect to the position information. The navigation map data is map data with lower accuracy than the high-precision map data in that it does not have height information regarding the position information. In addition, it can be said that the map data has low accuracy in that the error of the position information is relatively large. The navigation map data is an example of low-precision map information.

In general, navigation map data is maintained in a relatively wide range with respect to high-precision map data. That is, there may be an area where high-precision map data cannot be acquired and navigation map data can be acquired. In the following, such an area will be referred to as a navigation map area Mn. The navigation map area Mn is an example of a low-precision map area.

The navigation ECU 62 is mainly composed of a microcomputer including a processor, RAM, a storage unit, an input / output interface, and a bus connecting them. The navigation ECU 62 acquires the position information and the direction information of the vehicle A (own vehicle) from the locator ECU 44 through the communication bus 99. The navigation ECU 62 acquires the operation information input to the operation device 26 through the communication bus 99 and the HCU 100, and sets the destination based on the driver operation. The navigation ECU 62 searches for a plurality of routes to the destination so as to satisfy conditions such as time priority and distance priority. When one of the searched plurality of routes is selected, the navigation ECU 62 provides the route information based on the set route to the HCU 100 through the communication bus 99 together with the related navigation map data.

In addition, when the vehicle A approaches a guidance point such as an intersection or a branch point for turning left or right included in the set route, the navigation ECU 62 sequentially outputs a guidance implementation request toward the HCU 100. The guide point is set near the center of each of the intersection section and the branchable section as an example. The guide point may be set on the front side or the back side of each of the intersection section and the branchable section.

The guidance implementation request is guidance information used for route guidance to the driver in the route guidance section including the guidance point. Specifically, the guidance implementation request includes the position information of the guidance point and the information indicating the direction in which the vehicle A should travel at the guidance point. The guidance implementation request is output at the timing when the remaining distance from the vehicle A to the guidance point is less than the threshold value (for example, about 300 m). The HCU 100 presents information related to route guidance based on the acquisition of the guidance implementation request from the navigation ECU 62.

Next, details of the operating devices 26, DSM27, HUD20, and HCU100 included in the HMI system 10 will be described in order based on FIGS. 1 and 2.

The operation device 26 is an input unit that accepts user operations by a driver or the like. For the ACC function, for example, a user operation for switching between activation and stop, setting the inter-vehicle distance, and the like is input to the operation device 26. Specifically, the operation device 26 includes a steering switch provided on the spoke portion of the steering wheel, an operation lever provided on the steering column portion 8, a voice input device for detecting the utterance of the driver, and the like.

The DSM 27 is configured to include a near-infrared light source, a near-infrared camera, and a control unit for controlling them. The DSM 27 is installed on, for example, the upper surface of the steering column portion 8 or the upper surface of the instrument panel 9 in a posture in which the near-infrared camera is directed toward the headrest portion of the driver's seat. The DSM27 uses a near-infrared camera to photograph the head of the driver irradiated with near-infrared light by a near-infrared light source. The image captured by the near-infrared camera is image-analyzed by the control unit. The control unit extracts information such as the position of the eye point EP and the line-of-sight direction from the captured image, and sequentially outputs the extracted state information to the HCU 100.

The HUD 20 is mounted on the vehicle A as one of a plurality of in-vehicle display devices together with a meter display, a center information display, and the like. The HUD 20 is electrically connected to the HCU 100 and sequentially acquires video data generated by the HCU 100. Based on the video data, the HUD 20 presents various information related to the vehicle A, such as route information, sign information, and control information of each in-vehicle function, to the driver using the virtual image Vi.

The HUD 20 is housed in a storage space in the instrument panel 9 below the windshield WS. The HUD 20 projects the light imaged as a virtual image Vi toward the projection range PA of the windshield WS. The light projected on the windshield WS is reflected toward the driver's seat side in the projection range PA and is perceived by the driver. The driver visually recognizes the display in which the virtual image Vi is superimposed on the foreground seen through the projection range PA.

The HUD 20 includes a projector 21 and a magnifying optical system 22. The projector 21 has an LCD (Liquid Crystal Display) panel and a backlight. The projector 21 is fixed to the housing of the HUD 20 with the display surface of the LCD panel facing the magnifying optical system 22. The projector 21 displays each frame image of the video data on the display surface of the LCD panel, and transmits and illuminates the display surface with a backlight to emit light formed as a virtual image Vi toward the magnifying optical system 22. do. The magnifying optical system 22 is configured to include at least one concave mirror in which a metal such as aluminum is vapor-deposited on the surface of a base material made of synthetic resin or glass. The magnifying optical system 22 projects the light emitted from the projector 21 onto the upper projection range PA while spreading it by reflection.

The angle of view VA is set in the above HUD 20. Assuming that the virtual range in the space where the virtual image Vi can be imaged by the HUD 20 is the image plane IS, the angle of view VA is defined based on the virtual line connecting the driver's eye point EP and the outer edge of the image plane IS. The viewing angle. The angle of view VA is an angle range in which the driver can visually recognize the virtual image Vi when viewed from the eye point EP. In the HUD 20, the horizontal angle of view in the horizontal direction is larger than the vertical angle of view in the vertical direction. When viewed from the eye point EP, the front range overlapping the image plane IS is the range within the angle of view VA.

The HUD 20 displays superimposed content CTs (see FIGS. 4 and 5) and non-superimposed content as virtual image Vi. Superimposed content CTs are AR display objects used for augmented reality (hereinafter referred to as “AR”) display. The display position of the superimposed content CTs is associated with a specific superimposed object existing in the foreground, such as a specific position on the road surface, a vehicle in front, a pedestrian, and a road sign. The superimposed content CTs are superimposed and displayed on a specific superimposed object in the foreground, and can be moved in appearance of the driver following the superimposed object so as to be relatively fixed to the superimposed object. That is, the relative positional relationship between the driver's eye point EP, the superimposed object in the foreground, and the superimposed content CTs is continuously maintained. Therefore, the shape of the superimposed content CTs may be continuously updated at a predetermined cycle according to the relative position and shape of the superimposed object. The superimposed content CTs are displayed in a posture closer to horizontal than the non-superimposed content, and have a display shape extended in the depth direction (traveling direction) as seen from the driver, for example.

The non-superimposed content is a non-AR display object excluding the superimposed content CTs among the display objects superimposed and displayed in the foreground. Unlike the superimposed content CTs, the non-superimposed content is superimposed and displayed on the foreground without specifying the superimposed target. The non-superimposed content is displayed at a fixed position within the projection range PA, so that it is displayed as if it is relatively fixed to the vehicle configuration such as the windshield WS.

