WO2021020033A1 - Display control device, display control method, and display control program - Google Patents

Abstract

A demarcation line information acquisition unit (213) acquires demarcation line information relating to the laid state of a road demarcation line on a road surface. A travel environment acquisition unit (214) acquires environment information relating to the travel environment of a vehicle. When the travel environment corresponding to the environment information acquired by the travel environment acquisition unit is a low-visibility environment, a display control unit (216) displays, on a road surface by superimposition, demarcation line content which is a display image corresponding to the road demarcation line, on the basis of the acquired demarcation line information. Specifically, the display control unit displays the lane content of the host vehicle, which is demarcation line content corresponding to the host vehicle lane that the host vehicle is traveling and another vehicle lane content which is demarcation line content corresponding to another vehicle lane different from the host vehicles lane when changing the lanes, and hides the other vehicle lane content while displaying the host vehicle lane content when not changing the lanes.

Description

Display control device, display control method, and display control program Cross-reference to related applications

This application is based on Japanese Patent Application No. 2019-139069 filed on July 29, 2019, the contents of which are incorporated herein by reference.

The present disclosure relates to a display control device, a display control method, and a display control program that control the display of a display image in a vehicle display device that superimposes and displays a display image on a road surface that is visible through the front windshield of the vehicle.

As an apparatus of this type, for example, the AR system described in Patent Document 1 is known. AR is an abbreviation for Augmented Reality. The AR system described in Patent Document 1 includes a determination means, a first generation means, a second generation means, a provision means, and a display means. The determination means determines whether or not the driver of the vehicle can identify the lane boundary on the road in front of the vehicle based on the environmental data acquired by the sensor. The "lane boundary" is also called the "road lane marking". The first generation means generates boundary line data based on the environmental data and the current position of the vehicle when the determination means determines that the driver of the vehicle cannot identify the lane boundary line. The second generation means generates AR data for displaying the lane boundary line graphically on the AR visual device based on the boundary line data. The providing means provides the AR data to the AR visual device. The display means causes the AR visual device to generate and display a graphic based on the AR data based on the head position of the driver of the vehicle.

The AR system described in Patent Document 1 determines that the driver cannot recognize the lane boundary line due to, for example, snow, rain, lighting conditions, rubber on the road, and the like. The AR system creates an overlay that represents the lane boundaries so that the driver knows the location of the lane boundaries. This improves driver safety and makes driving more comfortable because the driver does not have to worry about the position of the lane boundary.

JP-A-2018-190410

This type of device typically superimposes display content corresponding to the road lane marking on the road surface in situations where it is difficult for the driver to see the road lane marking due to snow, rain, etc., as described above. To do. However, if a large amount of display content is superimposed and displayed on the road surface at one time, the ease of grasping the road condition by the driver may be rather reduced.
The present disclosure has been made in view of the circumstances exemplified above. That is, the present disclosure provides an apparatus configuration and a method capable of improving the ease of grasping a road condition by a driver, for example, in a situation where it is difficult for the driver to visually recognize a road lane marking.

According to one aspect of the present disclosure, the display control device is configured to control the display of the display image in the vehicle display device that superimposes and displays the display image on the road surface that is visually recognized through the front windshield of the vehicle. ing.
This display control device
A lane marking information acquisition unit that acquires lane marking information regarding the laying state of the road marking line on the road surface,
The driving environment acquisition unit that acquires environmental information related to the driving environment of the vehicle,
Display control for displaying the lane marking content, which is the display image corresponding to the road lane marking, based on the acquired lane marking information when the traveling environment corresponding to the acquired environment information is a poor visibility environment. Department and
With
The display control unit
When changing lanes, the own lane content, which is the lane marking content corresponding to the own lane in which the vehicle is traveling, and the other lane content, which is the lane marking content corresponding to another lane different from the own lane, are displayed. And
When changing non-lanes, the own lane content is displayed, while the other lane content is hidden.
According to another aspect of the present disclosure, the display control method is a method of controlling the display of the display image in a vehicle display device that superimposes and displays the display image on the road surface that is visually recognized through the front windshield of the vehicle. is there.
This display control method is
The process of acquiring the lane marking information regarding the laying state of the road marking line on the road surface, and
The process of acquiring environmental information regarding the driving environment of the vehicle and
When the traveling environment corresponding to the acquired environmental information is a poor visibility environment, a process of displaying the lane marking content which is the display image corresponding to the road lane marking based on the acquired lane marking information. ,
Including
The process of displaying the lane marking content is
When changing lanes, the own lane content, which is the lane marking content corresponding to the own lane in which the vehicle is traveling, and the other lane content, which is the lane marking content corresponding to another lane different from the own lane, are displayed. And
This is a process of displaying the own lane content while hiding the other lane content when changing the non-lane.
According to still another aspect of the present disclosure, the display control program controls the display of the display image in the vehicle display device that superimposes and displays the display image on the road surface that is visible through the front windshield of the vehicle. It is a program executed by the display control device configured in.
This display control program is a process executed by the display control device.
The process of acquiring the lane marking information regarding the laying state of the road marking line on the road surface, and
The process of acquiring environmental information regarding the driving environment of the vehicle and
When the traveling environment corresponding to the acquired environmental information is a poor visibility environment, a process of displaying the lane marking content which is the display image corresponding to the road lane marking based on the acquired lane marking information. ,
Including
The process of displaying the lane marking content is
When changing lanes, the own lane content, which is the lane marking content corresponding to the own lane in which the vehicle is traveling, and the other lane content, which is the lane marking content corresponding to another lane different from the own lane, are displayed. And
This is a process of displaying the own lane content while hiding the other lane content when changing the non-lane.

The device, method, and program superimpose and display the lane marking content, which is the display image corresponding to the road lane marking, on the road surface when the traveling environment of the vehicle is the visibility poor environment. Here, such a device, a method, and a program superimpose and display the own lane content on the road surface when changing non-lanes, while hiding the other lane content. As a result, the visibility of the own lane is improved. On the other hand, such a device, a method, and a program superimpose and display the own lane content and the other lane content on the road surface when changing lanes. As a result, the driver of the vehicle can grasp the road condition of the lane change destination while satisfactorily visually recognizing the own lane. Therefore, there is provided an apparatus configuration and a method capable of improving the ease of grasping the road condition by the driver in a situation where it is difficult for the driver to visually recognize the road marking line.

In each column of the application documents, each element may have a reference code in parentheses. In this case, the reference reference numeral simply indicates an example of the correspondence between the same element and the specific configuration described in the embodiment described later. Therefore, the present disclosure is not limited to the description of the reference code.

