WO2019138465A1 - Display control device for vehicle and image display method - Google Patents

Display control device for vehicle and image display method Download PDF

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Publication number
WO2019138465A1
WO2019138465A1 PCT/JP2018/000302 JP2018000302W WO2019138465A1 WO 2019138465 A1 WO2019138465 A1 WO 2019138465A1 JP 2018000302 W JP2018000302 W JP 2018000302W WO 2019138465 A1 WO2019138465 A1 WO 2019138465A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
display control
image
display
specific point
Prior art date
Application number
PCT/JP2018/000302
Other languages
French (fr)
Japanese (ja)
Inventor
洋 入江
下谷　光生
Original Assignee
三菱電機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to JP2019565109A priority Critical patent/JP6896108B2/en
Priority to PCT/JP2018/000302 priority patent/WO2019138465A1/en
Publication of WO2019138465A1 publication Critical patent/WO2019138465A1/en

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the present invention relates to a display control device for a vehicle which displays an image on a head-up display mounted on a vehicle.
  • a head-up display that displays an image as a virtual image in the driver's field of vision by displaying the image on a screen (for example, a front window) that the driver can see
  • a screen for example, a front window
  • Patent Document 1 discloses an information display device for displaying an image representing a road marking on a road surface on a head-up display along a guide route of a navigation device.
  • the information display device of Patent Document 1 reduces the visibility of an image representing a road marking when the vehicle does not have a possibility of deviation from the guidance route, and prevents the driver's gaze from being robbed by the image. .
  • the information display device of Patent Document 1 uses a head-up display to present an image representing a road marking to the driver, but the driver can not recognize the distance from the image to the intersection. For example, in addition to the image representing the road marking, it is possible to display a numerical value indicating the distance to the intersection, but when the items to be displayed on the head-up display increase, it causes the driver's line of sight to be lost .
  • the present invention has been made to solve the above-described problems, and provides a display control device for a vehicle capable of causing a driver to display an image capable of recognizing the distance from the vehicle to a specific point on a head-up display. Intended to be provided.
  • a display control apparatus for a vehicle includes: a specific point information acquisition unit that acquires information of a distance from a host vehicle to a specific spot ahead of the host vehicle and information of an image associated with the specific spot; If the distance from the vehicle to the specified point is less than or equal to a predetermined threshold value, it is set to the specified point, based on the distance to the specified point, to determine the tilt angle of the image associated with the specified point. And a display control unit configured to display the associated image on the head-up display of the host vehicle so that the image can be viewed as being inclined at an inclination angle with respect to the road surface.
  • the display control apparatus for a vehicle makes a head-up so that the image associated with the specific point is seen to be inclined with respect to the road surface by the inclination angle determined based on the distance from the vehicle to the specific point.
  • the driver can be made to recognize the distance from the host vehicle to the specific point.
  • FIG. 1 is a diagram showing the configuration of a vehicular information display system according to a first embodiment.
  • FIG. 5 is a diagram for explaining an operation of the display control device according to the first embodiment.
  • FIG. 5 is a diagram for explaining an operation of the display control device according to the first embodiment.
  • FIG. 5 is a diagram for explaining an operation of the display control device according to the first embodiment.
  • FIG. 5 is a diagram for explaining an operation of the display control device according to the first embodiment.
  • FIG. 5 is a diagram for explaining an operation of the display control device according to the first embodiment.
  • FIG. 5 is a diagram for explaining an operation of the display control device according to the first embodiment.
  • FIG. 5 is a diagram for explaining an operation of the display control device according to the first embodiment.
  • FIG. 5 is a diagram for explaining an operation of the display control device according to the first embodiment.
  • FIG. 5 is a diagram for explaining an operation of the display control device according to the first embodiment.
  • FIG. 5 is a diagram for explaining an operation of the display control device according to the first embodiment.
  • FIG. 5 is a diagram for explaining an operation of the display control device according to the first embodiment.
  • FIG. 5 is a diagram for explaining an operation of the display control device according to the first embodiment.
  • FIG. 5 is a diagram for explaining an operation of the display control device according to the first embodiment.
  • It is a figure which shows the example of the relationship between the distance from the own vehicle to a specific point, and the inclination angle of an image. It is a figure which shows the example of the relationship between the distance from the own vehicle to a specific point, and the inclination angle of an image. It is a figure which shows the example of the relationship between the distance from the own vehicle to a specific point, and the inclination angle of an image.
  • FIG. 13 is a diagram for explaining the operation of the display control device according to the second embodiment.
  • FIG. 13 is a diagram for explaining the operation of the display control device according to the second embodiment.
  • FIG. 13 is a diagram for explaining the operation of the display control device according to the second embodiment.
  • FIG. 13 is a diagram for explaining the operation of the display control device according to the second embodiment.
  • FIG. 13 is a diagram for explaining the operation of the display control device according to the second embodiment.
  • FIG. 13 is a diagram for explaining the operation of the display control device according to the second embodiment.
  • FIG. 13 is a diagram for explaining the operation of the display control device according to the second embodiment.
  • FIG. 13 is a diagram for explaining the operation of the display control device according to the second embodiment.
  • FIG. 13 is a diagram for explaining the operation of the display control device according to the second embodiment.
  • FIG. 13 is a diagram for explaining the operation of the display control device according to the second embodiment.
  • FIG. 10 is a diagram showing the configuration of a vehicular information display system according to a third embodiment. It is a figure for demonstrating the operation
  • FIG. 16 is a diagram for explaining the operation of the display control device according to the third embodiment.
  • FIG. 16 is a diagram for explaining the operation of the display control device according to the third embodiment.
  • FIG. 16 is a diagram for explaining the operation of the display control device according to the third embodiment.
  • FIG. 16 is a diagram showing a configuration of a vehicular information display system according to a fourth embodiment.
  • FIG. 18 is a diagram for explaining the operation of the display control device according to the fourth embodiment.
  • FIG. 18 is a diagram for explaining the operation of the display control device according to the fourth embodiment.
  • FIG. 18 is a diagram for explaining the operation of the display control device according to the fourth embodiment.
  • FIG. 18 is a diagram for explaining the operation of the display control device according to the fourth embodiment.
  • FIG. 18 is a diagram for explaining the operation of the display control device according to the fourth embodiment.
  • FIG. 18 is a diagram for explaining the operation of the display control device according to the fourth embodiment.
  • FIG. 18 is a diagram for explaining the operation of the display control device according to the fourth embodiment.
  • FIG. 18 is a diagram for explaining the operation of the display control device according to the fourth embodiment.
  • FIG. 18 is a diagram for explaining the operation of the display control device according to the fourth embodiment.
  • FIG. 18 is a diagram for explaining the
  • FIG. 18 is a diagram for explaining the operation of the display control device according to the fourth embodiment.
  • FIG. 18 is a diagram showing the configuration of a vehicular information display system according to a fifth embodiment.
  • FIG. 18 is a diagram for explaining the operation of the display control device according to the fifth embodiment.
  • FIG. 18 is a diagram for explaining the operation of the display control device according to the fifth embodiment.
  • FIG. 18 is a diagram for explaining the operation of the display control device according to the fifth embodiment.
  • FIG. 1 is a diagram showing the configuration of a vehicular information display system according to the first embodiment.
  • the vehicle equipped with the information display system for vehicles is called “the own vehicle.”
  • the vehicular information display system includes a vehicular display control device 10 (hereinafter simply referred to as a “display control device”) and an own vehicle position acquisition device 21 connected thereto.
  • a map information storage device 22 and a head-up display (HUD) 25 are provided.
  • the host vehicle position acquisition device 21 is based on information obtained from a positioning signal received from a Global Navigation Satellite System (GNSS) satellite such as a GPS (Global Positioning System) satellite, a travel distance sensor of the host vehicle, an azimuth sensor, etc. Get the position of your vehicle.
  • GNSS Global Navigation Satellite System
  • the host vehicle position acquisition device 21 according to the present embodiment is capable of acquiring position information with high accuracy such that the lane in which the host vehicle is traveling can be identified.
  • the map information storage device 22 is a storage medium in which map information is stored.
  • the map information stored in the map information storage device 22 of the present embodiment includes information on the position of each lane included in the road and the position and type of the road marking drawn on the road surface of each lane. Do.
  • the map information storage device 22 may not necessarily be mounted on the host vehicle, and may be, for example, a server that distributes map information to the display control device 10 by communication.
  • the head-up display 25 displays an image as a virtual image in the driver's field of vision by displaying the image on a screen that the driver of the host vehicle can see through.
  • the head-up display 25 of the present embodiment utilizes the front window of the vehicle as a screen.
  • the image is displayed superimposed on the scenery viewed from the driver through the front window. From the driver, the image looks as if it were a virtual image existing in front of the vehicle.
  • the display control device 10 includes a specific point information acquisition unit 11, a display control unit 12, and an inclination angle determination unit 13.
  • the specific point information acquisition unit 11 acquires information on the distance from the host vehicle to a specific point in front of it and information on an image associated with the specific point (hereinafter referred to as “specific point corresponding image”).
  • the specific point is an intersection ahead of the host vehicle, and at the intersection as the specific point, an image representing a road marking of a lane in which the host vehicle is traveling at the intersection (hereinafter referred to as "road marking image” ) Are associated.
  • the data of the road marking image may be stored in the map information storage device 22 as part of the map information, or may be stored in the display control device 10.
  • the specific point information acquisition unit 11 determines the distance from the own vehicle to the specific point from the position of the own vehicle acquired by the own vehicle position acquisition device 21 and the position of the specific spot acquired by the own vehicle position acquisition device 21. It can be calculated.
  • the display control unit 12 causes the head-up display 25 to display an image corresponding to a specific point, when the distance from the host vehicle acquired by the specific point information acquisition unit 11 to the specific point is equal to or less than a predetermined threshold.
  • the head-up display 25 displays the specific point correspondence image on the front window of the vehicle, thereby displaying the specific point correspondence image as a virtual image in the field of view of the driver.
  • the display control unit 12 processes the specific point correspondence image so as to be displayed on the head-up display 25 so that the specific point correspondence image appears to be inclined with respect to the road surface.
  • the display control unit 12 causes the head-up display 25 to display the specific point correspondence image so as to be seen rising from the road surface.
  • the display control unit 12 does not have to process the image corresponding to the specific spot, and the image corresponding to the specific spot is actually tilted and displayed. You should do it.
  • the inclination angle determination unit 13 determines an apparent inclination angle (hereinafter referred to as “inclination angle”) with respect to the road surface of the specific point corresponding image displayed by the head-up display 25.
  • the inclination angle is determined based on the distance from the host vehicle to the specific point.
  • the display control unit 12 of the present embodiment changes the tilt angle so that the tilt angle increases as the distance from the host vehicle to the specific point decreases.
  • the intersection ahead of the vehicle is the specific point, and at the intersection as the specific point, an image of the lane in which the vehicle at the intersection is traveling (road marking image) Are associated.
  • an image (an image of an arrow indicating a right turn) representing the road marking of the right turn lane is associated with the intersection which is the specific point as a road marking image.
  • Specific point information acquisition unit 11 obtains the distance D A from the vehicle 100 to the intersection, the data of a road marking image representing the road markings right turn lane.
  • the display control unit 12 compares the distance D A with a predetermined threshold D T, and causes the head-up display 25 to display a road marking image if the distance D A is less than or equal to the threshold D T.
  • the display control unit 12 does not cause the head-up display 25 to display a road marking image. Therefore, as shown in FIG. 3, no image is displayed superimposed on the scenery viewed from the driver through the front window 101.
  • the display control unit 12 is a head-up display 25 in FIG. 5
  • the display image 200 is displayed.
  • the display control unit 12 causes the head-up display 25 to display the road marking image 200 so that the road marking image 200 ascends and appears on the road surface as shown in FIG.
  • the inclination angle ⁇ of the road marking image 200 with respect to the road surface determines based on the distance D A from the vehicle 100 to the intersection. In this embodiment, the inclination angle determination unit 13, so that as the distance D A smaller inclination angle theta is larger, varying the inclination angle theta.
  • the inclination angle determination unit 13 increases the inclination angle ⁇ of the road marking image 200 as shown in FIG.
  • the road marking image 200 displayed by the display control unit 12 on the head-up display 25 appears to rise up as shown in FIG.
  • the inclination angle determination unit 13 sets the inclination angle ⁇ of the road marking image 200 to 90 ° as shown in FIG.
  • the road marking image 200 displayed by the display control unit 12 on the head-up display 25 looks upright as shown in FIG.
  • the display control apparatus 10 the road marking image 200, in a manner such that it appears tilted at an inclination angle ⁇ in accordance with the distance D A from the vehicle 100 to the intersection, a head-up display Display on 25 Therefore, from the driver, the road marking image 200 appears to rise as the host vehicle 100 approaches an intersection. Therefore, the driver can not only recognize the road marking of the lane in which the host vehicle is traveling from the road marking image 200, but also can recognize the distance from the host vehicle 100 to the intersection.
  • the road marking image 200 When the distance D A from the vehicle 100 to the intersection is larger than the threshold D T , the road marking image 200 is not displayed. Further, even if the distance D A is equal to or less than a threshold value D T, the distance D A is visible pivoting forward road marking image 200 when relatively large, since the area of the front window within 101 occupied by the road marking image 200 is small The road marking image 200 suppresses the capture of the driver's line of sight.
  • the method of determining the inclination angle ⁇ by the inclination angle determination unit 13 may be an arbitrary method.
  • the distance D inclination angle with respect to a change in A theta is changing curve
  • the inclination angle theta is linear with respect to changes in the distance D A
  • the distance D A segment angle of inclination ⁇ is constant with respect to changes in the inclination angle ⁇ may be or provided that changes discontinuously.
  • the head-up display 25 if it is possible to vary the apparent distance from the driver to the display position of the image (hereinafter referred to as "virtual image distance"), in accordance with a change in the distance D A, a road marking image
  • the virtual image distance of 200 may be changed. For example, as the distance D A decreases as the road marking image 200 is seen approaching the driver, a fixed position is a road marking image 200 (e.g., an intersection close position) may be seen stopped on.
