JP7218822B2 - display controller - Google Patents

Description

The disclosure of this specification relates to a display control device that controls display by a head-up display.

For example, Patent Literature 1 describes a device for displaying navigation guidance in a vehicle equipped with a head-up display. In the device disclosed in Patent Document 1, when the distance to the intersection becomes less than the first predetermined distance, the first navigation guide image is displayed. Furthermore, when the distance to the intersection becomes less than the second predetermined distance, a second navigation guidance image is displayed as an augmented reality element.

DE 102013224307 A1

In Patent Literature 1 , there is a possibility that the user 's convenience is impaired.

An object of the present disclosure is to provide a display control device capable of presenting information with high convenience.

In order to achieve the above object, one disclosed aspect is a display control device used in a vehicle (A) for controlling display by a head-up display (20), wherein detection information obtained by detecting information on a road sign , a display control unit that displays a sign image that notifies the road sign based on the detected information, and a remaining distance grasping unit that grasps the remaining distance until the road sign information is switched, The display control unit performs control such that the sign switching information indicating that the road sign information is switched and the sign image gradually overlap each other each time the remaining distance becomes shorter, and the sign switching information and the sign image overlap. , the display control device performs a display that emphasizes the information of the road sign after switching .

According to this aspect, it is possible to present information with high convenience.

It should be noted that the reference numbers in parentheses above merely indicate an example of correspondence with specific configurations in the embodiments described later, and do not limit the technical scope in any way.

It is a figure which shows the whole image of the vehicle-mounted network containing HCU by 1st embodiment. It is a figure which shows an example of the HUD apparatus mounted in a vehicle. FIG. 4 is a diagram showing a list of a plurality of images displayed as non-superimposed content and superimposed content; It is a figure which shows an example of a schematic structure of HCU. FIG. 10 is a diagram showing a visualized example of a display layout simulation performed in a virtual layout unit; FIG. 10 is a timing chart showing the details of the transition between non-superimposed content and superimposed content, showing the display section of the event display related to the left turn guidance in association with the remaining distance to the reference position and the like; FIG. 9 is a diagram showing, together with FIG. 8 , a series of display transitions for performing left turn guidance at an intersection; FIG. 8 is a diagram showing, together with FIG. 7, a series of display transitions for performing left turn guidance at an intersection; FIG. 10 is a diagram showing display of guide lanes when the vehicle is traveling in the wrong lane; It is a figure which shows the movement of a guide division line at the time of lane change before an intersection. 4 is a timing chart showing details of transition between non-superimposed content and superimposed content in a display related to road sign assistance; It is a figure which shows the transition of a series of display which calls attention to a road sign. 4 is a flowchart showing details of display processing for route guidance. 4 is a flowchart showing details of display processing for road sign assist; It is a figure which shows an example of a schematic structure of HCU of 2nd embodiment. FIG. 10 is a diagram showing a visualized example of a display layout simulation performed in a virtual layout unit; FIG. 20 is a diagram showing, together with FIG. 18 or FIG. 19, a series of display transitions for left turn guidance at an intersection; FIG. 17 is a diagram showing, together with FIG. 17 , display transition when there is no forward vehicle that overlaps the virtual image; FIG. 17 is a diagram showing, together with FIG. 17 , display transition when there is a forward vehicle that overlaps the virtual image; 4 is a flowchart showing details of display processing for route guidance. 4 is a flowchart showing details of display processing for road sign assist; FIG. 11 is a timing chart showing details of transition between non-superimposed content and superimposed content in the third embodiment; FIG. 4 is a flowchart showing details of display processing for route guidance. It is a figure which shows the transition of a display in the information presentation of 4th embodiment. It is a figure which shows the transition of a display in the information presentation of 5th embodiment. FIG. 14 is a flowchart showing details of display processing according to the fifth embodiment; FIG. FIG. 10 is a diagram showing transition of display in information presentation of modification 1; 14 is a timing chart showing details of transition between non-superimposed content and superimposed content in modification 2; 14 is a timing chart showing details of transition between non-superimposed content and superimposed content in modification 3;

A plurality of embodiments of the present disclosure will be described below based on the drawings. Note that redundant description may be omitted by assigning the same reference numerals to corresponding components in each embodiment. When only a part of the configuration is described in each embodiment, the configurations of other embodiments previously described can be applied to other portions of the configuration. Moreover, not only the combinations of the configurations explicitly specified in the description of each embodiment, but also the configurations of a plurality of embodiments can be partially combined even if they are not specified unless there is a particular problem with the combination. Also, unspecified combinations of configurations described in a plurality of embodiments and modifications are also disclosed by the following description.

(First embodiment)
The functions of the display control device according to the first embodiment of the present disclosure are realized by an HCU (Human Machine Interface Control Unit) 100 shown in FIGS. 1 and 2. FIG. The HCU 100 constitutes an HMI (Human Machine Interface) system 10 used in the vehicle A together with a head-up display (hereinafter referred to as "HUD") 20, an operation device 26, a driver status monitor 27, and the like. The HMI system 10 has an input interface function for accepting operations by a passenger (eg, driver) of the vehicle A and an output interface function for presenting information to the driver.

The HMI system 10 is communicably connected to the communication bus 99 of the in-vehicle network 1 mounted on the vehicle A. HMI system 10 is one of a plurality of nodes provided in in-vehicle network 1 . A communication bus 99 of the in-vehicle network 1 is connected with, for example, a perimeter monitoring sensor 30, a locator 40, a navigation device 50, a driving support ECU 57 (Electronic Control Unit), etc. as respective nodes. These nodes connected to communication bus 99 can communicate with each other.

The surroundings monitoring sensor 30 is an autonomous sensor that monitors the surrounding environment of the vehicle A. As shown in FIG. The surroundings monitoring sensor 30 detects moving objects such as pedestrians, cyclists, animals other than humans, and other vehicles from the detection range around the vehicle, as well as road markings such as fallen objects on the road, guardrails, curbs, and lane markings. and stationary objects such as roadside structures. The surroundings monitoring sensor 30 provides the detection information of objects detected around the vehicle A (especially in the front range) to the driving support ECU 57 and the HCU 100 through the communication bus 99 .

The perimeter monitoring sensor 30 has a front camera 31, a millimeter wave radar 32, etc. as a detection configuration for object detection. The front camera 31 outputs, as detection information, at least one of imaging data obtained by imaging a range in front of the vehicle A and an analysis result of the imaging data. The millimeter wave radar 32 emits millimeter waves or quasi-millimeter waves toward a forward range, and generates detection information to be output to the outside by processing for receiving reflected waves reflected by moving and stationary objects. In addition, detection components such as lidar and sonar may be included in the perimeter monitoring sensor 30 .

The locator 40 generates highly accurate position information and the like of the vehicle A by composite positioning that combines a plurality of acquired information. The locator 40 can specify, for example, the lane in which the vehicle A travels (hereinafter, “own vehicle lane”) among multiple lanes. The locator 40 includes a GNSS (Global Navigation Satellite System) receiver 41 , an inertial sensor 42 , a high definition map database (hereinafter referred to as “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 positioning signals 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 includes, for example, a gyro sensor and an acceleration sensor. The high-precision map DB 43 is mainly composed of non-volatile memory, and stores map data with higher precision than that used in the navigation device 50 (hereinafter referred to as "high-precision map data"). The high-precision map data includes three-dimensional road shape information, information on the number of lanes, information indicating the direction of travel allowed for each lane, and the like.

The locator ECU 44 mainly includes a microcomputer having a processor, a RAM, a memory, 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, etc., and sequentially locates the vehicle position, traveling direction, and the like of the vehicle A. The locator ECU 44 provides position information and direction information of the vehicle A based on the positioning result to the navigation device 50, the HCU 100, and the like via the communication bus 99. FIG.

In addition, the locator ECU 44 determines whether or not the required high-definition map data exists in the high-definition map DB 43 in response to a request from the HCU 100 or the like. If the requested high-definition map data exists in the high-definition map DB 43, the locator ECU 44 reads out the corresponding high-definition map data from the high-definition map DB 43 and provides it to the HCU 100 that made the request.

The navigation device 50 is an in-vehicle device that cooperates with the HMI system 10 and provides route guidance to a destination set by a passenger. The navigation device 50 includes a map database for navigation (hereinafter referred to as "navigation map DB") 51, a navigation ECU 52, and the like. The navigation map DB 51 is mainly composed of a non-volatile memory, and comprehensively stores map data in a wider range than the high-precision map DB 43 . The navigation map data stored in the navigation map DB 51 describes link data, node data, shape data, and the like for roads.

The navigation ECU 52 mainly includes a microcomputer having a processor, a RAM, a memory, an input/output interface, and a bus connecting them. The navigation ECU 52 acquires position information and direction information of the vehicle A from the locator ECU 44 through the communication bus 99 .

The navigation ECU 52 acquires operation information input to the operation device 26 through the communication bus 99 and the HCU 100, and sets a destination based on user's operation. The navigation ECU 52 searches for multiple routes to the destination so as to satisfy conditions such as time priority and distance priority. When one of the searched multiple routes is selected, the navigation ECU 52 provides route information based on the set route along with related navigation map data to the HCU 100 via the communication bus 99 .

The driving assistance ECU 57 has at least one of a driving assistance function that assists the driving operation of the driver and an automatic driving function that can substitute the driving operation of the driver. The driving support ECU 57 recognizes the driving environment around the vehicle A based on the detection information acquired from the surroundings monitoring sensor 30 . The driving support ECU 57 can provide the HCU 100 with the analysis result of the detection information performed for recognizing the driving environment as the analyzed detection information.

As an example, the driving support ECU 57 extracts information extracted from the imaging data of the front camera 31. The HCU 100 is provided with information such as size and type. The driving support ECU 57 also provides the HCU 100 with information such as the relative position, size and type of road signs (see FIG. 12) existing in the forward range.

Next, details of the operation device 26, the driver status monitor (hereinafter referred to as "DSM") 27, the HUD 20 and the HCU 100 included in the HMI system 10 will be described in order.

The operation device 26 is an input unit that receives user operations by a driver or the like. A user operation related to, for example, a driving support function or an automatic driving function 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 driver's speech, and the like.

The DSM 27 includes a near-infrared light source, a near-infrared camera, and a control unit for controlling them. The DSM 27 is installed, for example, on the upper surface of the steering column section 8 or the upper surface of the instrument panel 9, with the near-infrared camera facing the headrest portion of the driver's seat. The DSM 27 uses a near-infrared camera to photograph the driver's head irradiated with near-infrared light from the near-infrared light source. An 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 multi-information display, a center information display, and the like. The HUD 20 presents various information related to the vehicle A, such as route information and sign information, to the driver using the virtual image Vi.

The HUD 20 is electrically connected to the HCU 100 and sequentially acquires video data generated by the HCU 100 . The HUD 20 is housed in a housing space within the instrument panel 9 below the windshield WS. The HUD 20 projects the light imaged as the virtual image Vi toward the projection range PA of the windshield WS. The light projected onto the windshield WS is reflected to the driver's side in the projection area PA and is perceived by the driver. The driver visually recognizes a display in which the virtual image Vi is superimposed on the foreground seen through the projection range PA.