It is a schematic block diagram of the vehicle equipped with the in-vehicle system including the display control device which concerns on embodiment. It is a block diagram which shows the schematic functional structure of the in-vehicle system shown in FIG. It is a block diagram which shows the schematic functional structure of the display control device shown in FIG. It is the schematic which shows the 1st example of the display control by the display control apparatus shown in FIG. It is a flowchart which shows one operation example of the display control apparatus shown in FIG. It is the schematic which shows the 2nd example of the display control by the display control apparatus shown in FIG. It is the schematic which shows the 2nd example of the display control by the display control apparatus shown in FIG. It is the schematic which shows the 3rd example of the display control by the display control device shown in FIG. It is the schematic which shows the 4th example of the display control by the display control device shown in FIG. It is the schematic which shows the 4th example of the display control by the display control device shown in FIG. It is the schematic which shows the 4th example of the display control by the display control device shown in FIG. It is the schematic which shows the 5th example of the display control by the display control device shown in FIG. It is the schematic which shows the 5th example of the display control by the display control device shown in FIG. It is the schematic which shows the sixth example of the display control by the display control device shown in FIG. It is the schematic which shows the 7th example of the display control by the display control device shown in FIG. It is the schematic which shows the 8th example of the display control by the display control device shown in FIG.

(Embodiment)
Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. If various modifications applicable to one embodiment are inserted in the middle of a series of explanations relating to the embodiment, the understanding of the embodiment may be hindered. Therefore, the modified examples will be described collectively afterwards, not in the middle of a series of explanations relating to the embodiment.

(vehicle)
Referring to FIG. 1, the vehicle 1 is a so-called four-wheeled vehicle, and includes a vehicle body 2 having a substantially rectangular shape in a plan view of the vehicle 1 viewed from above vertically. For convenience of the following description, "front", "rear", "left", "right", "top" and "bottom" in the vehicle 1 are defined as indicated by arrows in FIG. These directional concepts are based on the driver P, who is a occupant in the driver's seat of the vehicle 1 traveling forward. The front-rear direction is synonymous with the vehicle overall length direction. The left-right direction is synonymous with the vehicle width direction. In addition, the vertical direction is synonymous with the vehicle height direction. The vehicle overall length direction is a direction orthogonal to the vehicle width direction and orthogonal to the vehicle height direction. The vehicle height direction is a direction that defines the vehicle height of the vehicle 1, and is a direction parallel to the gravitational action direction when the vehicle 1 is placed on a horizontal plane.

The passenger compartment 3 in the vehicle body 2, which is the internal space on which the occupants board, is covered in front by the front windshield 4. The front windshield 4 is formed of a translucent glass or synthetic resin in a plate shape. The front windshield 4 is inclined so that the upper end portion is located rearward than the lower end portion in a lateral view viewed from a line of sight parallel to the vehicle width direction.

The dashboard 5 is arranged below the front windshield 4 in the passenger compartment 3. A steering column 6 extends from the dashboard 5 toward the driver P. A steering wheel 7 is attached to the steering column 6.

(In-vehicle system)
The vehicle 1 is equipped with an in-vehicle system 10. The in-vehicle system 10 is an in-vehicle network including an in-vehicle communication line 10A and each node connected to each other via the in-vehicle communication line 10A, and performs various controls during driving of the vehicle 1 and various display operations associated therewith. It is configured to be executable. The in-vehicle system 10 is configured to comply with a predetermined communication standard such as CAN (international registered trademark: international registration number 1048262A). CAN (Internationally Registered Trademark) is an abbreviation for Controller Area Network.

Hereinafter, the details of the configuration of the in-vehicle system 10 will be described with reference to FIGS. 1 and 2. The vehicle 1 equipped with the in-vehicle system 10 may be referred to as a "own vehicle". The in-vehicle system 10 includes a vehicle state sensor 11, an external state sensor 12, a peripheral monitoring sensor 13, a locator 14, a DCM 15, and a driving support ECU 16. DCM is an abbreviation for Data Communication Module. ECU is an abbreviation for Electronic Control Unit. The vehicle state sensor 11, the external state sensor 12, the peripheral monitoring sensor 13, the locator 14, and the DCM 15 are connected to the vehicle-mounted communication line 10A. The driving support ECU 16 is provided as a node connected to the vehicle-mounted communication line 10A.

Further, the in-vehicle system 10 includes a DSM 17, an input operation unit 18, a display device 19, and a display control device 20. DSM is an abbreviation for Driver Status Monitor. In the present embodiment, the DSM 17, the input operation unit 18, and the display device 19 are connected to the display control device 20 so as to be capable of information communication via a sub-communication line different from the vehicle-mounted communication line 10A. The display control device 20 is provided as a node connected to the vehicle-mounted communication line 10A.

The vehicle state sensor 11 is provided so as to generate an output corresponding to various quantities related to the driving state of the own vehicle. The "various amounts related to the driving state" include, for example, various quantities related to the driving operation state by the driver P, such as the accelerator operation amount, the brake operation amount, the shift position, the steering angle, and the like. Further, the "various quantities related to the driving state" include physical quantities related to the behavior of the own vehicle, such as vehicle speed, angular velocity, front-rear direction acceleration, left-right direction acceleration, and the like. That is, the vehicle state sensor 11 provides well-known sensors necessary for driving control, such as an accelerator opening sensor, a steering angle sensor, a wheel speed sensor, an angular velocity sensor, and an acceleration sensor, for simplification of illustration and description. It is a generic term. The vehicle state sensor 11 is provided so as to be able to provide detection output to each part of the locator 14 and the like via the vehicle-mounted communication line 10A.

The external state sensor 12 is provided so as to generate an output corresponding to various quantities related to the natural environment around the own vehicle. "Various quantities related to the natural environment" include, for example, physical quantities such as outside air temperature, rainfall, and illuminance. That is, the external state sensor 12 is a general term for well-known sensors such as an outside air temperature sensor, a raindrop sensor, an illuminance sensor, and the like for simplification of illustration and description. The external state sensor 12 is provided so as to be able to provide detection output to each part of the driving support ECU 16 and the like via the vehicle-mounted communication line 10A.

The peripheral monitoring sensor 13 is provided so as to detect a traffic environment event around the own vehicle other than the natural environment. Specifically, the peripheral monitoring sensor 13 is configured to be capable of detecting moving objects and stationary objects in a predetermined detection range around the own vehicle. "Moving objects" include pedestrians, cyclists, animals, and other vehicles. "Still objects" include roadside structures (buildings, etc.) in addition to road fall objects, guardrails, curbs, road signs, and road markings. In the present embodiment, the peripheral monitoring sensor 13 has a front camera 131 and a radar sensor 132 as a configuration for detecting moving objects and stationary objects.

The front camera 131 is provided so as to capture images in the front and front side ranges of the own vehicle. In the present embodiment, the front camera 131 is a digital camera device and includes an image sensor such as a CCD or CMOS. CCD is an abbreviation for Charge Coupled Device. CMOS is an abbreviation for Complementary MOS.

The radar sensor 132 is a millimeter-wave radar sensor, a sub-millimeter-wave radar sensor, or a laser radar sensor that transmits and receives radar waves, and is mounted on the front surface of the vehicle body 2. The radar sensor 132 is configured to output a signal corresponding to the position of the reflection point and the relative speed. The "reflection point" is a point on the surface of an object around the own vehicle that is presumed to have reflected radar waves. The "relative velocity" is the relative velocity of the reflection point, that is, the object reflecting the radar wave, with respect to the own vehicle.