  • FIG. 5, FIG. 9, and FIG. 12 show the display position of the road marking image 200 as the position to be superimposed on the road, the display position of the road marking image 200 is not limited thereto. Further, in accordance with a change in the distance D A, it may change the display position of the road sign image 200. For example, as the distance D A is smaller, it may be moved toward the top display position of the road marking image 200.
  • the distance D A may change the display mode of the shape and color of a road marking image 200. For example, as the distance D A is reduced, or modified to such shape of the road marking image 200 becomes longer, it may be or is changed to a more noticeable color.
  • the display control unit 12 causes the head-up display 25 to Display the road marking image. In that case, each road marking image is preferably displayed superimposed on the corresponding lane.
  • FIG. 17 and FIG. 18 are flowcharts showing the operation of the display control device 10.
  • the operation of the display control apparatus 10 described above is realized by the display control apparatus 10 executing the flows of FIGS. 17 and 18.
  • the operation of the display control device 10 will be described based on FIGS. 17 and 18.
  • the specific point information acquisition unit 11 acquires the position of the own vehicle from the own vehicle position acquisition device 21 (step S1). In addition, the specific point information acquisition unit 11 acquires map information around the host vehicle from the map information storage device 22, and acquires the position of the specific point in front of the host vehicle (step S2). Then, the specific point information acquisition unit 11 calculates the distance from the host vehicle to the specific point from the position of the host vehicle and the position of the specific point (step S3), and whether the distance is equal to or less than a predetermined threshold (Step S4).
  • step S4 If the distance from the vehicle to the specific point is larger than the threshold (NO in step S4), the process returns to step S1. If the distance from the host vehicle to the specific point is equal to or less than the threshold (YES in step S4), the process proceeds to an image display process (step S5) which is a process for displaying an image on the head-up display 25.
  • FIG. 18 is a flowchart of the image display process.
  • the specific point information acquisition unit 11 acquires a specific point corresponding image associated with the specific point ahead of the host vehicle (step S51). Further, the specific point information acquisition unit 11 acquires the position of the host vehicle from the host vehicle position acquisition device 21 again (step S52), and calculates the distance from the host vehicle to the specific point (step S53).
  • the inclination angle determination unit 13 determines the inclination angle when the display control unit 12 causes the head-up display 25 to display the specific point corresponding image based on the distance from the host vehicle to the specific point (step S54). .
  • the display control unit 12 causes the head-up display 25 to display an image corresponding to a specific point (step S55). At this time, the display control unit 12 causes the head-up display 25 to display the specific point correspondence image in such a manner as to be inclined with respect to the road surface by the inclination angle determined in step S54.
  • the specific point information acquiring unit 11 confirms whether or not the host vehicle has reached the specific point (step S56). If the host vehicle has not reached the specific spot (NO in step S56), the process returns to step S51, and if the host vehicle has reached the specific spot (YES in step S56), the image display processing is ended. When the image display process ends, the process returns to step S1 in FIG.
  • the specific point corresponding image is a road marking image of the lane in which the host vehicle is traveling
  • the specific point corresponding image changes when the host vehicle changes lane during the image display process (FIG. 18). It will be. Therefore, it is necessary to repeatedly perform acquisition of the specific point corresponding image (step S51) until the host vehicle reaches the specific point (while it is determined NO in step S56).
  • the specific spot correspondence image does not change in the middle of the image display processing, it is sufficient to obtain the specific spot correspondence image (step S51) only once in one image display processing. Therefore, in this case, when the determination in step S56 is NO, the process may return to step S52 instead of step S51.
  • FIG. 19 and 20 each show an example of the hardware configuration of the display control apparatus 10.
  • Each function of the components (specific point information acquisition unit 11, display control unit 12, and inclination angle determination unit 13) of the display control device 10 shown in FIG. 1 is realized by, for example, the processing circuit 50 shown in FIG.
  • the display control device 10 acquires information on the distance from the vehicle to a specific point in front of it and information on an image associated with the specific point, and based on the distance from the vehicle to the specific point, The inclination angle of the image associated with the specific point is determined, and when the distance from the vehicle to the specific point is less than a predetermined threshold, the image associated with the specific point is inclined by the inclination angle with respect to the road surface
  • a processing circuit 50 for displaying on the head-up display of the host vehicle.
  • the processing circuit 50 may be dedicated hardware, or a processor (central processing unit (CPU: Central Processing Unit), processing unit, arithmetic unit, microprocessor, microcomputer, etc.) that executes a program stored in the memory. It may be configured using a DSP (also called a digital signal processor).
  • DSP also called a digital signal processor
  • the processing circuit 50 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an application specific integrated circuit (ASIC), an FPGA (field-programmable) This corresponds to Gate Array) or a combination thereof.
  • ASIC application specific integrated circuit
  • FPGA field-programmable This corresponds to Gate Array
  • the functions of the components of the display control device 10 may be realized by individual processing circuits, or those functions may be realized collectively by one processing circuit.
  • FIG. 20 shows an example of the hardware configuration of the display control apparatus 10 when the processing circuit 50 is configured using the processor 51 that executes a program.
  • the functions of the components of the display control device 10 are realized by software (software, firmware, or a combination of software and firmware).
  • Software and the like are described as a program and stored in the memory 52.
  • the processor 51 reads out and executes the program stored in the memory 52 to implement the functions of the respective units.
  • the display control device 10 when executed by the processor 51, acquires the information of the distance from the own vehicle to the specific point in front of it and the information of the image associated with the specific point, and The process of determining the inclination angle of the image associated with the specific point based on the distance from the vehicle to the specific point, and when the distance from the vehicle to the specific point is less than or equal to a predetermined threshold, corresponds to the specific point
  • this program causes a computer to execute the procedure and method of the operation of the components of the display control apparatus 10.
  • the memory 52 is non-volatile or non-volatile such as, for example, random access memory (RAM), read only memory (ROM), flash memory, erasable programmable read only memory (EPROM), electrically erasable programmable read only memory (EEPROM). Volatile semiconductor memory, HDD (Hard Disk Drive), magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD (Digital Versatile Disc), its drive device, etc., or any storage medium used in the future May be
  • RAM random access memory
  • ROM read only memory
  • EPROM erasable programmable read only memory
  • EEPROM electrically erasable programmable read only memory
  • the present invention is not limited to this, and some components of the display control apparatus 10 may be realized by dedicated hardware, and other components may be realized by software or the like.
  • the processing circuit 50 as dedicated hardware realizes the function of some components
  • the processing circuit 50 as the processor 51 stores the program stored in the memory 52 for the other components. It is possible to realize the function by reading and executing.
  • the display control device 10 can realize each of the functions described above by hardware, software, etc., or a combination thereof.
  • the specific point is a point at which the number of lanes on the road increases and decreases (hereinafter referred to as "the number of lane change points"), and the image corresponding to the specific point It is set as the image (road marking image) showing the road marking of the traffic lane. Except for this, the configuration and operation of the vehicular information display system are the same as in the first embodiment.
  • the vehicle 100 travels on a combined straight and right turn lane (hereinafter referred to as “straight / right turn lane”), and the straight / right turn lane is straight at the lane number change point as a specific point.
  • the number of lanes is divided into the right turn lane and the right turn lane.
  • an image representing the road marking of the straight / right-turning lane is associated with the lane number change point which is the specific point.
  • Specific point information acquisition unit 11 acquires the information of the distance D A from the vehicle 100 to the number of lanes changes location, the road marking image of straight / right turn lane.
  • the display control unit 12 compares the distance D A with a predetermined threshold D T, and causes the head-up display 25 to display a road marking image if the distance D A is less than or equal to the threshold D T. In the state of FIG. 21, since the distance D A is larger than the threshold D T , the display control unit 12 does not cause the head-up display 25 to display a road marking image. Therefore, as shown in FIG. 22, no image is displayed superimposed on the scenery viewed from the driver through the front window 101.
  • the display control unit 12 is a head-up display
  • the road marking image 200 is displayed on the screen 25.
  • the display control unit 12 causes the head-up display 25 to display the road marking image 200 so that the road marking image 200 can be seen rising from the road surface.
  • the inclination angle of the road marking image 200 with respect to the road surface is the inclination angle determination unit 13, is determined based on the distance D A from the vehicle 100 to the number of lanes changes location.
  • the inclination angle determination unit 13 sets the inclination angle of the road marking image 200 to 90 °.
  • the road marking image 200 displayed by the display control unit 12 on the head-up display 25 is upright as shown in FIG.
  • the display control apparatus 10 the head-up display 25 to display a road marking image 200 at a tilt angle corresponding to the distance D A from the vehicle 100 to the number of lanes changes location. Therefore, from the driver, as the host vehicle 100 approaches the lane number change point, the road marking image 200 appears to rise. Therefore, the driver can not only recognize the road marking of the lane in which the host vehicle is traveling from the road marking image 200, but also can recognize the distance from the host vehicle 100 to the lane number change point.
  • the distance D A from the vehicle 100 to the number of lanes changes point road marking image 200 is not displayed is greater than the threshold value D T. Even if the distance D A becomes smaller than the threshold D T , when the distance D A is relatively large, the road marking image 200 appears to fall forward and the area occupied by the road marking image 200 in the front window 101 is small. The marking image 200 suppresses the capture of the driver's line of sight.
  • FIG. 27 is a diagram showing the configuration of a vehicular information display system according to a third embodiment.
  • the configuration of the information display system for vehicle of FIG. 27 is obtained by adding the on-vehicle sensor 23 of the own vehicle to the configuration of FIG. 1 and providing the visibility determination unit 14 in the display control device 10.
  • the specific point is the intersection ahead of the host vehicle, and the intersection as the specific point is a road marking of the lane in which the host vehicle is traveling at the intersection.
  • the image (road marking image) to represent is matched.
  • the on-vehicle sensor 23 is capable of detecting the position of an obstacle such as another vehicle existing around the host vehicle, and is configured of, for example, a camera or a radar.
  • the visibility determination unit 14 is based on the position of the host vehicle acquired by the host vehicle position acquisition device 21, the position of the obstacle detected by the onboard sensor 23, and the position of the road marking acquired from the map information storage device 22. , It is determined whether the road marking can be seen from the vehicle. Specifically, the visibility determination unit 14, as shown in FIG. 28, the distance D 1 of the from the vehicle 100 to the front vehicle 110 is greater than the distance D 2 from the vehicle 100 to the top of the road sign 120 , it is determined that a road sign 120 from the vehicle 100 is visible, as in FIG. 29, the distance D 1 is equal distance D 2 less, it is determined that the road sign 120 from the vehicle 100 is not visible.
  • the method of judging whether or not the road marking can be seen from the host vehicle is not limited to the above method. For example, depending on whether or not the road marking appears in the image in front of the host vehicle photographed by the camera which is the onboard sensor 23 You may judge. In this method, for example, it is determined that the road marking can not be seen from the host vehicle even in a situation where the road marking is covered with snow or a situation in which the road marking disappears due to wear of the road surface.
  • the operation of the display control device 10 is basically the same as that of the first embodiment.
  • the display control unit 12 operates to display the road marking image on the head-up display 25 only when the road marking can not be seen from the host vehicle.
  • the display control unit 12 causes the head-up display 25 to display the road marking image 200 as in the first embodiment.
  • the display control unit 12 does not display the road marking image 200 on the head-up display 25.
  • the road-up display image is displayed by the head-up display 25 only when the road marking can not be seen from the host vehicle and it is difficult for the driver to recognize the road marking. Since the road marking image is prevented from being displayed more than necessary, it is possible to reduce the possibility that the driver's gaze will be lost.
  • the technology of the third embodiment is also applicable to the vehicle information display system of the second embodiment.
  • FIG. 32 is a diagram showing the configuration of a vehicular information display system according to a fourth embodiment.
  • the configuration of the information display system for a vehicle shown in FIG. 32 is obtained by adding a navigation device 24 to the configuration shown in FIG.
  • the navigation device 24 sets a planned travel route of the host vehicle based on the destination set by the driver, and provides route guidance to the driver so that the host vehicle travels along the planned travel route.
  • the specific point is a point (hereinafter referred to as a “guide point”) where the navigation device 24 performs route guidance of the vehicle, and the navigation device 24 at the guide point is a guide point as the specific point.
  • An image hereinafter referred to as a "guide image" indicating a direction in which the user guides is associated.
  • the host vehicle position acquisition device 21, the map information storage device 22, and the navigation device 24 are shown as individual blocks, but the host vehicle position acquisition device 21 and the map information storage device 22 It may be built-in.
  • the operation of the display control apparatus 10 according to the fourth embodiment will be described by taking a specific example.
  • a planned travel route for turning the intersection to the right as shown in FIG. 33 is set in the navigation device 24 of the vehicle 100 and route guidance for the right turn is performed at the intersection.
  • an intersection which is a guidance point is a specific point
  • an image (an image of an arrow indicating a right turn) indicating guidance for a right turn is associated with the intersection as a guidance image.
  • Specific point information acquisition unit 11 obtains the distance D A to the guidance point from the vehicle 100, a guide image indicating a right turn.
  • the display control unit 12 compares the distance D A with a predetermined threshold D T, and causes the head-up display 25 to display a guidance image if the distance D A is less than or equal to the threshold D T.
  • the display control unit 12 does not cause the head-up display 25 to display a guidance image. Therefore, as shown in FIG. 34, no image is displayed superimposed on the scenery viewed from the driver through the front window 101.
  • the vehicle 100 moves forward, the distance D A to the guidance point from the vehicle 100 as shown in FIG. 35 is equal to or less than the threshold value D T, as the display control unit 12 of FIG. 36, a head-up display 25
  • the guidance image 201 is displayed on the screen.
  • the display control unit 12 causes the head-up display 25 to display the guidance image 201 in such a manner that the guidance image 201 appears to be inclined with respect to the road surface.
  • the inclination angle of the guide image 201 with respect to the road surface is the inclination angle determination unit 13, is determined based on the distance D A to the guidance point from the vehicle 100. Inclination angle determining section 13, the distance D A as the inclination angle increases as decreases, changing the inclination angle.