HUD 20 includes projector 21 and enlarging 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, illuminates the display surface with a backlight, and emits light formed as a virtual image Vi toward the magnifying optical system 22. do. The magnifying optical system 22 includes at least one concave mirror formed by vapor-depositing a metal such as aluminum on the surface of a substrate made of synthetic resin, glass, or the like. The enlarging optical system 22 spreads the light emitted from the projector 21 by reflection and projects it onto the upper projection range PA.

A field angle VA is set in the HUD 20 . Assuming that the virtual range in the space where the virtual image Vi can be formed by the HUD 20 is an imaging plane IS, the angle of view VA is defined based on a virtual line connecting the driver's eye point EP and the outer edge of the imaging plane IS. viewing angle. The angle of view VA is an angle range within 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 (eg, about 10-12°) in the horizontal direction is larger than the vertical angle of view (eg, about 4-5°) in the vertical direction. When viewed from the eye point EP, the front range overlapping the imaging plane IS is within the angle of view VA.

The HUD 20 displays the superimposed content CTs (see FIG. 3 and the like) and the non-superimposed content CTn (see FIG. 3 and the like) as virtual images Vi. The superimposed content CTs is an AR display object used for augmented reality (hereinafter “AR”) display. The display position of the superimposed content CTs is associated with a specific superimposed target Tr (see FIGS. 7, 12, etc.) present in the foreground, such as a road surface, a forward vehicle Af, a pedestrian, and a road sign. The superimposed content CTs is superimposed and displayed on a specific superimposition target Tr, and can be visually moved following the superimposition target Tr so as to be relatively fixed to the superimposition target Tr. That is, the positional relationship between the eyepoint EP of the driver, the superimposition target Tr in the foreground, and the superimposed content CTs is continuously maintained.

The non-superimposed content CTn is a non-AR display object other than the superimposed content CTs among the displayed objects superimposed on the foreground. Unlike the superimposed content CTs, the non-superimposed content CTn is superimposed and displayed in the foreground in a non-superimposed state on a specific superimposition target Tr. The display position of the non-superimposed content CTn is not associated with a specific superimposition target Tr. The non-superimposed content CTn is displayed as if it is relatively fixed to the vehicle configuration such as the windshield WS without following the specific superimposition target Tr. Due to the positional relationship between the vehicle A and the superimposition target Tr, even non-superimposed content CTn may be temporarily superimposed on the superimposition target Tr.

The non-superimposed content CTn includes, as shown in FIG. 3, a constant display object DiA and an event display object DiE. The constant display object DiA is a display object that is substantially always displayed while the HMI system 10 is running. For example, a speedometer Psp that indicates the running speed of the own vehicle, an own vehicle marker Pv that gives an image of the own vehicle, and the like are always displayed as virtual images as the display objects DiA. The display position and display size of the constant display object DiA may be changed as appropriate based on the display state of the superimposed content CTs, presetting by the user, and the like.

On the other hand, the event display object DiE is a display object that is displayed only for a certain period of time when a specific event occurs. For example, the route guidance-related event display DiE includes a route icon Prg, a traveling direction guide Pid1, and a blinker icon Pin. Furthermore, the event display DiE related to the route guidance further includes superimposed contents CTs such as the guide division line Pgl and the traveling direction guide Pid2. Substantially all of the superimposed contents CTs are event displays DiE. Of the event display objects DiE, the route icon Prg, the traveling direction guides Pid1 and Pid2, and the guide marking line Pgl have the same meaning, that is, a left turn image Ptl indicating a left turn at an intersection. Thus, "showing the same meaning" indicates that the same information can be presented to the driver. Note that FIG. 3 is a diagram showing a list of a large number of constantly displayed objects DiA and event displayed objects DiE for the purpose of explanation. good.

As shown in FIGS. 1 to 4, the HCU 100 is an electronic control unit that integrally controls display by a plurality of in-vehicle display devices including the HUD 20 in the HMI system 10. FIG. 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 coupled with the RAM 12 . The processing unit 11 includes at least one arithmetic core such as a CPU (Central Processing Unit) and a GPU (Graphics Processing Unit). The processing unit 11 may be configured to further include an IP core having an FPGA (Field-Programmable Gate Array) and other dedicated functions. The processing unit 11 accesses the RAM 12 to execute various processes for realizing the functions of each functional unit, which will be described later. The storage unit 13 is configured to include a nonvolatile storage medium. The storage unit 13 stores various programs (display control program, etc.) executed by the processing unit 11 .

The HCU 100 executes a program stored in the storage unit 13 by the processing unit 11 and includes a plurality of functional units. Specifically, the HCU 100 includes functional units such as a viewpoint position specifying unit 71, a route information acquiring unit 72, a position information acquiring unit 73, an external world information acquiring unit 74, a virtual layout unit 75, and a display generating unit 77. .

The viewpoint position specifying unit 71 acquires from the DSM 27 detection information related to the eye point EP of the driver sitting in the driver's seat. The viewpoint position specifying unit 71 specifies the position of the current driver's eye point EP based on the detection information acquired from the DSM 27 . The viewpoint position specifying unit 71 generates three-dimensional coordinates (hereinafter referred to as “eyepoint coordinates”) indicating the position of the specified eyepoint EP position, and provides the generated eyepoint coordinates to the virtual layout unit 75 .

When a destination is set in the navigation device 50, the route information acquisition unit 72 acquires route information for route guidance to the destination and navigation map data used for route guidance from the navigation ECU 52. . In addition, the route information acquisition unit 72 acquires a guidance implementation request output by the navigation ECU 52 based on the approach of the vehicle A to the guidance area, along with route information, navigation map data, and the like.

The route information acquisition unit 72 can perform processing for acquiring high-definition map data from the locator 40 together with the navigation map data or in place of the navigation map data. Based on the route information acquired from the navigation ECU 52, the route information acquisition unit 72 requests the locator ECU 44 to provide related high-definition map data. When the requested high-precision map data is stored in the high-precision map DB 43 , the route information acquisition unit 72 acquires the high-precision map data returned from the locator ECU 44 .

The position information acquisition unit 73 acquires the latest position information and direction information of the vehicle A from the locator ECU 44 as the vehicle position information. The position information acquisition unit 73 provides the acquired vehicle position information to the virtual layout unit 75 .

The external world information acquisition unit 74 acquires detection information about the front range of the vehicle A from at least one of the surroundings monitoring sensor 30 and the driving support ECU 57 . The detection information may be imaging data of the front range captured by the front camera 31 or the like, or may be an analysis result obtained by the surrounding monitoring sensor 30 or the driving support ECU 57 recognizing the driving environment. Such detection information includes at least detection information such as a forward vehicle Af (see FIG. 19) and a road sign (see FIG. 12). Based on the acquired detection information, the external world information acquisition unit 74 determines whether or not a forward vehicle Af, a road sign, or the like exists in the forward range. The external world information acquisition unit 74 provides the virtual layout unit 75 with the determination result indicating the presence/absence of the forward vehicle Af and the road sign.

The virtual layout section 75 has a content selection function and a virtual layout function. The content selection function is a function of selecting content to be used for information presentation based on various information provided to the virtual layout section 75 . The content selection function preferentially presents information of high urgency and importance to the driver. The virtual layout unit 75 sets display and non-display of each content included in the event display object DiE by the content selection function.

When the route information acquisition unit 72 acquires a guidance implementation request, the virtual layout unit 75 selects content to be used for route guidance based on the set route. Specifically, content that guides you to turn left or right at a branch point such as an intersection, content that guides you to go straight for a predetermined distance, and content that guides you to traffic regulations or the occurrence of an accident vehicle can be used as appropriate content for route guidance. selected. Furthermore, when a road sign is recognized by the external world information acquisition unit 74, the virtual layout unit 75 selects content that is linked to the recognized road sign and that has a form that imitates the road sign. do.

When the superimposed content CTs is displayed as the event display object DiE, the virtual layout unit 75 identifies the superimposed target Tr of the superimposed content CTs, and further grasps the distance to the specific position related to the superimposed target Tr. Specifically, when performing right/left turn guidance at an intersection or the like, the virtual layout unit 75 stores the map data obtained by the route information acquisition unit 72 and the latest position information acquired by the position information acquisition unit 73. , the remaining distance Dr to the reference position GP of the intersection is grasped. The reference position GP is set to the central node of the intersection to be superimposed Tr, a node in front of the intersection, or the like. The virtual layout section 75 sequentially changes the content selected for display according to the remaining distance Dr from the vehicle to the reference position GP.

The virtual layout function is a function of simulating the display layout of the superimposed content CTs based on various information provided to the virtual layout section 75 . As shown in FIGS. 1 to 5, the virtual layout unit 75 calculates the vehicle position based on the map data obtained by the route information obtaining unit 72 and the latest vehicle position information obtained by the position information obtaining unit 73. A's current running environment is reproduced in the virtual space. Specifically, the virtual layout unit 75 maps the road shape indicated by the map data in a virtual three-dimensional space, and arranges the vehicle object AO at the position indicated by the vehicle position information. The virtual layout unit 75 sets the virtual camera position CP and superimposition range SA in association with the host vehicle object AO.

The virtual camera position CP is a virtual position corresponding to the eyepoint EP of the driver. The virtual layout section 75 can correct the virtual camera position CP with respect to the own vehicle object AO based on the eyepoint coordinates acquired by the viewpoint position specifying section 71 . Additionally, the virtual camera position CP may be corrected using pose information, particularly relating to the vehicle pose in the pitch direction. The superimposition range SA is a range in which the HUD 20 can superimpose the virtual image Vi. Based on the virtual camera position CP and outer edge position (coordinates) information of the image plane IS stored in advance in the storage unit 13 or the like, the virtual layout unit 75 arranges the image plane when viewed forward from the virtual camera position CP. A front range inside the outer edge of IS is set as a superimposition range SA. The superimposed range SA corresponds to the angle of view VA of the HUD 20 .

The virtual layout unit 75 arranges, in the virtual space, the virtual object VO corresponding to the display shape when the superimposed content CTs selected as the display target is superimposed on the superimposition target Tr. The virtual object VO is superimposed on the position of the superimposition target Tr reproduced in the virtual space. For example, when the guide division line Pgl is selected as a display object, the virtual layout unit 75 arranges a pair of virtual objects VO extending in a strip shape along the planned route at the intersection and the surrounding road surface in the virtual space. . Further, when the sign image Pts (see FIG. 12) for notifying a road sign is selected as a display target, the virtual layout unit 75 arranges the virtual object VO at the position of the road sign in the virtual space. The virtual layout unit 75 provides the display generation unit 77 with the content selection result and the layout information and the like as the simulation result using the virtual space.

The display generation unit 77 controls presentation of information to the driver by the HUD 20 through processing for generating video data that is sequentially output to the HUD 20 . The display generation unit 77 has a function of drawing content based on various types of acquired information. The display generation unit 77 determines an original image to be drawn on each frame image forming the video data based on the content selection result obtained from the virtual layout unit 75 .