The locator 14 is configured to determine highly accurate position information of the own vehicle by so-called compound positioning. Specifically, the locator 14 has a GNSS receiver 141, an inertia acquisition unit 142, a high-precision map DB 143, and a locator ECU 144. GNSS is an abbreviation for Global Navigation Satellite System. DB is an abbreviation for database.

The GNSS receiver 141 is provided so as to receive positioning signals transmitted from a plurality of positioning satellites, that is, artificial satellites. In the present embodiment, the GNSS receiver 141 is configured to be capable of receiving positioning signals from positioning satellites in at least one of satellite positioning systems such as GPS, QZSS, GLONASS, Galileo, IRNSS, Beidou satellite navigation system, and the like. Has been done. GPS is an abbreviation for Global Positioning System. QZSS is an abbreviation for Quasi-Zenith Satellite System. GLONASS is an abbreviation for Global Navigation Satellite System. IRNSS is an abbreviation for Indian Regional Navigation Satellite System.

The inertia acquisition unit 142 is configured to acquire the acceleration and the angular velocity acting on the own vehicle. In the present embodiment, the inertia acquisition unit 142 is provided as a 3-axis gyro sensor and a 3-axis acceleration sensor built in the box-shaped housing of the locator 14.

The high-precision map DB 143 is mainly composed of a non-volatile rewritable memory so that the high-precision map data can be rewritably stored and the stored contents are retained even when the power is cut off. The non-volatile rewritable memory is, for example, a hard disk, EEPROM, flash ROM, or the like. EEPROM is an abbreviation for Electronically Erasable and Programmable Read Only Memory. The high-precision map data includes map information with higher accuracy than the map data used in a normal or conventional car navigation system that guides a route to a destination. Specifically, the high-precision map DB143 can be used for advanced driving support or automatic driving such as three-dimensional road shape information, lane number information, regulation information, etc. in accordance with a predetermined standard such as the ADASIS standard. Information is stored.

The locator ECU 144 is configured as a so-called in-vehicle microcomputer provided with a CPU, ROM, RAM, input / output interface, etc. (not shown). CPU is an abbreviation for Central Processing Unit. ROM is an abbreviation for Read Only Memory. RAM is an abbreviation for Random Access Memory. The locator ECU 144 sequentially determines the position and direction of the own vehicle based on the positioning signal received by the GNSS receiver 141, the acceleration and angular velocity acquired by the inertia acquisition unit 142, the vehicle speed acquired from the vehicle state sensor 11, and the like. It is supposed to decide. The locator 14 is provided so that the determination result of the position, direction, and the like by the locator ECU 144 can be provided to each part of the driving support ECU 16, the display control device 20, and the like via the vehicle-mounted communication line 10A.

The DCM15 is an in-vehicle communication module, and is provided so that information can be communicated with base stations around the own vehicle by wireless communication conforming to a communication standard such as LTE or 5G. LTE is an abbreviation for Long Term Evolution. 5G is an abbreviation for 5th Generation. Specifically, for example, the DCM15 is configured to acquire the latest high-precision map data from a probe server on the cloud. Further, the DCM15 stores the acquired latest high-precision map data in the high-precision map DB 143 by linking with the locator ECU 144.

The driving support ECU 16 is configured as a so-called in-vehicle microcomputer provided with a CPU, ROM, RAM, input / output interface, etc. (not shown). The driving support ECU 16 is configured to execute a predetermined driving support operation based on signals and information acquired from the vehicle state sensor 11, the external world state sensor 12, the peripheral monitoring sensor 13, and the locator 14. The "predetermined driving support operation" is, for example, a "partial automatic driving control operation" or an "advanced driving support operation" of level 2 or lower at the automatic driving level specified by the American Society of Automotive Engineers of Japan. Specifically, the driving support ECU 16 provides, for example, ACC control for traveling at a constant speed while maintaining a constant distance from the preceding vehicle, lane keeping control for suppressing deviation from the traveling lane, and the like. It is configured to be executable. ACC is an abbreviation for Adaptive Cruise Control.

Further, the driving support ECU 16 is provided so that the processing result of the above signals and information generated or used for the driving support operation can be provided to the display control device 20 via the in-vehicle communication line 10A. The signals or information provided from the driving support ECU 16 to the display control device 20 include, for example, the weather, the recognition result of objects existing around the own vehicle, the road surface condition in front of the own vehicle, and the traffic around the own vehicle. Includes environmental events. Further, such a signal or information includes, for example, the current position of the own vehicle including a traveling position in the width direction of the road. Further, such a signal or information includes, for example, a recognition result of a road marking line on a road surface in front of the own vehicle, and the like.

The DSM 17 recognizes the driver P's face as an image and detects the driver P's state, and uses a speaker (not shown) provided on the dashboard 5 or the like to alert or warn about inattentive driving or the like. It is configured as follows. Specifically, the DSM 17 includes an in-vehicle camera 171, a light source device 172, and a DSM-ECU 173 that controls them.

The in-vehicle camera 171 is configured by a near-infrared camera so that the driver P can be stably photographed even when the inside of the vehicle interior 3 becomes dark. That is, the in-vehicle camera 171 is provided so as to take an image of the driver's seat illuminated by the light source device 172 which is a near-infrared light source such as a near-infrared LED.

The DSM-ECU 173 is configured to calculate the three-dimensional position of the viewpoint EP in the vehicle interior 3, the line-of-sight direction of the driver P, and the like by analyzing the image taken by the in-vehicle camera 171. Further, the DSM 17 is provided so that the calculation result in the DSM-ECU 173 can be provided to the display control device 20. In the present embodiment, the DSM 17 is connected to the display control device 20 via an information communication line different from the vehicle-mounted communication line 10A.

The input operation unit 18 is configured to accept manual and / or voice input operations by the driver P. Specifically, the input operation unit 18 has, for example, a winker switch 181 and the like. The blinker switch 181 is configured to output a signal corresponding to an operating state of a blinker lever (not shown), which is an operating lever provided on the steering column 6. Further, the input operation unit 18 has, for example, a steering switch provided on the spoke portion of the steering wheel 7. Further, the input operation unit 18 has, for example, a voice input device for detecting the utterance of the driver P. The input operation unit 18 is provided so that the reception result of the input operation by the driver P can be provided to the display control device 20. In the present embodiment, the input operation unit 18 is connected to the display control device 20 via an information communication line different from the vehicle-mounted communication line 10A.

(Vehicle display device)
The display device 19 is configured to display various information about the own vehicle to the driver P. Specifically, the display device 19 includes a meter panel 190 and a HUD device 191. HUD is an abbreviation for Head-Up Display.

The meter panel 190 is fixed to the dashboard 5 so as to be arranged toward the driver P. The meter panel 190 is configured to be able to display information on the driving state of the own vehicle such as vehicle speed, engine speed, cooling water temperature, mileage, and auxiliary information such as outside air temperature and current time. There is.