  • the inclination angle determination unit 13 increases the inclination angle of the guidance image 201. Therefore, the guidance image 201 displayed on the head-up display 25 by the display control unit 12 rises up as shown in FIG.
  • the inclination angle determination unit 13 sets the inclination angle of the guidance image 201 to 90 °. Therefore, the guidance image 201 displayed on the head-up display 25 by the display control unit 12 is upright as shown in FIG.
  • the display control apparatus 10 the head-up display 25 to display the guide image 201 in tilt angle in accordance with the distance D A to the guidance point from the vehicle 100. Therefore, from the driver, the road marking image 200 appears to rise up as the host vehicle 100 approaches the guidance point. Therefore, the driver can not only recognize the route guidance but also recognize the distance from the own vehicle 100 to the guidance point from the guidance image 201.
  • the distance D A to the guidance point from the vehicle 100 does not appear guide image 201 is greater than the threshold value D T. Moreover, since even if the distance D A is equal to or less than a threshold value D T, when the distance D A is relatively large visible guide image 201 is falling forward, the area occupied by the guide image 201 in the front window within 101 is small, the guide The image 201 can suppress capture of the driver's gaze.
  • FIG. 41 is a diagram showing the configuration of a vehicular information display system according to the fifth embodiment.
  • the configuration of the vehicle information display system of FIG. 41 is obtained by adding a lane change necessity determination unit 15 to the display control device 10 in addition to the configuration of FIG.
  • the specific point is a guide point where the navigation device 24 performs route guidance of the vehicle, and at the guide point as the specific point, the navigation device 24 is at the guide point.
  • the guidance image which shows the direction to guide is matched.
  • the lane change necessity determination unit 15 sets the position of the host vehicle acquired by the host vehicle position acquisition device 21, the lane included in the road on which the host vehicle acquired from the map information storage device 22 is traveling, and the navigation device 24. Based on the planned travel route, it is determined whether or not it is necessary to change lanes in order for the vehicle 100 to travel along the planned travel route.
  • the host vehicle 100 needs to travel in the right turn lane to travel along the planned travel route.
  • the lane change necessity determination unit 15 determines that the lane change of the subject vehicle 100 is not necessary.
  • the lane change necessity determination unit 15 determines that the lane change of the vehicle 100 is necessary.
  • the operation of the display control apparatus 10 according to the fifth embodiment is basically the same as that of the fourth embodiment.
  • the display control unit 12 when the required lane change of the vehicle 100, the display control unit 12, a threshold value D T to be compared with the distance D A to the guidance point from the vehicle 100, unnecessary lane change 42 (in FIG. 42, the threshold value DT is larger than in FIG. 43). Therefore, when it is necessary to change the lane of the vehicle 100, the guide image 201 is displayed at a timing earlier than when the change of the lane is unnecessary.
  • the timing at which the guide image 201 is displayed is advanced, so that the driver can quickly recognize that the lane change is necessary.
  • the display control unit 12 may change the display mode of the guidance image 201 in accordance with the necessity of the lane change of the host vehicle 100. For example, when lane change is necessary, as shown in FIG. 44, the guidance image 201 is displayed in a color that is more prominent than when lane change is unnecessary, thereby more reliably recognizing that the driver needs to change lanes. It can be done.
  • the inclination angle determination unit 13 may change the inclination angle of the guide image 201 in accordance with the necessity of the lane change of the host vehicle 100. For example, when the lane change is necessary, by increasing the inclination angle of the guide image 201 compared to when the lane change is unnecessary, the guide image 201 becomes noticeable, and it is more reliable that the driver needs the lane change. Can be recognized.
  • each embodiment can be freely combined, or each embodiment can be appropriately modified or omitted.
  • SYMBOLS 10 display control apparatus 11 specific point information acquisition part, 12 display control part, 13 inclination angle determination part, 14 visibility determination part, 15 lane change necessity determination part, 21 own vehicle position acquisition apparatus, 22 map information storage device, 23 in-vehicle sensor, 24 navigation device, 25 head-up display, 100 own vehicle, 101 front window, 110 forward vehicle, 120 road marking, 200 road marking image, 201 guidance image, 50 processing circuit, 51 processor, 52 memory.

Abstract

In this display control device (10) for a vehicle, a specific point information acquisition unit (11) acquires information on the distance from an own vehicle to a specific point ahead, and image information associated with the specific point. An inclination angle determination unit (13) determines an inclination angle of an image associated with the specific point on the basis of the distance from the own vehicle to the specific point. A display control unit (12) causes the image associated with the specific point to be displayed on a head-up display (25) so that the image appears inclined against the road surface at the inclination angle, when the distance from the own vehicle to the specific point is a predetermined threshold or smaller.

Description

車両用表示制御装置および画像表示方法Display control apparatus for vehicle and image display method
　本発明は、車両に搭載されたヘッドアップディスプレイに画像を表示させる車両用表示制御装置に関するものである。 The present invention relates to a display control device for a vehicle which displays an image on a head-up display mounted on a vehicle.
　車両の運転者に情報を提示する表示装置として、運転者が見通せる画面（例えばフロントウィンドウなど）に画像を表示することにより、運転者の視野に画像を虚像として表示するヘッドアップディスプレイ（ＨＵＤ）が知られている。例えば下記の特許文献１には、ナビゲーション装置の案内経路に沿って、路面の道路標示を表す画像をヘッドアップディスプレイに表示させる情報表示装置が開示されている。特許文献１の情報表示装置は、車両が案内経路から逸脱の可能性がないときに道路標示を表す画像の視認性を下げて、その画像に運転者の視線が奪われることを防止している。 As a display device for presenting information to the driver of the vehicle, a head-up display (HUD) that displays an image as a virtual image in the driver's field of vision by displaying the image on a screen (for example, a front window) that the driver can see Are known. For example, Patent Document 1 below discloses an information display device for displaying an image representing a road marking on a road surface on a head-up display along a guide route of a navigation device. The information display device of Patent Document 1 reduces the visibility of an image representing a road marking when the vehicle does not have a possibility of deviation from the guidance route, and prevents the driver's gaze from being robbed by the image. .
特開２０１０－２３６９１５号公報JP, 2010-236915, A
　特許文献１の情報表示装置は、ヘッドアップディスプレイを用いて道路標示を表す画像を運転者に提示するが、運転者はその画像から交差点までの距離を認識することはできない。例えば、道路標示を表す画像に加えて、交差点までの距離を示す数値を表示させることも可能であるが、ヘッドアップディスプレイに表示させる項目が増えると、運転者の視線が奪われる要因となり好ましくない。 The information display device of Patent Document 1 uses a head-up display to present an image representing a road marking to the driver, but the driver can not recognize the distance from the image to the intersection. For example, in addition to the image representing the road marking, it is possible to display a numerical value indicating the distance to the intersection, but when the items to be displayed on the head-up display increase, it causes the driver's line of sight to be lost .
　本発明は以上のような課題を解決するためになされたものであり、運転者に車両から特定地点までの距離を認識できる画像をヘッドアップディスプレイに表示させることが可能な車両用表示制御装置を提供することを目的とする。 The present invention has been made to solve the above-described problems, and provides a display control device for a vehicle capable of causing a driver to display an image capable of recognizing the distance from the vehicle to a specific point on a head-up display. Intended to be provided.
　本発明に係る車両用表示制御装置は、自車両からその前方の特定地点までの距離の情報、および、特定地点に対応付けされた画像の情報を取得する特定地点情報取得部と、自車両から特定地点までの距離に基づいて、特定地点に対応付けされた画像の傾斜角度を決定する傾斜角度決定部と、自車両から特定地点までの距離が予め定められた閾値以下になると、特定地点に対応付けされた画像を、路面に対し傾斜角度だけ傾いて見えるように、自車両のヘッドアップディスプレイに表示させる表示制御部と、を備えるものである。 A display control apparatus for a vehicle according to the present invention includes: a specific point information acquisition unit that acquires information of a distance from a host vehicle to a specific spot ahead of the host vehicle and information of an image associated with the specific spot; If the distance from the vehicle to the specified point is less than or equal to a predetermined threshold value, it is set to the specified point, based on the distance to the specified point, to determine the tilt angle of the image associated with the specified point. And a display control unit configured to display the associated image on the head-up display of the host vehicle so that the image can be viewed as being inclined at an inclination angle with respect to the road surface.
　本発明に係る車両用表示制御装置は、特定地点に対応付けされた画像を、路面に対し、自車両から特定地点までの距離に基づいて決定された傾斜角度だけ傾いて見えるように、ヘッドアップディスプレイに表示させるため、運転者に自車両から特定地点までの距離を認識させることができる。 The display control apparatus for a vehicle according to the present invention makes a head-up so that the image associated with the specific point is seen to be inclined with respect to the road surface by the inclination angle determined based on the distance from the vehicle to the specific point. In order to display on the display, the driver can be made to recognize the distance from the host vehicle to the specific point.
　本発明の目的、特徴、態様、および利点は、以下の詳細な説明と添付図面とによって、より明白となる。 The objects, features, aspects, and advantages of the present invention will be more apparent from the following detailed description and the accompanying drawings.
実施の形態１に係る車両用情報表示システムの構成を示す図である。FIG. 1 is a diagram showing the configuration of a vehicular information display system according to a first embodiment. 実施の形態１に係る表示制御装置の動作を説明するための図である。FIG. 5 is a diagram for explaining an operation of the display control device according to the first embodiment. 実施の形態１に係る表示制御装置の動作を説明するための図である。FIG. 5 is a diagram for explaining an operation of the display control device according to the first embodiment. 実施の形態１に係る表示制御装置の動作を説明するための図である。FIG. 5 is a diagram for explaining an operation of the display control device according to the first embodiment. 実施の形態１に係る表示制御装置の動作を説明するための図である。FIG. 5 is a diagram for explaining an operation of the display control device according to the first embodiment. 実施の形態１に係る表示制御装置の動作を説明するための図である。FIG. 5 is a diagram for explaining an operation of the display control device according to the first embodiment. 実施の形態１に係る表示制御装置の動作を説明するための図である。FIG. 5 is a diagram for explaining an operation of the display control device according to the first embodiment. 実施の形態１に係る表示制御装置の動作を説明するための図である。FIG. 5 is a diagram for explaining an operation of the display control device according to the first embodiment. 実施の形態１に係る表示制御装置の動作を説明するための図である。FIG. 5 is a diagram for explaining an operation of the display control device according to the first embodiment. 実施の形態１に係る表示制御装置の動作を説明するための図である。FIG. 5 is a diagram for explaining an operation of the display control device according to the first embodiment. 実施の形態１に係る表示制御装置の動作を説明するための図である。FIG. 5 is a diagram for explaining an operation of the display control device according to the first embodiment. 実施の形態１に係る表示制御装置の動作を説明するための図である。FIG. 5 is a diagram for explaining an operation of the display control device according to the first embodiment. 自車両から特定地点までの距離と画像の傾斜角度との関係の例を示す図である。It is a figure which shows the example of the relationship between the distance from the own vehicle to a specific point, and the inclination angle of an image. 自車両から特定地点までの距離と画像の傾斜角度との関係の例を示す図である。It is a figure which shows the example of the relationship between the distance from the own vehicle to a specific point, and the inclination angle of an image. 自車両から特定地点までの距離と画像の傾斜角度との関係の例を示す図である。It is a figure which shows the example of the relationship between the distance from the own vehicle to a specific point, and the inclination angle of an image. 自車両から特定地点までの距離と画像の傾斜角度との関係の例を示す図である。It is a figure which shows the example of the relationship between the distance from the own vehicle to a specific point, and the inclination angle of an image. 実施の形態１に係る表示制御装置の動作を示すフローチャートである。5 is a flowchart showing an operation of the display control device according to the first embodiment. 画像表示処理を示すフローチャートである。It is a flowchart which shows an image display process. 表示制御装置のハードウェア構成の例を示す図である。It is a figure which shows the example of the hardware constitutions of a display control apparatus. 表示制御装置のハードウェア構成の例を示す図である。It is a figure which shows the example of the hardware constitutions of a display control apparatus. 実施の形態２に係る表示制御装置の動作を説明するための図である。FIG. 13 is a diagram for explaining the operation of the display control device according to the second embodiment. 実施の形態２に係る表示制御装置の動作を説明するための図である。FIG. 13 is a diagram for explaining the operation of the display control device according to the second embodiment. 実施の形態２に係る表示制御装置の動作を説明するための図である。FIG. 13 is a diagram for explaining the operation of the display control device according to the second embodiment. 実施の形態２に係る表示制御装置の動作を説明するための図である。FIG. 13 is a diagram for explaining the operation of the display control device according to the second embodiment. 実施の形態２に係る表示制御装置の動作を説明するための図である。FIG. 13 is a diagram for explaining the operation of the display control device according to the second embodiment. 実施の形態２に係る表示制御装置の動作を説明するための図である。FIG. 13 is a diagram for explaining the operation of the display control device according to the second embodiment. 実施の形態３に係る車両用情報表示システムの構成を示す図である。FIG. 10 is a diagram showing the configuration of a vehicular information display system according to a third embodiment. 視認性判断部の動作を説明するための図である。It is a figure for demonstrating the operation | movement of a visibility determination part. 視認性判断部の動作を説明するための図である。It is a figure for demonstrating the operation | movement of a visibility determination part. 実施の形態３に係る表示制御装置の動作を説明するための図である。FIG. 16 is a diagram for explaining the operation of the display control device according to the third embodiment. 実施の形態３に係る表示制御装置の動作を説明するための図である。FIG. 16 is a diagram for explaining the operation of the display control device according to the third embodiment. 実施の形態４に係る車両用情報表示システムの構成を示す図である。FIG. 16 is a diagram showing a configuration of a vehicular information display system according to a fourth embodiment. 実施の形態４に係る表示制御装置の動作を説明するための図である。FIG. 18 is a diagram for explaining the operation of the display control device according to the fourth embodiment. 実施の形態４に係る表示制御装置の動作を説明するための図である。FIG. 18 is a diagram for explaining the operation of the display control device according to the fourth embodiment. 実施の形態４に係る表示制御装置の動作を説明するための図である。FIG. 18 is a diagram for explaining the operation of the display control device according to the fourth embodiment. 実施の形態４に係る表示制御装置の動作を説明するための図である。FIG. 18 is a diagram for explaining the operation of the display control device according to the fourth embodiment. 実施の形態４に係る表示制御装置の動作を説明するための図である。FIG. 18 is a diagram for explaining the operation of the display control device according to the fourth embodiment. 実施の形態４に係る表示制御装置の動作を説明するための図である。FIG. 18 is a diagram for explaining the operation of the display control device according to the fourth embodiment. 実施の形態４に係る表示制御装置の動作を説明するための図である。FIG. 18 is a diagram for explaining the operation of the display control device according to the fourth embodiment. 実施の形態４に係る表示制御装置の動作を説明するための図である。FIG. 18 is a diagram for explaining the operation of the display control device according to the fourth embodiment. 実施の形態５に係る車両用情報表示システムの構成を示す図である。FIG. 18 is a diagram showing the configuration of a vehicular information display system according to a fifth embodiment. 実施の形態５に係る表示制御装置の動作を説明するための図である。FIG. 18 is a diagram for explaining the operation of the display control device according to the fifth embodiment. 実施の形態５に係る表示制御装置の動作を説明するための図である。FIG. 18 is a diagram for explaining the operation of the display control device according to the fifth embodiment. 実施の形態５に係る表示制御装置の動作を説明するための図である。FIG. 18 is a diagram for explaining the operation of the display control device according to the fifth embodiment.