The display generation unit 77 cooperates with the virtual layout unit 75 to perform information presentation using the non-superimposed content CTn and superimposed content CTs based on the remaining distance Dr to the reference position GP ascertained by the virtual layout unit 75. Toggle between presenting information that was Information presentation using the display of non-superimposed content CTn and superimposed content CTs together will be described based on FIGS. 6 to 12 and with reference to FIGS. 1 and 4. FIG.

The information presentation shown in FIGS. 6 to 10 below is an example when a destination is set in the navigation device 50, and is a display transition in a scene in which the driver is guided to an intersection to turn left. On the other hand, the information presentation shown in FIGS. 11 and 12 is an example of road sign assist that calls the driver's attention to road signs. 7 to 9 and 12, description of the speedometer Psp (see FIG. 3) is omitted.

In the left turn guidance shown in FIGS. 6 to 10, when the route information acquisition unit 72 acquires the superimposition execution request, the display generation unit 77 adds the vehicle marker Pv, which is the constant display object DiA, to the event display object. A DiE path icon Prg is displayed (see FIG. 7A). The route icon Prg starts to be displayed, for example, at a position where the remaining distance Dr is about 300 m (see first start distance L1s in FIG. 6). The route icon Prg is a non-superimposed content CTn indicating the remaining distance Dr to the reference position GP of the intersection, the direction of right or left turn recommended at the intersection, the recommended lane to travel, and the like. The route icon Prg may be displayed on the upper right of the own vehicle marker Pv, or may be displayed in the center of the angle of view VA. Further, the route icon Prg may move to the upper right of the own vehicle marker Pv after being displayed in the center of the angle of view VA.

Based on the fact that the remaining distance Dr ascertained by the virtual layout unit 75 is less than the superimposition threshold THs, the display generation unit 77 uses the layout information provided by the virtual layout unit 75 to generate the original image of the guide marking line Pgl. (See FIG. 7B). The guide partition line Pgl has a pair of thin belt-like image portions superimposed on the road surfaces inside the partition lines on both the left and right sides. The guide division line Pgl notifies the driver of the planned route of the own vehicle based on the route information by means of a display shape of two lines extending in the traveling direction along the road surface. The superimposition threshold THs is set based on the shape of the angle of view VA of the HUD 20. Specifically, it is set to a distance at which the road surface range to be superimposed with the guide lane Pgl begins to overlap the superimposition range SA of the HUD 20 ( See Figure 5). As an example, the superposition threshold THs is set to approximately 150 m.

The display generator 77 ends the display of the route icon Prg when the remaining distance Dr becomes less than the first end distance L1e (for example, about 130 m) (see FIG. 7C). The first end distance L1e is set to a distance shorter than the superimposition threshold THs. In other words, the superimposition threshold THs is set to a distance shorter than the first start distance L1s and longer than the first end distance L1e. By setting each distance in this manner, the display generation unit 77 starts displaying the route icon Prg, which has substantially the same meaning as the guide lane Pgl, prior to the display of the guide lane Pgl. After starting the display of the guide lane Pgl, the display generator 77 temporarily simultaneously displays the guide lane Pgl and the route icon Prg, and then terminates the display of the route icon Prg. As an example, the display of the route icon Prg is terminated at the timing when the road to exit from the intersection enters the angle of view VA.

The display generator 77 displays the traveling direction guide Pid1 (see FIG. 8A) based on the remaining distance Dr becoming the second starting distance L2s (for example, about 30 m). The traveling direction guide Pid1 is non-superimposed content CTn having a display form different from that of the route icon Prg. The traveling direction guide Pid1 is a left turn image Ptl showing substantially the same meaning as the route icon Prg and the guide partition line Pgl, and is integrated with the own vehicle marker Pv to notify the driver of the recommended traveling direction indicated by the route information. The travel direction guide Pid1 is displayed as an animation in which a triangular marker that is substantially the same as the vehicle marker Pv repeatedly flies from above the vehicle marker Pv toward the left edge of the angle of view VA.

When the remaining distance Dr becomes less than the end threshold THe (for example, about 20 m), the display generation unit 77 ends drawing of the guide marking line Pgl on the original image (see FIG. 8B). The end threshold THe is set to a distance at which substantially the entire road surface range, which is the superimposition target Tr of the guide lane Pgl, is outside the superimposition range SA of the HUD 20 . In addition, the end threshold THe is set to a distance shorter than the second start distance L2s. Therefore, the display generation unit 77 ends the display of the guide partition line Pgl after starting the display of the traveling direction guide Pid1.

The display generator 77 controls the display of the winker icon Pin based on the operation information of the direction indicator mounted on the vehicle A. FIG. The blinker icon Pin is displayed in a horizontally long rectangular shape at the lower left corner or lower right corner of the angle of view VA. The winker icon Pin is a left-turn image Ptl similar to the guide partition line Pgl, etc., and is displayed as an animation that continuously moves leftward. The display generation unit 77 starts displaying the winker icon Pin (see FIG. 8B) based on the ON information of the direction indicator (see Winker ON in FIG. 6).

The display generator 77 terminates the display of the traveling direction guide Pid1 at the timing when the vehicle A reaches the intersection and the remaining distance Dr becomes substantially zero. Furthermore, the display generation unit 77 terminates the display of the winker icon Pin based on the turn indicator OFF information (see Winker OFF in FIG. 6). The display generation unit 77 may terminate the display of the winker icon Pin based on the fact that the vehicle position is out of the section of the intersection node in the map data.

The display generation unit 77 starts drawing the travel direction guide Pid2 on the original image based on the end of the display of the winker icon Pin, using the layout information provided from the virtual layout unit 75 (see FIG. 8C). The end of display of the winker icon Pin and the start of display of the traveling direction guide Pid2 are continuous. The traveling direction guide Pid2 is a display similar to the traveling direction guide Pid1 that is displayed when entering an intersection. Notice. Traveling direction guide Pid2 is superimposed content CTs, and is superimposed on the lane (hereinafter referred to as "recommended lane") in which the vehicle should travel based on the route information. The traveling direction guide Pid2 is displayed as an animation in which a marker having substantially the same shape as the vehicle marker Pv repeatedly flies from above the vehicle marker Pv toward the upper edge of the angle of view VA. The display generator 77 terminates the display of the traveling direction guide Pid2 when the predetermined number of repetitions is completed or when the reference position GP is separated from the reference position GP by a predetermined distance.

In the scene of route guidance at consecutive intersections, the traveling direction guide Pid2 after passing through the first intersection may be ended at the timing when the route information of the second intersection is acquired. Also, the traveling direction guide Pid2 may not be the superimposed content CTs superimposed on the road surface of the recommended lane, and may be the non-superimposed content CTn displayed at a specific position within the angle of view VA, similar to the traveling direction guide Pid1. may

Furthermore, the display generation unit 77 may be able to change the line width of the guide partition line Pgl (see FIG. 7C). If the guide partition line Pgl is too thick, the tips of the two linear image portions superimposed on the exit road from the intersection may overlap and be visually recognized as one linear image. In order to avoid such a situation, the display generation unit 77 can adjust the thickness of the guide division line Pgl so that even the portion superimposed on the exit road can be visually recognized as two straight lines. According to the above, for example, the line width of the guide marking line Pgl displayed when going uphill is made thinner than the line width of the guide marking line Pgl displayed when going downhill.

Further, as shown in FIG. 9, the guide partition line Pgl is superimposed only on recommended lanes for which travel is recommended based on the route information among the plurality of lanes before the intersection, and is superimposed on the non-recommended lanes that deviate from the route. Not superimposed. Therefore, if the vehicle is traveling in the wrong lane and the recommended lane is adjacent to the current lane of the vehicle, the guide lane Pgl is superimposed on the recommended lane that overlaps with the angle of view VA. With such a display, the guide lane Pgl can make the driver aware of the wrong lane.

Furthermore, as shown in FIG. 10 , when there are a plurality of left-turn lanes, the external world information acquisition unit 74 can acquire lane information specifying the host vehicle lane from the locator 40 . Alternatively, the virtual layout unit 75 may be able to identify the vehicle lane by appropriately combining detection information from the front camera 31, high-precision map data, vehicle position information, and the like. The display generation unit 77 superimposes the guide lane Pgl (superimposed content CTs) only on the identified own vehicle lane even when there are a plurality of lanes that match the set route. That is, the display generation unit 77 does not display the superimposed content CTs on lanes other than the vehicle lane.

As described above, when the vehicle A changes lanes before the intersection, the display generation unit 77 selects the lane to be superimposed on the guide lane Pgl Tr at the lane change timing specified by the virtual layout unit 75. switch. At this time, if the non-superimposed content CTn such as the route icon Prg can notify the host vehicle lane, the display generation unit 77 determines that the lane change has been performed so as to synchronize with the movement of the superimposed content CTs. , the notification content of the non-superimposed content CTn is also changed. If the superimposition target Tr of the guide lane Pgl is limited to the own vehicle lane, the superimposed content CTs can contribute to securing the driver's field of view. As a result, it becomes easier for the driver to visually recognize the actual attention target existing in the vicinity of the intersection.

In the sign notification shown in FIGS. 11 and 12, the display generation unit 77 displays a sign image Pts simulating a road sign as a virtual image within the angle of view VA in either the display form of the superimposed content CTs or the non-superimposed content CTn. Let The sign image Pts as the superimposed content CTs is superimposed on a real road sign as a superimposition target Tr. The virtual layout unit 75 sets the installation position of the road sign to be superimposed Tr as a reference position GP, and grasps the remaining distance Dr from the own vehicle to the reference position GP.

At the timing when the detection information of the road sign is acquired by the external world information acquisition unit 74 (see L1s in FIG. 11), the road sign to be superimposed Tr is visually recognized above the angle of view VA as seen from the driver. Since the signboard-like road sign is not within the angle of view VA, the display generation unit 77 displays the sign image Pts, which is the non-superimposed content CTn imitating the road sign (see FIG. 12A). The marker image Pts is displayed, for example, on the left side of the host vehicle marker Pv.

When the remaining distance Dr ascertained by the virtual layout unit 75 becomes less than the superimposition threshold THs (see FIG. 11), the display generation unit 77 starts displaying the transition animation Ats (see FIG. 12B). Even in this case, the superposition threshold THs is set at a position such that the road sign is within the angle of view VA. Therefore, the transition animation Ats is started around the timing when the road sign enters the angle of view VA.

The transition animation Ats is content that continuously transitions the display state of the label image Pts from the non-superimposed content CTn to the superimposed content CTs. In the transition animation Ats, the sign image Pts moves from the vicinity of the own vehicle marker Pv toward the superimposition target Tr, and is displayed superimposed on the actual road sign, thereby changing to the superimposed content CTs. According to such a transition animation Ats, the display generation unit 77 can start displaying the superimposed content CTs when the display of the non-superimposed content CTn ends.

In addition, in the transition animation Ats, the central portion indicating the content of the road sign disappears, and the sign image Pts changes into a simple ring-shaped image. The ring-shaped sign image Pts is superimposed on the outer edge of the road sign in the foreground as the superimposed content CTs, and the signboard of the road sign is emphasized by light emission.