The HCU 100 is an electronic control device that integrally controls the display by a plurality of vehicle-mounted display devices including the HUD 20 in the HMI system 10. The HCU 100 mainly includes a computer including a processing unit 11, a RAM 12, a storage unit 13, an input / output interface 14, and a bus connecting them. The processing unit 11 is hardware for arithmetic processing combined with the RAM 12. The processing unit 11 is configured to include at least one arithmetic core such as a CPU (Central Processing Unit). The RAM 12 may be configured to include a video RAM for video generation. The processing unit 11 executes various processes for realizing the functions of the functional units described later by accessing the RAM 12. The storage unit 13 is configured to include a non-volatile storage medium. Various programs (display control programs, etc.) executed by the processing unit 11 are stored in the storage unit 13.

The HCU 100 shown in FIGS. 1 to 3 has a plurality of functional units for functioning as a control unit for controlling content display by the HUD 20 by executing a display control program stored in the storage unit 13 by the processing unit 11. .. Specifically, the HCU 100 is constructed with functional units such as a driver information acquisition unit 101, a position information acquisition unit 102, a map information acquisition unit 103, a guidance information acquisition unit 104, an external world information acquisition unit 105, and a display generation unit 109. To.

The driver information acquisition unit 101 identifies the position and line-of-sight direction of the eye point EP of the driver seated in the driver's seat based on the state information acquired from the DSM 27, and acquires the driver information as driver information. The driver information acquisition unit 101 generates three-dimensional coordinates indicating the position of the eye point EP (hereinafter, “eye point coordinates”), and sequentially provides the generated eye point coordinates to the display generation unit 109.

The position information acquisition unit 102 acquires the latest position information and direction information about the vehicle A from the locator ECU 44 as the own vehicle position information. The position information acquisition unit 102 sequentially provides the acquired vehicle position information, the determination result, and the high-precision map data to the display generation unit 109.

The map information acquisition unit 103 acquires from the locator ECU 44 the determination result of the range included in the high-precision map area Mh regarding the travel path of the vehicle A. Based on the discrimination result, the map information acquisition unit 103 acquires high-precision map data for the travel path from the locator ECU 44 when the entire area of the travel path within the discrimination target range is included in the high-precision map area Mh. Further, when the travel path is not included in the high-precision map area Mh, the map information acquisition unit 103 acquires navigation map data for the travel path from the navigation ECU 62.

In addition, when only a part of the travel path is included in the high-precision map area Mh, the map information acquisition unit 103 acquires high-precision map data for the area from the locator ECU 44 and navigates for the remaining area. Map data is acquired from the navigation ECU 62. For example, such a situation may occur when the high-precision map area Mh ends in the middle of the travel path and when the high-precision map area Mh starts in the middle of the travel path. The map information acquisition unit 103 sequentially provides the acquired map data to the display generation unit 109.

The guidance information acquisition unit 104 acquires route information used for route guidance to the destination when the destination is set in the navigation device 60. In addition, the guidance information acquisition unit 104 acquires the guidance implementation request output from the navigation ECU 62 as the user approaches the guidance point. The guidance information acquisition unit 104 sequentially provides the route information and the guidance implementation request to the display generation unit 109.

The outside world information acquisition unit 105 acquires the detected detection information analyzed for the peripheral range of the vehicle A, particularly the front range, from the driving support ECU 50. For example, the outside world information acquisition unit 105 acquires detection information indicating the relative positions of the left and right lane markings or road edges of the own lane Lns. The external world information acquisition unit 105 sequentially provides the acquired detection information to the display generation unit 109. The external world information acquisition unit 105 may acquire the image pickup data of the front camera 31 as the detection information instead of the detection information as the analysis result acquired from the driving support ECU 50.

The display generation unit 109 has a virtual layout function that simulates the display layout of superimposed content CTs (see FIGS. 4 and 5) based on various acquired information, and a content selection function that selects content to be used for information presentation. ing. In addition, the display generation unit 109 has a generation function for generating video data to be sequentially output to the HUD 20 based on the information provided by the virtual layout function and the content selection function. The display generation unit 109 is an example of a display control unit.

By executing the virtual layout function, the display generation unit 109 reproduces the current traveling environment of the vehicle A in the virtual space based on the own vehicle position information, high-precision map data, detection information, and the like. More specifically, as shown in FIG. 5, the display generation unit 109 sets the own vehicle object AO at the reference position in the virtual three-dimensional space. The display generation unit 109 maps the road model of the shape indicated by the map data to the three-dimensional space in association with the own vehicle object AO based on the own vehicle position information. The display generation unit 109 maps the road model of the high-precision map area Mh based on the high-precision map data, and maps the road model of the navigation map area Mn based on the navigation map data.

The display generation unit 109 sets the virtual camera position CP and the superimposition range SA in association with the own vehicle object AO. The virtual camera position CP is a virtual position corresponding to the driver's eye point EP. The display generation unit 109 sequentially corrects the virtual camera position CP with respect to the own vehicle object AO based on the latest eye point coordinates acquired by the driver information acquisition unit 101. The superimposition range SA is a range in which the virtual image Vi can be superposed and displayed. When the display generation unit 109 looks forward from the virtual camera position CP based on the virtual camera position CP and the outer edge position (coordinates) information of the projection range PA stored in advance in the storage unit 13 (see FIG. 1) or the like. The front range inside the image plane IS is set as the superimposition range SA. The superimposition range SA corresponds to the angle of view VA of HUD20.

The display generation unit 109 arranges the first virtual object VO1, the second virtual object VO2, and the third virtual object VO3 in the virtual space. The virtual objects VO1 and VO2 are arranged so as to overlap the planned travel route arranged on the road surface of the road model in the three-dimensional space. The first virtual object VO1 is set in the virtual space when the high-precision path content CTrh, which will be described later, is displayed as a virtual image. The second virtual object VO2 is set in the virtual space when the low-precision path content CTrn, which will be described later, is displayed as a virtual image. Each virtual object VO1 and VO2 is a strip-shaped object arranged in a plane on a virtual road surface along a planned traveling route.