　＜実施の形態１＞
　図１は、実施の形態１に係る車両用情報表示システムの構成を示す図である。以下、車両用情報表示システムが搭載された車両を「自車両」という。 Embodiment 1
FIG. 1 is a diagram showing the configuration of a vehicular information display system according to the first embodiment. Hereinafter, the vehicle equipped with the information display system for vehicles is called "the own vehicle."
　図１に示すように、実施の形態１に係る車両用情報表示システムは、車両用表示制御装置１０（以下、単に「表示制御装置」という）と、それに接続された自車両位置取得装置２１、地図情報記憶装置２２およびヘッドアップディスプレイ（ＨＵＤ）２５とを備えている。 As shown in FIG. 1, the vehicular information display system according to the first embodiment includes a vehicular display control device 10 (hereinafter simply referred to as a “display control device”) and an own vehicle position acquisition device 21 connected thereto. A map information storage device 22 and a head-up display (HUD) 25 are provided.
　自車両位置取得装置２１は、ＧＰＳ（Global Positioning System）衛星などのＧＮＳＳ（Global Navigation Satellite System）衛星から受信した測位信号や、自車両の走行距離センサ、方位センサなどから得られる情報に基づいて、自車両の位置を取得する。本実施の形態の自車両位置取得装置２１は、自車両が走行中の車線（レーン）を識別できるほどの高精度な位置情報を取得可能なものとする。 The host vehicle position acquisition device 21 is based on information obtained from a positioning signal received from a Global Navigation Satellite System (GNSS) satellite such as a GPS (Global Positioning System) satellite, a travel distance sensor of the host vehicle, an azimuth sensor, etc. Get the position of your vehicle. The host vehicle position acquisition device 21 according to the present embodiment is capable of acquiring position information with high accuracy such that the lane in which the host vehicle is traveling can be identified.
　地図情報記憶装置２２は、地図情報が記憶された記憶媒体である。本実施の形態の地図情報記憶装置２２に記憶された地図情報には、道路に含まれる各車線の位置、ならびに各車線の路面に描かれた道路標示の位置および種類の情報が含まれるものとする。地図情報記憶装置２２は、必ずしも自車両に搭載されていなくてもよく、例えば、通信により表示制御装置１０へ地図情報を配信するサーバであってもよい。 The map information storage device 22 is a storage medium in which map information is stored. The map information stored in the map information storage device 22 of the present embodiment includes information on the position of each lane included in the road and the position and type of the road marking drawn on the road surface of each lane. Do. The map information storage device 22 may not necessarily be mounted on the host vehicle, and may be, for example, a server that distributes map information to the display control device 10 by communication.
　ヘッドアップディスプレイ２５は、自車両の運転者が見通せる画面に画像を表示することで、運転者の視野に画像を虚像として表示する。本実施の形態のヘッドアップディスプレイ２５は、自車両のフロントウィンドウを画面として利用している。ヘッドアップディスプレイ２５が画像を表示すると、その画像は、運転者からフロントウィンドウを通して見える風景に重畳して表示される。運転者からは、画像があたかも車両の前方に存在する虚像として見える。 The head-up display 25 displays an image as a virtual image in the driver's field of vision by displaying the image on a screen that the driver of the host vehicle can see through. The head-up display 25 of the present embodiment utilizes the front window of the vehicle as a screen. When the head-up display 25 displays an image, the image is displayed superimposed on the scenery viewed from the driver through the front window. From the driver, the image looks as if it were a virtual image existing in front of the vehicle.
　図１のように、表示制御装置１０は、特定地点情報取得部１１、表示制御部１２および傾斜角度決定部１３を備えている。 As shown in FIG. 1, the display control device 10 includes a specific point information acquisition unit 11, a display control unit 12, and an inclination angle determination unit 13.
　特定地点情報取得部１１は、自車両からその前方の特定地点までの距離の情報、および、その特定地点に対応付けされた画像（以下「特定地点対応画像」という）の情報を取得する。本実施の形態では、特定地点は自車両の前方の交差点であり、特定地点としての交差点には、その交差点における自車両が走行中の車線の道路標示を表す画像（以下「道路標示画像」という）が対応付けされる。道路標示画像のデータは、地図情報の一部として地図情報記憶装置２２に記憶されていてもよいし、表示制御装置１０に記憶されていてもよい。また、特定地点情報取得部１１は、自車両位置取得装置２１が取得した自車両の位置と、自車両位置取得装置２１が取得した特定地点の位置とから、自車両から特定地点までの距離を算出することができる。 The specific point information acquisition unit 11 acquires information on the distance from the host vehicle to a specific point in front of it and information on an image associated with the specific point (hereinafter referred to as “specific point corresponding image”). In the present embodiment, the specific point is an intersection ahead of the host vehicle, and at the intersection as the specific point, an image representing a road marking of a lane in which the host vehicle is traveling at the intersection (hereinafter referred to as "road marking image" ) Are associated. The data of the road marking image may be stored in the map information storage device 22 as part of the map information, or may be stored in the display control device 10. In addition, the specific point information acquisition unit 11 determines the distance from the own vehicle to the specific point from the position of the own vehicle acquired by the own vehicle position acquisition device 21 and the position of the specific spot acquired by the own vehicle position acquisition device 21. It can be calculated.
　表示制御部１２は、特定地点情報取得部１１が取得した自車両から特定地点までの距離が予め定められた閾値以下であるときに、特定地点対応画像をヘッドアップディスプレイ２５に表示させる。ヘッドアップディスプレイ２５は、特定地点対応画像を、自車両のフロントウィンドウに表示することで、特定地点対応画像を運転者の視野に虚像として表示させる。このとき、表示制御部１２は、特定地点対応画像が路面に対して傾いて見えるように、特定地点対応画像を加工してヘッドアップディスプレイ２５に表示させる。本実施の形態の表示制御部１２は、特定地点対応画像を、路面から手前に起き上がって見えるように、ヘッドアップディスプレイ２５に表示させる。 The display control unit 12 causes the head-up display 25 to display an image corresponding to a specific point, when the distance from the host vehicle acquired by the specific point information acquisition unit 11 to the specific point is equal to or less than a predetermined threshold. The head-up display 25 displays the specific point correspondence image on the front window of the vehicle, thereby displaying the specific point correspondence image as a virtual image in the field of view of the driver. At this time, the display control unit 12 processes the specific point correspondence image so as to be displayed on the head-up display 25 so that the specific point correspondence image appears to be inclined with respect to the road surface. The display control unit 12 according to the present embodiment causes the head-up display 25 to display the specific point correspondence image so as to be seen rising from the road surface.
　なお、ヘッドアップディスプレイ２５が、奥行きのある３次元画像を表示可能である場合には、表示制御部１２は、特定地点対応画像を加工する必要はなく、実際に特定地点対応画像を傾けて表示させればよい。 When the head-up display 25 can display a three-dimensional image with depth, the display control unit 12 does not have to process the image corresponding to the specific spot, and the image corresponding to the specific spot is actually tilted and displayed. You should do it.
　傾斜角度決定部１３は、ヘッドアップディスプレイ２５が表示する特定地点対応画像の、路面に対する見かけ上の傾きの角度（以下「傾斜角度」という）を決定する。傾斜角度は、自車両から特定地点までの距離に基づいて決定される。本実施の形態の表示制御部１２は、自車両から特定地点までの距離が小さくなるにつれて傾斜角度が大きくなるように、傾斜角度を変化させる。 The inclination angle determination unit 13 determines an apparent inclination angle (hereinafter referred to as “inclination angle”) with respect to the road surface of the specific point corresponding image displayed by the head-up display 25. The inclination angle is determined based on the distance from the host vehicle to the specific point. The display control unit 12 of the present embodiment changes the tilt angle so that the tilt angle increases as the distance from the host vehicle to the specific point decreases.
　次に、表示制御装置１０の動作について具体的な例を挙げて説明する。先に述べたように、本実施の形態では、自車両の前方の交差点が特定地点であり、特定地点としての交差点には、その交差点における自車両が走行中の車線の画像（道路標示画像）が対応付けされる。 Next, the operation of the display control device 10 will be described by taking a specific example. As described above, in the present embodiment, the intersection ahead of the vehicle is the specific point, and at the intersection as the specific point, an image of the lane in which the vehicle at the intersection is traveling (road marking image) Are associated.
　例えば、図２のように自車両１００が道路の右折車線を走行している場合を仮定する。この場合、特定地点である交差点には、道路標示画像として、右折車線の道路標示を表す画像（右折を示す矢印の画像）が対応付けされる。 For example, as shown in FIG. 2, it is assumed that the vehicle 100 is traveling on the right turn of the road. In this case, an image (an image of an arrow indicating a right turn) representing the road marking of the right turn lane is associated with the intersection which is the specific point as a road marking image.
　特定地点情報取得部１１は、自車両１００から交差点までの距離ＤＡと、右折車線の道路標示を表す道路標示画像のデータを取得する。表示制御部１２は、距離ＤＡと予め定められた閾値ＤＴとを比較して、距離ＤＡが閾値ＤＴ以下であれば、ヘッドアップディスプレイ２５に道路標示画像を表示させる。図２の状態では、距離ＤＡが閾値ＤＴよりも大きいため、表示制御部１２はヘッドアップディスプレイ２５に道路標示画像を表示させることはしない。そのため、図３のように、運転者からフロントウィンドウ１０１を通して見える風景には、何の画像も重畳表示されない。 Specific point information acquisition unit 11 obtains the distance D A from the vehicle 100 to the intersection, the data of a road marking image representing the road markings right turn lane. The display control unit 12 compares the distance D A with a predetermined threshold D T, and causes the head-up display 25 to display a road marking image if the distance D A is less than or equal to the threshold D T. In the state of FIG. 2, since the distance D A is larger than the threshold value D T , the display control unit 12 does not cause the head-up display 25 to display a road marking image. Therefore, as shown in FIG. 3, no image is displayed superimposed on the scenery viewed from the driver through the front window 101.
　その後、自車両１００が前進して、図４のように自車両１００から交差点までの距離ＤＡが閾値ＤＴ以下になると、図５のように、表示制御部１２がヘッドアップディスプレイ２５に道路標示画像２００を表示させる。このとき、表示制御部１２は、道路標示画像２００があたかも図６のように路面から手前に起き上がって見えるように、ヘッドアップディスプレイ２５に道路標示画像２００を表示させる。 Thereafter, the vehicle 100 moves forward, the distance D A from the vehicle 100 as shown in FIG. 4 to the intersection becomes equal to or smaller than the threshold value D T, road way, the display control unit 12 is a head-up display 25 in FIG. 5 The display image 200 is displayed. At this time, the display control unit 12 causes the head-up display 25 to display the road marking image 200 so that the road marking image 200 ascends and appears on the road surface as shown in FIG.
　路面に対する道路標示画像２００の傾斜角度θは、傾斜角度決定部１３が、自車両１００から交差点までの距離ＤＡに基づいて決定する。本実施の形態では、傾斜角度決定部１３は、距離ＤＡが小さくなるにつれて傾斜角度θが大きくなるように、傾斜角度θを変化させる。 The inclination angle θ of the road marking image 200 with respect to the road surface, the tilt angle determination unit 13 determines based on the distance D A from the vehicle 100 to the intersection. In this embodiment, the inclination angle determination unit 13, so that as the distance D A smaller inclination angle theta is larger, varying the inclination angle theta.
　例えば、図７のように自車両１００が交差点に近づくと、傾斜角度決定部１３は、図８のように道路標示画像２００の傾斜角度θを大きくする。応じて、表示制御部１２がヘッドアップディスプレイ２５に表示させる道路標示画像２００は、図９のように起き上がってくるように見える。 For example, when the host vehicle 100 approaches an intersection as shown in FIG. 7, the inclination angle determination unit 13 increases the inclination angle θ of the road marking image 200 as shown in FIG. In response, the road marking image 200 displayed by the display control unit 12 on the head-up display 25 appears to rise up as shown in FIG.
　また、図１０のように自車両１００が交差点の直前まで進むと、傾斜角度決定部１３は、図１１のように道路標示画像２００の傾斜角度θを９０°にする。応じて、表示制御部１２がヘッドアップディスプレイ２５に表示させる道路標示画像２００は、図１２のように直立して見える。 Further, as shown in FIG. 10, when the vehicle 100 travels to a position just before the intersection, the inclination angle determination unit 13 sets the inclination angle θ of the road marking image 200 to 90 ° as shown in FIG. In response, the road marking image 200 displayed by the display control unit 12 on the head-up display 25 looks upright as shown in FIG.