When the remaining distance Dr to the road sign becomes less than the end threshold THe (see FIG. 11), the display generation unit 77 ends the display of the sign image Pts as the superimposed content CTs. The end threshold THe is set at a position such that the road sign is outside the angle of view VA. As a result, the sign image Pts (see FIG. 12A) as the non-superimposed content CTn is displayed again around the timing when the road sign goes out of the angle of view VA. The display of the sign image Pts continues until the vehicle leaves the valid section of the road sign. As an example, when the vehicle reaches the road sign, the display generation unit 77 ends the display of the sign image Pts.

Next, the details of the display processing performed by the HCU 100 for realizing the information presentation described so far will be described below based on the flowcharts shown in FIGS. 13 and 14 and with reference to FIG. 4 and the like.

The display processing shown in FIG. 13 is started by the HCU 100 based on acquisition of the guidance execution request by the route information acquisition unit 72 . At S101 in such display processing for route guidance, the remaining distance Dr to the reference position GP such as an intersection to be guided is grasped, and the process proceeds to S102. In S102, it is determined whether or not the remaining distance Dr ascertained in S101 is greater than or equal to the first end distance L1e. When the remaining distance Dr is less than the first end distance L1e, the process proceeds from S102 to S104. On the other hand, when the remaining distance Dr is equal to or greater than the first end distance L1e, the process proceeds from S102 to S103. In S103, the route icon Prg is set to be drawn on the frame image, and the process proceeds to S104.

In S104, it is determined whether or not the remaining distance Dr ascertained in S101 is between the second start distance L2s and the second end distance L2e. If the remaining distance Dr is greater than or equal to the second start distance L2s, or if the remaining distance Dr is less than the second end distance L2e, the process proceeds from S104 to S106. On the other hand, if the remaining distance Dr is less than the second start distance L2s and is greater than or equal to the second end distance L2e, the process proceeds from S104 to S105. In S105, setting is made to draw the traveling direction guide Pid1 in the frame image, and the process proceeds to S106.

In S106, it is determined whether or not the direction indicator is in the ON state. If it is determined that the direction indicator is off, the process proceeds from S106 to S108. On the other hand, if it is determined that the direction indicator is on, the process proceeds from S106 to S107. In S107, the winker icon Pin is set to be drawn in the frame image, and the process proceeds to S108. When the right turn indicator is on, a rightward flowing winker icon Pin is drawn in the lower right corner of the frame image. On the other hand, when the leftward direction indicator is in the ON state, the leftward flowing winker icon Pin is drawn in the lower left corner of the frame image.

In S108, it is determined whether or not the remaining distance Dr ascertained in S101 is between the superimposition threshold THs and the end threshold THe. If the remaining distance Dr is equal to or greater than the superimposition threshold THs, or if the remaining distance Dr is less than the end threshold THe, the process proceeds from S108 to S110. On the other hand, if the remaining distance Dr is less than the superimposition threshold THs and is greater than or equal to the end threshold THe, the process proceeds from S108 to S109. In S109, setting is made to draw the guide division line Pgl, and the process proceeds to S110.

In S110, it is determined whether or not the conditions for exiting the intersection are satisfied. For example, in S110, it is determined that the exit condition is satisfied when the operating state of the direction indicator changes from ON to OFF, or when the vehicle position deviates from the intersection node. If the conditions for exiting the intersection are not satisfied, the process proceeds from S110 to S112. On the other hand, if the conditions for exiting the intersection are satisfied, the process proceeds from S110 to S111. In S111, setting is made to draw the traveling direction guide Pid2, and the process proceeds to S112.

In S112, the drawing data selected in S102 to S111 is output to the HUD 20, and the process proceeds to S113. In S113, it is determined whether or not the current guidance area has ended. For example, in S113, when the traveling direction guide Pid2 has been repeated a predetermined number of times, when a predetermined distance from the reference position GP is obtained, or when the next route information is obtained, it is determined that the guidance area has ended. end the display processing of . On the other hand, if it is determined that the guidance area has not ended, the process returns to S101 to continue the display processing for route guidance.

The display process shown in FIG. 14 is started by the HCU 100 based on the acquisition of road sign detection information by the external world information acquisition unit 74, and is repeated until the vehicle leaves the road sign effective section. In S121 of the display processing for such road sign assistance, the remaining distance Dr to the reference position GP set as the installation position of the road sign is grasped, and the process proceeds to S122. In S122, it is determined whether or not the remaining distance Dr to the road sign is less than the superimposition threshold THs. When it is determined in S122 that the remaining distance Dr to the road sign is equal to or greater than the superimposition threshold THs, the process proceeds to S123. In S123, a frame image including the non-superimposed content CTn (see FIG. 12A) is generated, and the process proceeds to S125.

On the other hand, when it is determined in S122 that the remaining distance Dr is less than the superimposition threshold THs, the process proceeds to S124. In S124, a frame image including superimposed content CTs (see FIG. 12B) is generated, and the process proceeds to S125. In S124 immediately after the result of the remaining distance determination in S122 is switched, a frame image is generated so that the transition animation Ats is displayed. In S125, the drawing data generated in either S123 or S124 is output to the HUD 20, and the process returns to S121.

In the first embodiment described so far, the superimposed display by the HUD 20 is changed from the non-superimposed content CTn showing substantially the same meaning to the superimposed content CTs. Therefore, even if information presentation using the HUD 20 with a limited angle of view VA is started early, misunderstandings by the driver, who is the user, are less likely to occur. Therefore, it is possible to present information with high convenience.

More specifically, since the angle of view VA of the HUD 20 is limited, if the presentation of information by the superimposed content CTs is started after the superimposition target Tr enters the angle of view VA, the notification to the driver will be delayed. end up For example, if information is presented using only the superimposed content CTs, the timing of superimposing and displaying the superimposed content CTs on the road surface in a scene of guidance to turn left or right at an intersection is immediately before the intersection.

However, as described above, if the information is presented using the non-superimposed content CTn in addition to the superimposed content CTs, the superimposed target Tr does not have to enter the angle of view VA. Presentation of information such as right/left turn guidance at intersections is started. Therefore, even if the angle of view of the HUD 20 is limited, the convenience of information presentation can be ensured.

In addition, in the first embodiment, display of the route icon Prg, which is the non-superimposed content CTn, ends after the display of the guide division line Pgl, which is the superimposed content CTs, is started. Similarly, after the display of the traveling direction guide Pid1, which is the non-superimposed content CTn, is started, the display of the guide partition line Pgl is ended. In the display transition described above, a period is provided in which the superimposed content CTs and the non-superimposed content CTn are simultaneously displayed within the angle of view VA. Therefore, it becomes easier for the driver to understand the transition from the non-superimposed content CTn to the superimposed content CTs and the transition from the superimposed content CTs to the non-superimposed content CTn.

Further, in the first embodiment, in the information presentation of the road sign assist, the display of the superimposed content CTs is started when the display of the non-superimposed content CTn is ended by the display of the transition animation Ats. As described above, the amount of information displayed within the angle of view VA can be minimized by eliminating periods in which content having the same meaning is displayed simultaneously. Furthermore, since the non-superimposed content CTn and the superimposed content CTs are not mixed, simple and easy-to-understand information can be presented.

Furthermore, in the first embodiment, a transition animation Ats that transitions the display state from the non-superimposed content CTn to the superimposed content CTs is displayed. Such a transition animation Ats can clearly indicate to the driver the relationship between the non-superimposed content CTn and the superimposed content CTs that indicate the same meaning. Therefore, even if the non-superimposed content CTn and the superimposed content CTs are used together, the driver's discomfort can be reduced.

In addition, in the transition animation Ats of the first embodiment, the non-superimposed content CTn moving toward the superimposition target Tr changes to the superimposed content CTs. According to such movement of the displayed object, it becomes possible to guide the line of sight of the driver to the superimposition target Tr in accordance with the change in the display mode of the superimposed content CTs. Therefore, the driver's sense of incompatibility with information presentation using both the non-superimposed content CTn and the superimposed content CTs can be further reduced.

Further, in the first embodiment, the sign image Pts in the shape of a road sign is displayed as the non-superimposed content CTn. In this way, if the display form of the non-superimposed content CTn resembles a generally known road sign, the driver can It is possible to smoothly understand the meaning of the non-superimposed content CTn.

Furthermore, in the first embodiment, after the guide partition line Pgl is displayed, the traveling direction guide Pid1 is displayed as the non-superimposed content CTn having a display form different from that of the route icon Prg. According to the display of the traveling direction guide Pid1, the left turn guidance to the driver can be continued even after approaching the superimposition target Tr. In addition, if the display form of the non-superimposed content CTn is changed according to the remaining distance Dr to the intersection, it becomes possible to provide guidance that clearly indicates the left turn position at each position.

In addition, in the first embodiment, the route icon Prg displayed as the non-superimposed content CTn informs the driver in advance of the traveling direction set for each lane before the intersection before reaching the intersection. Therefore, the driver can know in advance which directions can be traveled in each lane and can change lanes to appropriate lanes.

In the first embodiment, the route icon Prg corresponds to "pre-non-superimposed content", and the traveling direction guide Pid1 corresponds to "post-non-superimposed content". Further, the remaining distance Dr corresponds to the "distance (to the specific position)", and the superimposition threshold THs corresponds to the "threshold". Furthermore, the external world information acquisition unit 74 corresponds to the "forward information acquisition unit", the virtual layout unit 75 corresponds to the "target position grasping unit", and the HCU 100 corresponds to the "display control device".

(Second embodiment)
The second embodiment of the present disclosure, shown in FIGS. 15-21, is a modification of the first embodiment. In the second embodiment, an arrow-shaped left turn image Ptl as shown in FIG. 18 is displayed as the superimposed content CTs. In addition, the HCU 100 of the second embodiment shown in FIG. 15 is further provided with a target position determination section 76 in addition to the functional sections similar to those of the first embodiment. Hereinafter, details of the target position determination unit 76 and the display generation unit 77 of the second embodiment will be described in order.

The target position determination unit 76 determines whether or not the superimposition target Tr is within the angle of view VA of the HUD 20 . When viewed from the eye point EP (see FIG. 2), the front range overlapping the imaging plane IS is within the angle of view VA. Therefore, the target position determination unit 76 determines that the superimposition target Tr is within the angle of view VA when the superimposition target Tr is visible through the imaging plane IS. On the other hand, when the superimposition target Tr visually recognized through the windshield WS (see FIG. 2) is out of the imaging plane IS, the target position determination unit 76 determines that the superimposition target Tr is outside the angle of view VA.

The target position determination unit 76 determines whether or not the superimposition target Tr is within the angle of view VA based on the layout information provided from the virtual layout unit 75 . Specifically, the target position determining unit 76 determines that the superimposition target Tr is within the angle of view VA when the virtual object VO is substantially entirely located within the superimposition range SA viewed from the virtual camera position CP (see FIG. 16B). judge. The target position determination unit 76 determines that the superimposition target Tr is outside the angle of view VA when at least part of the virtual object VO protrudes from the superimposition range SA viewed from the virtual camera position CP (see FIG. 16A). The target position determination unit 76 provides the display generation unit 77 with the result of the within-angle-of-view determination based on the positional relationship between the superimposed range SA and the virtual object VO.