The HUD device 191 is housed in the dashboard 5 below the front windshield 4. The HUD device 191 uses AR technology to form a display image Vi that is a virtual image, so that the display image Vi can be visually displayed by the driver P together with the foreground that is visually recognized through the front windshield 4 of the own vehicle. It is provided to do so. That is, the HUD device 191 projects the display image light VL constituting the display image Vi onto the projection range PA in the front windshield 4, and makes the driver P visually recognize the reflected light by the front windshield 4 of the display image light VL. By doing so, it is configured to display the display image Vi. In FIG. 1, the depression angle AD is an angle between a virtual horizontal line passing through the viewpoint EP and a virtual straight line connecting the viewpoint EP and the upper end of the projection range PA. The depression angle AD has a positive value when looking down at the upper end of the projection range PA from the viewpoint EP, and a negative value when looking up at the upper end of the projection range PA from the viewpoint EP. In the present embodiment, the HUD device 191 is configured so that the depression angle AD is a positive value of 0 degrees or more. The vertical angle of view AV is an angle between a virtual straight line connecting the viewpoint EP and the upper end of the projection range PA and a virtual straight line connecting the viewpoint EP and the lower end of the projection range PA. That is, the vertical angle of view AV is an angle range in the vertical direction in which the displayed image Vi can be visually recognized from the viewpoint EP, and can also be referred to as a viewing angle in the vertical direction. In the present embodiment, the HUD device 191 is configured so that the projection range PA becomes a horizontally long substantially rectangular shape as shown in FIG. 4 and the like by making the horizontal angle of view larger than the vertical angle of view AV. ing.

Specifically, the HUD device 191 includes a projector 192 and a magnifying optical system 193. The projector 192 is provided so as to emit the display image light VL toward the magnifying optical system 193 based on the display image signal generated by the display control device 20. The magnifying optical system 193 includes a plurality of optical elements including a concave mirror and an actuator for controlling their alignment. The magnifying optical system 193 is configured to adjust the projection state of the display image light VL on the front window shield 4 by controlling the alignment in the optical element according to the viewpoint EP detected by the DSM 17 by an actuator.

The HUD device 191 is provided so that superimposed contents can be displayed. The “superimposed content” is display image content that is superimposed or displayed on the attention target or the superimposition target including the attention target while being associated with or associated with a specific attention target included in the foreground. The "object of interest" is an object that should be noted while driving, such as a road marking, a road sign, a vehicle in front, a pedestrian, or the like. A "superimposed object" is typically an object of interest. However, in a scene where the target of interest is a road marking such as a road marking, the superimposing target may be a road surface in the vicinity of the road marking. As described above, the HUD device 191 is configured to superimpose and display the superimposed content on the foreground such as the road surface, which is visually recognized through the front windshield 4 of the own vehicle.

The HUD device 191 is provided so that non-superimposed content can be displayed. "Non-superimposed content" is display image content that is not associated with a particular object of interest included in the foreground. Superimposed content and non-superimposed content differ in the following points. For example, the movement of the own vehicle and / or the object of interest changes the relative position of the object of interest with respect to the own vehicle. At this time, the display position of the superimposed content in the projection range PA may change following the change in the relative position with respect to the own vehicle of interest. On the other hand, the display position of the non-overlapping content in the projection range PA is usually constant. Further, the object of interest or the superimposed object, the superimposed content, and the viewpoint EP have a relative positional relationship such that they are substantially aligned with each other. Such a relative positional relationship is continuously maintained even if the relative position changes due to the traveling of the own vehicle or the like. On the other hand, for non-superimposed content, since the target of interest or the target of superimposition is not defined in the first place, such a relative positional relationship is not conceived. Further, as a typical example of the superimposed content, there is a solid line or broken line display image content corresponding to the road marking line. Such content is displayed along the road, and is displayed so as to extend in the depth direction when viewed from the driver P. On the other hand, typical examples of non-superimposed content include speed display, speed regulation display, and the like. Such content is not necessarily displayed along the road, and is not displayed so as to extend in the depth direction when viewed from the driver P. Depending on the positional relationship between the own vehicle and the object of interest or the object of superimposition, even the non-superimposed content may be visually recognized by the driver P by superimposing the object of interest or the object of superimposition corresponding to the superimposed content. obtain. However, in this way, the display of non-superimposed content that is visually superimposed by unintended accident is different from the "superimposition display" in the superposed content.

(Display control device)
The display control device 20 is provided to control the display operation in the display device 19. That is, the display control device 20 is configured as an HCU that controls the operation of the HMI system including the DSM 17, the input operation unit 18, and the display device 19. HMI is an abbreviation for Human Machine Interface. HCU is an abbreviation for HMI Control Unit. Specifically, the display control device 20 is configured as a so-called in-vehicle microcomputer provided with a processing unit 201, a storage unit 202, a RAM 203, an input / output interface 204, and the like.

The processing unit 201 has a configuration including at least one arithmetic core such as a CPU. The storage unit 202 is composed of a ROM and / or a non-volatile rewritable memory. The storage unit 202 stores various programs executed by the processing unit 201, such as a display control program. In addition, various data used when executing the program, for example, initial values, a lookup table, a map, and the like are stored in advance in the storage unit 202. The RAM 203 is provided so as to be accessible by the processing unit 201 in order to execute various processes for realizing the functions of the functional units described later by executing the above program.

The input / output interface 204 is provided so as to input / output signals and information between the display control device 20 and external devices such as the driving support ECU 16 and the DSM 17. Specifically, the in-vehicle communication line 10A is connected to the input / output interface 204. Further, the DSM 17, the input operation unit 18, and the display device 19 are connected to the input / output interface 204.

The display control device 20 is configured to control the display of the display image on the HUD device 191. Specifically, the display control device 20 has each functional unit realized on a microcomputer as shown in FIG. That is, the display control device 20 includes a position information acquisition unit 211, a map information acquisition unit 212, a lane marking information acquisition unit 213, a traveling environment acquisition unit 214, a viewpoint position acquisition unit 215, and a display control unit 216. Have. Hereinafter, the details of the functional configuration of the display control device 20 in the present embodiment will be described with reference to FIGS. 1 to 3.

The position information acquisition unit 211 is provided so as to acquire highly accurate position information and direction information of the own vehicle determined by compound positioning by the locator 14. Specifically, the position information acquisition unit 211 acquires the determination result of the position information and the direction information by the locator ECU 144 from the locator ECU 144 via the vehicle-mounted communication line 10A.

The map information acquisition unit 212 is provided to acquire high-precision map data stored in the high-precision map DB 143. Specifically, the map information acquisition unit 212 acquires the high-precision map data read from the high-precision map DB 143 by the locator ECU 144 from the locator ECU 144 via the vehicle-mounted communication line 10A.

The lane marking information acquisition unit 213 is provided so as to acquire lane marking information regarding the laying state of the road marking line on the road surface. Specifically, the lane marking information acquisition unit 213 obtains lane marking information based on the image information of the road lane marking DL on the road surface RS or the traveling locus information of the preceding vehicle detected by the peripheral monitoring sensor 13. It is designed to be extracted. Further, the lane marking information acquisition unit 213 extracts the lane marking information from the high-precision map data acquired by the map information acquisition unit 212.