　このように、実施の形態１に係る表示制御装置１０は、道路標示画像２００を、自車両１００から交差点までの距離ＤＡに応じた傾斜角度θで傾いて見えるような方法で、ヘッドアップディスプレイ２５に表示させる。よって、運転者からは、自車両１００が交差点に近づくにつれて、道路標示画像２００が起き上がってくるように見える。従って、運転者は、道路標示画像２００から、自車両が走行中の車線の道路標示を認識できるだけでなく、自車両１００から交差点までの距離も認識することができる。 Thus, the display control apparatus 10 according to the first embodiment, the road marking image 200, in a manner such that it appears tilted at an inclination angle θ in accordance with the distance D A from the vehicle 100 to the intersection, a head-up display Display on 25 Therefore, from the driver, the road marking image 200 appears to rise as the host vehicle 100 approaches an intersection. Therefore, the driver can not only recognize the road marking of the lane in which the host vehicle is traveling from the road marking image 200, but also can recognize the distance from the host vehicle 100 to the intersection.
　また、自車両１００から交差点までの距離ＤＡが閾値ＤＴよりも大きいときは、道路標示画像２００は表示されない。また、距離ＤＡが閾値ＤＴ以下になっても、距離ＤＡが比較的大きいときは道路標示画像２００が前方に倒れて見え、フロントウィンドウ１０１内で道路標示画像２００が占める面積は小さいため、道路標示画像２００によって運転者の視線が奪われることが抑制される。 When the distance D A from the vehicle 100 to the intersection is larger than the threshold D T , the road marking image 200 is not displayed. Further, even if the distance D A is equal to or less than a threshold value D T, the distance D A is visible pivoting forward road marking image 200 when relatively large, since the area of the front window within 101 occupied by the road marking image 200 is small The road marking image 200 suppresses the capture of the driver's line of sight.
　なお、自車両１００から交差点までの距離ＤＡが小さくなるにつれて傾斜角度θが単調に増加する関係が得られれば、傾斜角度決定部１３による傾斜角度θの決定方法は任意の方法でよい。例えば、傾斜角度θを、θ＝ｓｉｎ－１｛（ＤＴ－ＤＡ）／ＤＴ｝と定義してもよく、その場合、距離ＤＡと傾斜角度θとの関係は図１３のようになる。また、傾斜角度θを、θ＝ｃｏｓ－１（ＤＡ／ＤＴ）と定義してもよく、その場合、距離ＤＡと傾斜角度θとの関係は図１４のようになる。 Incidentally, as long relationships inclination angle as the distance D A from the vehicle 100 to the intersection becomes smaller θ increases monotonically is obtained, the method of determining the inclination angle θ by the inclination angle determination unit 13 may be an arbitrary method. For example, the inclination angle θ may be defined as θ = sin −1 {(D T −D A ) / D T }, in which case the relationship between the distance D A and the inclination angle θ is as shown in FIG. Become. Further, the inclination angle θ may be defined as θ = cos −1 (D A / D T ). In this case, the relationship between the distance D A and the inclination angle θ is as shown in FIG.
　図１３および図１４の例では、距離ＤＡの変化に対して傾斜角度θが曲線的に変化しているが、図１５のように、距離ＤＡの変化に対して傾斜角度θが直線的に変化してもよい。図１５は、傾斜角度θを、θ＝９０・（１－ＤＡ／ＤＴ）として定義した例である。また、図１６のように、距離ＤＡの変化に対して傾斜角度θが一定となる区間を設けたり、傾斜角度θが不連続に変化する点を設けたりしてもよい。 In the example of FIGS. 13 and 14, the distance D inclination angle with respect to a change in A theta is changing curve, as shown in FIG. 15, the inclination angle theta is linear with respect to changes in the distance D A May change to FIG. 15 is an example in which the inclination angle θ is defined as θ = 90 · (1−D A / D T ). Further, as shown in FIG. 16, or provided the distance D A segment angle of inclination θ is constant with respect to changes in the inclination angle θ may be or provided that changes discontinuously.
　また、ヘッドアップディスプレイ２５が、運転者から画像の表示位置までの見かけ上の距離（以下「虚像距離」という）を変化させることが可能な場合、距離ＤＡの変化に応じて、道路標示画像２００の虚像距離を変化させてもよい。例えば、距離ＤＡが小さくなるにつれて道路標示画像２００が運転者に近づいて見えるようにし、道路標示画像２００が一定の位置（例えば、交差点間近の位置）に止まって見えるようにしてもよい。 The head-up display 25, if it is possible to vary the apparent distance from the driver to the display position of the image (hereinafter referred to as "virtual image distance"), in accordance with a change in the distance D A, a road marking image The virtual image distance of 200 may be changed. For example, as the distance D A decreases as the road marking image 200 is seen approaching the driver, a fixed position is a road marking image 200 (e.g., an intersection close position) may be seen stopped on.
　図５、図９および図１２では、道路標示画像２００の表示位置を道路と重畳する位置としたが、道路標示画像２００の表示位置はそれに限定されない。また、距離ＤＡの変化に応じて、道路標示画像２００の表示位置を変化させてもよい。例えば、距離ＤＡが小さくなるにつれて、道路標示画像２００の表示位置を上に向けて移動させてもよい。 Although FIG. 5, FIG. 9, and FIG. 12 show the display position of the road marking image 200 as the position to be superimposed on the road, the display position of the road marking image 200 is not limited thereto. Further, in accordance with a change in the distance D A, it may change the display position of the road sign image 200. For example, as the distance D A is smaller, it may be moved toward the top display position of the road marking image 200.
　また、距離ＤＡの変化に応じて、道路標示画像２００の形状や色などの表示態様を変化させてもよい。例えば、距離ＤＡが小さくなるにつれて、道路標示画像２００の形状が長くなるように変形させたり、より目立つ色に変化させたりしてもよい。 Further, in accordance with a change in the distance D A, it may change the display mode of the shape and color of a road marking image 200. For example, as the distance D A is reduced, or modified to such shape of the road marking image 200 becomes longer, it may be or is changed to a more noticeable color.
　なお、本実施の形態では、特定地点としての交差点に、自車両が走行中の車線の道路標示画像のみが対応付けされたが、それに加えて、隣接車線など、他の車線の道路標示画像も対応付けされてもよい。すなわち、特定地点としての交差点には、自車両が走行中の道路の道路標示を表す画像が対応付けされていればよい。例えば、特定地点としての交差点に、自車両が走行中の道路に含まれる複数の車線の全ての道路標示画像が対応付けされる場合、表示制御部１２は、ヘッドアップディスプレイ２５に、それら複数の道路標示画像を表示させる。その場合、各道路標示画像は、それに対応する車線に重畳して表示されることが好ましい。 In the present embodiment, only the road marking image of the lane in which the host vehicle is traveling is associated with the intersection as the specific point, but in addition to that, the road marking images of other lanes such as adjacent lanes It may be associated. That is, an image representing the road marking of the road on which the vehicle is traveling may be associated with the intersection as the specific point. For example, when all road marking images of a plurality of lanes included in the road on which the host vehicle is traveling are associated with the intersection as the specific point, the display control unit 12 causes the head-up display 25 to Display the road marking image. In that case, each road marking image is preferably displayed superimposed on the corresponding lane.
　図１７および図１８は、表示制御装置１０の動作を示すフローチャートである。上で説明した表示制御装置１０の動作は、表示制御装置１０が図１７および図１８のフローを実行することによって実現される。以下、図１７および図１８に基づいて、表示制御装置１０の動作を説明する。 FIG. 17 and FIG. 18 are flowcharts showing the operation of the display control device 10. The operation of the display control apparatus 10 described above is realized by the display control apparatus 10 executing the flows of FIGS. 17 and 18. Hereinafter, the operation of the display control device 10 will be described based on FIGS. 17 and 18.
　表示制御装置１０が起動すると、特定地点情報取得部１１が、自車両位置取得装置２１から自車両の位置を取得する（ステップＳ１）。また、特定地点情報取得部１１は、地図情報記憶装置２２から自車両周辺の地図情報を取得して、自車両の前方にある特定地点の位置を取得する（ステップＳ２）。そして、特定地点情報取得部１１は、自車両の位置と特定地点の位置とから、自車両から特定地点までの距離を算出し（ステップＳ３）、その距離が予め定められた閾値以下か否かを確認する（ステップＳ４）。 When the display control device 10 is activated, the specific point information acquisition unit 11 acquires the position of the own vehicle from the own vehicle position acquisition device 21 (step S1). In addition, the specific point information acquisition unit 11 acquires map information around the host vehicle from the map information storage device 22, and acquires the position of the specific point in front of the host vehicle (step S2). Then, the specific point information acquisition unit 11 calculates the distance from the host vehicle to the specific point from the position of the host vehicle and the position of the specific point (step S3), and whether the distance is equal to or less than a predetermined threshold (Step S4).
　自車両から特定地点までの距離が閾値よりも大きければ（ステップＳ４でＮＯ）、ステップＳ１へ戻る。自車両から特定地点までの距離が閾値以下であれば（ステップＳ４でＹＥＳ）、ヘッドアップディスプレイ２５に画像を表示させる処理である画像表示処理（ステップＳ５）に移行する。 If the distance from the vehicle to the specific point is larger than the threshold (NO in step S4), the process returns to step S1. If the distance from the host vehicle to the specific point is equal to or less than the threshold (YES in step S4), the process proceeds to an image display process (step S5) which is a process for displaying an image on the head-up display 25.
　図１８は、画像表示処理のフローチャートである。画像表示処理が開始されると、特定地点情報取得部１１は、自車両の前方の特定地点に対応付けされた特定地点対応画像を取得する（ステップＳ５１）。また、特定地点情報取得部１１は、再度、自車両位置取得装置２１から自車両の位置を取得し（ステップＳ５２）、自車両から特定地点までの距離を算出する（ステップＳ５３）。 FIG. 18 is a flowchart of the image display process. When the image display process is started, the specific point information acquisition unit 11 acquires a specific point corresponding image associated with the specific point ahead of the host vehicle (step S51). Further, the specific point information acquisition unit 11 acquires the position of the host vehicle from the host vehicle position acquisition device 21 again (step S52), and calculates the distance from the host vehicle to the specific point (step S53).
　続いて、傾斜角度決定部１３は、表示制御部１２がヘッドアップディスプレイ２５に特定地点対応画像を表示させるときの傾斜角度を、自車両から特定地点までの距離に基づいて決定する（ステップＳ５４）。 Subsequently, the inclination angle determination unit 13 determines the inclination angle when the display control unit 12 causes the head-up display 25 to display the specific point corresponding image based on the distance from the host vehicle to the specific point (step S54). .
　そして、表示制御部１２が、ヘッドアップディスプレイ２５に、特定地点対応画像を表示させる（ステップＳ５５）。このとき、表示制御部１２は、特定地点対応画像がステップＳ５４で決定された傾斜角度だけ路面に対して傾いて見えるような方法で、ヘッドアップディスプレイ２５に表示させる。 Then, the display control unit 12 causes the head-up display 25 to display an image corresponding to a specific point (step S55). At this time, the display control unit 12 causes the head-up display 25 to display the specific point correspondence image in such a manner as to be inclined with respect to the road surface by the inclination angle determined in step S54.
　その後、特定地点情報取得部１１は、自車両が特定地点に到達しているか否かを確認する（ステップＳ５６）。自車両が特定地点に到達していなければ（ステップＳ５６でＮＯ）、ステップＳ５１へ戻り、自車両が特定地点に到達していれば（ステップＳ５６でＹＥＳ）、画像表示処理を終了する。なお、画像表示処理が終了すると、図１７のステップＳ１へと戻る。 Thereafter, the specific point information acquiring unit 11 confirms whether or not the host vehicle has reached the specific point (step S56). If the host vehicle has not reached the specific spot (NO in step S56), the process returns to step S51, and if the host vehicle has reached the specific spot (YES in step S56), the image display processing is ended. When the image display process ends, the process returns to step S1 in FIG.
　実施の形態１では、特定地点対応画像が、自車両が走行中の車線の道路標示画像であるので、画像表示処理（図１８）の途中で自車両が車線変更すると、特定地点対応画像が変わることになる。そのため、自車両が特定地点に到達するまでの間（ステップＳ５６でＮＯと判断される間）、特定地点対応画像の取得（ステップＳ５１）を繰り返し行う必要がある。しかし、特定地点対応画像が画像表示処理の途中で変化することがない場合には、特定地点対応画像の取得（ステップＳ５１）は１回の画像表示処理で１回だけ行われれば足りる。よってその場合には、ステップＳ５６でＮＯと判断されたときに、ステップＳ５１ではなく、ステップＳ５２へ戻るようにしてもよい。 In the first embodiment, since the specific point corresponding image is a road marking image of the lane in which the host vehicle is traveling, the specific point corresponding image changes when the host vehicle changes lane during the image display process (FIG. 18). It will be. Therefore, it is necessary to repeatedly perform acquisition of the specific point corresponding image (step S51) until the host vehicle reaches the specific point (while it is determined NO in step S56). However, when the specific spot correspondence image does not change in the middle of the image display processing, it is sufficient to obtain the specific spot correspondence image (step S51) only once in one image display processing. Therefore, in this case, when the determination in step S56 is NO, the process may return to step S52 instead of step S51.