The first virtual object VO1 is arranged when the road surface in the superimposition range SA is included in the high-precision map area Mh. The position of the first virtual object VO1 is determined based on the high-precision map data. On the other hand, the second virtual object VO2 is arranged when the road surface in the superimposition range SA is included in the navigation map area Mn. The position of the second virtual object VO2 is determined based on the navigation map data. Each virtual object VO1 and VO2 defines the position and shape of the route contents CTrh and CTrn. That is, the shapes of the virtual objects VO1 and VO2 seen from the virtual camera position CP become the virtual image shapes of the path contents CTrh and CTrn visually recognized from the eye point EP.

The third virtual object VO3 is set when the road surface in the superimposition range SA described later is switched between the navigation map area Mn and the high-precision map area Mh. The third virtual object VO3 is set in the virtual space when the transition content CTa described later is superimposed and displayed. The third virtual object VO3 is an animation object that transforms the shape from one of the first virtual object VO1 and the second virtual object VO2 to the other. That is, when the map area changes from the high-precision map area Mh to the navigation map area Mn, the third virtual object VO3 is deformed from the first virtual object VO1 to the second virtual object VO2. When the map area changes from the navigation map area Mn to the high-precision map area Mh, the third virtual object VO3 has a shape that transforms from the second virtual object VO2 to the first virtual object VO1.

The display generation unit 109 selects the content to be drawn in the video data based on the other vehicle information, the simulation result of the display layout, and the like by executing the content selection function. Then, the display generation unit 109 controls the presentation of information to the driver by the HUD 20 by executing the function of generating the video data sequentially output to the HUD 20. Specifically, the display generation unit 109 determines the original image to be drawn on each frame image constituting the video data based on the selection result by the content selection function. When the display generation unit 109 draws the original image of the superimposed content CTs (see FIGS. 4 and 5) on the frame image, the drawing position of the original image in the frame image and the drawing position of the original image in the frame image are determined according to the eye point EP and each position of the superimposed object. Correct the drawing shape. As described above, the superimposed content CTs are displayed at the position and shape correctly superimposed on the superimposed object when viewed from the eye point EP.

The display generation unit 109 can display the route content that presents the planned travel route of the vehicle A to the driver by the content selection function and the video data generation function described above. The display generation unit 109 changes the display mode of the route content according to the map data that can be acquired for the current travel path. The details of the display of the route contents will be described below with reference to FIGS. 4 and 5. Note that FIG. 4 shows a change in the mode of the route content when the vehicle A moves from the high-precision map area Mh to the navigation map area Mn. On the other hand, FIG. 5 shows a change in the mode of the route content when the vehicle A moves from the navigation map area Mn to the high-precision map area Mh.

The route contents are superposed contents CTs that superimpose the road surface of the planned traveling route. The route content is drawn in a shape along the planned travel route, and indicates the lane in which the vehicle A should travel, a point where a right / left turn or a lane change is required, and the like. The route content is a sheet-shaped road paint that extends in a band shape along the traveling direction of the vehicle A in the lane of the planned travel route. When the lane is straight, the route content is in a straight line, and when the lane is curved, the route content is curved along the curve. In addition, the route content is an embodiment that connects the approach lane and the exit lane on the planned travel route within the intersection. The drawing shape of the route content is updated at a predetermined update cycle so as to match the road surface shape seen from the eye point EP according to the traveling of the vehicle A.

The display generation unit 109 displays either the high-precision route content CTrh or the low-precision route content CTrn as the route content. The high-precision route content CTrh is the route content displayed when the traveling path of the vehicle A is the high-precision map area Mh. Specifically, the high-precision route content CTrh is displayed when the road surface in the superposition range SA is included in the high-precision map area Mh.

The high-precision path content CTrh is determined to have a drawing position and a drawing shape based on the first virtual object VO1 arranged in the display simulation. That is, the high-precision route content CTrh is the content generated based on the high-precision map data. As a result, the high-precision path content CTrh can be superimposed and displayed on the road surface with higher accuracy than the low-precision path content CTrn. The high-precision route content CTrh is displayed in a display mode different from that of the low-precision route content CTrn. For example, the high-precision path content CTrh has a band shape having a width larger than that of the low-precision path content CTrn described later, and has a display color (for example, blue) different from that of the low-precision path content CTrn. The high-precision path content CTrh is an example of high-precision content.

The low-precision route content CTrn is displayed when the travel path of the vehicle A is the navigation map area Mn, specifically, when the road surface in the superimposition range SA is included in the navigation map area Mn. The low-precision path content CTrn is determined to have a drawing position and a drawing shape based on the second virtual object VO2 arranged in the display simulation. That is, the low-precision route content CTrn is content generated based on the navigation map data. As a result, the low-precision path content CTrn can be superimposed and displayed on the road surface with lower accuracy than the high-precision path content CTrh. The low-precision path content CTrn has, for example, a band having a width smaller than that of the high-precision path content CTr, and has a display color (for example, red) different from that of the high-precision path content CTr. The low-precision path content CTrn is an example of low-precision content.

In addition, the display generation unit 109 displays the transition content CTa when the map area of the travel route is switched during the display of the route content. The transition content CTa is an example of switching content that presents the switching of the map area to the driver. The transition content CTa is the superimposed content CTs similar to the route content. The transition content CTa is content that transitions from the route content corresponding to the map area before switching to the route content corresponding to the map area after switching. For example, the transition content CTa is an animation content that apparently continuously changes from the display mode of one route content to the display mode of the other route content. That is, in the case of the route content of the first embodiment, the transition content CTa is displayed as an animation in which the width and display color of the route content transition. The transition content CTa may be a plurality or one still image showing the transition from one route content to the other route content in an apparent stepwise manner.

When the map area is switched from the high-precision map area Mh to the navigation map area Mn, the transition content CTa is superimposed and displayed on the road surface of the high-precision map area Mh before the superposition range SA enters the navigation map area Mn. That is, the transition content CTa is generated based on the high-precision map data. The transition content CTa is started to be displayed at a predetermined distance or a predetermined time before reaching the navigation map area Mn so that the transition animation is completed before entering the navigation map area Mn.

Further, when the map area is switched from the navigation map area Mn to the high-precision map area Mh, the transition content CTa is superimposed and displayed on the road surface of the high-precision map area Mh after the superposition range SA enters the high-precision map area Mh. .. As a result, the transition content CTa is generated based on the high-precision map data as described above.

Next, the details of the display control method of each content based on the display control program will be described below with reference to FIGS. 4 and 5 based on the flowchart shown in FIG. The process shown in FIG. 6 is started by the HCU 100 that has completed the start-up process or the like, for example, by switching the vehicle power supply to the on state.