The driving environment acquisition unit 214 is provided to acquire environmental information regarding the driving environment of the own vehicle. Specifically, the driving environment acquisition unit 214 acquires the outside air temperature, the amount of rainfall, etc. detected by the external world state sensor 12 and the detection result by the peripheral monitoring sensor 13 via the in-vehicle communication line 10A. ing. In addition, the traveling environment acquisition unit 214 determines whether or not the current traveling environment of the own vehicle is a poor visibility environment based on the acquisition result of the environmental information. The "poor visibility environment" refers to an environment in which the visibility in front of the own vehicle is poor due to snowfall, snowfall, rainfall, nighttime, fog, cliffs, and the like.

The viewpoint position acquisition unit 215 is provided so as to acquire the position of the viewpoint EP when the display by the HUD device 191 is executed. Specifically, the viewpoint position acquisition unit 215 acquires the calculation result of the three-dimensional position of the viewpoint EP by the DSM-ECU 173 from the DSM-ECU 173 via the vehicle-mounted communication line 10A.

The display control unit 216 is a display operation by the HUD device 191 based on the acquisition results by the position information acquisition unit 211, the map information acquisition unit 212, the lane marking information acquisition unit 213, the driving environment acquisition unit 214, and the viewpoint position acquisition unit 215. Is provided to control. Specifically, the display control unit 216 displays the lane marking content based on the lane marking information acquired when the driving environment corresponding to the environment information acquired by the driving environment acquisition unit 214 is a poor visibility environment. It is designed to do. The "lane marking content" is superimposed content corresponding to the road marking line.

(First Embodiment)
FIG. 4 shows a display example of the lane marking content in the present embodiment. In the figure, RS indicates the road surface, DL indicates the road division line, LS indicates the own lane, and LX indicates the other lane. Own lane LS is the lane in which the own vehicle is currently traveling. The other lane LX is a lane different from the own lane LS. It should be noted that the lane marking content is superimposed and displayed on the road surface RS in a scene where it is difficult to visually recognize the road lane marking DL due to poor visibility as described above. Typically, for example, when snow accumulates on the road surface RS, the road marking line DL is covered with the snow accumulated on the road surface RS and becomes invisible. Alternatively, for example, when there is a large amount of rainfall at night, the road marking line DL may be covered with a water film, making it difficult to see. However, in order to explain the correspondence between the display mode of the lane marking content and the road lane marking DL, the road lane marking DL is clearly shown by a solid line in FIG. Therefore, in FIG. 4, the fact that the road lane marking DL is clearly shown by the solid line indicates that the driver P can clearly see the road lane marking DL while actually driving the own vehicle. is not it. The same applies to FIG. 6A and the like.

When changing lanes, the display control unit 216 superimposes the first own lane content CS1, the second own lane content CS2, and the other lane content CX as lane marking contents on the road surface RS. The first own lane content CS1 is located on the opposite side of the pair of left and right lane marking lines corresponding to the own lane from the other lane LX to which the lane is changed. The second own lane content CS2 is located on the LX side of the other lane, which is the lane change destination, among the pair of left and right lane marking lines corresponding to the own lane. In the following description, the first own lane content CS1 and the second own lane content CS2 may be collectively referred to as "own lane content".

In the present embodiment, the display control unit 216 displays the first own lane content CS1, the second own lane content CS2, and the other lane content CX in the same line type as the corresponding actual road lane marking DL. It has become. Further, the display control unit 216 displays the first own lane content CS1, the second own lane content CS2, and the other lane content CX at a position offset to the center side in the width direction in each lane from the actual road lane marking DL. It is designed to do. Further, the display control unit 216 displays the other lane content CX only on one side of the other lane LX in the width direction, that is, on the end portion far from the own lane LS. Further, the display control unit 216 is adapted to display the instruction content CZ, which is non-superimposed content for prompting the driver P to change lanes.

On the other hand, when the non-lane change is made, the display control unit 216 superimposes and displays the first own lane content CS1 and the second own lane content CS2 on the road surface RS, while hides the other lane content CX. ing. Further, the display control unit 216 hides the instruction content CZ when changing lanes.

(Action / effect)
Hereinafter, the operation of the display control device 20 according to the present embodiment and the outline of the display control method executed by the display control device 20 are shown in FIGS. 1 to 5 together with the effects produced by the configuration of the present embodiment. It will be described using. In the flowchart of FIG. 5, "step" is simply abbreviated as "S".

When the predetermined HUD display start condition is satisfied, the display control device 20 starts the display control of the HUD device 191 by reading the display control program from the storage unit 202 by the processing unit 201 and executing it. For example, when the peripheral monitoring sensor 13 and / or the locator 14 acquires the regulation information (for example, speed regulation information) on the road on which the own vehicle is currently traveling, the display control device 20 does not correspond to the regulation information. The superimposed content is displayed by the HUD device 191. The display control device 20 updates the display state of the non-superimposed content by the HUD device 191 every time the regulation information acquired by the peripheral monitoring sensor 13 and / or the locator 14 is changed.

The driving support ECU 16 starts lane keeping control by a predetermined operation of the driver P, for example, an ACC start instruction operation or the like. During lane keeping control, the driving support ECU 16 executes steering control or steering support control of the own vehicle so that the own vehicle does not deviate from the own lane LS unless there is an additional instruction operation by the driver P. On the other hand, when the driver P accepts the lane change instruction operation, the driving support ECU 16 performs steering control or steering support control of the own vehicle for changing the traveling lane to another lane LX adjacent to the instructed direction. Execute. The lane change instruction operation may be performed, for example, by operating a blinker lever provided on the steering column 6. Alternatively, the lane change instruction operation may be performed, for example, by operating a steering switch provided on the spoke portion of the steering wheel 7. Alternatively, the lane change instruction operation may be performed by, for example, voice input.

When the driving support ECU 16 starts the lane keeping control, the display control device 20 starts the lane marking content display control. When the lane marking content display control is started, the display control device 20 repeatedly executes the lane marking content display routine shown in FIG. 5 in a predetermined short cycle, for example, a cycle of 100 ms. Such a lane marking content display routine is included in the above display control program.

When such a routine is activated, first, in step 501, the processing unit 201 acquires the position information and the direction information of the own vehicle. Next, in step 502, the processing unit 201 acquires the latest high-precision map information. Subsequently, in step 503, the processing unit 201 acquires the lane marking information regarding the laying state of the road marking line on the road surface RS. Further, in step 504, the processing unit 201 acquires environmental information regarding the traveling environment of the own vehicle. Further, in step 505, the processing unit 201 acquires the position of the current viewpoint EP.

After the acquisition process in steps 501 to 505, the processing unit 201 advances the process to step 506. In step 506, the processing unit 201 determines whether or not the current traveling environment of the own vehicle corresponding to the environmental information acquired in step 504 is a poor visibility environment.

