WO2020003750A1 - Vehicle display control device, vehicle display control method, and control program - Google Patents

Abstract

This vehicle display control device which controls a head-up display device comprises: a determination information acquisition unit (201) that acquires content determination information, which is information for determining the image content to be drawn on a display; and a drawing control unit (211) that draws a plurality of images classified by type of display item on the single display in separate layers for each group according to the content determination information acquired by the determination information acquisition unit, the plurality of groups into which the images are classified including a group of dynamic-target images, a group of static-target images, and a group of road-surface images. The drawing control unit performs drawing so that the image visibility varies among the layers on which the images are drawn on the display.

Description

VEHICLE DISPLAY CONTROL DEVICE, VEHICLE DISPLAY CONTROL METHOD, AND CONTROL PROGRAM Cross-reference of related applications

This application is based on Japanese Patent Application No. 2018-12410 filed on June 29, 2018, the contents of which are incorporated herein by reference.

The present disclosure relates to a display control device for a vehicle, a display control method for a vehicle, and a control program.

2. Description of the Related Art A head-up display (hereinafter, HUD) that superimposes a virtual image on a foreground of a vehicle by projecting an image on a projection member such as a windshield is known. For example, Patent Literature 1 discloses a technique in which an information communicator such as a guide arrow as travel guide information is displayed on a head-up display so as to overlap a road at an intersection. Japanese Patent Application Laid-Open No. H11-163873 discloses that, when an obstacle existing in front of a vehicle overlaps with an information communicator, the position at which the information communicator is displayed is shifted or a portion of the information communicator display that overlaps the obstacle is displayed. Or a technique for extinguishing the same.

JP 4085928 B

The technology disclosed in Patent Document 1 assumes that the display position of an information communicator and an obstacle existing in front of the vehicle overlap, but does not assume that the display positions of a plurality of types of information communicators overlap. . Therefore, according to the technique disclosed in Patent Document 1, when the display positions of a plurality of types of information communicators are overlapped, the images are mixed to make it difficult to distinguish between them, and the contents intended for each display are transmitted to the driver. It may be difficult.

The present disclosure, when a virtual image is superimposed on the foreground of a vehicle by projecting an image on a projection member, a plurality of images having different types of display items are projected on a common projection member to display respective virtual images on the foreground of the vehicle. It is an object of the present invention to provide a vehicular display control device, a vehicular display control method, and a control program that suppress the difficulty in transmitting the intended content of each image to a driver even when the image is displayed in a composite manner. I do.

According to one embodiment of the present disclosure, a vehicular display control device controls a head-up display device that is used in a vehicle and that superimposes and displays a virtual image on a foreground of a vehicle by projecting an image to be drawn on a display onto a projection member. I do. The display control device for a vehicle includes: a determination information obtaining unit that obtains content determination information that is information for determining the content of an image to be drawn on the display; and a content determination information that is obtained by the determination information acquisition unit. In the display unit, a plurality of groups classified into a plurality of groups including a group of images for dynamic targets, a group of images for static targets, and a group of images for road surfaces are displayed in units of display item types. A drawing control unit that draws the images of the group on one display device by dividing the layers into groups. The drawing control unit performs drawing so that the visibility of the image is different for each layer on which the image is drawn on the display.

According to another aspect of the present disclosure, a vehicle display control method includes a head-up display device that is used in a vehicle and that superimposes a virtual image on a foreground of a vehicle by projecting an image to be drawn on a display onto a projection member. Control. The display control method for a vehicle obtains information for content determination, which is information for determining the content of an image to be drawn on the display, and, in accordance with the content determination information to be obtained, displays on the display in units of display item types. A plurality of groups of images classified into a plurality of groups including a group of images for a dynamic target, a group of images for a static target, and a group of images for a road surface are divided into layers by group, and In addition to the drawing on one display, the drawing is performed so that the visibility of the image is different for each layer for drawing the image on the display.

According to another aspect of the present disclosure, a control program is provided for a head-up display device that is used in a vehicle and that superimposes a virtual image on a foreground of a vehicle by projecting an image to be drawn on a display onto a projection member. A determination information acquisition unit that acquires content determination information that is information for determining the content of an image to be drawn on the display, and a display on the display according to the content determination information that is acquired by the determination information acquisition unit. For each type of item, multiple groups of images classified into a plurality of groups, including a group of images for dynamic targets, a group of images for static targets, and a group of images for road surfaces, A drawing control unit that draws an image on a single display device by dividing the layers, and draws the image so that the visibility of the image is different for each layer for drawing the image on the display device. To function.

According to the present disclosure, at least a group of images for a dynamic target, a group of images for a static target, and a group of images for a road surface, which are classified into a plurality of groups in units of display item types, are included. The images of the plurality of groups are drawn on one display so that the layers are divided into groups and the visibility of the images is different for each layer. Therefore, even when a plurality of images having different types of display items are projected on a common projection member to display the respective virtual images in a composite manner on the foreground of the vehicle, at least a group of images for the dynamic target, The driver can distinguish and recognize the group of images for the static target and the group of images for the road surface. The classification of the image group for the dynamic target, the image group for the static target, and the image group for the road surface has a viewpoint of the space in front of the vehicle, which is unique to the superimposed display on the foreground of the vehicle. Grouping. Therefore, since the driver can distinguish and recognize at least each of the groups including the viewpoint of the space in front of the vehicle, the driver can easily recognize the intended content of each image in the superimposed display. As a result, when the virtual images are superimposed and displayed on the foreground of the vehicle by projecting the images on the projection member, a plurality of images of different types of display items are projected on the common projection member and the respective virtual images are displayed on the foreground of the vehicle. Even in the case of displaying multiple images, it is possible to prevent the intention contents of each image from being difficult to be transmitted to the driver.