The details of the inside-angle-of-view determination by the target position determining unit 76 may be changed as appropriate. For example, the target position determination unit 76 may perform the within-angle-of-view determination of the superimposition target Tr based on whether or not the main part of the virtual object VO is included in the superimposition range SA. The main part of the virtual object VO is important for understanding the meaning of the content displayed in a superimposed state. For example, in the case of an arrow-shaped virtual object VO used for route guidance, the triangular tip portion is the main part.

The display generation unit 77 selects the content to be drawn on each frame image constituting the video data based on the result of the inside-of-field-of-view determination obtained from the target position determination unit 76 in addition to the content selection result obtained from the virtual layout unit 75 . Decide on an image. The display generation unit 77 switches between information presentation using the non-superimposed content CTn and information presentation using the superimposed content CTs based on the result of the within-angle-of-view determination.

Specifically, when the superimposition target Tr is outside the angle of view VA, the display generation unit 77 particularly draws the original image of the non-superimposed content CTn on each frame image. On the other hand, when the superimposition target Tr is within the angle of view VA, the display generation unit 77 draws the original image of the superimposed content CTs on each frame image using the layout information provided from the virtual layout unit 75 .

For example, in a left-turn guidance scene, the display generation unit 77 displays a left-turn image Ptl in the shape of an arrow pointing to the left as a virtual image within the angle of view VA in either the display form of the superimposed content CTs or the non-superimposed content CTn ( 17 and 18). In addition, when the forward vehicle Af is detected, the display generation unit 77 displays the superimposed content CTs in an avoidance mode that avoids the forward vehicle Af (see FIG. 19). By such display control, it is possible to avoid a situation in which the superimposed content CTs obstructs the visibility of the forward vehicle Af and deteriorates the convenience of presenting information.

Details of the display transition of route guidance according to the second embodiment as described above will be described based on FIGS. 17 to 19 and with reference to FIGS.

The display generation unit 77 displays the virtual image of the host vehicle marker Pv near the lower center of the angle of view VA before the navigation device 50 notifies the guidance implementation request (see FIG. 17A). The host vehicle marker Pv is a non-superimposed content CTn that gives an image of the host vehicle as in the first embodiment, and is always displayed at a predetermined position.

The navigation ECU 52 outputs a guidance implementation request to the HCU 100, for example, when the remaining distance from the vehicle A to the intersection becomes less than a predetermined distance (for example, about 700 m). The HCU 100 starts presenting information based on acquisition of the guidance execution request from the navigation device 50 .

At this time, the intersection to be superimposed Tr is visually recognized above the angle of view VA as seen from the driver. Therefore, prior to displaying the superimposed content CTs (see FIG. 18B), the display generation unit 77 displays the non-superimposed content CTn when the superimposition target Tr is outside the angle of view VA. This non-superimposed content CTn is a left turn image Ptl showing substantially the same meaning as the superimposed content CTs (see FIG. 17B). The left turn image Ptl is displayed above the host vehicle marker Pv and at a substantially central position of the angle of view VA (projection range PA). The left turn image Ptl is displayed in an upright position with respect to the road surface so as to face the driver.

When the superimposition target Tr enters the angle of view VA, the display generation unit 77 starts displaying the transition animation Ats based on the determination within the angle of view by the target position determination unit 76 (see FIG. 17A). The transition animation Ats is a moving image that transitions the display state of the left turn image Ptl from the non-superimposed content CTn to the superimposed content CTs. In the transition animation Ats, an arrow-shaped image moves from the center of the angle of view VA toward the superimposition target Tr. The display generation unit 77 tilts the orientation of the left turn image Ptl displayed as the non-superimposed content CTn in the depth direction as seen from the driver, that is, in the traveling direction of the vehicle A, while moving the left turn image Ptl above the angle of view VA. Let As a result, the left turn image Ptl as the superimposed content CTs is superimposed on the intersection to be superimposed Tr (see FIG. 18B).

The display generation unit 77 advances the start timing of the transition animation Ats relative to the entry timing so that the completion timing of the transition animation Ats coincides with the entry timing of the superimposition target Tr into the angle of view VA. In addition, the higher the running speed of the vehicle A is, the faster the display generation unit 77 moves the display object (left turn image Ptl) in the transition animation Ats.

The left turn image Ptl as the superimposed content CTs is content extending in the depth direction along the road when viewed from the driver's eye point EP (see FIG. 2). The left turn image Ptl is displayed in such a manner as to stick to the road surface of the intersection. Even if the vehicle A moves toward the intersection, the left-turn image Ptl maintains a display state as if it is relatively fixed at a predetermined position where the superimposition target Tr exists. Therefore, the left turn image Ptl gradually becomes larger as the vehicle approaches the intersection, similar to the actual scene visually recognized by the driver.

As described above, after the left turn image Ptl is displayed as the superimposed content CTs, when the vehicle A further approaches the intersection, the superimposed target Tr moves outside the angle of view VA. That is, the superimposition target Tr is visually recognized below the angle of view VA. Based on the determination by the target position determination unit 76 that the superimposition target Tr is out of the angle of view VA, the display generation unit 77 ends the display of the left turn image Ptl as the superimposed content CTs, and displays the left turn image Ptl as the non-superimposed content CTn. The left turn image Ptl is displayed again (see FIG. 18C). The non-superimposed content CTn redisplayed as the left turn image Ptl is substantially the same image as the traveling direction guide Pid1 (see FIG. 8B) of the first embodiment.

For convenience, the non-superimposed content CTn displayed before the superimposition target Tr enters the view angle VA is defined as "pre-non-superimposed content CTn1", and the non-superimposed content CTn displayed after the superimposition target Tr goes out of the view angle VA. Let the content CTn be "post non-superimposed content CTn2". The post non-superimposed content CTn2 is displayed in a display form different from that of the pre non-superimposed content CTn1. However, both the pre-non-superimposed content CTn1 and the post-non-superimposed content CTn2 have substantially the same meaning as the superimposed content CTs, and are contents to guide a left turn.

The display generation unit 77 displays the two types of left turn images Ptl as the post non-superimposed content CTn2. The first left turn image Ptl (hereinafter referred to as "first left turn image Pt1") is displayed by a triangular image portion similar to the host vehicle marker Pv. The first left turn image Pt1 is displayed as an animation that repeatedly flies from above the host vehicle marker Pv toward the left edge of the angle of view VA. The second left-turn image Ptl (hereinafter referred to as the “second left-turn image Pt2”) is substantially the same as the winker icon Pin (see FIG. 8B) of the first embodiment, and has a horizontally long thick belt shape at the lower left corner of the angle of view VA. Is displayed. The second left turn image Pt2 is displayed as an animation that continuously moves leftward. The display generator 77 ends the display of the first left turn image Pt1 and the second left turn image Pt2 at the timing of passing through the intersection. When the vehicle A passes through the intersection, the display generator 77 displays the travel direction guide Pid2 (FIG. 8C) substantially the same as that of the first embodiment.

When the external world information acquisition unit 74 has acquired the detection information of the forward vehicle Af, the display generation unit 77 changes the display shape of the superimposed content CTs to an avoidance shape that avoids the forward vehicle Af, as shown in FIG. do. Specifically, when there is no forward vehicle Af, the display generation unit 77 superimposes and displays the arrow-shaped left turn image Ptl as the superimposed content CTs on the road surface of the intersection (see FIG. 18B). On the other hand, when the forward vehicle Af is present, the display generation unit 77 superimposes and displays a pair of strip-shaped left turn images Ptl on the road surface on both the left and right sides of the forward vehicle Af (see FIG. 19A). This left turn image Ptl is substantially the same as the guide partition line Pgl (see FIG. 7C) of the first embodiment. The area where such a belt-shaped left turn image Ptl overlaps with the forward vehicle Af is smaller than the area where the arrow-shaped left turn image Ptl overlaps with the forward vehicle Af.

When the object to be superimposed Tr enters the angle of view VA under the condition that the forward vehicle Af exists, the display generation unit 77 starts displaying the transition animation Ats different from that when the forward vehicle Af does not exist. In the transition animation Ats in this case, the left turn image Ptl displayed as the non-superimposed content CTn is divided into left and right sides. The left and right split image elements fall down in the traveling direction of the vehicle A, deform into strips extending along the road surface, and move to the vicinity of the left and right lane markings of the vehicle lane. As a result, each left turn image Ptl as the superimposed content CTs is superimposed on the road surface on both the left and right sides of the forward vehicle Af (see FIG. 19). Each left turn image Ptl is superimposed on the road surface of the intersection to be superimposed Tr in a shape in which the tip portion corresponding to the front side in the traveling direction is curved leftward. Note that even when the forward vehicle Af exists, the display generation unit 77 can display substantially the same post non-superimposed content CTn2 as when the forward vehicle Af does not exist (see FIG. 19C).

Next, the details of the display processing performed by the HCU 100 in order to realize the information presentation described so far will be described below based on the flow charts shown in FIGS. 20 and 21 and with reference to FIG. .

The display process shown in FIG. 20 is started by the HCU 100 based on acquisition of the guidance execution request by the route information acquisition unit 72, and is repeated until the guidance area including intersections and the like is passed. In S201 in such display processing for route guidance, it is determined whether or not the superimposition target Tr is within the angle of view VA based on the positional relationship between the virtual object VO and the superimposition range SA in the virtual space (see FIG. 16). If it is determined in S201 that the superimposition target Tr is within the angle of view VA, the process proceeds to S205. On the other hand, when it is determined in S201 that the superimposition target Tr is outside the angle of view VA, the process proceeds to S202.

In S202, it is determined whether or not the superimposition target Tr has once entered the angle of view VA and then left the angle of view VA. If it is determined in S202 that the superimposition target Tr has not entered the angle of view VA, the process proceeds to S203. In S203, a frame image including pre-non-superimposed content CTn1 (see FIG. 17B) is generated, and the process proceeds to S208. On the other hand, if it is determined in S202 that the superimposition target Tr has left the angle of view VA, the process proceeds to S204. In S204, a frame image including post non-superimposed content CTn2 (see FIGS. 18C and 19C) is generated, and the process proceeds to S208.

On the other hand, if it is determined in S201 that the object to be superimposed Tr is within the angle of view VA, in S205 it is determined whether or not there is a forward vehicle Af. When it is determined in S205 that there is no forward vehicle Af, the process proceeds to S206. In S206, a frame image including the superimposed content CTs (see FIG. 18B) in the normal form is generated, and the process proceeds to S208.

On the other hand, when it is determined in S205 that there is a preceding vehicle Af, the process proceeds to S207. In S207, a frame image including the superimposed content CTs (see FIG. 19B) that avoids the forward vehicle Af is generated, and the process proceeds to S208. In S206 or S207 immediately after the result of the within-angle-of-view determination in S201 is switched, a frame image is generated so that the transition animation Ats (see FIGS. 18A and 19A) is displayed. Then, in S208, the drawing data generated in any one of S203, S204, S206 and S207 is output to the HUD 20, and the process returns to S201.