First, in step S101, the HCU 100 determines whether or not it is a route guidance section based on the acquired guidance information. If it is determined that the route is a route guidance section, the process proceeds to step S102, and map data related to the current travel route is acquired. Next, in step S103, it is determined whether or not the current travel path is the high-precision map area Mh. If it is determined that the area is the high-precision map area Mh, the process proceeds to step S104.

In step S104, the display generation unit 109 executes superimposed display of the high-precision route content CTrh based on the acquired high-precision map data. Next, in step S105, it is determined whether or not the superimposition range SA is close to the navigation map area Mn. If it is not close to the navigation map area Mn, the process returns to step S101. On the other hand, if it is determined that the navigation map area Mn is approaching, the process proceeds to step S106. In step S106, the transition content CTa indicating the transition from the high-precision route content CTr to the low-precision route content CTrn is displayed based on the high-precision map data.

If the transition content CTa is displayed in step S106, or if it is determined in step S103 that the travel path is not the high-precision map area Mh, the process proceeds to step S107. In step S107, the superimposed display of the low-precision route content CTrn is executed based on the navigation map data.

Next, in step S108, it is determined whether or not the superimposed range SA has entered the high-precision map area Mh. When it is determined that the high-precision map area Mh has been entered, the process proceeds to step S109, and the transition content CTa indicating the transition from the low-precision route content CTrn to the high-precision route content CTr is displayed based on the high-precision map data. When the display of the transition content CTa is completed, the process returns to step S104.

On the other hand, if it is determined in step S109 that the high-precision map area Mh has not been entered, the process returns to step S101. The series of processes is continued until it is determined in step S101 that it is not a route guidance section, and when it is determined that it is not a route guidance section, the process proceeds to step S110 to finish displaying the content related to the route guidance. , Ends a series of processes.

Next, the action and effect brought about by the HCU 100 of the first embodiment will be described.

When the high-precision map area Mh and the navigation map area Mn are switched, the HCU 100 displays the transition content CTa as switching content indicating the switching of the map area. According to this, when the map area is switched between the high-precision map area Mh and the navigation map area Mn, the transition content CTa is displayed as the switching content indicating the switching. Therefore, the driver as a occupant who visually recognizes the transition content CTa can easily recognize the change of the map area. As described above, it is possible to suppress the driver's discomfort due to the switching of the map data to be used.

Further, when switching from the navigation map area Mn to the high-precision map area Mh, the transition content CTa is displayed as content for transitioning the low-precision route content CTrn to the high-precision route content CTr. On the other hand, when switching from the high-precision map area Mh to the navigation map area Mn, the transition content CTa is displayed as content for transitioning the high-precision route content CTr to the low-precision route content CTrn.

According to this, the route content corresponding to each map area transitions with the switching of the map area, and the switching is presented to the driver. Therefore, it is possible to present the switching of the map area to the driver with relatively little discomfort. In particular, in the first embodiment, since the switching of the map area is presented by the transition of the route content during the display of the route content, the angle of view VA is more complicated than the case where the content indicating the switching is additionally displayed. It can be suppressed from becoming.

The transition content CTa is superimposed and displayed on the road surface of the high-precision map area Mh. According to this, the transition content CTa can be displayed based on the high-precision map data. Therefore, the transition animation of the route content is more accurately superimposed and displayed on the road surface. Therefore, the discomfort of the display in the transition of the route content can be reduced.

(Second Embodiment)
In the second embodiment, a modification of the HCU 100 in the first embodiment will be described. The components having the same reference numerals as those in the drawings of the first embodiment in FIGS. 7 and 8 are the same components and have the same effects.

In the second embodiment, the display generation unit 109 displays the fourth virtual object VO4 in the virtual space. The fourth virtual object VO4 is arranged on a virtual road surface on the planned travel route. The fourth virtual object VO4 is set in the high-precision map area Mh in the virtual space when the character information content CTt described later is displayed as a virtual image. The fourth virtual object VO4 has a shape imitating the text corresponding to the character information content CTt.

The display generation unit 109 can display the character information content CTt as the content indicating the switching of the map area. The character information content CTt are superposed content CTs whose superimposing target is the road surface. The character information content CTt is displayed regardless of the presence or absence of other content such as route content. The text information content CTt is content that indicates the switching of the map area by text information. For example, when switching from the navigation map area Mn to the high-precision map area Mh, it is displayed as text such as "high-precision map start", and when switching from the high-precision map area Mh to the navigation map area Mn, "navigation map" is displayed. It is displayed as text such as "Start".

The text information content CTt is superimposed and displayed so as to stay at a specific position on the road surface of the high-precision map area Mh based on the high-precision map data. That is, when switching from the navigation map area Mn to the high-precision map area Mh, the character information content CTt becomes visible after the superposition range SA enters the high-precision map area Mh.

On the other hand, when switching from the high-precision map area Mh to the navigation map area Mn, the character information content CTt becomes visible before the superimposed range SA enters the navigation map area Mn. In this case, the character information content CTt is started to be displayed at a predetermined distance or a predetermined time before reaching the navigation map area Mn, and is hidden immediately before entering the navigation map area Mn. The character information content CTt may move in synchronization with the progress of the vehicle A and may be displayed so as to be hidden after a predetermined time.

Next, the details of the display control method in the second embodiment will be described below with reference to FIG. 7 based on the flowchart shown in FIG.

First, the HCU 100 acquires map data about the current travel path in step S201. Next, in step S202, it is determined whether or not the current travel path is included in the high-precision map area Mh. If it is determined that the area is the high-precision map area Mh, the process proceeds to step S203, and it is determined whether or not the vehicle is approaching the navigation map area Mn. If it is not approaching the navigation map area Mn, it waits until it is determined that it is approaching. On the other hand, if it is determined that the navigation map area Mn is approaching, the process proceeds to step S205, the character information content CTt is displayed, and then a series of processes is completed.

On the other hand, if it is determined in step S202 that the map area is not the high-precision map area Mh, the process proceeds to step S204. In step S204, it is determined whether or not the vehicle has entered the high-precision map area Mh from the navigation map area Mn. If it has not entered the high-precision map area Mh, it waits until it is determined that it has entered. On the other hand, if it is determined that the user has entered the high-precision map area Mh, the process proceeds to step S205, the character information content CTt is displayed, and then a series of processes is completed.