The above and other objects, features and advantages of the present disclosure will become more apparent from the following detailed description with reference to the accompanying drawings. In the attached drawings,
FIG. 1 is a diagram illustrating an example of a schematic configuration of a vehicle system. It is a figure showing the example of mounting in a vehicle of a HUD device. FIG. 2 is a diagram illustrating an example of a schematic configuration of an HCU. It is a figure showing an example of the classification of a display item. It is a figure showing an example of grouping of a display item. It is a figure showing an example of superimposition display. It is a figure showing an example of superimposition display. FIG. 9 is a diagram for describing an example of a combining process of combining images drawn on each layer. FIG. 9 is a diagram for describing an example of a combining process of combining images drawn on each layer. FIG. 9 is a diagram for describing an example of a combining process of combining images drawn on each layer. FIG. 9 is a diagram for describing an example of a combining process of combining images drawn on each layer. It is a flowchart which shows an example of the flow of virtual image display control related processing in HCU.

複数 A plurality of embodiments for disclosure will be described with reference to the drawings. Note that, for convenience of description, parts having the same functions as the parts shown in the drawings used in the description are given the same reference numerals among the plurality of embodiments, and the description thereof may be omitted. is there. For the parts denoted by the same reference numerals, the description in the other embodiments can be referred to.

(Embodiment 1)
(Schematic configuration of vehicle system 1)
Hereinafter, the present embodiment will be described with reference to the drawings. The vehicle system 1 is used for a vehicle running on a road such as an automobile. As an example, as shown in FIG. 1, the vehicle system 1 includes an HMI (Human Machine Interface) system 2, an ADAS (Advanced Driver Assistance Systems) locator 3, a peripheral monitoring sensor 4, a vehicle state sensor 5, a vehicle control ECU 6, a navigation device. 7 and an automatic driving ECU 8. The HMI system 2, the ADAS locator 3, the periphery monitoring sensor 4, the vehicle state sensor 5, the vehicle control ECU 6, the navigation device 7, and the automatic driving ECU 8 are assumed to be connected to, for example, an in-vehicle LAN.

The ADAS locator 3 includes a GNSS (Global Navigation Satellite System) receiver and an inertial sensor. The GNSS receiver receives positioning signals from a plurality of satellites. The inertial sensor includes, for example, a gyro sensor and an acceleration sensor. The ADAS locator 3 sequentially measures the vehicle position of the own vehicle by combining the positioning signal received by the GNSS receiver and the measurement result of the inertial sensor. Note that the vehicle position may be measured using a traveling distance or the like obtained from detection results sequentially output from a vehicle speed sensor mounted on the own vehicle. Then, the measured vehicle position is output to the in-vehicle LAN.

The ADAS locator 3 may be configured to include, as map data, a map database (hereinafter, map DB) that stores a three-dimensional map including a point group of feature points of a road shape and a structure. When the ADAS locator 3 uses the three-dimensional map, the LIDAR (Light Detection and Ranging / Laser Imaging) which detects the three-dimensional map and a point group of feature points of a road shape and a structure without using a GNSS receiver. A configuration in which the vehicle position of the own vehicle is specified using a detection result of the periphery monitoring sensor 4 such as Detection and Ranging) may be used. The map data of the three-dimensional map may be obtained from outside the vehicle via the communication module.

(4) The surroundings monitoring sensor 4 is an autonomous sensor that monitors the surrounding environment of the own vehicle. As an example, the surroundings monitoring sensor 4 is used to detect a moving dynamic target such as a pedestrian, an animal other than a human, a vehicle other than the own vehicle, and a stationary static object such as a falling object on a road, a guardrail, a curb, and a tree. Detects obstacles around the vehicle such as a target. In addition, a road marking such as a lane marking around the own vehicle is detected. The peripheral monitoring sensor 4 is, for example, a peripheral monitoring camera that captures an image of a predetermined area around the own vehicle, a millimeter wave radar that transmits a search wave to a predetermined area around the own vehicle, a sonar, a LIDAR sensor, or the like. The periphery monitoring camera sequentially outputs the captured images sequentially captured to the in-vehicle LAN as sensing information. A sensor that transmits a search wave such as a sonar, a millimeter-wave radar, and a LIDAR sequentially outputs a scanning result based on a reception signal obtained when a reflected wave reflected by a detection target is received to the in-vehicle LAN as sensing information.

The vehicle state sensor 5 is a group of sensors for detecting various states of the vehicle. The vehicle state sensor 5 includes a vehicle speed sensor for detecting the vehicle speed of the own vehicle, a steering sensor for detecting the steering angle of the own vehicle, an accelerator position sensor for detecting the opening degree of the accelerator pedal of the own vehicle, and depression of a brake pedal of the own vehicle. There is a brake depression force sensor that detects the amount. The vehicle state sensor 5 outputs sensing information to be detected to the in-vehicle LAN. Note that the sensing information detected by the vehicle state sensor 5 may be output to an in-vehicle LAN via an ECU mounted on the own vehicle.

The vehicle control ECU 6 is an electronic control device that performs acceleration / deceleration control and / or steering control of the own vehicle. Examples of the vehicle control ECU 6 include a steering ECU that performs steering control, a power unit control ECU that performs acceleration / deceleration control, and a brake ECU. The vehicle control ECU 6 acquires detection signals output from sensors such as an accelerator position sensor, a brake pedal force sensor, a steering angle sensor, and a wheel speed sensor mounted on the own vehicle, and controls the electronic control throttle, the brake actuator, and the EPS (Electric). Power Steering) Outputs control signals to each drive control device such as a motor. The vehicle control ECU 6 can output the detection signals of the above-described sensors to the in-vehicle LAN.

The navigation device 7 includes a map DB storing map data, searches for a route that satisfies conditions such as time priority and distance priority to a set destination, and performs route guidance according to the searched route. The map DB is a non-volatile memory, and may store map data such as link data, segment data, node data, and road shapes. Note that the map data may have a configuration including a three-dimensional map including a point group of feature points of a road shape and a structure.