The display processing shown in FIG. 21 is processing for transitioning the marker image Pts (see FIG. 12) from the non-superimposed content CTn to the superimposed content CTs based on the within-angle-of-view determination by the target position determination unit 76 . The display process of FIG. 21 is started by the HCU 100 based on the acquisition of road sign detection information by the external world information acquisition unit 74, and is repeated until the own vehicle leaves the road sign effective section.

In S221, it is determined whether or not the road sign is within the angle of view VA. When it is determined in S221 that the road sign is outside the angle of view VA, the process proceeds to S222. In S222, a frame image including the non-superimposed content CTn (see FIG. 12A) is generated, and the process proceeds to S224. On the other hand, when it is determined in S221 that the road sign is within the angle of view VA, the process proceeds to S223. In S223, a frame image including superimposed content CTs (see FIG. 12B) is generated, and the process proceeds to S224. In S223 immediately after the result of the within-angle-of-view determination in S221 is switched, a frame image is generated so that the transition animation Ats is displayed. In S224, the drawing data generated in either S222 or S223 is output to the HUD 20, and the process returns to S221.

The second embodiment described so far has the same effect as the first embodiment, and even if the superimposed display is changed from the non-superimposed content CTn to the superimposed content CTs, these have substantially the same meaning. Therefore, driver misunderstandings are less likely to occur. Therefore, it is possible to present information with high convenience.

In addition, in the transition animation Ats of the second embodiment, the left turn image Ptl or the marker image Pts moves from the center of the angle of view VA toward the superimposition target Tr. According to such movement of the displayed object, it becomes possible to guide the line of sight of the driver to the superimposition target Tr in accordance with the change in the display mode of the superimposed content CTs.

Further, in the second embodiment, when the forward vehicle Af is detected, the superimposed content CTs in an avoidance mode that avoids the forward vehicle Af is displayed. Therefore, it is possible to avoid a situation in which the superimposed content CTs obstructs the visibility of the forward vehicle Af and deteriorates the convenience of presenting information.

(Third embodiment)
The third embodiment of the present disclosure is another modification of the first embodiment. In the third embodiment, as shown in FIGS. 22 and 23, the display start point and the display end point of the route icon Prg, the traveling direction guide Pid1, and the guide division line Pgl displayed as the event display object DiE are the same as those in the first embodiment. different from the form. Details of information presentation according to the third embodiment will be described below based on FIGS. 22 and 23 and with reference to FIGS. 3 and 4. FIG. In the display processing of the third embodiment shown in FIG. 23, S301, S304, S306-S314 are substantially the same as S101, S103, S105-S113 (see FIG. 13) of the first embodiment.

As in the first embodiment, the route icon Prg is positioned at a position where the route information acquisition unit 72 acquires a guidance implementation request and at a position where the remaining distance Dr to the reference position GP is the first start distance L1s. to start displaying. The route icon Prg may be displayed in the vicinity of the right edge of the angle of view VA as in the first embodiment, or may be displayed in the center of the angle of view VA and then moved to the vicinity of the right edge. . The route icon Prg continues to be displayed until the vehicle A reaches the intersection reference position GP and the remaining distance Dr becomes zero (see S303 in FIG. 23).

The travel direction guide Pid1 starts to be displayed at a position where the remaining distance Dr to the reference position GP is less than the second start distance L2s. The second start distance L2s of the third embodiment is set longer than the second start distance L2s (see FIG. 6) of the first embodiment, and is, for example, approximately 130 m. The second start distance L2s is set to a distance slightly shorter than the superimposition threshold THs. The traveling direction guide Pid1 continues to be displayed, like the guide partition line Pgl, until the remaining distance Dr to the reference position GP becomes less than the end threshold THe (see S305 in FIG. 23).

The guide partition line Pgl starts to be displayed when the remaining distance Dr to the reference position GP becomes less than the superimposition threshold THs, and when the remaining distance Dr to the reference position GP becomes less than the end threshold THe. , the display is terminated. As in the first embodiment, the superimposition threshold THs and the end threshold THe are set based on the size of the angle of view VA of the HUD 20 and the type of the superimposition target Tr (see FIG. 7 etc.). If so, they are set to about 150m and 20m, respectively. The display of the guide partition line Pgl is started after the route icon Prg is displayed. After the guide partition line Pgl is displayed, a traveling direction guide Pid1 is further displayed.

As described above, the display generation unit 77 increases or decreases the number of event display objects DiE to be displayed simultaneously in each of the approach section, the approach section, and the exit section to the intersection. In other words, the display generator 77 changes the number of event display objects DiE to be displayed inside and outside the intersection. The display generation unit 77 makes the number of event display objects DiE to be displayed in front of the specific position greater than the number of event display objects DiE to be displayed after the specific position.

Specifically, during the approach period when the remaining distance Dr is equal to or greater than the end threshold value THe, the display generation unit 77 displays a large number of event display objects DiE at the same time to call attention to approaching an intersection at which a left turn should be made. Then, during the approach period when the remaining distance Dr is less than the end threshold THe, the display generation unit 77 narrows down the event display objects DiE to the route icon Prg and the winker icon Pin, which are the non-superimposed contents CTn. As described above, a display state is formed in which content display in the center of the angle of view VA is avoided and the driver's confirmation of the forward direction is less likely to be hindered. Furthermore, in the exit section after the remaining distance Dr becomes zero, the display generator 77 reduces the number of event display objects DiE to be displayed to one, and sequentially displays the winker icon Pin and the traveling direction guide Pid2. As a result, the virtual image display is in a state where it is more difficult to obstruct the visual recognition of attention targets such as pedestrians located in the vicinity of the intersection.

The display generation unit 77 switches whether or not to display the route icon Prg based on whether the detection information of the forward vehicle Af (see FIG. 19) is acquired by the external world information acquisition unit 74 (see S302 in FIG. 23). Specifically, the display generation unit 77 displays the route icon Prg only when the forward vehicle Af does not exist, and stops displaying the route icon Prg when the forward vehicle Af exists. In other words, the order in which the non-superimposed content CTn and the superimposed content CTs are displayed in the event display object DiE is reversed depending on the presence or absence of the preceding vehicle Af.

When the detection information of the forward vehicle Af is not acquired, the display generation unit 77 displays the route icon Prg prior to the display of the guide lane Pgl. On the other hand, when the detection information of the forward vehicle Af is acquired, the display generation unit 77 cancels the initial display transition from the route icon Prg to the guide lane Pgl. As a result, the display generation unit 77 first displays the guide division line Pgl, which is the superimposed content CTs, as the event display object DiE, and then displays the traveling direction guide Pid1.

Even in the third embodiment described so far, the same effect as in the first embodiment is obtained, and even if the superimposed display is changed from the non-superimposed content CTn to the superimposed content CTs, these have substantially the same meaning. Therefore, driver misunderstandings are less likely to occur. Therefore, it is possible to present information with high convenience.

In addition, in the third embodiment, when the forward vehicle Af is detected, the non-superimposed content CTn is displayed after the superimposed content CTs is displayed. As described above, according to the process of delaying the start of display of the non-superimposed content CTn until after the start of display of the superimposed content CTs, the preliminarily displayed non-superimposed content CTn (route icon Prg) at an early stage appears to the driver , it is possible to avoid overlapping with the forward vehicle Af. As a result, it is possible to avoid a situation in which the non-superimposed content CTn obstructs the visibility of the forward vehicle Af and deteriorates the convenience of presenting information.

(Fourth embodiment)
A fourth embodiment of the present disclosure shown in FIG. 24 is a modification of the second embodiment. In the fourth embodiment, the display form of the non-superimposed content CTn and the superimposed content CTs used for route guidance is different from that of the second embodiment. Details of the display transition in the route guidance of the fourth embodiment will be described below based on FIG. 24 and with reference to FIG. 15 . The information presentation shown in FIG. 24 provides route guidance based on route information at an intersection including a plurality of lanes.

Based on the acquisition of the guidance execution request by the route information acquisition unit 72, the display generation unit 77 displays the left turn image Ptl as the non-superimposed content CTn in a state where the superimposition target Tr (intersection) is outside the angle of view VA. The display generation unit 77 displays the marker image Pts including the left turn image Ptl (see FIG. 24A).

The sign image Pts notifies the driver, as lane information, of the number of lanes and the traveling direction set for each lane for an intersection that includes multiple lanes. The label image Pts is displayed as non-superimposed content CTn. The sign image Pts is displayed in a horizontally long quadrangular shape modeled after a road sign, specifically, a “sign of traffic division by traveling direction”. The marker image Pts is displayed in the center of the angle of view VA (projection range PA).

The left turn image Ptl is drawn in the shape of an arrow whose tip is bent to the left, and is displayed integrally with a portion of the marker image Pts indicating the left turn lane. The arrow-shaped left-turn image Ptl is highlighted so as to be more easily recognized by the driver than the other arrow-shaped images respectively representing the straight lane and the right-turn lane.

When the superimposition target Tr enters the angle of view VA, the display generation unit 77 starts displaying the transition animation Ats (see FIG. 24B). In the transition animation Ats, the upper side of the marker image Pts displayed as the non-superimposed content CTn is gradually tilted in the traveling direction of the vehicle A. In addition, in the transition animation Ats, the image portion of the marker image Pts other than the left turn image Ptl is gradually erased.

As a result of the display change by such a transition animation Ats, only the left turn image Ptl is left in a display posture as if it were stuck to the road surface of the intersection that is the superimposition target Tr (see FIG. 24C). It should be noted that the display location of the sign image indicating the lane information is moved to, for example, a multi-information display provided in a combination meter or the like, a center information display, or the like, and continues to be displayed.

The display generation unit 77 moves the left turn image Ptl to the center of the projection range PA so that it is superimposed on most of the lane of the vehicle and the road surface of the intersection, and gradually expands its display size (see FIG. 24D). ). As described above, the transition from the non-superimposed content CTn to the superimposed content CTs is completed. The display of the left turn image Ptl that has become the superimposed content CTs continues until the superimposition target Tr moves out of the angle of view VA.

Here, when the vehicle A is traveling on a road with a series of intersections, the display generation unit 77 sets the timing of transition to the display state in which the left turn image Ptl is left (see FIG. 24C) immediately before the intersection to be turned. adjust to In addition, the display generation unit 77 omits the display of the transition animation Ats when the interval between consecutive intersections is short and it is difficult to secure the display time of the transition animation Ats. In this case, the display generation unit 77 immediately starts displaying the left turn image Ptl as the superimposed content CTs (see FIG. 24D) after ending the display of the marker image Pts as the non-superimposed content CTn (see FIG. 24A). .

In addition, in the fourth embodiment, regardless of the presence or absence of the forward vehicle Af, the common-shaped superimposed content CTs is displayed. In addition, in the fourth embodiment, the display of the post non-superimposed content CTn2 (see FIG. 18C) after the superimposition target Tr is framed out from the angle of view VA is omitted.