In the second embodiment, the switching of the map area is displayed by the character information content CTt. According to this, the driver can recognize the change of the map area by the character information. Therefore, the switching of the map area can be recognized more clearly. In particular, since the character information content CTt of the second embodiment is superimposed and displayed so as to stay at a specific position on the road surface, it is easy for the driver to induce the boundary of the map area of the road surface.

(Third Embodiment)
In the third embodiment, a modification of the HCU 100 in the first embodiment will be described. In FIG. 9, the components having the same reference numerals as those in the drawings of the first embodiment are the same components and have the same effects.

In the third embodiment, the display generation unit 109 displays the boundary content CTb as the switching content. The boundary content CTb is displayed as superposed content CTs whose road surface is superposed based on the band-shaped fifth virtual object VO5 arranged on the virtual road surface in the display simulation. The boundary content CTb is content in which images of different modes corresponding to each map area are arranged along the traveling direction.

For example, the boundary content CTb is a series of sheet-shaped images having different display colors. In the boundary content CTb, the image corresponding to the navigation map area Mn has the same display color as the low-precision route content CTrn (for example, red), and the image corresponding to the high-precision map area Mh has the same display color as the high-precision route content CTrh. (For example, blue).

That is, when the map area is switched from the navigation map area Mn to the high-precision map area Mh, the boundary content CTb is the content displayed in red on the front side and blue on the back side. On the other hand, when the map area is switched from the high-precision map area Mh to the navigation map area Mn, the boundary content CTb is a sheet-like content displayed in blue on the front side and red on the back side.

The boundary content CTb described above is superimposed on the road surface of the high-precision map area Mh based on the high-precision map data, similarly to the character information content CTt of the second embodiment. The boundary content CTb is displayed so as to stay at a specific position on the road surface. Alternatively, the boundary content CTb may be content that moves in synchronization with the progress of the vehicle A.

(Fourth Embodiment)
In the fourth embodiment, a modification of the HCU 100 in the first embodiment will be described. In FIG. 10, the components having the same reference numerals as those in the drawings of the first embodiment are the same components and have the same effects.

In the fourth embodiment, the display generation unit 109 displays the boundary content CTb as the switching content. The boundary content CTb of the fourth embodiment is displayed as superimposed content CTs for which the road surface of the high-precision map area Mh is superimposed, based on the band-shaped sixth virtual object VO6 arranged on the virtual road surface in the display simulation.

The boundary content CTb of the fourth embodiment is a sheet-shaped content extending in the traveling direction starting from the boundary of the navigation map area Mn on the road surface of the high-precision map area Mh. For example, the boundary content CTb has a display mode different from that of the high-precision path content CTr and the low-precision path content CTrn. In the example of FIG. 10, the boundary content CTb is displayed in a display color (for example, green) different from that of the high-precision path content CTrh and the low-precision path content CTrn.

(Fifth Embodiment)
In the fifth embodiment, a modification of the HCU 100 in the first embodiment will be described. The components having the same reference numerals as those in the drawings of the first embodiment in FIGS. 11 and 12 are the same components and have the same effects.

In the fifth embodiment, the display generation unit 109 hides the route content when the map area is switched during the route guidance. For example, when switching from the high-precision map area Mh to the navigation map area Mn, the display generation unit 109 reaches the start point of the navigation map area Mn or a point on the front side of the start point when the superimposition range SA reaches. The high-precision route content CTrh is hidden. In this case, the display generation unit 109 hides the high-precision route content CTr and displays the low-precision route content CTrn at the timing when a predetermined period has elapsed. At this time, the low-precision route content CTrn is displayed by using the navigation map data in the high-precision map area Mh even when at least a part of the road surface of the superposition range SA is included in the high-precision map area Mh. Will be done.

On the other hand, when switching from the navigation map area Mn to the high-precision map area Mh, the display generation unit 109 hides the low-precision route content CTrn, for example, after the start of entry of the superposition range SA into the high-precision map area Mh. do. The display generation unit 109 hides the low-precision route content CTrn and displays the high-precision route content CTrh at the timing when a predetermined period has elapsed. For example, the display generation unit 109 starts displaying the high-precision path content CTrh after the entire superimposition range SA becomes the high-precision map area Mh.

Next, the details of the display control method according to the fifth embodiment will be described below with reference to FIG. 11 based on the flowchart shown in FIG. Since the processing of steps S301 to S304 and S310 is the same as the processing of S101 to 104 and S110 in the first embodiment, the description thereof will be omitted.

When the HCU 100 determines in step S302 that the current travel path is not included in the high-precision map area Mh, the HCU 100 displays the low-precision route content CTrn in step S305. After executing the process of step S304 or step S305, the process proceeds to step S306.

In step S306, it is determined whether or not the corresponding map area of the current travel path is switched. If it is determined that the current map area does not switch and continues, the process returns to step S301. On the other hand, if it is determined that the map area is switched, the process proceeds to step S307, and the route content displayed immediately before is hidden. When the non-display period in step S307 is completed, the process returns to step S303, the map area after switching is determined, and the display of the corresponding route content is started.

In the above fifth embodiment, when the map area is switched, the route content before the switch is hidden for a predetermined period, and then the route content after the switch is displayed. Therefore, the driver can easily recognize that the display is switched from one of the high-precision route content CTr and the low-precision route content CTrn to the other by hiding the content. As described above, it is possible to suppress the driver's discomfort due to the switching of the map data to be used.

(Sixth Embodiment)
In the sixth embodiment, a modification of the HCU 100 in the first embodiment will be described. The components having the same reference numerals as those in the drawings of the first embodiment in FIGS. 13 to 15 are the same components and have the same effects.

In the third embodiment, when the map area is switched during the route guidance, the display generation unit 109 makes the high-precision route content CTr and the low-precision route content CTrn coexist in the angle of view VA, and each map area Mh. , Mn are superimposed and displayed (see FIGS. 11 and 12).

FIG. 13 shows a display when switching from the navigation map area Mn to the high-precision map area Mh. In FIG. 13, when the superimposition range SA starts entering the navigation map area Mn, the first virtual object VO1 is arranged in the high-precision map area Mh in the superimposition range SA, and the second virtual object VO2 is arranged in the navigation map area Mn. Will be done.

As a result, the high-precision route content CTr is superimposed and displayed on the front side portion of the road surface in the angle of view VA, which is included in the high-precision map area Mh. Then, the low-precision route content CTrn is superimposed and displayed on the inner portion of the road surface in the angle of view VA included in the navigation map area Mn. As the vehicle A progresses, the high-precision path content CTrh in the angle of view VA continuously disappears from the back side to the front side, and the low-precision path content CTrn continuously disappears from the back side to the front side. Elongate.