(4) The automatic driving ECU 8 controls the vehicle control ECU 6 to execute an automatic driving function for performing a driving operation on behalf of the driver. The automatic driving ECU 8 runs the own vehicle based on the vehicle position of the own vehicle obtained from the ADAS locator 3 and the map data of the three-dimensional map, the sensing information of the surrounding monitoring sensor 4, and the map data obtained from the navigation device 7. Recognize the environment. As an example, from the sensing information of the surrounding monitoring sensor 4, the shape and the moving state of the object around the own vehicle are recognized, and the shape of the road marking around the own vehicle is recognized. Then, by combining with the vehicle position of the own vehicle and the map data, a virtual space that reproduces the actual traveling environment in three dimensions is generated.

The automatic driving ECU 8 generates a driving plan for automatically driving the own vehicle by the automatic driving function based on the recognized driving environment. As the travel plan, a long- and medium-term travel plan and a short-term travel plan are generated. In the long- and medium-term traveling plan, a route for directing the vehicle to the set destination is defined. For the long and medium term travel plan, a configuration using the route searched by the navigation device 7 may be adopted. In the short-term traveling plan, a planned traveling locus for realizing traveling according to the long- and medium-term traveling plan is defined using the generated virtual space around the own vehicle. Specifically, execution of steering for lane following and lane change, acceleration / deceleration for speed adjustment, and rapid braking for collision avoidance are determined based on a short-term traveling plan.

The HMI system 2 includes an HCU (Human Machine Interface Control Unit) 20, an operation device 21, and a display device 22. The HMI system 2 receives an input operation from a driver who is a user of the own vehicle, or transmits the input operation to the driver of the own vehicle. And present information. The operation device 21 is a group of switches operated by a driver of the own vehicle. The operation device 21 is used for performing various settings. For example, the operation device 21 includes a steering switch provided at a spoke portion of the steering of the vehicle. As the display device 22, a head-up display (HUD) device 220 is used. Here, the HUD device 220 will be described with reference to FIG.

As shown in FIG. 2, the HUD device 220 is provided on the instrument panel 12 of the vehicle, and has a display 221, a plane mirror 222, and a concave mirror 223. The HUD device 220 projects an image on the front windshield 10 under the control of the HCU 20. The HUD device 220 projects a display image formed by the display 221 onto a projection area defined on the front windshield 10 as a projection member through an optical system such as a plane mirror 222 and a concave mirror 223. More specifically, after the image displayed on the display 221 (that is, the display image) is reflected by the plane mirror 222, it is enlarged by the concave mirror 223 and projected on a projection area defined on the front windshield 10. . The projection area is located, for example, in front of the driver's seat. The display 221 is, for example, a TFT liquid crystal panel, and outputs light of a display image to be drawn on the liquid crystal panel by transmitting light from a backlight.

The luminous flux of the display image reflected by the front windshield 10 toward the vehicle interior is perceived by the driver sitting in the driver's seat. In addition, the light flux from the foreground, which is a scene existing in front of the own vehicle, transmitted through the front windshield 10 formed of the translucent glass is also perceived by the driver sitting in the driver's seat. Accordingly, the driver can visually recognize the virtual image 100 of the display image formed in front of the front windshield 10 so as to overlap a part of the foreground. That is, the HUD device 220 superimposes and displays the virtual image 100 on the foreground of the vehicle, and realizes a so-called AR (Augmented Reality) display.

(4) The display image includes an image having a moving attribute in which the position is changed in accordance with an object in the foreground to be superimposed and an image having a fixed attribute in which the position is determined regardless of the foreground. The details of the image of the movement attribute will be described later. The fixed attribute image includes an image showing information on the instrument of the own vehicle, an image showing a setting state of the own vehicle function such as an automatic driving function, an image showing an operating state of the automatic driving function, a traffic sign on a road on which the vehicle is traveling. And the image showing the monitoring status of the driver. Examples of the image indicating the information of the instrument of the own vehicle include an image indicating the value of the vehicle speed. Examples of the image indicating the setting state of the function of the own vehicle such as the automatic driving function include an icon image indicating that the automatic driving function such as the ACC (Adaptive Cruise Control) function is on or off and the route guidance function is on or off. No. Examples of the image indicating the operation state of the automatic driving function include an icon image indicating whether or not the automatic driving function is operating. Examples of the image indicating the regulation information of the traveling road include an icon image indicating the content of a road sign such as a speed regulation sign of the traveling road. Examples of the image indicating the monitoring state of the driver include an icon image indicating whether or not the driver grips the steering wheel. Note that the fixed attribute display is not limited to the example given here.

In the present embodiment, by inclining the display 221 with respect to the optical system such as the plane mirror 222 and the concave mirror 223, the virtual image 100 is viewed from the driver so that the upper side of the virtual image 100 is more visible on the distal side than the lower side. The description will be made by taking as an example a case where the display is performed while being tilted in the front-rear direction of the own vehicle. This eliminates the use of two indicators, one for displaying the virtual image 100 on the proximal side of the driver and the other for displaying the virtual image 100 on the distal side of the driver. This also makes it easier to see the virtual image 100 displayed from the proximal side to the distal side. The present invention is not limited to this configuration, and the virtual image 100 may be displayed without tilting in the front-rear direction of the vehicle.

で は In the present embodiment, the following description will be given by taking the case where the display 221 is a TFT liquid crystal panel as an example, but is not necessarily limited to this. For example, as long as a display image can be drawn, a display device of another system may be used, and the optical system is not limited to the above-described one such as using a reflective screen instead of the plane mirror 222. The projection member on which the HUD device 220 projects the display image is not limited to the front windshield 10 and may be a light-transmitting combiner. Further, as the display device 22, a device that displays an image may be used in addition to the HUD device 220. As an example, there are a display of a combination meter, a CID (Center @ Information @ Display), and the like.

The HCU 20 is mainly configured by a microcomputer including a processor, a volatile memory, a non-volatile memory, an I / O, and a bus connecting these, and is connected to the HUD device 220. The HCU 20 controls display on the HUD device 220 by executing a control program stored in the nonvolatile memory. The HCU 20 corresponds to a display control device for a vehicle. Executing the control program by the processor corresponds to executing the vehicle display control method corresponding to the control program. The memory as used herein is a non-transitory physical storage medium (non-transitory / tangible / storage / medium) that temporarily stores a computer-readable program and data. The non-transitional substantive storage medium is realized by a semiconductor memory, a magnetic disk, or the like. The configuration of the HCU 20 relating to display control by the HUD device 220 will be described in detail below.