　図１９および図２０は、それぞれ表示制御装置１０のハードウェア構成の例を示す図である。図１に示した表示制御装置１０の構成要素（特定地点情報取得部１１、表示制御部１２および傾斜角度決定部１３）の各機能は、例えば図１９に示す処理回路５０により実現される。すなわち、表示制御装置１０は、自車両からその前方の特定地点までの距離の情報、および、特定地点に対応付けされた画像の情報を取得し、自車両から特定地点までの距離に基づいて、特定地点に対応付けされた画像の傾斜角度を決定し、自車両から特定地点までの距離が予め定められた閾値以下になると、特定地点に対応付けされた画像を、路面に対し傾斜角度だけ傾いて見えるように、自車両のヘッドアップディスプレイに表示させるための処理回路５０を備える。処理回路５０は、専用のハードウェアであってもよいし、メモリに格納されたプログラムを実行するプロセッサ（中央処理装置（ＣＰＵ：Central Processing Unit）、処理装置、演算装置、マイクロプロセッサ、マイクロコンピュータ、ＤＳＰ（Digital Signal Processor）とも呼ばれる）を用いて構成されていてもよい。 19 and 20 each show an example of the hardware configuration of the display control apparatus 10. Each function of the components (specific point information acquisition unit 11, display control unit 12, and inclination angle determination unit 13) of the display control device 10 shown in FIG. 1 is realized by, for example, the processing circuit 50 shown in FIG. That is, the display control device 10 acquires information on the distance from the vehicle to a specific point in front of it and information on an image associated with the specific point, and based on the distance from the vehicle to the specific point, The inclination angle of the image associated with the specific point is determined, and when the distance from the vehicle to the specific point is less than a predetermined threshold, the image associated with the specific point is inclined by the inclination angle with respect to the road surface And a processing circuit 50 for displaying on the head-up display of the host vehicle. The processing circuit 50 may be dedicated hardware, or a processor (central processing unit (CPU: Central Processing Unit), processing unit, arithmetic unit, microprocessor, microcomputer, etc.) that executes a program stored in the memory. It may be configured using a DSP (also called a digital signal processor).
　処理回路５０が専用のハードウェアである場合、処理回路５０は、例えば、単一回路、複合回路、プログラム化したプロセッサ、並列プログラム化したプロセッサ、ＡＳＩＣ（Application Specific Integrated Circuit）、ＦＰＧＡ（Field-Programmable Gate Array）、またはこれらを組み合わせたものなどが該当する。表示制御装置１０の構成要素の各々の機能が個別の処理回路で実現されてもよいし、それらの機能がまとめて一つの処理回路で実現されてもよい。 When the processing circuit 50 is dedicated hardware, the processing circuit 50 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an application specific integrated circuit (ASIC), an FPGA (field-programmable) This corresponds to Gate Array) or a combination thereof. The functions of the components of the display control device 10 may be realized by individual processing circuits, or those functions may be realized collectively by one processing circuit.
　図２０は、処理回路５０がプログラムを実行するプロセッサ５１を用いて構成されている場合における表示制御装置１０のハードウェア構成の例を示している。この場合、表示制御装置１０の構成要素の機能は、ソフトウェア等（ソフトウェア、ファームウェア、またはソフトウェアとファームウェアとの組み合わせ）により実現される。ソフトウェア等はプログラムとして記述され、メモリ５２に格納される。プロセッサ５１は、メモリ５２に記憶されたプログラムを読み出して実行することにより、各部の機能を実現する。すなわち、表示制御装置１０は、プロセッサ５１により実行されるときに、自車両からその前方の特定地点までの距離の情報、および、特定地点に対応付けされた画像の情報を取得する処理と、自車両から特定地点までの距離に基づいて、特定地点に対応付けされた画像の傾斜角度を決定する処理と、自車両から特定地点までの距離が予め定められた閾値以下になると、特定地点に対応付けされた画像を、路面に対し傾斜角度だけ傾いて見えるように、自車両のヘッドアップディスプレイに表示させる処理と、が結果的に実行されることになるプログラムを格納するためのメモリ５２を備える。換言すれば、このプログラムは、表示制御装置１０の構成要素の動作の手順や方法をコンピュータに実行させるものであるともいえる。 FIG. 20 shows an example of the hardware configuration of the display control apparatus 10 when the processing circuit 50 is configured using the processor 51 that executes a program. In this case, the functions of the components of the display control device 10 are realized by software (software, firmware, or a combination of software and firmware). Software and the like are described as a program and stored in the memory 52. The processor 51 reads out and executes the program stored in the memory 52 to implement the functions of the respective units. That is, the display control device 10, when executed by the processor 51, acquires the information of the distance from the own vehicle to the specific point in front of it and the information of the image associated with the specific point, and The process of determining the inclination angle of the image associated with the specific point based on the distance from the vehicle to the specific point, and when the distance from the vehicle to the specific point is less than or equal to a predetermined threshold, corresponds to the specific point A memory 52 for storing a program that is to be executed as a result of displaying the attached image on the head-up display of the own vehicle so that the attached image appears to be inclined by the inclination angle with respect to the road surface . In other words, it can be said that this program causes a computer to execute the procedure and method of the operation of the components of the display control apparatus 10.
　ここで、メモリ５２は、例えば、ＲＡＭ（Random Access Memory）、ＲＯＭ（Read Only Memory）、フラッシュメモリー、ＥＰＲＯＭ（Erasable Programmable Read Only Memory）、ＥＥＰＲＯＭ（Electrically Erasable Programmable Read Only Memory）などの、不揮発性または揮発性の半導体メモリ、ＨＤＤ（Hard Disk Drive）、磁気ディスク、フレキシブルディスク、光ディスク、コンパクトディスク、ミニディスク、ＤＶＤ（Digital Versatile Disc）およびそのドライブ装置等、または、今後使用されるあらゆる記憶媒体であってもよい。 Here, the memory 52 is non-volatile or non-volatile such as, for example, random access memory (RAM), read only memory (ROM), flash memory, erasable programmable read only memory (EPROM), electrically erasable programmable read only memory (EEPROM). Volatile semiconductor memory, HDD (Hard Disk Drive), magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD (Digital Versatile Disc), its drive device, etc., or any storage medium used in the future May be
　以上、表示制御装置１０の構成要素の機能が、ハードウェアおよびソフトウェア等のいずれか一方で実現される構成について説明した。しかしこれに限ったものではなく、表示制御装置１０の一部の構成要素を専用のハードウェアで実現し、別の一部の構成要素をソフトウェア等で実現する構成であってもよい。例えば、一部の構成要素については専用のハードウェアとしての処理回路５０でその機能を実現し、他の一部の構成要素についてはプロセッサ５１としての処理回路５０がメモリ５２に格納されたプログラムを読み出して実行することによってその機能を実現することが可能である。 In the above, the structure by which the function of the component of the display control apparatus 10 is implement | achieved by either hardware, software, etc. was demonstrated. However, the present invention is not limited to this, and some components of the display control apparatus 10 may be realized by dedicated hardware, and other components may be realized by software or the like. For example, the processing circuit 50 as dedicated hardware realizes the function of some components, and the processing circuit 50 as the processor 51 stores the program stored in the memory 52 for the other components. It is possible to realize the function by reading and executing.
　以上のように、表示制御装置１０は、ハードウェア、ソフトウェア等、またはこれらの組み合わせによって、上述の各機能を実現することができる。 As described above, the display control device 10 can realize each of the functions described above by hardware, software, etc., or a combination thereof.
　＜実施の形態２＞
　実施の形態２では、特定地点を、道路の車線数が増減する地点（以下「車線数変化地点」という）とし、特定地点に対応付けされる画像を、車線数変化地点における自車両が走行中の車線の道路標示を表す画像（道路標示画像）とする。このことを除いて、車両用情報表示システムの構成および動作は実施の形態１と同様である。 Second Embodiment
In the second embodiment, the specific point is a point at which the number of lanes on the road increases and decreases (hereinafter referred to as "the number of lane change points"), and the image corresponding to the specific point It is set as the image (road marking image) showing the road marking of the traffic lane. Except for this, the configuration and operation of the vehicular information display system are the same as in the first embodiment.
　実施の形態２に係る表示制御装置１０の動作について具体的な例を挙げて説明する。例えば図２１のように、自車両１００が直進と右折の兼用車線（以下「直進／右折車線」という）を走行しており、特定地点としての車線数変化地点で、直進／右折車線が直進車線と右折車線とに別れて車線数が増加する場合を仮定する。この場合、特定地点である車線数変化地点には、道路標示画像として、直進／右折車線の道路標示を表す画像（直進と右折の両方を示す矢印の画像）が対応付けされる。 The operation of the display control apparatus 10 according to the second embodiment will be described by taking a specific example. For example, as shown in FIG. 21, the vehicle 100 travels on a combined straight and right turn lane (hereinafter referred to as “straight / right turn lane”), and the straight / right turn lane is straight at the lane number change point as a specific point. Suppose that the number of lanes is divided into the right turn lane and the right turn lane. In this case, as the road marking image, an image representing the road marking of the straight / right-turning lane (an image of an arrow indicating both straight driving and right turning) is associated with the lane number change point which is the specific point.
　特定地点情報取得部１１は、自車両１００から車線数変化地点までの距離ＤＡの情報と、直進／右折車線の道路標示画像を取得する。表示制御部１２は、距離ＤＡと予め定められた閾値ＤＴとを比較して、距離ＤＡが閾値ＤＴ以下であれば、ヘッドアップディスプレイ２５に、道路標示画像を表示させる。図２１の状態では、距離ＤＡが閾値ＤＴよりも大きいため、表示制御部１２はヘッドアップディスプレイ２５に道路標示画像を表示させることはしない。そのため、図２２のように、運転者からフロントウィンドウ１０１を通して見える風景には、何の画像も重畳表示されない。 Specific point information acquisition unit 11 acquires the information of the distance D A from the vehicle 100 to the number of lanes changes location, the road marking image of straight / right turn lane. The display control unit 12 compares the distance D A with a predetermined threshold D T, and causes the head-up display 25 to display a road marking image if the distance D A is less than or equal to the threshold D T. In the state of FIG. 21, since the distance D A is larger than the threshold D T , the display control unit 12 does not cause the head-up display 25 to display a road marking image. Therefore, as shown in FIG. 22, no image is displayed superimposed on the scenery viewed from the driver through the front window 101.
　その後、自車両１００が前進して、図２３のように自車両１００から車線数変化地点までの距離ＤＡが閾値ＤＴ以下になると、図２４のように、表示制御部１２がヘッドアップディスプレイ２５に道路標示画像２００を表示させる。このとき、表示制御部１２は、道路標示画像２００が路面から起き上がって見えるように、ヘッドアップディスプレイ２５に表示させる。 Thereafter, the vehicle 100 is advanced, the distance D A from the vehicle 100 to the number of lanes changes point as shown in FIG. 23 is equal to or less than the threshold value D T, as shown in FIG. 24, the display control unit 12 is a head-up display The road marking image 200 is displayed on the screen 25. At this time, the display control unit 12 causes the head-up display 25 to display the road marking image 200 so that the road marking image 200 can be seen rising from the road surface.
　路面に対する道路標示画像２００の傾斜角度は、傾斜角度決定部１３により、自車両１００から車線数変化地点までの距離ＤＡに基づいて決定される。また、傾斜角度決定部１３は、距離ＤＡが小さくなるにつれて傾斜角度が大きくなるように、傾斜角度を変化させる。 The inclination angle of the road marking image 200 with respect to the road surface is the inclination angle determination unit 13, is determined based on the distance D A from the vehicle 100 to the number of lanes changes location. The inclination angle determination unit 13, as such inclination angle increases the distance D A is reduced, varying the inclination angle.
　そして図２５のように自車両１００が車線数変化地点の直前まで進むと、傾斜角度決定部１３は、道路標示画像２００の傾斜角度を９０°にする。応じて、表示制御部１２がヘッドアップディスプレイ２５に表示させる道路標示画像２００は、図２６のように直立する。 Then, as shown in FIG. 25, when the vehicle 100 travels to a position immediately before the lane number change point, the inclination angle determination unit 13 sets the inclination angle of the road marking image 200 to 90 °. In response, the road marking image 200 displayed by the display control unit 12 on the head-up display 25 is upright as shown in FIG.
　このように、実施の形態２に係る表示制御装置１０は、ヘッドアップディスプレイ２５に、自車両１００から車線数変化地点までの距離ＤＡに応じた傾斜角度で道路標示画像２００を表示させる。よって、運転者からは、自車両１００が車線数変化地点に近づくほど、道路標示画像２００が起き上がってくるように見える。従って、運転者は、道路標示画像２００から、自車両が走行中の車線の道路標示を認識できるだけでなく、自車両１００から車線数変化地点までの距離も認識することができる。 Thus, the display control apparatus 10 according to the second embodiment, the head-up display 25 to display a road marking image 200 at a tilt angle corresponding to the distance D A from the vehicle 100 to the number of lanes changes location. Therefore, from the driver, as the host vehicle 100 approaches the lane number change point, the road marking image 200 appears to rise. Therefore, the driver can not only recognize the road marking of the lane in which the host vehicle is traveling from the road marking image 200, but also can recognize the distance from the host vehicle 100 to the lane number change point.
　また、自車両１００から車線数変化地点までの距離ＤＡが閾値ＤＴよりも大きいときは道路標示画像２００が表示されない。距離ＤＡが閾値ＤＴ以下になっても、距離ＤＡが比較的大きいときは道路標示画像２００が前方に倒れて見え、フロントウィンドウ１０１内で道路標示画像２００が占める面積は小さいため、道路標示画像２００によって運転者の視線が奪われることが抑制される。 The distance D A from the vehicle 100 to the number of lanes changes point road marking image 200 is not displayed is greater than the threshold value D T. Even if the distance D A becomes smaller than the threshold D T , when the distance D A is relatively large, the road marking image 200 appears to fall forward and the area occupied by the road marking image 200 in the front window 101 is small. The marking image 200 suppresses the capture of the driver's line of sight.
　＜実施の形態３＞
　図２７は、実施の形態３に係る車両用情報表示システムの構成を示す図である。図２７の車両用情報表示システムの構成は、図１の構成に対し、自車両の車載センサ２３を追加するとともに、表示制御装置１０に視認性判断部１４を設けたものである。また、実施の形態３では、実施の形態１と同様に、特定地点は自車両の前方の交差点であり、特定地点としての交差点には、その交差点における自車両が走行中の車線の道路標示を表す画像（道路標示画像）が対応付けされる。 Embodiment 3
FIG. 27 is a diagram showing the configuration of a vehicular information display system according to a third embodiment. The configuration of the information display system for vehicle of FIG. 27 is obtained by adding the on-vehicle sensor 23 of the own vehicle to the configuration of FIG. 1 and providing the visibility determination unit 14 in the display control device 10. Further, in the third embodiment, as in the first embodiment, the specific point is the intersection ahead of the host vehicle, and the intersection as the specific point is a road marking of the lane in which the host vehicle is traveling at the intersection. The image (road marking image) to represent is matched.