FIG. 14 shows a display when switching from the high-precision map area Mh to the navigation map area Mn. Also in this case, the display mode of the route content is changed as in FIG. 13, except that the positional relationship between the low-precision route content CTrn and the high-precision route content CTrh is reversed.

In the display at the time of such switching, the display generation unit 109 increases the brightness of the front side of the two path contents. That is, in FIG. 13, the brightness of the low-precision path content CTrn is higher than that of the high-precision path content CTrh, and in FIG. 14, the opposite is true. As a result, the visibility of the content superimposed on the front road surface is higher than that of the content superimposed on the back road surface. The display generation unit 109 may improve the visibility of the route content on the front side by increasing the transmittance of the route content on the back side.

Further, the display generation unit 109 hides the low-precision route content CTrn before the low-precision route content CTrn is outside the angle of view VA when the low-precision route content CTrn is displayed on the front side. ..

In addition, when the high-precision path content CTr and the low-precision path content CTrn coexist and are displayed in the angle of view VA, the display generation unit 109 is based on the high-precision map data of the adjacent high-precision map area Mh. Correct the display position of the low-precision path content CTrn. The display generation unit 109 estimates the road shape of the navigation map area Mn from the road shape of the high-precision map area Mh, and uses the estimated information to calculate the display position of the low-precision route content CTrn. Further, the display generation unit 109 may use the display state of the high-precision path content CTr, such as aligning the end position of the low-precision path content CTrn with the end position of the high-precision path content CTr.

Next, the details of the display control method in the sixth embodiment will be described below with reference to FIGS. 13 and 14 based on the flowchart shown in FIG. Since the processing of steps S401, S402, and S410 is the same as the processing of S101, S102, and S110 in the first embodiment, the description thereof will be omitted.

In step S403, the HCU 100 determines whether or not the angle of view VA includes two map areas, the high-precision map area Mh and the navigation map area Mn. When it is determined that the two map areas are included, the corresponding route contents are superimposed and displayed for each map area in the angle of view VA in step S404. When the display process of step S404 is executed, the process returns to step S401.

On the other hand, if only one of the high-precision map area Mh and the navigation map area Mn is included in the angle of view VA in step S403, the process proceeds to step S405. In step S405, either the high-precision route content CTrh or the low-precision route content CTrn is superimposed and displayed on the road surface according to the map area in the angle of view VA, and the process returns to step S401.

In the sixth embodiment, when the map area is switched, the high-precision route content CTr is superimposed and displayed on the high-precision map area Mh in the angle of view VA, and the low-precision route content is displayed on the navigation map area Mn in the angle of view VA. CTrn is superimposed and displayed. Therefore, the contents corresponding to the different map areas are coexisted and displayed in the angle of view VA, and the driver can easily recognize the switching of the map areas. As described above, it is possible to suppress the driver's discomfort due to the switching of the map data to be used.

Further, in the sixth embodiment, when the map area is switched, the visibility of the route content on the front side is enhanced with respect to the route content on the back side. According to this, the driver can easily recognize the route content on the near side that is needed more recently. Therefore, a display that is more convenient for the driver is possible.

Further, in the sixth embodiment, when the low-precision route content CTrn is superimposed on the front side and the high-precision route content CTrh is superimposed on the back side, the navigation map area Mn is before the angle of view VA is outside. In addition, the low-precision route content CTrn is hidden. According to this, since the low-precision route content CTrn having relatively low accuracy is hidden early, it is possible to make the deviation of the display position of the low-precision route content CTrn more inconspicuous.

Further, in the sixth embodiment, since the display position of the low-precision route content CTrn is corrected based on the high-precision map data of the adjacent high-precision map area Mh, the deviation of the display position of the low-precision route content CTrn is suppressed. obtain.

(7th Embodiment)
In the seventh embodiment, a modification of the HCU 100 in the first embodiment will be described. The components having the same reference numerals as those in the drawings of the first embodiment in FIGS. 16 and 17 are the same components and have the same effects.

The high-precision map data based on the high-precision route content CTrh may be different from the actual road condition and the reliability may be lowered when the freshness is lowered after a lapse of time from the maintenance. In the seventh embodiment, the HCU 100 presents the reliability of the high-precision map data to the driver in order to present the reliability of the high-precision map data based on the high-precision route content CTrh to the driver.

More specifically, the display generation unit 109 compares the high-precision map data acquired by the map information acquisition unit 103 with the detection information acquired by the external world information acquisition unit 105, and whether the degree of deviation is within the allowable range. Determine if it is out of tolerance. For example, the display generation unit 109 determines the amount of deviation of the position coordinates between the feature points such as the road shape and the structure included in the high-precision map data and the feature points detected by the front camera 31, the rider, or the like. Calculated as the degree of deviation. The display generation unit 109 determines that the high-precision map data and the detection information match if the calculated deviation amount is within a predetermined error range. On the other hand, when the deviation amount is out of the predetermined error range, it is determined that the high-precision map data and the detection information are different. In other words, the display generation unit 109 determines whether the degree of deviation between the high-precision map data and the detection information is within the permissible range or out of the permissible range. The display generation unit 109 may calculate the degree of deviation between the high-precision map data and the probe map data generated based on the traveling information of a general vehicle.

The display generation unit 109 changes the display color of the high-precision route content CTrh depending on whether the high-precision map data and the detection information match or are different. As a result, the high-precision route content CTrh is displayed in different display modes depending on whether the high-precision map data and the detection information match or are different. As a result, the reliability of the high-precision map data is presented to the driver by the high-precision path content CTrh. The display generation unit 109 may change the brightness, transmittance, shape, and the like instead of the display color.

Next, the details of the display control method of each content based on the display control program will be described with reference to the flowchart shown in FIG. The process shown in FIG. 17 is started by the HCU 100 that has finished the start-up process and the like by switching to the on state of the vehicle power supply, and is repeatedly executed.

In step S501, map data is acquired. In step S502, it is determined whether or not the travel path is the high-precision map area Mh based on the acquired map data. If it is determined that the map area is not the high-precision map area Mh, a series of processes is terminated. On the other hand, if it is determined that the area is the high-precision map area Mh, the process proceeds to step S503, and it is determined whether or not the high-precision map data and the detection information match.