(Schematic configuration of HCU 20)
Here, a schematic configuration of the HCU 20 will be described with reference to FIG. The HCU 20 includes, as functional blocks, an information processing block 200 and a display control block 210 as shown in FIG. 3 for display control in the HUD device 220. In the following, for the sake of convenience, of the moving attribute image and the fixed attribute image, the description of the display control of the fixed attribute image will be omitted, and the display control of the moving attribute image will be described. Note that part or all of the functions executed by the HCU 20 may be configured in hardware by one or more ICs or the like. Further, some or all of the functional blocks included in the HCU 20 may be realized by a combination of execution of software by a processor and hardware components.

The information processing block 200 selectively obtains information necessary for display control in the display control block 210 from various information output to the in-vehicle LAN. In addition, the information processing block 200 performs a process of converting the acquired information into a state suitable for display control. As shown in FIG. 3, the information processing block 200 includes a determination information acquisition unit 201 as a sub-function block.

(4) The information obtaining unit for determination 201 obtains information necessary for determining the content to be displayed on the HUD device 220. In other words, information for determining the content of an image to be drawn on the display 221 of the HUD device 220 (hereinafter, content determination information) is obtained. Examples of the content determination information include the vehicle position output from the ADAS locator 3, the route searched by the navigation device 7, the map data stored in the map DB, the driving environment recognized by the automatic driving ECU 8, the automatic driving ECU 8, and the like. There are a travel plan to be generated, operation input information on the operation device 21, setting and operation information of the automatic driving function in the automatic driving ECU 8, and the like.

The display control block 210 controls the display on the HUD device 220 (that is, display control) based on the information acquired by the information processing block 200. As shown in FIG. 3, the display control block 210 includes a drawing control unit 211 and an arbitration unit 217 as sub-function blocks.

The drawing control unit 211 generates image data of an image to be drawn on the display 221 of the HUD device 220 based on information acquired by the information processing block 200. The drawing control unit 211 draws an image having the movement attribute on the display 221 by outputting the generated image data to the display 221. The drawing control unit 211 changes the content and arrangement of the display image according to the content determination information acquired by the determination information acquisition unit 201.

(4) The drawing control unit 211 draws images of a plurality of groups classified into a plurality of groups in units of display items on a single display 221 by dividing layers into groups. As illustrated in FIG. 3, the drawing control unit 211 includes an emergency related unit 212, a dynamic target related unit 213, a static target related unit 214, a road surface related unit 215, and an extended information related unit 216. The related unit 212, the dynamic target related unit 213, the static target related unit 214, the road surface related unit 215, and the extended information related unit 216 draw different groups of images. That is, the emergency related unit 212, the dynamic target related unit 213, the static target related unit 214, the road surface related unit 215, and the extended information related unit 216 draw on different layers.

Here, a plurality of groups classified according to the type of display item will be described with reference to FIGS. First, as shown in FIG. 4, the types of display items are classified into a warning system, a response system, and an information system as a large classification. The warning-related display item is a display item on which a content that the driver needs to respond immediately to avoid danger is displayed. The display items of the warning type are further classified into “emergency”, “warning”, and “caution” according to the degree of urgency. The display items "urgent", "warning", and "caution" have the highest urgency of "urgent", followed by "warning" having the highest urgency, and "caution" having the lowest urgency.

The display item "emergency" is, for example, a display that warns the driver of an emergency and prompts the driver to perform an operation. As an example, a display for requesting a driver to perform a driving operation for avoiding a crisis, such as a warning in the collision damage reduction brake function and a warning in the forward collision prediction warning function, may be mentioned.

The display item "warning" is a display for giving a warning to the driver, for example, for information that may cause an accident. As an example, highlighting of information according to the distance from a nearby dangerous obstacle such as interruption of another vehicle from a blind spot, approach of a pedestrian, and the like can be cited.

The display item "caution" is a display that calls attention to the driver, for example. As an example, a warning display about information that is presumed to be out of the driver's consciousness, such as an area where the driver has failed to check detected by the driver monitoring system, may be mentioned. The warning-related display items may be displayed in, for example, the area of crisis avoidance or in the vicinity thereof.

The response-related display items are display items that convey a response to the driver's operation. The response display items are less urgent than the warning display items. As a display item of the response system, there is “Response”. As an example of the display item “response”, there is a display for notifying a change in the following distance setting in the ACC (Adaptive Cruise Control) function. In this case, the display for notifying the change in the inter-vehicle distance setting may be displayed on the preceding vehicle, displayed on the traveling lane of the own vehicle, or displayed in an area between the own vehicle and the preceding vehicle.

Notification-related display items are display items that indicate that the driver does not need to respond immediately to avoid danger or that is not related to danger avoidance. The display items of the notification type are lower in urgency than the display items of the emergency type and the response type. The display items of the notification system are further subdivided into “Notice” and “Information” according to the degree of urgency and classified. The display item “information” is less urgent than the display item “notification”.

The display item “notification” is a display related to the movement of the vehicle and safe driving, but it is a display of a content that the driver does not need to immediately respond to in order to avoid danger. This is the display to be performed. The display item “notification” is further subdivided into “Dynamic target”, “Static target”, and “Road” according to the spatial viewpoint ahead of the vehicle. .

The display item “dynamic target” is a display with a large time change, and is a display for a dynamic target such as a nearby vehicle or a pedestrian. For example, a display indicating a dynamic target such as a vehicle, a pedestrian, or the like, indicating a dynamic target, a ripple-like display extending along a road surface around the dynamic target, or the like may be used. No. Further, there is a display of information indicating a preceding inter-vehicle time, which is displayed on the preceding vehicle, between the own vehicle and the preceding vehicle, in the traveling lane of the own vehicle, or the like. In addition, there is a display indicating a pedestrian recognition result in a night vision system that indicates or surrounds a pedestrian.