The fourth embodiment described so far has the same effect as the second embodiment, and even if the superimposed display is changed from the non-superimposed content CTn to the superimposed content CTs, these have substantially the same meaning. Therefore, driver misunderstandings are less likely to occur. Therefore, it is possible to present information with high convenience.

In addition, in the fourth embodiment, the direction of travel set for each lane is previously notified to the driver by the marker image Pts displayed as the non-superimposed content CTn before reaching the intersection. Therefore, the driver can know in advance the direction in which each lane can be traveled, and can change lanes to an appropriate lane.

In addition, if the non-superimposed content CTn includes an image portion showing substantially the same meaning as the superimposed content CTs as in the fourth embodiment, the non-superimposed content CTn includes an image portion presenting information different from that of the superimposed content CTs. good too. As described above, if the additional related information is presented by the non-superimposed content CTn at the timing when the distance to the superimposition target Tr is secured, the driver's convenience can be further improved.

Further, in the fourth embodiment, the transition animation Ats is omitted, and display switching is performed to immediately start displaying the superimposed content CTs after the display of the non-superimposed content CTn is turned off. By adopting such display switching, the display generation unit 77 can easily adjust the display start timing of the superimposed content CTs to a timing at which the driver is less likely to misunderstand, for example, in a complicated traffic environment.

(Fifth embodiment)
The fifth embodiment of the present disclosure, shown in Figures 25 and 26, is another variation of the second embodiment. Also in the fifth embodiment, the display form of the superimposed content CTs used for route guidance is different from that in the second embodiment. The display generation unit 77 superimposes and displays the superimposed content CTs having different display forms, that is, the first superimposed content CTs1 and the second superimposed content CTs2, on a specific common superimposition target Tr (for example, an intersection, etc.) (FIG. 25C). reference). Details of the display transition in the route guidance of the fifth embodiment will be described below with reference to FIG. 15 based on FIG.

Based on the acquisition of the guidance execution request by the route information acquisition unit 72, the display generation unit 77 provisionally creates the second superimposed content CTs2 in a state where the superimposition target Tr (intersection) is outside the angle of view VA, and in a state where it is not superimposed on the intersection. display. The second superimposed content CTs2 is displayed superimposed on the foreground prior to the display of the first superimposed content CTs1. The second superimposed content CTs2 is a planned route image Psr such that the road surface of the planned travel route based on the set route is illuminated. Since the intersection is outside the angle of view VA, the planned route image Psr is superimposed on the road surface of the own vehicle lane on the near side of the intersection in a temporary display form (see FIG. 25A). In this way, the state of not being superimposed on the original superimposition target Tr is the "temporary display" state. The planned route image Psr has a trapezoidal shape and is displayed in a posture in which the upper edge side is inclined in the depth direction.

In addition, prior to displaying the first superimposed content CTs1, the display generation unit 77 causes the left turn image Ptl as the non-superimposed content CTn (pre-non-superimposed content CTn1) to be superimposed and displayed on the provisionally displayed second double superimposed content CTs2. (See Figure 25A). The non-superimposed content CTn is a display object that has substantially the same meaning as the first superimposed content CTs1. The left turn image Ptl is displayed in an upright position with respect to the road surface and superimposed on the center of the planned route image Psr. The left turn image Ptl is viewed by the driver on the front side and above the planned route image Psr. The left turn image Ptl is superimposed on the planned route image Psr to compensate for the left turn guidance function that is lacking in the planned route image Psr in the provisional display mode.

When the superimposition target Tr enters the angle of view VA, the display generating unit 77 superimposes the planned route image Psr on the superimposition target Tr as the formal second superimposed content CTs2 based on the determination within the angle of view by the target position determination unit 76. Let Specifically, the display generation unit 77 covers the road surface of the intersection with the planned route image Psr, and then changes the display shape of the planned route image Psr to a shape extending toward the road surface of the left turn destination (see FIG. 25B). . As described above, the planned route image Psr acquires the function of guiding a left turn.

In addition, the display generation unit 77 starts displaying the transition animation Ats at the timing when the superimposition target Tr enters or is likely to enter the angle of view VA. In the transition animation Ats, the mode of the left turn image Ptl is changed from the non-superimposed content CTn to the first superimposed content CTs1. In the transition animation Ats, the orientation of the left turn image Ptl is gradually tilted toward the travel direction of the vehicle A so as to stick to the planned route image Psr (see FIG. 25B).

Then, the display size of the left turn image Ptl, which is substantially parallel to the planned route image Psr, is enlarged. As a result, the left turn image Ptl is displayed as the first superimposed content CTs1 overlaid on substantially the entire planned route image Psr (see FIG. 25C). As described above, both the first superimposed content CTs1 and the second superimposed content CTs2 are superimposed and displayed on the superimposition target Tr.

The display generation unit 77 integrates one of the first superimposed content CTs1 and the second superimposed content CTs2 with the other of them. Specifically, in order to integrate the second superimposed content CTs2 with the first superimposed content CTs1, the display generation unit 77 displays an integrated animation Aig in which the planned route image Psr is absorbed by the left turn image Ptl. Due to the integrated animation Aig, the planned route image Psr fades out from the projection range PA. As a result, the function of presenting information for guiding a left turn is integrated into the left turn image Ptl (see FIG. 25D).

Note that the display generation unit 77 converts the first superimposed content CTs1 to the post-non-superimposed content at the timing when the superimposition target Tr goes out of the angle of view VA due to the approach of the vehicle A to the intersection, as in the first embodiment. Switch to CTn2 (see FIG. 18C).

In order to realize the information presentation of the fifth embodiment described so far, the HCU 100 performs display processing shown in FIG. In S401 and S402 of this display processing, the positional relationship between the superimposition target Tr and the angle of view VA is determined, as in S201 and S202 of the second embodiment. Moreover, in S405, it is determined whether or not there is a preceding vehicle in the same manner as in S205 of the second embodiment. Furthermore, in S408, processing for outputting the drawing data generated in any one of S403, S404, and S406 to the HUD 20 is performed as in S208 of the second embodiment.

If the superimposition target Tr is at a stage before entering the angle of view VA, the display generation unit 77 performs the processing of S403 based on the determinations of S401 and S402. In S403, a frame image is generated in which the pre-non-superimposed content CTn1 (left turn image Ptl) is superimposed on the second superimposed content CTs2 (planned route image Psr) in the provisional display mode (see FIG. 25A). On the other hand, in S404 after the superimposition target Tr has left the angle of view VA, a frame image including the post non-superimposed content CTn2 (see FIG. 18C) is generated.

Further, when the superimposition target Tr is positioned within the angle of view VA and there is no forward vehicle Af, the display generation unit 77 performs the processing of S406 based on the determinations of S401 and S405. In S406, a frame image is generated that appropriately includes the first superimposed content CTs1 and the second superimposed content CTs2 (see FIG. 25C). By the processing of S406, the transition animation Ats (see FIG. 25B) and the integrated animation Aig (see FIG. 25D) are sequentially displayed. On the other hand, in S407 when there is a forward vehicle Af, display of the first superimposed content CTs1 and the second superimposed content CTs2 is stopped. In this case, for example, the display of the pre-non-superimposed content CTn1 is continued.

In the fifth embodiment described so far, prior to the display of the first superimposed content CTs1, the non-superimposed content CTn having substantially the same meaning is displayed superimposed on the temporarily displayed second superimposed content CTs2. Therefore, the meaning of the second superimposed content CTs2 that is not superimposed on the superimposition target Tr can be indicated to the driver by the non-superimposed content CTn. As a result, even if information presentation using the HUD 20 with a limited angle of view VA is started early, misunderstandings by the driver are less likely to occur. Therefore, it is possible to present information with high convenience.

Also, in the fifth embodiment, the second superimposed content CTs2 is integrated with the first superimposed content CTs1 on display. In this way, the presentation of information to the driver can be simplified by a display change that incorporates one of two contents showing the same meaning into the other. Therefore, misunderstanding by the driver is unlikely to occur, and highly convenient information can be presented.

(Other embodiments)
A plurality of embodiments of the present disclosure have been described above, but the present disclosure is not to be construed as being limited to the above embodiments, and can be applied to various embodiments and combinations within the scope of the present disclosure. can do.

As in the fifth embodiment, the display generation unit 77 according to the modified example 1 of the fifth embodiment superimposes both the first superimposed content CTs1 (left turn image Ptl) and the second superimposed content CTs2 (planned route image Psr). The object Tr is superimposed and displayed (see FIG. 27A). Thereafter, the display generation unit 77 integrates one of the first superimposed content CTs1 and the second superimposed content CTs2 with the other. In modification 1, unlike the fifth embodiment, the first superimposed content CTs1 is integrated with the second superimposed content CTs2.

Specifically, in the integrated animation Aig of Modification 1, the left turn image Ptl undergoes a display change that melts into the planned route image Psr. The integrated animation Aig causes the left turn image Ptl to fade out from the projection range PA. As a result, the function of presenting information for guiding a left turn is integrated into the planned route image Psr (see FIG. 27B). The same effects as those of the fifth embodiment are obtained in the first modification as described above.

In the modification 2 of the first embodiment shown in FIG. 28, the display generation unit 77 starts displaying the superimposed content CTs after a predetermined period of time after the display of the non-superimposed content CTn ends. As described above, if the display transition from the non-superimposed content CTn to the superimposed content CTs is continuously performed, the driver tends to feel busy with the event display object DiE that is always displayed. Furthermore, the driver's attention is drawn to the view angle VA where the event display object DiE is always displayed, and there is a possibility that confirmation of the surrounding situation may be neglected.

In response to such a problem, the display generation unit 77 of Modification 2 performs initial route guidance using the route icon Prg to convey the need to turn right or left, as in the first embodiment. After that, when the remaining distance Dr reaches the superimposition threshold THs, the display generation unit 77 terminates the display of the route icon Prg, and waits for the lapse of a predetermined time. Then, the display generation unit 77 starts displaying the guide partition line Pgl after a predetermined time has elapsed.

As described above, if an interruption period is provided in which the event display DiE is not displayed after the display of the route icon Prg is finished, this interruption period can effectively function as a period prompting the driver to check the surrounding conditions. That is, by setting the interruption period, the driver can appropriately grasp objects, pedestrians, and the like that may get caught. As a result, the virtual image display can contribute to smooth running at an intersection or the like where route guidance is provided. The predetermined period of time is set to a period of time suitable for confirming the surrounding situation (for example, about several seconds).

In the modification 3 of the first embodiment shown in FIG. 29, the display generation unit 77 performs a mode change to emphasize the non-superimposed content CTn at the time of transition from the non-superimposed content CTn to the superimposed content CTs. The display of the superimposed content CTn ends. Furthermore, when transitioning from the superimposed content CTs to the non-superimposed content CTn, the display generation unit 77 ends the display of the superimposed content CTs after changing the mode of emphasizing the superimposed content CTs. Such content highlighting can clearly convey to the driver that a transition has occurred between the non-superimposed content CTn and the superimposed content CTs.