　車載センサ２３は、自車両の周辺に存在する他車両などの障害物の位置を検出可能なものであり、例えばカメラやレーダなどで構成される。 The on-vehicle sensor 23 is capable of detecting the position of an obstacle such as another vehicle existing around the host vehicle, and is configured of, for example, a camera or a radar.
　視認性判断部１４は、自車両位置取得装置２１が取得した自車両の位置と、車載センサ２３が検出した障害物の位置と、地図情報記憶装置２２から取得した道路標示の位置とに基づいて、道路標示が自車両から見えるか否かを判断する。具体的には、視認性判断部１４は、図２８のように、自車両１００から前方車両１１０までの距離Ｄ１が、自車両１００から道路標示１２０の先端までの距離Ｄ２よりも大きければ、自車両１００から道路標示１２０が見えると判断し、図２９のように、距離Ｄ１が距離Ｄ２以下であれば、自車両１００から道路標示１２０が見えないと判断する。 The visibility determination unit 14 is based on the position of the host vehicle acquired by the host vehicle position acquisition device 21, the position of the obstacle detected by the onboard sensor 23, and the position of the road marking acquired from the map information storage device 22. , It is determined whether the road marking can be seen from the vehicle. Specifically, the visibility determination unit 14, as shown in FIG. 28, the distance D 1 of the from the vehicle 100 to the front vehicle 110 is greater than the distance D 2 from the vehicle 100 to the top of the road sign 120 , it is determined that a road sign 120 from the vehicle 100 is visible, as in FIG. 29, the distance D 1 is equal distance D 2 less, it is determined that the road sign 120 from the vehicle 100 is not visible.
　道路標示が自車両から見えるか否かの判断方法は、上記の方法に限られず、例えば、車載センサ２３であるカメラで撮影した自車両の前方を映像に、道路標示が写っているか否かによって判断してもよい。この方法では、例えば雪で路面標示が覆われている状況や、路面の摩耗で道路標示が消えている状況でも、道路標示が自車両から見えないと判断される。 The method of judging whether or not the road marking can be seen from the host vehicle is not limited to the above method. For example, depending on whether or not the road marking appears in the image in front of the host vehicle photographed by the camera which is the onboard sensor 23 You may judge. In this method, for example, it is determined that the road marking can not be seen from the host vehicle even in a situation where the road marking is covered with snow or a situation in which the road marking disappears due to wear of the road surface.
　表示制御装置１０の動作は基本的に実施の形態１と同様である。ただし、実施の形態３では、表示制御部１２が、道路標示が自車両から見えないときに限り、道路標示画像をヘッドアップディスプレイ２５に表示させるように動作する。 The operation of the display control device 10 is basically the same as that of the first embodiment. However, in the third embodiment, the display control unit 12 operates to display the road marking image on the head-up display 25 only when the road marking can not be seen from the host vehicle.
　例えば図３０のように、道路標示が前方車両１１０に隠れて自車両から見えないとき、表示制御部１２は、実施の形態１と同様に、ヘッドアップディスプレイ２５に道路標示画像２００を表示させる。しかし、図３１のように、道路標示が自車両から見えるときは、表示制御部１２は、ヘッドアップディスプレイ２５に道路標示画像２００を表示させない。 For example, as shown in FIG. 30, when the road marking is hidden behind the front vehicle 110 and can not be seen from the host vehicle, the display control unit 12 causes the head-up display 25 to display the road marking image 200 as in the first embodiment. However, as shown in FIG. 31, when the road marking can be seen from the host vehicle, the display control unit 12 does not display the road marking image 200 on the head-up display 25.
　実施の形態３によれば、自車両から道路標示が見えず、運転者が道路標示を認識することが困難な場合に限り、ヘッドアップディスプレイ２５によって道路標示画像が表示される。道路標示画像が必要以上に表示されることが防止されるため、運転者の視線が奪われる恐れを低減できる。なお、実施の形態３の技術は、実施の形態２の車両用情報表示システムにも適用可能である。 According to the third embodiment, the road-up display image is displayed by the head-up display 25 only when the road marking can not be seen from the host vehicle and it is difficult for the driver to recognize the road marking. Since the road marking image is prevented from being displayed more than necessary, it is possible to reduce the possibility that the driver's gaze will be lost. The technology of the third embodiment is also applicable to the vehicle information display system of the second embodiment.
　＜実施の形態４＞
　図３２は、実施の形態４に係る車両用情報表示システムの構成を示す図である。図３２の車両用情報表示システムの構成は、図１の構成に対し、ナビゲーション装置２４を追加したものである。ナビゲーション装置２４は、運転者により設定された目的地に基づいて自車両の走行予定経路を設定し、自車両を走行予定経路に沿って走行させるように、運転者に対して経路案内を行う。 Fourth Preferred Embodiment
FIG. 32 is a diagram showing the configuration of a vehicular information display system according to a fourth embodiment. The configuration of the information display system for a vehicle shown in FIG. 32 is obtained by adding a navigation device 24 to the configuration shown in FIG. The navigation device 24 sets a planned travel route of the host vehicle based on the destination set by the driver, and provides route guidance to the driver so that the host vehicle travels along the planned travel route.
　また、実施の形態４では、特定地点はナビゲーション装置２４が自車両の経路案内を行う地点（以下「案内地点」という）であり、特定地点としての案内地点には、その案内地点でナビゲーション装置２４が案内する方向を示す画像（以下「案内画像」という）が対応付けされる。 Further, in the fourth embodiment, the specific point is a point (hereinafter referred to as a “guide point”) where the navigation device 24 performs route guidance of the vehicle, and the navigation device 24 at the guide point is a guide point as the specific point. An image (hereinafter referred to as a "guide image") indicating a direction in which the user guides is associated.
　なお、図３２では、自車両位置取得装置２１、地図情報記憶装置２２およびナビゲーション装置２４をそれぞれ個別のブロックとして示したが、自車両位置取得装置２１および地図情報記憶装置２２は、ナビゲーション装置２４に内蔵されたものでもよい。 In FIG. 32, the host vehicle position acquisition device 21, the map information storage device 22, and the navigation device 24 are shown as individual blocks, but the host vehicle position acquisition device 21 and the map information storage device 22 It may be built-in.
　実施の形態４に係る表示制御装置１０の動作について具体的な例を挙げて説明する。例えば、自車両１００のナビゲーション装置２４に、図３３のように交差点を右折する走行予定経路が設定されており、その交差点で右折の経路案内が行われる場合を仮定する。この場合、案内地点である交差点が特定地点であり、その交差点には、案内画像として、右折の案内を表す画像（右折を示す矢印の画像）が対応付けされる。 The operation of the display control apparatus 10 according to the fourth embodiment will be described by taking a specific example. For example, it is assumed that a planned travel route for turning the intersection to the right as shown in FIG. 33 is set in the navigation device 24 of the vehicle 100 and route guidance for the right turn is performed at the intersection. In this case, an intersection which is a guidance point is a specific point, and an image (an image of an arrow indicating a right turn) indicating guidance for a right turn is associated with the intersection as a guidance image.
　特定地点情報取得部１１は、自車両１００から案内地点までの距離ＤＡと、右折を示す案内画像を取得する。表示制御部１２は、距離ＤＡと予め定められた閾値ＤＴとを比較して、距離ＤＡが閾値ＤＴ以下であれば、ヘッドアップディスプレイ２５に、案内画像を表示させる。図３３の状態では、距離ＤＡが閾値ＤＴよりも大きいため、表示制御部１２はヘッドアップディスプレイ２５に案内画像を表示させることはしない。そのため、図３４のように、運転者からフロントウィンドウ１０１を通して見える風景には、何の画像も重畳表示されない。 Specific point information acquisition unit 11 obtains the distance D A to the guidance point from the vehicle 100, a guide image indicating a right turn. The display control unit 12 compares the distance D A with a predetermined threshold D T, and causes the head-up display 25 to display a guidance image if the distance D A is less than or equal to the threshold D T. In the state of FIG. 33, since the distance D A is larger than the threshold D T , the display control unit 12 does not cause the head-up display 25 to display a guidance image. Therefore, as shown in FIG. 34, no image is displayed superimposed on the scenery viewed from the driver through the front window 101.
　その後、自車両１００が前進して、図３５のように自車両１００から案内地点までの距離ＤＡが閾値ＤＴ以下になると、図３６のように、表示制御部１２は、ヘッドアップディスプレイ２５に案内画像２０１を表示させる。このとき、表示制御部１２は、案内画像２０１が路面に対して傾いて見えるような方法で、案内画像２０１をヘッドアップディスプレイ２５に表示させる。 Thereafter, the vehicle 100 moves forward, the distance D A to the guidance point from the vehicle 100 as shown in FIG. 35 is equal to or less than the threshold value D T, as the display control unit 12 of FIG. 36, a head-up display 25 The guidance image 201 is displayed on the screen. At this time, the display control unit 12 causes the head-up display 25 to display the guidance image 201 in such a manner that the guidance image 201 appears to be inclined with respect to the road surface.
　路面に対する案内画像２０１の傾斜角度は、傾斜角度決定部１３により、自車両１００から案内地点までの距離ＤＡに基づいて決定される。傾斜角度決定部１３は、距離ＤＡが小さくなるにつれて傾斜角度が大きくなるように、傾斜角度を変化させる。 The inclination angle of the guide image 201 with respect to the road surface is the inclination angle determination unit 13, is determined based on the distance D A to the guidance point from the vehicle 100. Inclination angle determining section 13, the distance D A as the inclination angle increases as decreases, changing the inclination angle.
　例えば図３７のように自車両１００が案内地点に近づくと、傾斜角度決定部１３が案内画像２０１の傾斜角度を大きくする。よって、表示制御部１２がヘッドアップディスプレイ２５に表示させる案内画像２０１は、図３８のように起き上がってくる。 For example, as shown in FIG. 37, when the host vehicle 100 approaches the guidance point, the inclination angle determination unit 13 increases the inclination angle of the guidance image 201. Therefore, the guidance image 201 displayed on the head-up display 25 by the display control unit 12 rises up as shown in FIG.
　また、図３９のように自車両１００が案内地点の直前まで進むと、傾斜角度決定部１３は、案内画像２０１の傾斜角度を９０°にする。よって、表示制御部１２がヘッドアップディスプレイ２５に表示させる案内画像２０１は、図４０のように直立する。 Further, as shown in FIG. 39, when the vehicle 100 travels to a position immediately before the guidance point, the inclination angle determination unit 13 sets the inclination angle of the guidance image 201 to 90 °. Therefore, the guidance image 201 displayed on the head-up display 25 by the display control unit 12 is upright as shown in FIG.
　このように、実施の形態４に係る表示制御装置１０は、ヘッドアップディスプレイ２５に、自車両１００から案内地点までの距離ＤＡに応じた傾斜角度で案内画像２０１を表示させる。よって、運転者からは、自車両１００が案内地点に近づくほど、道路標示画像２００が起き上がってくるように見える。従って、運転者は、案内画像２０１から、経路案内を認識できるだけでなく、自車両１００から案内地点までの距離も認識することができる。 Thus, the display control apparatus 10 according to the fourth embodiment, the head-up display 25 to display the guide image 201 in tilt angle in accordance with the distance D A to the guidance point from the vehicle 100. Therefore, from the driver, the road marking image 200 appears to rise up as the host vehicle 100 approaches the guidance point. Therefore, the driver can not only recognize the route guidance but also recognize the distance from the own vehicle 100 to the guidance point from the guidance image 201.
　また、自車両１００から案内地点までの距離ＤＡが閾値ＤＴよりも大きいときは案内画像２０１が表示されない。また、距離ＤＡが閾値ＤＴ以下になっても、距離ＤＡが比較的大きいときは案内画像２０１が前方に倒れて見え、フロントウィンドウ１０１内で案内画像２０１が占める面積は小さいため、案内画像２０１によって運転者の視線が奪われることを抑制できる。 The distance D A to the guidance point from the vehicle 100 does not appear guide image 201 is greater than the threshold value D T. Moreover, since even if the distance D A is equal to or less than a threshold value D T, when the distance D A is relatively large visible guide image 201 is falling forward, the area occupied by the guide image 201 in the front window within 101 is small, the guide The image 201 can suppress capture of the driver's gaze.
　＜実施の形態５＞
　図４１は、実施の形態５に係る車両用情報表示システムの構成を示す図である。図４１の車両用情報表示システムの構成は、図３２の構成に対し、表示制御装置１０に車線変更要否判断部１５を追加したものである。 The Fifth Preferred Embodiment
FIG. 41 is a diagram showing the configuration of a vehicular information display system according to the fifth embodiment. The configuration of the vehicle information display system of FIG. 41 is obtained by adding a lane change necessity determination unit 15 to the display control device 10 in addition to the configuration of FIG.
　実施の形態５では、実施の形態４と同様に、特定地点はナビゲーション装置２４が自車両の経路案内を行う案内地点であり、特定地点としての案内地点には、その案内地点でナビゲーション装置２４が案内する方向を示す案内画像が対応付けされる。 In the fifth embodiment, as in the fourth embodiment, the specific point is a guide point where the navigation device 24 performs route guidance of the vehicle, and at the guide point as the specific point, the navigation device 24 is at the guide point. The guidance image which shows the direction to guide is matched.
　車線変更要否判断部１５は、自車両位置取得装置２１が取得した自車両の位置と、地図情報記憶装置２２から取得した自車両が走行中の道路に含まれる車線と、ナビゲーション装置２４に設定されている走行予定経路とに基づいて、自車両１００が走行予定経路に沿って走行するために車線変更を行う必要があるか否かを判断する。 The lane change necessity determination unit 15 sets the position of the host vehicle acquired by the host vehicle position acquisition device 21, the lane included in the road on which the host vehicle acquired from the map information storage device 22 is traveling, and the navigation device 24. Based on the planned travel route, it is determined whether or not it is necessary to change lanes in order for the vehicle 100 to travel along the planned travel route.