(4) The display item “static target” is a display with a small time change, and is a display for a static target such as a sign, a roadside object, a falling object, and the like. As an example, a display indicating a static target, a display surrounding a static target, or the like may be given as a display notifying the presence of the static target.

The display item "road surface" is a display with a small time change, and is a display for a road surface such as a route or a lane. As an example, a line-shaped or sheet-shaped display along the road surface of the planned traveling route for indicating a planned traveling route of the own vehicle in a turn-by-turn (hereinafter, TBT) is cited. In addition, for lane guidance indicating the traveling lane of the own vehicle, a display in which a lane marking of the planned lane is illuminated in a pseudo manner, and a linear or sheet-like shape indicating the range within the lane along the shape of the planned lane. Display.

The display item "information" is a display that gives information to the driver, and is a display of contents that are not directly related to danger avoidance. As an example, there is information provision to a driver such as information on peripheral facilities irrelevant to a planned traveling route and a proposal for a break. In this case, the information of the surrounding facility may be superimposed on the surrounding facility, or may be superimposed on the facility that proposes the break proposal.

In the present embodiment, these display items are prioritized in addition to the urgency of the information itself and also from the viewpoint of the space ahead of the vehicle, and are classified into five groups. As shown in FIG. 5, the five groups are an emergency group, a dynamic target group, a static target group, a road surface group, and an extended information group in descending order of priority.

The emergency group is a group of images of display items that are more urgent than other groups. In the emergency group, images of the display items “emergency”, “response”, and “caution” of the warning system and images of the display item “response” of the response system are classified. The emergency related unit 212 is responsible for drawing images classified into emergency groups. The emergency-related unit 212 determines the display content to be displayed as an image classified into the emergency group based on the content determination information acquired by the determination information acquisition unit 201. As an example, when the content determination information includes information indicating that the pedestrian is approaching a distance at which a warning is required, an image of a warning mark (see Wa in FIG. 6) is displayed at the position of the pedestrian. For example, the display content to be displayed is determined. FIG. 6 is a diagram illustrating an example of an image superimposed and displayed on the foreground, where Vi indicates a projection area. The emergency-related unit 212 sends a display request to the arbitration unit 217 to request arbitration of the display of the determined display contents. The display request may be provided with information such as the type of the group and the position of the display content.

The dynamic target group is a group of images about a dynamic target that the driver does not need to respond immediately to avoid danger. In the dynamic target group, the image of the display item “dynamic target” of the notification system is classified. The dynamic target related unit 213 draws an image classified into a dynamic target group. The dynamic target related unit 213 determines display content to be displayed as an image classified into a dynamic target group based on the content determination information acquired by the determination information acquisition unit 201. As an example, when the information for content determination includes information indicating the presence of a dynamic target such as a pedestrian who has not approached a distance requiring a warning, the information of the dynamic target such as the pedestrian is Determining display contents for displaying a ripple-like image (see Om in FIG. 6) indicating the presence of the dynamic target at a position, and the like. The dynamic target related unit 213 also sends a display request to the arbitrating unit 217 in the same manner as the emergency related unit 212.

The static target group is a group of images of static targets that the driver does not need to respond immediately to avoid danger. The image of the display item “static target” of the notification system is classified into the static target group. The static target related unit 214 draws an image classified into a static target group. The static target related unit 214 determines display content to be displayed as an image classified into a static target group based on the content determination information acquired by the determination information acquisition unit 201. As an example, if the information for content determination includes information indicating the presence of a dynamic target such as a falling object that is not approaching a distance requiring a warning, the information of the static target such as the falling object is included. Determining display contents for displaying an image (see So in FIG. 7) indicating the existence of the static target at a position, and the like. The static target related unit 214 also sends a display request to the arbitrating unit 217 in the same manner as the emergency related unit 212.

The road surface group is a group of images of road surfaces that the driver does not need to take immediate action to avoid danger. The image of the display item “road surface” of the notification system is classified into the road surface group. The road surface related unit 215 draws images classified into road surface groups. The road surface related unit 215 determines display contents to be displayed as images classified into road surface groups based on the content determination information acquired by the determination information acquisition unit 201. As an example, when the information for content determination includes information on the planned travel route of the own vehicle, the display content for displaying a sheet-like image (see Pa in FIG. 6) along the road surface of the planned travel route is determined. And the like. The road related unit 215 also sends a display request to the arbitrating unit 217 in the same manner as the emergency related unit 212.

(4) The priority is set for the dynamic target group, the static target group, and the road surface group from the spatial viewpoint in front of the vehicle. Specifically, the road surface group has a lower priority than the dynamic target group and the static target group because the road surface is located below the dynamic target and the static target group. Further, the dynamic target group has a higher priority than the static target group and the road surface group because the time change of the position of the dynamic index is larger than that of the road surface and the static target.

The extended information group is a group of images related to information provision that is not directly related to danger avoidance. The image of the display item “information” of the notification system is classified into the extended information group. The extended information related unit 216 draws an image classified into the extended information group. The extended information related unit 216 determines display content to be displayed as an image classified into the extended information group based on the content determining information acquired by the determining information acquiring unit 201. As an example, when the information for content determination includes information on a preferred peripheral facility proposed to the driver, a display content for displaying an image (see Ei in FIG. 6) indicating the presence of the peripheral facility at the position of the peripheral facility Is determined. The extended information related unit 216 also sends a display request to the arbitrating unit 217 in the same manner as the emergency related unit 212.

The arbitration unit 217 also receives a display request sent from the emergency related unit 212, the dynamic target related unit 213, the static target related unit 214, the road surface related unit 215, and the extended information related unit 216 of the drawing control unit 211. At this time, arbitration of the images of each group is performed, and a control instruction is returned to the drawing control unit 211. Specifically, based on the type of group given to the display request, a control instruction to increase the visibility of the image of the group of the higher priority type is returned to the drawing controller 211.