In Modified Example 3 described above, the mode change for emphasizing the content can be changed as appropriate. Furthermore, the mode change for emphasizing the non-superimposed content CTn and the mode change for emphasizing the superimposed content CTs may be different from each other. Specifically, the content is emphasized by temporarily increasing the display brightness of the content, changing the display color or display size, or blinking the content. Furthermore, for an image in the form of a map, etc., a mode change such as zooming in or zooming out, which changes the viewpoint position of the image view, may be implemented as the above highlighting.

In the fourth modification of the first embodiment, the display generation unit 77 performs information presentation based on the expected arrival time until the vehicle A reaches the superimposition target Tr instead of the distance from the vehicle A to the superimposition target Tr. Controls start timing and content switching timing. Specifically, the virtual layout section 75 of Modification 4 grasps the time required to reach the reference position GP (specific position). Specifically, the virtual layout unit 75 acquires the current traveling speed of the vehicle A together with the remaining distance Dr to the reference position GP. The virtual layout section 75 obtains the remaining time to the reference position GP by dividing the remaining distance Dr by the time.

Furthermore, the display generation unit 77 calculates the time corresponding to the first start distance L1s, the first end distance L1e, the second start distance L2s, the second end distance L2e, the superimposition threshold THs, and the end threshold THe of the first embodiment. set. The display generation unit 77 determines the start and end of display of each content based on the fact that the remaining time grasped by the virtual layout unit 75 has become less than each threshold time. Even in Modification 4, the display generation unit 77 can superimpose and display the superimposed content CTs on the superimposition target Tr based on the fact that the remaining time has become less than the superimposition threshold THs.

In Modified Example 5 of the first embodiment, the display generator 77 adjusts the line width of the guide lane Pgl so that the guide lane Pgl superimposed on the road surface of the exit road is always a single line. Specifically, the display generation unit 77 appropriately enlarges the line width of the guide dividing line Pgl, and draws so that the tip portions of the thickened linear image portions overlap each other. For example, a driver visually recognizes a curve as a single line. Therefore, if the guide lane Pgl is changed into a single line by adjusting the thickness, the driver can appropriately recognize the curve shape of the scheduled route indicated by the guide lane Pgl. Furthermore, in Modification 6 of the above-described embodiment, the line width of the guide dividing line Pgl is not substantially adjusted.

In the seventh modification of the second embodiment, the display generation unit 77 changes the superimposed content CTs into an avoidance shape when the detection information of the forward vehicle Af is acquired by the external world information acquisition unit 74. , stop displaying the transition animation Ats. According to the above, the period in which the transition animation Ats overlaps with the forward vehicle Af can be reduced. Furthermore, omission of the transition animation Ats immediately displays the superimposed content CTs in its perfect shape, which makes it easier for the driver to recognize the planned route.

In Modified Example 8 of the above embodiment, the display generation unit 77 determines whether or not to perform the display transition from the non-superimposed content CTn to the superimposed content CTs based on the shape of the road ahead including the intersection. For example, when the intersection shape in the forward range is complicated, when passing through continuous intersections in a complex manner, or when high-precision map data is insufficient, the display generation unit 77 may interfere with the superimposed display of the virtual image Vi. , and continues to display the non-superimposed content CTn. In this case, the non-superimposed content CTn is moved to the center of the angle of view VA.

In the ninth modification of the fourth embodiment, multiple sign images Pts are displayed as the non-superimposed content CTn in a driving scene in which the vehicle continuously passes through multiple intersections. Each sign image Pts indicates lane information of each intersection. The marker images Pts are displayed side by side from near the bottom edge of the projection range PA toward the top in order from the lane information of the intersection closest to the vehicle A.

In Modified Example 10 of the second embodiment, the target position determination section 76 determines whether or not the superimposition target Tr is within the angle of view VA based on the imaging data of the front camera 31 . Specifically, the target position determination unit 76 identifies a target range in which the superimposition target Tr is captured in the front image, and if the target range falls within a predetermined region of the front image, the target position determination unit 76 determines that the superimposition target Tr is at the angle of view. It is determined to be within VA. As in Modification 10 above, the method for determining within the angle of view can be changed as appropriate.

The driving scene in which the information presentation is illustrated in the description of the above embodiment and modification is an example. The HCU 100 presents information using both the non-superimposed content CTn and the superimposed content CTs in a driving scene different from the one described above. For example, the display mode of content used for information presentation is changed as appropriate. As an example, the sign image Pts displayed as the non-superimposed content CTn may be an image simulating a road sign that is different from a speed limit sign or a sign of traffic classification by traveling direction. In addition, the guidance images used for route guidance are not limited to the left turn image Ptl and the planned route image Psr. Furthermore, regardless of the presence or absence of the forward vehicle Af, the shape of the left turn image Ptl displayed as the superimposed content CTs is may be fixed to one of the In addition, each threshold that defines the display start position (timing) and display end position (timing) of each non-superimposed content CTn and superimposed content CTs may be arbitrarily adjusted by prior setting of a driver or the like.

The shape, emission color, display position, etc. of each image displayed as the virtual image Vi may also be changed as appropriate. Furthermore, the animation used when switching content may be content that appropriately combines effects such as rotation, enlargement/reduction, movement, color change, and deformation so as to enable smooth transition of display state. In addition, the mode of display transition between the non-superimposed content CTn and the superimposed content CTs can be changed as appropriate. For example, after displaying both the pre-non-superimposed content CTn1 and the superimposed content CTs within the angle of view VA, it is possible to perform a display transition such that the pre-non-superimposed content CTn1 disappears. Similarly, after displaying both the superimposed content CTs and the post-non-superimposed content CTn2 within the angle of view VA, it is possible to perform a display transition such that the superimposed content CTs disappears.

The HCU 100 of the above-described embodiment uses the position information of the eyepoint EP detected by the DSM 27 so that the superimposed content is superimposed on the superimposition target without deviation from the driver's perspective. The projection shape and projection position were controlled sequentially. However, the HCU 100 according to the eleventh modification of the above-described embodiment does not use the detection information of the DSM 27, but uses the setting information about the reference eyepoint center set in advance. and control the projection position.

In Modification 12 of the above embodiment, a user terminal such as a smart phone is connected to the in-vehicle network 1 . A route to a destination is set in an application executed on a user terminal by a user's operation of a driver or the like. The user terminal provides route information to the destination, related navigation map data, and the like to the route information acquisition unit 72 through an in-vehicle network or the like.

Further, the route information acquisition unit 72 of Modification 13 of the above-described embodiment can acquire route information, navigation map data, and the like from a server on the cloud through the network outside the vehicle. As in Modifications 12 and 13 above, the navigation device 50 may not be mounted on the vehicle A as long as the information necessary for route guidance can be obtained from a smartphone or a cloud server.

The HUD projector 21 of Modification 14 is provided with an EL (Electro Luminescence) panel instead of the LCD panel and the backlight. Furthermore, instead of the EL panel, a projector using a display device such as a plasma display panel, a cathode ray tube, and an LED can be used for the HUD.

The HUD of Modification 15 is provided with a laser module (hereinafter "LSM") and a screen instead of the LCD and backlight. The LSM has a configuration including, for example, a laser light source and a MEMS (Micro Electro Mechanical Systems) scanner. The screen is for example a micromirror array or a microlens array. In the HUD 20 of Modified Example 15, a display image is drawn on the screen by scanning laser light emitted from the LSM. The HUD 20 projects the display image drawn on the screen onto the windshield using the magnifying optical element to display the virtual image Vi in the air.

Also, the HUD of Modification 16 is provided with a DLP (Digital Light Processing, registered trademark) projector. A DLP projector has a digital mirror device (hereinafter “DMD”) provided with a large number of micromirrors and a projection light source that projects light toward the DMD. A DLP projector renders a display image on a screen through coordinated control of the DMD and the projection light source. Furthermore, the HUD of Modified Example 17 employs a projector using LCOS (Liquid Crystal On Silicon). Furthermore, in the HUD of Modified Example 18, a holographic optical element is adopted as one of the optical systems for displaying the virtual image Vi in the air.

In Modification 19 of the above-described embodiment, the HCU 100 and the HUD 20 are configured integrally. That is, the processing functions of the HCU 100 are implemented in the control circuit of the HUD 20 of the nineteenth modification.

Each function provided by the HCU 100 in the above embodiment can be provided by software and hardware for executing it, only software, only hardware, or a complex combination thereof. Furthermore, if such functions are provided by electronic circuits as hardware, each function can also be provided by digital circuits, including numerous logic circuits, or analog circuits.

Also, the form of the storage medium storing the program and the like capable of implementing the display control method described above may be changed as appropriate. For example, the storage medium is not limited to being provided on a circuit board, but may be provided in the form of a memory card or the like, inserted into a slot, and electrically connected to the control circuit of the HCU. . Furthermore, the storage medium may be an optical disc, hard disk drive, or the like, which is the basis for copying the program to the HCU.

The vehicle equipped with the HMI system is not limited to a general private passenger car, and may be a rental car vehicle, a manned taxi vehicle, a ride-sharing vehicle, a freight vehicle, a bus, or the like. Furthermore, the HMI system and the HCU may be installed in vehicles dedicated to unmanned operation used for mobility services. Also, the vehicle equipped with the HMI system may be a right-hand drive vehicle or a left-hand drive vehicle. Furthermore, the display form of each content is appropriately optimized according to the position of the steering wheel of the vehicle.

The controller and techniques described in this disclosure may be implemented by a special purpose computer comprising a processor programmed to perform one or more functions embodied by a computer program. Alternatively, the apparatus and techniques described in this disclosure may be implemented by dedicated hardware logic circuitry. Alternatively, the apparatus and techniques described in this disclosure may be implemented by one or more special purpose computers configured in combination with a processor executing a computer program and one or more hardware logic circuits. The computer program may also be stored as computer-executable instructions on a computer-readable non-transitional tangible recording medium.

A vehicle, Af forward vehicle, CTn non-superimposed content, CTn1 pre-non-superimposed content, Prg route icon (pre-non-superimposed content), CTn2 post-non-superimposed content, Pid1 traveling direction guide (post-non-superimposed content), CTs superimposed content, CTs1 First superimposed content CTs2 Second superimposed content Ats Transition animation Dr Remaining distance (distance) GP Reference position (specific position) THs Superimposition threshold (threshold) Tr Superimposition target VA Angle of view 11 Processing unit 20 HUD (head-up display), 72 route information acquisition unit, 74 external world information acquisition unit (forward information acquisition unit), 75 virtual layout unit (target position grasping unit), 76 target position determination unit, 77 display generation unit, 100 HCU ( display controller)

Claims (1)

A display control device that is used in a vehicle (A) and controls display by a head-up display (20),
an information acquisition unit that acquires detection information that detects road sign information;
a display control unit that displays a sign image that notifies the road sign based on the detection information;
a remaining distance grasping unit that grasps the remaining distance until the information of the road sign is switched,
The display control unit
each time the remaining distance becomes shorter, control is performed such that the sign change information indicating that the information of the road sign is switched and the sign image gradually overlap each other, and
A display control device that, when the sign change information and the sign image overlap each other, performs a display that emphasizes the information of the road sign after the change .

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