If it is determined that they match, the process proceeds to step S504, the high-precision route content CTh is set to a high-reliability display mode, and then a series of processes is terminated. On the other hand, if it is determined that the high-precision map data and the detection information are different, the process proceeds to step S505. In step S505, a series of processes is completed with the high-precision path content CTh as a display mode having a low reliability different from that of step S504. By repeatedly executing a series of processes, the HCU 100 updates the display mode of the high-precision route content CTh according to the reliability of the high-precision map data of the current location. Further, the display generation unit 109 may continuously change the display mode according to the amount of deviation.

(Other embodiments)
The disclosure herein is not limited to the exemplary embodiments. Disclosures include exemplary embodiments and modifications by those skilled in the art based on them. For example, the disclosure is not limited to the parts and / or combinations of elements shown in the embodiments. Disclosure can be carried out in various combinations. Disclosures can have additional parts that can be added to the embodiments. Disclosures include those in which the parts and / or elements of the embodiment are omitted. Disclosures include the replacement or combination of parts and / or elements between one embodiment and another. The technical scope disclosed is not limited to the description of the embodiments. Some technical scopes disclosed are indicated by the description of the scope of claims and should be understood to include all modifications within the meaning and scope equivalent to the description of the scope of claims. ..

In the above-described embodiment, the map information acquisition unit 103 is supposed to acquire high-precision map data generated in advance by traveling the measuring vehicle. Instead of this, the map information acquisition unit 103 may acquire probe map data generated based on the traveling information of a plurality of general vehicles as high-precision map data. The probe map data is map data including information in the height direction, and is acquired from a center server or the like on the network via DCM49. In this case, the area where the probe map data can be acquired is the high-precision map area, and the area where the probe map data cannot be acquired and the navigation map data can be acquired is the low-precision map area. Alternatively, the area where one of the probe map data and the map data stored in the locator 40 can be acquired is regarded as the high-precision map area, and the area where the one cannot be acquired and the other can be acquired is the area. It may be a low-precision map area. In this case, more accurate map data may be determined based on the magnitude of the error, the novelty of the data, the density of feature points, and the like.

In the above-described embodiment, the display generation unit 109 displays each route content as sheet-shaped content having different widths, but the display mode of each route content is not limited to this. For example, as shown in FIG. 18, the display generation unit 109 may display the high-precision route content CTr as a pair of linear contents extending on both sides of the own lane Lns. Further, the display generation unit 109 may have a plurality of triangular-shaped contents in which the low-precision route contents CTrn are arranged along the planned traveling route. The low-precision route content CTrn of FIG. 18 is superimposed on the vicinity of the center of the own lane Lns more than the high-precision route content CTrh, so that the deviation of the superimposed position is displayed as an inconspicuous mode.

In the above-described embodiment, the display generation unit 109 is supposed to display the route content corresponding to the guidance information as the content based on each map data, but the content to be displayed is not limited to this. For example, the display generation unit 109 may display the content indicating the planned travel locus of the vehicle A by the LTC function based on each map data.

In the above-described embodiment, the display generation unit 109 displays the switched content as superimposed content CTs, but may display it as non-superimposed content. For example, when the display generation unit 109 displays the switching content as non-superimposed content, the display generation unit 109 displays the switching content while the angle of view VA inner road surface is included in the navigation map area Mn, and is included in the high-precision map area Mh. Hide while you are. According to this, the display generation unit 109 can effectively utilize the area in which the high-precision content can be superimposed in the angle of view VA.

In the second to fourth embodiments described above, the switching content is displayed regardless of the presence or absence of other content such as route content. When the character information content CTt as the switching content is displayed together with the route content, for example, it may be displayed so as to be superimposed on the route content in terms of the appearance of the driver. Further, the boundary content CTb as the switching content may be displayed so as to be continuous with the route content.

In the sixth embodiment described above, the display generation unit 109 corrects the display position of the low-precision route content CTrn when the route contents coexist and are displayed. However, even if the display generation unit 109 displays only the low-precision route content CTrn, the display generation unit 109 may be configured to execute the correction as long as the correction based on the high-precision map data is possible. While the display generation unit 109 of the first to fifth embodiments is displaying the low-precision route content CTrn, the display position may be corrected based on the high-precision map data.

The processing unit and processor of the above-described embodiment include one or more CPUs (Central Processing Units). Such a processing unit and a processor may be a processing unit including a GPU (Graphics Processing Unit), a DFP (Data Flow Processor), and the like in addition to the CPU. Further, the processing unit and the processor may be a processing unit including an FPGA (Field-Programmable Gate Array) and an IP core specialized in specific processing such as learning and inference of AI. Each arithmetic circuit unit of such a processor may be individually mounted on a printed circuit board, or may be mounted on an ASIC (Application Specific Integrated Circuit), an FPGA, or the like.

Various non-transitory tangible storage media such as flash memory and hard disk can be adopted as the memory device for storing the control program. The form of such a storage medium may also be changed as appropriate. For example, the storage medium may be in the form of a memory card or the like, and may be inserted into a slot portion provided in an in-vehicle ECU and electrically connected to a control circuit.

The controls and methods thereof described in the present disclosure may be realized by a dedicated computer constituting a processor programmed to perform one or more functions embodied by a computer program. Alternatively, the apparatus and method thereof described in the present disclosure may be realized by a dedicated hardware logic circuit. Alternatively, the apparatus and method thereof described in the present disclosure may be realized by one or more dedicated computers configured by a combination of a processor for executing a computer program and one or more hardware logic circuits. Further, the computer program may be stored in a computer-readable non-transitional tangible recording medium as an instruction executed by the computer.

Next, the technical idea that can be grasped from the above-mentioned seventh embodiment is added below.

(Appendix 1)
A display control device used in a vehicle (A) to control a display by a head-up display (20).
A map information acquisition unit (103) that acquires high-precision map information including height information for each point on the travel path of the vehicle, and a map information acquisition unit (103).
A travel route information acquisition unit that acquires travel route information from an information source different from the high-precision map information for the travel route, and a travel route information acquisition unit.
A display control unit (109) that displays high-precision content (CTrh) based on the high-precision map information, and
Equipped with
The display control unit
A display control device that changes the display mode of the high-precision content depending on whether the degree of deviation between the high-precision map information and the travel path information is out of the permissible range or the degree of deviation is within the permissible range.