For example, a configuration may be adopted in which a control instruction is returned to set the layer stacking order of images higher in a higher priority group, and the transmittance of an image is higher in a layer of a higher priority group relative to other layers. The height may be increased, or these may be combined. The arbitration unit 217 may be configured to relatively increase the transmittance by increasing the transmittance of the image of the layer of the high-priority group, or to adjust the transmittance of the image of the layer of the low-priority group. The transmittance may be relatively increased by lowering the transmittance. It is more preferable that the transmittance of the image of the layer of the high priority group is relatively increased by lowering the transmittance of the image of the layer of the low priority group.

(4) If the layering order is different, the images of each group can be easily distinguished from each other, and the visibility of the images of each group can be enhanced. The image of the group in which the layering order is the higher layer is more visible when superimposed and displayed on the foreground, so that the visibility is further improved. Further, if the transmittances of the images are different, the apparent brightness is different, so that the images of each group can be easily distinguished from each other, and the visibility of the images of each group is enhanced. The higher the transmittance of an image, the higher the apparent brightness, and thus the higher the visibility. Changing the apparent brightness of the images of each group by changing the transmittance of the images is performed by using a common display unit 221 for displaying the images of each group and using a common backlight. This is because it is difficult to switch the brightness of the backlight separately for each group of images.

Furthermore, an image for an object that is farther from the vehicle (hereinafter, a distal object image) is displayed in a higher layer than an image for an object that is closer to the vehicle (hereinafter, a proximal object image). It is preferable that the arbitration unit 217 performs the following arbitration in order to prevent the display from being unnatural. The arbitration unit 217 determines whether the distal target image group has a higher priority than the proximal target image group based on the position of the display content target in addition to the type of the group given to the display request. Instead of making the layer of the distal target image a layer higher than the layer order of the layer of the proximal target image, it is visually recognized by increasing the transmittance of the distal target image relative to the near target image. You only have to increase the sex. On the other hand, if the group of the proximal target images has a higher priority than the group of the distal target images, the arbitration unit 217 sets the layer of the proximal target image to a higher layer than the layering order of the layers of the distal target image. , The visibility may be increased. If there are not a plurality of display requests to be sent, the arbitration unit 217 returns a display permission control instruction without performing arbitration.

Then, according to the control instruction returned from the arbitration unit 217, the drawing control unit 211, the emergency related unit 212, the dynamic target related unit 213, the static target related unit 214, the road related unit 215, and the extended information related unit 216 Perform drawing with. When the superimposition order is instructed by the control instruction, the drawing control unit 211 superimposes the layers of each group in the order according to the superposition order and draws the image of each group. Further, when the transmittance is instructed by the control instruction, the drawing control unit 211 draws by changing the transmittance of the image of the layer of each group according to the transmittance. As a result, the drawing control unit 211 performs drawing on the display 221 such that the visibility of the image is different for each layer on which the image is drawn.

As an example, a display request is sent from the dynamic target related unit 213 and the road surface related unit 215 of the drawing control unit 211 to the arbitration unit 217, and the order of the layers of the dynamic target group is set to be higher than that of the road surface group. When the control instruction for the upper layer is returned to the drawing controller 211, the dynamic target group layer is superimposed on the higher layer than the road surface layer and the image of the dynamic target group and the road surface group are overlapped. An image is drawn.

The drawing control unit 211 performs a synthesizing process of synthesizing an image drawn on each layer when the layers of each group are overlaid and drawn. Here, an example of the combining process will be described with reference to FIGS. 8A to 8D. In FIGS. 8A to 8D, Hi indicates an image of a high-priority group (hereinafter, a high-priority image), and Lo indicates an image of a low-priority group (low-priority image).

The simplest combination processing is a simple “overwrite” shown in FIG. 8A. In the simple "overwrite", the transmittance is not changed between the high-priority image and the low-priority image, and the high-priority image is drawn over the low-priority image. In this case, the low priority image that overlaps with the high priority image is hidden by the high priority image.

変 形 Modifications of “overwrite” include “addition blend” in FIG. 8B, “edge removal” in FIG. 8C, and “transmissivity change” in FIG. 8D. In “addition blending”, the transmittance does not change between the high-priority image and the low-priority image, and the high-priority image is superimposed on the low-priority image and drawn. Rendering is performed by adding RGB values. Note that a configuration may be used in which a “multiplication blend” in which both the RGB values are multiplied and divided by 255 for drawing is used.

In “Border Removal”, the transmittance is not changed between the high-priority image and the low-priority image, the high-priority image is superimposed on the low-priority image and drawn, and the boundary portion of the area where both overlap. Is drawn by removing the lower layer image corresponding to In the “transmissivity change”, a high-priority image is superimposed and drawn on an upper layer of a low-priority image, and the high-priority image is drawn with a relatively higher transmittance than the low-priority image. This “transmissivity change” may be combined with “addition blend”, “multiplication blend”, “edge removal”, or the like.

Here, an example has been described in which the high-priority image is overlaid on the lower-priority image and drawn, but the target of the low-priority image is closer to the own vehicle than the target of the high-priority image. In this case, the low-priority image may be drawn with the transmittance of the high-priority image relatively higher than that of the low-priority image while the low-priority image is superimposed on the upper layer of the high-priority image. In this case, it is preferable that the above-described “addition blending” or “multiplication blending” makes it easier to grasp the lower priority image. Further, in order to suppress the waste of the combining process, the drawing control unit 211 does not perform the combining process if the display positions of the images for the respective layers do not overlap each other when the layers of each group are overlaid. It is preferable to draw the layers in a superimposed manner.

In the case of drawing a plurality of images classified into the same group, the drawing control unit 211 draws the image to be newly displayed in an upper layer, or draws an image of a target closer to the own vehicle in an upper layer. What is necessary is just to set it as the structure which draws and overlaps. Further, in the case where 3D graphic drawing processing is performed as drawing processing, a configuration may be used in which an image of a part that cannot be seen from a specific viewpoint is erased and drawn using hidden surface processing used as 3D graphic technology. When the hidden surface processing is used, the eye point is set as a specific viewpoint, and a hidden surface that cannot be seen from the eye point is obtained from all the pixels of the image to be displayed by, for example, the Z-buffer algorithm (Z buffer algorithm). What is necessary is just to estimate the range visible from the driver.