　例えば、図４２に示すように、自車両１００が走行予定経路に沿って走行するために右折車線を走行する必要がある場合を仮定する。このとき、図４２のように、自車両１００が右折車線を走行していれば、車線変更要否判断部１５は、自車両１００の車線変更は不要と判断する。一方、図４３のように、自車両１００が右折車線以外の車線を走行していれば、車線変更要否判断部１５は、自車両１００の車線変更が必要と判断する。 For example, as shown in FIG. 42, it is assumed that the host vehicle 100 needs to travel in the right turn lane to travel along the planned travel route. At this time, as shown in FIG. 42, if the subject vehicle 100 is traveling in the right turn lane, the lane change necessity determination unit 15 determines that the lane change of the subject vehicle 100 is not necessary. On the other hand, if the vehicle 100 travels in a lane other than the right turn lane as shown in FIG. 43, the lane change necessity determination unit 15 determines that the lane change of the vehicle 100 is necessary.
　実施の形態５に係る表示制御装置１０の動作は基本的に実施の形態４と同様である。ただし、実施の形態５では、自車両１００の車線変更が必要な場合には、表示制御部１２が、自車両１００から案内地点までの距離ＤＡと比較する閾値ＤＴを、車線変更が不要な場合に比べて大きくする（図４３よりも図４２の方が閾値ＤＴは大きくなっている）。よって、自車両１００の車線変更が必要なときは、車線変更が不要なときよりも早いタイミングで案内画像２０１が表示される。 The operation of the display control apparatus 10 according to the fifth embodiment is basically the same as that of the fourth embodiment. However, in the fifth embodiment, when the required lane change of the vehicle 100, the display control unit 12, a threshold value D T to be compared with the distance D A to the guidance point from the vehicle 100, unnecessary lane change 42 (in FIG. 42, the threshold value DT is larger than in FIG. 43). Therefore, when it is necessary to change the lane of the vehicle 100, the guide image 201 is displayed at a timing earlier than when the change of the lane is unnecessary.
　実施の形態５によれば、自車両１００の車線変更が必要なときに案内画像２０１が表示されるタイミングが早くなるため、運転者に車線変更が必要なことをいち早く認識させることができる。 According to the fifth embodiment, when the lane change of the host vehicle 100 is required, the timing at which the guide image 201 is displayed is advanced, so that the driver can quickly recognize that the lane change is necessary.
　また、表示制御部１２は、自車両１００の車線変更の要否に応じて、案内画像２０１の表示態様を変化させてもよい。例えば、車線変更が必要なときに、図４４のように、車線変更が不要なときよりも目立つ色で案内画像２０１を表示させることで、運転者に車線変更が必要なことをより確実に認識させることができる。 Further, the display control unit 12 may change the display mode of the guidance image 201 in accordance with the necessity of the lane change of the host vehicle 100. For example, when lane change is necessary, as shown in FIG. 44, the guidance image 201 is displayed in a color that is more prominent than when lane change is unnecessary, thereby more reliably recognizing that the driver needs to change lanes. It can be done.
　また、傾斜角度決定部１３は、自車両１００の車線変更の要否に応じて、案内画像２０１の傾斜角度を変更してもよい。例えば、車線変更が必要なときに、車線変更が不要なときよりも案内画像２０１傾斜角度を大きくすることで、案内画像２０１が目立つようになり、運転者に車線変更が必要なことをより確実に認識させることができる。 Further, the inclination angle determination unit 13 may change the inclination angle of the guide image 201 in accordance with the necessity of the lane change of the host vehicle 100. For example, when the lane change is necessary, by increasing the inclination angle of the guide image 201 compared to when the lane change is unnecessary, the guide image 201 becomes noticeable, and it is more reliable that the driver needs the lane change. Can be recognized.
　なお、本発明は、その発明の範囲内において、各実施の形態を自由に組み合わせたり、各実施の形態を適宜、変形、省略することが可能である。 In the present invention, within the scope of the invention, each embodiment can be freely combined, or each embodiment can be appropriately modified or omitted.
　本発明は詳細に説明されたが、上記した説明は、すべての態様において、例示であって、この発明がそれに限定されるものではない。例示されていない無数の変形例が、この発明の範囲から外れることなく想定され得るものと解される。 Although the present invention has been described in detail, the above description is an exemplification in all aspects, and the present invention is not limited thereto. It is understood that countless variations not illustrated are conceivable without departing from the scope of the present invention.
　１０　表示制御装置、１１　特定地点情報取得部、１２　表示制御部、１３　傾斜角度決定部、１４　視認性判断部、１５　車線変更要否判断部、２１　自車両位置取得装置、２２　地図情報記憶装置、２３　車載センサ、２４　ナビゲーション装置、２５　ヘッドアップディスプレイ、１００　自車両、１０１　フロントウィンドウ、１１０　前方車両、１２０　道路標示、２００　道路標示画像、２０１　案内画像、５０　処理回路、５１　プロセッサ、５２　メモリ。 DESCRIPTION OF SYMBOLS 10 display control apparatus, 11 specific point information acquisition part, 12 display control part, 13 inclination angle determination part, 14 visibility determination part, 15 lane change necessity determination part, 21 own vehicle position acquisition apparatus, 22 map information storage device, 23 in-vehicle sensor, 24 navigation device, 25 head-up display, 100 own vehicle, 101 front window, 110 forward vehicle, 120 road marking, 200 road marking image, 201 guidance image, 50 processing circuit, 51 processor, 52 memory.

Claims (12)

  1. 　自車両からその前方の特定地点までの距離の情報、および、前記特定地点に対応付けされた画像の情報を取得する特定地点情報取得部と、
    　前記自車両から前記特定地点までの距離に基づいて、前記特定地点に対応付けされた画像の傾斜角度を決定する傾斜角度決定部と、
    　前記自車両から前記特定地点までの距離が予め定められた閾値以下になると、前記特定地点に対応付けされた画像を、路面に対し前記傾斜角度だけ傾いて見えるように、前記自車両のヘッドアップディスプレイに表示させる表示制御部と、
    を備える車両用表示制御装置。     A specific point information acquisition unit that acquires information of a distance from the host vehicle to a specific point ahead of the vehicle and information of an image associated with the specific point;
    An inclination angle determination unit that determines an inclination angle of the image associated with the specific point based on the distance from the vehicle to the specific point;
    When the distance from the subject vehicle to the specific point becomes equal to or less than a predetermined threshold value, the head of the subject vehicle is lifted up so that the image associated with the specific point appears to be inclined by the inclination angle with respect to the road surface. A display control unit to be displayed on the display;
    And a display control device for a vehicle.
  2. 　前記傾斜角度決定部は、前記自車両から前記特定地点までの距離が小さくなるにつれて前記傾斜角度を大きくする、
    請求項１に記載の車両用表示制御装置。     The tilt angle determination unit increases the tilt angle as the distance from the host vehicle to the specific point decreases.
    A display control apparatus for a vehicle according to claim 1.
  3. 　前記特定地点は交差点であり、
    　前記交差点に対応付けされた画像は、前記交差点における前記自車両が走行中の道路の道路標示を表す画像である、
    請求項１に記載の車両用表示制御装置。     The specified point is an intersection,
    The image associated with the intersection is an image representing a road marking of a road on which the vehicle at the intersection is traveling.
    A display control apparatus for a vehicle according to claim 1.
  4. 　前記道路標示が前記自車両から見えるか否かを判断する視認性判断部をさらに備え、
    　前記表示制御部は、前記道路標示が前記自車両から見えないときに限り、前記道路標示を表す画像を、前記ヘッドアップディスプレイに表示させる、
    請求項３に記載の車両用表示制御装置。     The vehicle further comprises a visibility determination unit that determines whether the road marking is visible from the host vehicle,
    The display control unit causes the head-up display to display an image representing the road marking only when the road marking can not be seen from the host vehicle.
    The display control apparatus for vehicles of Claim 3.
  5. 　前記特定地点は交差点であり、
    　前記交差点に対応付けされた画像は、前記交差点における前記自車両が走行中の車線の道路標示を表す画像である、
    請求項１に記載の車両用表示制御装置。     The specified point is an intersection,
    The image associated with the intersection is an image representing a road marking of a lane in which the vehicle at the intersection is traveling.
    A display control apparatus for a vehicle according to claim 1.
  6. 　前記道路標示が前記自車両から見えるか否かを判断する視認性判断部をさらに備え、
    　前記表示制御部は、前記道路標示が前記自車両から見えないときに限り、前記道路標示を表す画像を、前記ヘッドアップディスプレイに表示させる、
    請求項５に記載の車両用表示制御装置。     The vehicle further comprises a visibility determination unit that determines whether the road marking is visible from the host vehicle,
    The display control unit causes the head-up display to display an image representing the road marking only when the road marking can not be seen from the host vehicle.
    The display control apparatus for vehicles of Claim 5.
  7. 　前記特定地点は車線数が増減する地点である車線数変化地点であり、
    　前記車線数変化地点に対応付けされた画像は、前記車線数変化地点における前記自車両が走行中の車線の道路標示を表す画像である、
    請求項１に記載の車両用表示制御装置。     The specific point is a lane number change point where the number of lanes increases and decreases,
    The image associated with the lane number change point is an image representing a road marking of the lane in which the vehicle is traveling at the lane number change point.
    A display control apparatus for a vehicle according to claim 1.
  8. 　前記道路標示が前記自車両から見えるか否かを判断する視認性判断部をさらに備え、
    　前記表示制御部は、前記道路標示が前記自車両から見えないときに限り、前記道路標示を表す画像を、前記ヘッドアップディスプレイに表示させる、
    請求項７に記載の車両用表示制御装置。     The vehicle further comprises a visibility determination unit that determines whether the road marking is visible from the host vehicle,
    The display control unit causes the head-up display to display an image representing the road marking only when the road marking can not be seen from the host vehicle.
    The display control apparatus for vehicles according to claim 7.
  9. 　前記特定地点はナビゲーション装置が前記自車両の経路案内を行う地点である案内地点であり、
    　前記案内地点に対応付けされた画像は、前記案内地点で前記ナビゲーション装置が前記自車両を案内する方向を示す画像である、
    請求項１に記載の車両用表示制御装置。     The specific point is a guidance point which is a point at which the navigation device performs route guidance of the vehicle.
    The image associated with the guidance point is an image indicating a direction in which the navigation device guides the vehicle at the guidance point.
    A display control apparatus for a vehicle according to claim 1.
  10. 　前記自車両が前記案内に沿って走行するために車線変更が必要か否かを判断する車線変更要否判断部をさらに備え、
    　車線変更が必要と判断されると、前記表示制御部は、前記閾値を大きくする、
    請求項９に記載の車両用表示制御装置。     The vehicle further includes a lane change necessity determination unit that determines whether it is necessary to change lanes in order for the vehicle to travel along the guidance.
    If it is determined that the lane change is necessary, the display control unit increases the threshold.
    The display control apparatus for vehicles according to claim 9.
  11. 　前記自車両が前記案内に沿って走行するために車線変更が必要か否かを判断する車線変更要否判断部をさらに備え、
    　前記表示制御部は、車線変更の要否に応じて、前記自車両を案内する方向を示す画像の表示態様を変える、
    請求項９に記載の車両用表示制御装置。     The vehicle further includes a lane change necessity determination unit that determines whether it is necessary to change lanes in order for the vehicle to travel along the guidance.
    The display control unit changes a display mode of an image showing a direction in which the host vehicle is guided according to the necessity of lane change.
    The display control apparatus for vehicles according to claim 9.
  12. 　車両用表示制御装置における画像表示方法であって、
    　前記車両用表示制御装置の特定地点情報取得部が、自車両からその前方の特定地点までの距離の情報、および、前記特定地点に対応付けされた画像の情報を取得し、
    　前記車両用表示制御装置の傾斜角度決定部が、前記自車両から前記特定地点までの距離に基づいて、前記特定地点に対応付けされた画像の傾斜角度を決定し、
    　前記自車両から前記特定地点までの距離が予め定められた閾値以下になると、前記車両用表示制御装置の表示制御部が、前記特定地点に対応付けされた画像を、路面に対し前記傾斜角度だけ傾いて見えるように、前記自車両のヘッドアップディスプレイに表示させる、
    画像表示方法。     An image display method for a display control device for a vehicle, comprising:
    The specific point information acquisition unit of the display control device for a vehicle acquires information on a distance from the host vehicle to a specific point in front of the host vehicle and information on an image associated with the specific point,
    The tilt angle determination unit of the display control device for a vehicle determines the tilt angle of the image associated with the specific point based on the distance from the own vehicle to the specific point,
    When the distance from the subject vehicle to the specific point becomes equal to or less than a predetermined threshold value, the display control unit of the display control device for a vehicle sets the image corresponding to the specific point to the road surface by the inclination angle. Display on the head-up display of the vehicle so as to look inclined
    Image display method.
PCT/JP2018/000302 2018-01-10 2018-01-10 Display control device for vehicle and image display method WO2019138465A1 (en)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07272198A (en) * 1994-03-31 1995-10-20 Fujitsu Ten Ltd Method for guiding route
JP2010236915A (en) * 2009-03-30 2010-10-21 Equos Research Co Ltd Information display device
JP2010257242A (en) * 2009-04-24 2010-11-11 Honda Motor Co Ltd Image data generation device
JP2017021019A (en) * 2015-07-08 2017-01-26 日産自動車株式会社 Vehicular display apparatus and vehicular display method

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07272198A (en) * 1994-03-31 1995-10-20 Fujitsu Ten Ltd Method for guiding route
JP2010236915A (en) * 2009-03-30 2010-10-21 Equos Research Co Ltd Information display device
JP2010257242A (en) * 2009-04-24 2010-11-11 Honda Motor Co Ltd Image data generation device
JP2017021019A (en) * 2015-07-08 2017-01-26 日産自動車株式会社 Vehicular display apparatus and vehicular display method

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