(Appendix 2)
A display control program used in the vehicle (A) to control the display on the head-up display (20).
In at least one processing unit (11)
High-precision map information including height information for each point is acquired for the travel path of the vehicle (S501).
For the travel path, the travel path information from an information source different from the high-precision map information is acquired (S503).
Display of high-precision content (CTh) based on the high-precision map information depending on whether the degree of deviation between the high-precision map information and the travel path information is out of the permissible range or the degree of deviation is within the permissible range. Change the aspect (S504, S505)
A display control program that executes processing including that.

According to these aspects, the display mode of the high-precision content may be recognized differently by the occupant depending on whether the degree of deviation between the high-precision map information and the travel path information is relatively large or small. Therefore, the occupant can grasp the change in the degree of deviation between the high-precision map information and the travel route information, that is, the change in the reliability of the high-precision map information. Therefore, it is possible to provide a display control device and a display control program capable of displaying the reliability of high-precision map information to the occupants.

11 Processing unit, 20 HUD (head-up display), 100 HCU (display control device), 103 map information acquisition unit, 109 display generation unit (display control unit), A vehicle, CTa transition content (switching content), CTt character information Content (switching content), CTrh high-precision route content (high-precision content), CTrn low-precision route content (low-precision content), angle VA.

Claims (12)

A display control device used in a vehicle (A) to control the display of content on a head-up display (20).
A map information acquisition unit (103) that acquires at least one of high-precision map information and low-precision map information that is less accurate than the high-precision map information for the traveling path of the vehicle.
The map when the map area is switched between the high-precision map area where the high-precision map information can be acquired and the low-precision map area where the high-precision map information cannot be obtained and the low-precision map information can be obtained. A display control unit (109) that displays switching contents (CTa, CTt, CTb) indicating switching of areas, and
Display control device. The display control unit
Claim 1 includes a transition content (CTa) for transitioning one of a high-precision content (CTrh) based on the high-precision map information and a low-precision content (CTrn) based on the low-precision map information to the other, in the switching content. The display control device described in. The display control unit
The display control device according to claim 1 or 2, wherein the switching content includes character information content (CTt) indicating switching between the high-precision map area and the low-precision map area in character information. The display control unit
The display control device according to any one of claims 1 to 3, wherein the switching content is superimposed and displayed on the road surface of the high-precision map area. A display control device used in a vehicle (A) to control the display of content on a head-up display (20).
A map information acquisition unit (103) that acquires at least one of high-precision map information and low-precision map information that is less accurate than the high-precision map information for the traveling path of the vehicle.
In the high-precision map area where the high-precision map information can be acquired, the high-precision content (CTrh) based on the high-precision map information is superimposed and displayed, and the high-precision map information cannot be acquired and the low-precision map information is acquired. In the possible low-precision map area, a display control unit (109) that superimposes and displays low-precision content (CTrn) based on the low-precision map information, and
Equipped with
The display control unit
When the high-precision map area and the low-precision map area are switched, the high-precision content and the low-precision content before the switch are hidden for a predetermined period, and then the content after the switch is displayed. Display control device. A display control device used in a vehicle (A) to control the display of content on a head-up display (20).
A map information acquisition unit (103) that acquires at least one of high-precision map information and low-precision map information that is less accurate than the high-precision map information for the traveling path of the vehicle.
In the high-precision map area where the high-precision map information can be acquired, the high-precision content (CTrh) based on the high-precision map information is superimposed and displayed, and the high-precision map information cannot be acquired and the low-precision map information is acquired. In the possible low-precision map area, a display control unit (109) that superimposes and displays low-precision content (CTrn) based on the low-precision map information, and
Equipped with
The display control unit
When the high-precision map area and the low-precision map area are switched, the high-precision content is superimposed and displayed on the high-precision map area in the angle (VA) of the head-up display, and the high-precision content is superimposed and displayed in the angle. A display control device that superimposes and displays the low-precision content on the low-precision map area. The display control device according to claim 6, wherein the display control unit improves the visibility of the content superimposed on the front side of the high-precision content and the low-precision content as compared with the content superimposed on the back side. .. When the display control unit superimposes the low-precision content on the front side and superimposes the high-precision content on the back side, the display control unit may display the low-precision map area before the low-precision map area is outside the angle of view. The display control device according to claim 6 or 7, wherein the low-precision content is hidden. Any one of claims 5 to 8 in which the display control unit corrects the display position of the low-precision content based on the high-precision map information in the high-precision map area adjacent to the low-precision map area. The display control device described in the section. A display control program used in the vehicle (A) to control the display of content on the head-up display (20).
In at least one processing unit (11)
For the traveling path of the vehicle, at least one of the high-precision map information and the low-precision map information having a lower accuracy than the high-precision map information is acquired (S102; S201).
The map when the map area is switched between the high-precision map area where the high-precision map information can be acquired and the low-precision map area where the high-precision map information cannot be obtained and the low-precision map information can be obtained. Display switching contents (CTa, CTt, CTb) indicating area switching (S106, S109; S205),
A display control program that executes processing including that. A display control program used in the vehicle (A) to control the display of content on the head-up display (20).
In at least one processing unit (11)
For the traveling path of the vehicle, at least one of the high-precision map information and the low-precision map information having a lower accuracy than the high-precision map information is acquired (S302).
In the high-precision map area where the high-precision map information can be acquired, the high-precision content (CTrh) based on the high-precision map information is superimposed and displayed (S304).
In the low-precision map area where the high-precision map information cannot be obtained and the low-precision map information can be obtained, the low-precision content (CTrn) based on the low-precision map information is superimposed and displayed (S305).
When the high-precision map area and the low-precision map area are switched, the high-precision content and the low-precision content before the switch are hidden for a predetermined period, and then the content after the switch is displayed. (S307),
A display control program that executes processing including that. A display control program used in the vehicle (A) to control the display of content on the head-up display (20).
In at least one processing unit (11)
For the traveling path of the vehicle, at least one of the high-precision map information and the low-precision map information having a lower accuracy than the high-precision map information is acquired (S402).
In the high-precision map area where the high-precision map information can be acquired, the high-precision content (CTrh) based on the high-precision map information is superimposed and displayed.
In the low-precision map area where the high-precision map information cannot be acquired and the low-precision map information can be obtained, the low-precision content (CTrn) based on the low-precision map information is superimposed and displayed (S405).
When the high-precision map area and the low-precision map area are switched, the high-precision content is superimposed and displayed on the high-precision map area in the angle (VA) of the head-up display, and the high-precision content is superimposed and displayed in the angle. The low-precision content is superimposed and displayed on the low-precision map area (S404).
A display control program that executes processing including that.

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