(Process related to virtual image display control in HCU 20)
Next, an example of a flow of a process (hereinafter, a virtual image display control related process) related to display control of an image of a movement attribute in the HUD device 220 in the HCU 20 will be described with reference to a flowchart of FIG. The flowchart of FIG. 9 may be configured to start when the power of the HUD device 220 is turned on and the function of the HUD device 220 is turned on. The function of the HUD device 220 may be switched on and off in accordance with an input operation received by the operation device 21. The power supply of the HUD device 220 may be switched on and off in accordance with the on / off of a switch (hereinafter, a power switch) for starting the internal combustion engine or the motor generator of the own vehicle.

First, in S1, the determination information obtaining unit 201 selectively obtains content determination information from various information output to the in-vehicle LAN. In S2, based on the information for content determination acquired in S1, at least the emergency related unit 212, the dynamic target related unit 213, the static target related unit 214, the road surface related unit 215, and the extended information related unit 216 If any one sends a display request to the arbitration unit 217 (YES in S2), the process proceeds to S3. On the other hand, when no display request is sent to the arbitration unit 217 from any of the emergency related unit 212, the dynamic target related unit 213, the static target related unit 214, the road surface related unit 215, and the extended information related unit 216 ( If (NO in S2), the process moves to S8.

In S3, when a plurality of the emergency related unit 212, the dynamic target related unit 213, the static target related unit 214, the road surface related unit 215, and the extended information related unit 216 send a display request to the arbitrating unit 217 ( If (YES in S3), the process moves to S4. On the other hand, when only one of the emergency related unit 212, the dynamic target related unit 213, the static target related unit 214, the road surface related unit 215, and the extended information related unit 216 sends a display request to the arbitration unit 217. If (YES in S3), the process moves to S6.

In S4, the arbitration unit 217 arbitrates the images of each group based on the plurality of display requests sent thereto, and issues a control instruction to increase the visibility of the images of the group of the higher priority type to the drawing control unit. Return to 211. In S5, the drawing control unit 211 performs a drawing process by combining images to be drawn on each layer according to the control instruction returned from the arbitration unit 217, and proceeds to S8.

On the other hand, in S6, the arbitration unit 217 returns a display permission control instruction for permitting the transmitted display request to the drawing control unit 211. In S7, the drawing control unit 211 draws only one group of images requested to be displayed in accordance with the display permission control instruction returned from the arbitration unit 217, and proceeds to S8.

In S8, if it is the end timing of the virtual image display control-related processing (YES in S8), the virtual image display control-related processing ends. On the other hand, if it is not the end timing of the virtual image display control related processing (NO in S8), the process returns to S1 and repeats the processing. Examples of the end timing of the virtual image display control-related processing include a case where the power switch of the own vehicle is turned off, a case where the function of the HUD device 220 is turned off, and the like.

According to the configuration of the first embodiment, images of a warning group, a dynamic target group, a static target group, a road surface group, and an extended information group, which are classified into a plurality of groups in units of display item types, are grouped. The image is drawn on one display unit 221 so that the visibility of the image is different for each layer. Therefore, even when a plurality of images having different types of display items are projected on a common projection member to display the respective virtual images in a composite manner on the foreground of the vehicle, at least the warning group, the dynamic target group, and the static The driver can distinguish and recognize the images of the target object group, the road surface group, and the extended information group. In particular, the classification of the dynamic target group, the static target group, and the road surface group is a grouping that adds the viewpoint of the space in front of the vehicle, which is unique to the superimposed display on the foreground of the vehicle. Therefore, since the driver can distinguish and recognize at least each of the groups including the viewpoint of the space in front of the vehicle, the driver can easily recognize the intended content of each image in the superimposed display. As a result, when the virtual images are superimposed and displayed on the foreground of the vehicle by projecting the images on the projection member, a plurality of images of different types of display items are projected on the common projection member and the respective virtual images are displayed on the foreground of the vehicle. Even in the case of displaying multiple images, it is possible to prevent the intention contents of each image from being difficult to be transmitted to the driver.

According to the configuration of the first embodiment, it is possible to make the visibility of the image different by making the transmittance of the image different for each group. Therefore, the image of each group is drawn by one display 221. However, it is possible to easily switch the brightness of each appearance individually.

In the first embodiment, the description of the display control of the image with the fixed attribute is omitted, but the image with the fixed attribute may be configured to draw the image with the moving attribute separately from the layer. In this case, basically, a configuration may be adopted in which a layer of an image with a fixed attribute is drawn as a layer on a higher layer than an image with a moving attribute. On the other hand, as an exception, when urgent information that the driver should respond urgently is included in the image of the moving attribute, the layer of the image of the moving attribute is drawn as a layer displayed on a layer higher than the image of the fixed attribute. The configuration may be such that

(Embodiment 2)
In the first embodiment, the configuration in which the layers are divided into the five groups of the emergency group, the dynamic target group, the static target group, the road surface group, and the extended information group is described, but the present invention is not necessarily limited to this. For example, a configuration may be adopted in which layers are drawn according to types of display items and drawn. In this case, drawing is performed for each type of display items such as “urgent”, “warning”, “caution”, “response”, “dynamic target”, “static target”, “road surface”, and “information”. The drawing control unit 211 may have a functional block for each type of display item for this purpose. In this case, the priority of the image for each display item is “urgent”, “warning”, “caution”, “response”, “dynamic target”, “static target”, “road surface” in order from the highest one. ”And“ information ”. In this case, a configuration may be adopted in which the type of the display item is added to the display request.