When the environment is not poor visibility (that is, step 506 = NO), the processing unit 201 skips the processing after step 507 and temporarily ends this routine. On the other hand, in the case of a poor visibility environment (that is, step 506 = YES), the processing unit 201 advances the processing to step 507.

In step 507, the processing unit 201 displays the own lane content, that is, the first own lane content CS1 and the second own lane content CS2, based on the acquisition results in steps 501 to 505. After that, the processing unit 201 advances the processing to step 508.

In step 508, the processing unit 201 determines whether or not the lane is currently being changed. "Currently changing lanes" is the period from the acceptance of the lane change instruction operation by the driver P to the actual completion of the lane change.

If the lane is not being changed (that is, step 508 = NO), the processing unit 201 skips the processing of step 509 and temporarily ends this routine. On the other hand, when the lane is being changed (that is, step 508 = YES), the processing unit 201 temporarily ends this routine after executing the processing of step 509. In step 509, the processing unit 201 displays the other lane content CX based on the acquisition results of steps 501 to 505.

The display control unit 216 superimposes and displays the lane marking content, which is a display image corresponding to the road lane marking DL, on the road surface RS when the current traveling environment of the own vehicle is a poor visibility environment. Here, when a large amount of superimposed content including the own lane content and the other lane content CX is superimposed and displayed on the road surface RS at the time of non-lane change, the driver P feels annoyed, etc. The ease of grasping the road condition may decrease.

Therefore, in the present embodiment, when the non-lane change is made, the display control unit 216 superimposes and displays the own lane content on the road surface RS, while hides the other lane content CX. As a result, the driver P can concentrate on maintaining the own lane LS in a poor visibility environment. On the other hand, when the lane is changed, the display control unit 216 superimposes and displays the own lane content and the other lane content CX on the road surface RS. As a result, the driver P can pay good attention to the other lane LX, which is the lane change destination, in an environment with poor visibility.

As described above, according to the display control device 20 according to the present embodiment, and the method and program executed by the display control device 20, the superimposed display of the superimposed content on the road surface RS is appropriately performed according to the driving situation. Therefore, it is possible to improve the ease of grasping the road condition by the driver P in a situation where it is difficult for the driver P to visually recognize the road marking line DL.

Further, in the present embodiment, the display control unit 216 displays the own lane content and the other lane content CX in the same line type as the actual road lane marking DL. Specifically, in the example shown in FIG. 4, the display control unit 216 displays the first own lane content CS1 corresponding to the solid road lane marking DL with a solid line. On the other hand, the display control unit 216 displays the second own lane content CS2 corresponding to the broken line road lane DL that separates the own lane LS and the other lane LX with a broken line. The dashed road lane DL indicates that the lane can be changed under the road traffic legislation in Japan. As a result, the lane marking content is displayed in a state that matches the actual lane change scene. Therefore, the ease of grasping the road condition by the driver P is further improved.

Further, in the present embodiment, the display control unit 216 displays the own lane content at a position offset to the center side in the width direction in the own lane LS from the actual road lane marking DL. As a result, lane keeping can be reliably performed in an environment with poor visibility. Further, when the road lane marking DL is actually visible, the line types of both the road lane marking DL and the own lane content can be confirmed, so that the driver P can easily grasp the road condition. It will improve further. Further, in the present embodiment, the display control unit 216 sets the other lane content CX on one side in the width direction of the other lane LX, that is, only at the end far from the own lane LS on the center side in the width direction. Display at the offset position. This improves the visibility of the other lane content CX.

(Second Embodiment)
Hereinafter, the second embodiment will be described with reference to FIGS. 6A and 6B. In the following description of the second embodiment, the parts different from the first embodiment will be mainly described. Further, in the first embodiment and the second embodiment, the same or equal parts are designated by the same reference numerals. Therefore, in the following description of the second embodiment, the description in the first embodiment may be appropriately incorporated with respect to the components having the same reference numerals as those in the first embodiment, unless there is a technical contradiction or a special additional explanation. ..

The basic configuration of the display control device 20 according to the present embodiment is the same as in FIGS. 1 to 3. Further, the basic operation of the display control device 20 according to the present embodiment is the same as that in FIG. In the present embodiment, the display mode of the own lane content is different from that of the first embodiment. For the sake of simplification of illustration and description, it is assumed that the display of non-superimposed content such as instruction content CZ is omitted in FIG. 6A and the like.

In the present embodiment, the display control unit 216 displays the own lane content in a solid line as shown in FIG. 6A when the non-lane change is made. Specifically, the display control unit 216 displays both the first own lane content CS1 and the second own lane content CS2 in solid lines when the non-lane is changed. In this case, not only the first own lane content CS1 corresponding to the solid road lane marking DL, but also the second own lane content CS2 corresponding to the dashed road lane marking DL that separates the own lane LS and the other lane LX. Displayed as a solid line. This improves the visibility of the own lane LS during lane keeping control.

On the other hand, when the lane is changed, the display control unit 216 displays the own lane content and the other lane content CX in the same line type as the actual road lane marking DL, as shown in FIG. 6B. In this case, the first own lane content CS1 corresponding to the solid road lane marking DL is displayed as a solid line. On the other hand, the second own lane content CS2 corresponding to the broken line road lane DL that separates the own lane LS and the other lane LX is displayed by the broken line. As a result, the lane marking content is displayed in a state that matches the actual lane change scene. Therefore, the ease of grasping the road condition by the driver P when changing lanes is further improved.

(Third Embodiment)
Hereinafter, the third embodiment will be described with reference to FIG. 7. Also in this embodiment, the basic configuration of the display control device 20 is the same as in FIGS. 1 to 3. The basic operation of the display control device 20 is the same as that in FIG. The present embodiment relates to a display mode of the other lane content CX when the other lane LX exists on both sides of the own lane LS.

In the present embodiment, the display control unit 216 displays the other lane content CX corresponding to the changed lane LX1 when the lane is changed, while the other lane content corresponding to the unchanged destination lane LX2 different from the lane change destination. Hide CX. As a result, the lane marking content is displayed in a state that matches the actual lane change scene. Therefore, the ease of grasping the road condition by the driver P when changing lanes is further improved.

(Fourth Embodiment)
Hereinafter, the fourth embodiment will be described with reference to FIGS. 8A to 8C. Also in this embodiment, the basic configuration of the display control device 20 is the same as in FIGS. 1 to 3. The basic operation of the display control device 20 is the same as that in FIG. The present embodiment relates to a display transition mode of lane marking content when transitioning from a non-lane change to a lane change. In the present embodiment, the display control unit 216 continuously displays a portion of the own lane content in which the display mode does not change when transitioning from a non-lane change to a lane change.

Specifically, in the examples of FIGS. 8A to 8C, when the non-lane is changed, both the first own lane content CS1 and the second own lane content CS2 are displayed in solid lines as shown in FIG. 8A. Lane. On the other hand, when the lane is changed, as shown in FIG. 8C, the line type of the first own lane content CS1 is the same as the solid line, while the line type of the second own lane content CS2 is changed to the broken line.

As shown in FIG. 8B, the second own lane content CS2 whose display form changes due to the change of the lane type when transitioning from the non-lane change to the lane change is before the display of the other lane content CX. In addition, it is temporarily hidden. On the other hand, the first own lane content CS1 whose display form does not change is continuously displayed.

According to the present embodiment in which the display form changes from FIG. 8A to FIG. 8B to FIG. 8C when transitioning from a non-lane change to a lane change, the display form suddenly changes from FIG. 8A to FIG. 8C. The mode of change is made clearer than visually. Therefore, the ease of grasping the road condition by the driver P when changing lanes is further improved.

(Fifth Embodiment)
Hereinafter, the fifth embodiment will be described with reference to FIGS. 9A and 9B. This embodiment is a partial modification of the display transition mode in the fourth embodiment.

Specifically, as shown in FIGS. 9A and 9B, the other lane content CX is displayed so as to gradually appear from the upper end in the projection range PA as the own vehicle advances. Similarly, in the second own lane content CS2, the portion where the line type is changed is displayed so as to gradually appear from the upper end in the projection range PA as the own vehicle advances. As a result, the lane change mode is further clarified visually. Therefore, the ease of grasping the road condition by the driver P when changing lanes is further improved.

(Sixth Embodiment)
Hereinafter, the sixth embodiment will be described with reference to FIG. As shown in FIG. 10, the lane marking content can always be displayed as a solid line. This makes it easier to grasp lane information, especially when the weather is bad.

(Seventh Embodiment)
Hereinafter, the seventh embodiment will be described with reference to FIG. As shown in FIG. 11, in the present embodiment, the display control unit 216 displays the own lane content so as to become thicker toward the front side in the traveling direction. This improves the visibility of the own lane content. The same applies to the other lane content CX.

(Eighth embodiment)
Hereinafter, the eighth embodiment will be described with reference to FIG. As shown in FIG. 12, in the present embodiment, the display control unit 216 displays the own lane content and the own lane content so as to be thicker at the curved portion. This improves the visibility of the own lane content while driving on a curve. The same applies to the other lane content CX.

(Modification example)
The present disclosure is not limited to the above embodiments. Therefore, the above embodiment can be changed as appropriate. A typical modification will be described below. In the following description of the modified example, the differences from the above-described embodiment will be mainly described. Further, in the above-described embodiment and the modified example, the same reference numerals are given to the portions that are the same or equal to each other. Therefore, in the following description of the modified example, the description in the above embodiment may be appropriately incorporated with respect to the component having the same reference numeral as that in the above embodiment, unless there is a technical contradiction or a special additional explanation.

The present disclosure is not limited to the above example, that is, the specific device configuration shown in the above embodiment. That is, for example, the vehicle 1 is not limited to a four-wheeled vehicle. Specifically, the vehicle 1 may be a three-wheeled vehicle, or a six-wheeled or eight-wheeled vehicle such as a freight truck. The type of vehicle 1 may be an automobile having only an internal combustion engine, an electric vehicle or a fuel cell vehicle not having an internal combustion engine, or a so-called hybrid vehicle. The shape and structure of the vehicle body 2 are also not limited to a box shape, that is, a substantially rectangular shape in a plan view. There are no particular restrictions on the use of the vehicle 1, the position of the steering wheel 7, the number of occupants, and the like.

As the communication standard constituting the in-vehicle system 10, a communication standard other than CAN (international registered trademark), for example, FlexRay (internationally registered trademark) or the like can be adopted. Further, the communication standard constituting the in-vehicle system 10 is not limited to one type. For example, the in-vehicle system 10 may have a sub-network line conforming to a communication standard such as LIN. LIN is an abbreviation for Local Interconnect Network.

The vehicle state sensor 11, the external state sensor 12, and the peripheral monitoring sensor 13 are not limited to the above examples. For example, the peripheral monitoring sensor 13 may be configured to include a sonar, that is, an ultrasonic sensor.

The locator 14 is not limited to the above example. For example, the locator 14 does not have to have a configuration incorporating a gyro sensor and an acceleration sensor. Specifically, the inertia acquisition unit 142 may be adapted to receive output signals from the angular velocity sensor and the acceleration sensor provided outside the locator 14 as the vehicle state sensor 11.

DCM15 can be omitted.

An automatic operation ECU may be provided in place of or in combination with the operation support ECU 16. Such an automatic driving ECU is configured to enable automatic driving control of level 3 or higher.

The DSM 17 may be connected to the display control device 20 via the in-vehicle communication line 10A. Alternatively, the DSM 17 may be connected to the above subnetwork line.

The input operation unit 18 may be connected to the display control device 20 via the vehicle-mounted communication line 10A. Alternatively, the input operation unit 18 may be connected to the above-mentioned sub-network line.

There are no particular restrictions on the specific structure of the HUD device 191 and in particular, the projector 192 and the like. That is, as long as the HUD device 191 has a configuration capable of superimposing and displaying a display image on the road surface RS visually recognized through the front windshield 4 of the vehicle 1, there is a technical contradiction such as in-vehicle impossibility. Unless otherwise, it can be adopted. Further, there is no particular limitation on the size of the projection range PA, which is the visual field range that can be superimposed and displayed by the HUD device 191. That is, for example, the HUD device 191 may be a so-called windshield display device capable of superimposing and displaying the foreground on almost the entire surface of the front windshield 4.

In each of the above embodiments, the display control device 20 includes a CPU and the like. However, the present disclosure is not limited to such configurations. That is, for example, the display control device 20 may include a GPU. GPU is an abbreviation for Graphics Processing Unit. Alternatively, the display control device 20 may be configured to include a digital circuit configured to enable the above-mentioned operation, for example, an ASIC or an FPGA. ASIC is an abbreviation for Application Specific Integrated Circuit. FPGA is an abbreviation for Field Programmable Gate Array. The CPU and the ASIC can coexist.

The program according to the present disclosure can be downloaded or upgraded via a V2X communication means such as DCM15. V2X is an abbreviation for Vehicle to X. Alternatively, the program according to the present disclosure may be downloaded or upgraded via a terminal device provided in a manufacturing factory, a maintenance shop, a dealer, etc. of the vehicle 1. The storage destination of such a program may be a memory card, an optical disk, a magnetic disk, or the like.

Thus, each of the above functional configurations and methods is achieved by a dedicated computer provided by configuring a processor and memory programmed to perform one or more functions embodied by a computer program. May be done. Alternatively, each of the above functional configurations and methods may be implemented by a dedicated computer provided by configuring the processor with one or more dedicated hardware logic circuits. Alternatively, each of the above functional configurations and methods comprises a combination of a processor and memory programmed to perform one or more functions and a processor composed of one or more hardware logic circuits. It may be realized by one or more dedicated computers. In addition, the computer program may be stored in a computer-readable non-transitional substantive storage medium as an instruction executed by the computer. That is, each of the above functional configurations and methods can be expressed as a computer program including a procedure for realizing the above, or as a non-transitional substantive storage medium that stores the program.