(Embodiment 3)
In the first embodiment, the configuration in which the priority of increasing the visibility is set to the order of the dynamic target group, the static target group, and the road surface group is described, but the present invention is not necessarily limited to this. For example, in a configuration in which the visibility of images of a dynamic target group, a static target group, and a road surface group is different, the order of priority for increasing visibility is a dynamic target group, a static target group. , The road surface groups may not be arranged in this order.

(Embodiment 4)
In the first embodiment, the description has been given of an example in which the present invention is applied to a case where the own vehicle has an automatic driving function. For example, a configuration in which the own vehicle does not have an automatic driving function may be employed. In this case, the vehicle system 1 does not include the automatic driving ECU 8, and the recognition of the driving environment may be performed by another ECU.

(Embodiment 5)
In the first embodiment, the configuration in which the HCU 20 separate from the HUD device 220 has a function related to display control in the HUD device 220 has been described, but the present invention is not limited to this. For example, a function related to display control in the HUD device 220 may be performed by a control circuit provided in the HUD device 220, or may be performed by a control circuit provided in the combination meter.

The control and the technique described in the present disclosure may be realized by a special-purpose computer configuring a processor programmed to execute one or more functions embodied by a computer program. Alternatively, the control and the technique described in the present disclosure may be realized by a special-purpose computer that configures a processor with a special-purpose hardware logic circuit. Alternatively, the control and the technique described in the present disclosure may be implemented by one or more dedicated computers configured by a combination of a processor that executes a computer program and one or more hardware logic circuits. Further, the computer program may be stored in a computer-readable non-transitional tangible recording medium as instructions to be executed by a computer.

The flowchart described herein or the processing of the flowchart is composed of a plurality of steps (or referred to as sections), and each step is expressed as, for example, S1. Further, each step can be divided into a plurality of sub-steps, while a plurality of steps can be combined into one step.

As described above, the embodiments, configurations, and aspects of the vehicle display control device, the vehicle display control method, and the control program according to one embodiment of the present disclosure have been described. However, the embodiments, configurations, and aspects of the present disclosure are described above. It is not limited to each embodiment, each configuration, and each aspect. For example, embodiments, configurations, and aspects obtained by appropriately combining technical parts disclosed in different embodiments, configurations, and aspects are also included in the scope of the embodiments, configurations, and aspects according to the present disclosure.

Claims (11)

1. A vehicle display control device that is used in a vehicle and controls a head-up display device that superimposes and displays a virtual image on a foreground of the vehicle by projecting an image to be drawn on a display device onto a projection member,
   A determination information acquisition unit (201) for acquiring content determination information that is information for determining the content of an image to be drawn on the display;
   According to the content determination information obtained by the determination information obtaining unit, the display unit, in units of display items, a group of images for a dynamic target, a group of images for a static target, And a drawing control unit (211) that draws a plurality of groups of images classified into a plurality of groups including a group of images of the road surface on one display device by dividing layers into groups.
   The display control device for a vehicle, wherein the drawing control unit draws the image so that the visibility of the image is different for each layer on which the image is drawn on the display.
2. 2. The vehicle display control device according to claim 1, wherein the drawing control unit changes the visibility of the image for each of the layers on which the image is drawn on the display, depending on the order of overlapping the layers.
3. 3. The vehicle display control device according to claim 2, wherein the drawing control unit is configured such that the layer on which the image for which the visibility is enhanced is drawn in a higher layer.
4. 4. The image forming apparatus according to claim 1, wherein the drawing control unit changes the transmittance of the layer so as to change the visibility of the image for each of the layers on which the image is drawn on the display. Display control device for vehicles.
5. The vehicle display control device according to claim 4, wherein the drawing control unit makes the transmissivity relative to the other layers relatively higher for the layer on which the image for which the visibility is enhanced is drawn.
6. The drawing control unit performs drawing so that the visibility of the group of images for the static target and the group of images for the dynamic target is higher than that of the group of images on the road surface. The display control device for a vehicle according to claim 1, wherein the drawing is performed such that the visibility of the group of images for the dynamic target is higher than that of the group of images.
7. When the display position of the image for each layer overlaps, the drawing control unit performs a process of combining the images drawn on each layer,
   The display control device for a vehicle according to any one of claims 1 to 6, wherein a process of synthesizing the images drawn on each layer is not performed when display positions of the images for the layers do not overlap.
8. The images of a plurality of groups classified by the type unit of the display items, the display items related to the notification that the urgency of the information contained in the images is lower than the display items related to warnings or alerts, Image group, the image group about the static target, and the image group about the road surface are classified and classified, and the display items related to the warning or alert are the image items about the dynamic target. The display control device for a vehicle according to any one of claims 1 to 7, wherein the display control device is not divided into a group, a group of images of the static target, and a group of images of the road surface.
9. A vehicle display control method for controlling a head-up display device that is used in a vehicle and that superimposes and displays a virtual image on a foreground of the vehicle by projecting an image to be drawn on a display onto a projection member,
   Acquires content determination information that is information for determining the content of the image to be drawn on the display,
   According to the content determination information to be obtained, the display unit displays, on a display unit basis, a group of images for a dynamic target, a group of images for a static target, and a group of images for a road surface. The image of a plurality of groups classified into a plurality of groups including is drawn on one display device by dividing the layers into the groups, and the visibility of the image is made different for each layer for drawing the image on the display device. Vehicle display control method to draw like.
10. Computer
    This information is used in a vehicle, and is information for determining the content of an image to be drawn on the display of a head-up display device that superimposes and displays a virtual image on the foreground of the vehicle by projecting an image to be drawn on the display to a projection member. A decision information acquisition unit (201) for acquiring content decision information;
    According to the content determination information obtained by the determination information obtaining unit, the display unit, in units of display items, a group of images for a dynamic target, a group of images for a static target, And a plurality of groups of images that are classified into a plurality of groups including a group of images of the road surface, are drawn on one display device by dividing the layers into the groups, and the images are drawn on the display device by the layers. A control program for functioning as a drawing control unit (211) for drawing so as to make the visibility of an image different.
11. A non-transitory computer-readable storage medium storing the control program according to claim 10.
    
    

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