The present disclosure is not limited to the specific functional configuration and operation example shown in the above embodiment. For example, a probe map can be used when the lane marking information acquisition unit 213 acquires the lane marking information.

In the broadest sense, AR includes displaying electronic information superimposed on the actual scene. Therefore, both the superposed content and the non-superimposed content are included in the AR content or the AR display object in the broadest sense as long as they can be visually recognized together with the actual scene. However, it is possible to interpret AR content in a narrow sense, including superimposed content but not non-superimposed content. In this case, the non-superimposed content can be said to be non-AR content or non-AR display object.

With reference to FIG. 4, the first own lane content CS1 and / or the second own lane content CS2 may be superimposed and displayed on the road surface RS at substantially the same position as the corresponding road marking line DL in the width direction. Alternatively, the second own lane content CS2 may be superimposed and displayed on the road surface RS on the LX side of the other lane. Alternatively, the other lane content CX may be displayed on both sides of the other lane LX in the width direction.

In each of the above embodiments, the viewpoint position acquisition unit 215 acquires the calculation result of the three-dimensional position of the viewpoint EP by the DSM-ECU 173 from the DSM-ECU 173 via the vehicle-mounted communication line 10A. That is, in order to acquire the viewpoint EP when the display by the HUD device 191 is executed, the configuration of the in-vehicle camera 171 or the like provided in the DSM 17 for detecting the state of the driver P and calling attention or warning is diverted. It had been. However, the present disclosure is not limited to such embodiments.

Specifically, for example, the in-vehicle system 10 may not be provided with the DSM17. In this case, a driver's seat photographing camera for the HUD device 191 may be provided in the vehicle interior 3. Further, in this case, the position calculation of the viewpoint EP can be executed by the viewpoint position acquisition unit 215 in the display control device 20.

In the above specific operation example, the display control unit 216 is designed to display the lane marking content during ACC control or lane keeping control. However, the present disclosure is not limited to such embodiments. Specifically, for example, the display control unit 216 may display the lane marking content even if the ACC control or the lane keeping control is not executed in the poor visibility environment.

Similar expressions such as "acquisition", "calculation", "estimation", "detection", "detection", and "decision" can be appropriately replaced with each other within a technically consistent range. Both "detection" and "extraction" can be appropriately replaced within a technically consistent range.

It goes without saying that the elements constituting the above embodiment are not necessarily essential unless it is clearly stated that they are essential or when they are clearly considered to be essential in principle. In addition, when numerical values such as the number, numerical value, quantity, range, etc. of components are mentioned, unless it is clearly stated that they are indispensable, or when the number is clearly limited in principle, the specification is specified. The disclosure is not limited to the number of. Similarly, except when the shape, direction, positional relationship, etc. of a component or the like is mentioned, when it is clearly stated that it is particularly essential, or when it is limited to a specific shape, direction, positional relationship, etc. in principle. The present disclosure is not limited to the shape, direction, positional relationship, and the like.

The modified example is not limited to the above example. Also, a plurality of variants can be combined with each other. Further, all or part of the above embodiments and all or part of the modifications may be combined with each other.

(Summary)
The disclosure presented by each of the above embodiments and variants includes the following aspects of the method and program: The following viewpoints can be applied in combination with each other as long as there is no technical contradiction.

According to the first aspect, the display of the display image in the vehicle display device (191) that superimposes and displays the display image on the road surface (RS) visually recognized through the front windshield (4) of the vehicle (1) is controlled. The display control method is
The process of acquiring the lane marking information regarding the laying state of the road marking line on the road surface, and
The process of acquiring environmental information regarding the driving environment of the vehicle and
When the traveling environment corresponding to the acquired environmental information is a poor visibility environment, a process of displaying the lane marking content which is the display image corresponding to the road lane marking based on the acquired lane marking information. ,
Including
The process of displaying the lane marking content is
When changing lanes, the own lane content (CS1, CS2), which is the lane marking content corresponding to the own lane in which the vehicle is traveling, and the lane marking content corresponding to another lane different from the own lane, etc. Display lane content (CX) and
This is a process of displaying the own lane content while hiding the other lane content when changing the non-lane.
Further, according to the first viewpoint, the display of the display image on the vehicle display device (191) that superimposes and displays the display image on the road surface (RS) visually recognized through the front windshield (4) of the vehicle (1). The display control program executed by the display control device (20) configured to control the display control device is a process executed by the display control device.
The process of acquiring the lane marking information regarding the laying state of the road marking line on the road surface, and
The process of acquiring environmental information regarding the driving environment of the vehicle and
When the traveling environment corresponding to the acquired environmental information is a poor visibility environment, a process of displaying the lane marking content which is the display image corresponding to the road lane marking based on the acquired lane marking information. ,
Including
The process of displaying the lane marking content is
When changing lanes, the own lane content (CS1, CS2), which is the lane marking content corresponding to the own lane in which the vehicle is traveling, and the lane marking content corresponding to another lane different from the own lane, etc. Display lane content (CX) and
This is a process of displaying the own lane content while hiding the other lane content when changing the non-lane.

According to the second aspect, the process of displaying the lane marking content displays the other lane content corresponding to the other lane of the lane change destination when the lane is changed, while the other lane content is different from the lane change destination. This is a process for hiding the other lane content corresponding to the lane.

According to the third viewpoint, the process of displaying the lane marking content is a process of displaying the own lane content and the other lane content in the same line type as the road lane marking.

According to the fourth aspect, the process of displaying the lane marking content displays the own lane content and the other lane content in the same line type as the road lane marking when the lane is changed.
This is a process of displaying the own lane content in a solid line when changing non-lanes.

According to the fifth viewpoint, the process of displaying the lane marking content is a process of continuously displaying a portion of the own lane content whose display form does not change when transitioning from a non-lane change to a lane change. Is.

According to the sixth aspect, the process of displaying the lane marking content is a process of displaying the own lane content at a position offset to the center side in the width direction in the own lane from the actual road lane marking. ..

According to the seventh viewpoint, the process of displaying the lane marking content is a process of displaying the own lane content so as to become thicker toward the destination side in the traveling direction.

According to the eighth viewpoint, the process of displaying the lane marking content is a process of displaying the own lane content so as to be thicker at the curved portion.

Claims (10)

1. A display configured to control the display of the display image on the vehicle display device (191) that superimposes and displays the display image on the road surface (RS) that is visible through the front windshield (4) of the vehicle (1). It is a control device (20)
   The lane marking information acquisition unit (213) for acquiring lane marking information regarding the laying state of the road marking line on the road surface, and
   The driving environment acquisition unit (214) that acquires environmental information regarding the driving environment of the vehicle, and
   Display control for displaying the lane marking content, which is the display image corresponding to the road lane marking, based on the acquired lane marking information when the traveling environment corresponding to the acquired environment information is a poor visibility environment. Part (216) and
   With
   The display control unit
   When changing lanes, the own lane content (CS1, CS2), which is the lane marking content corresponding to the own lane in which the vehicle is traveling, and the lane marking content corresponding to another lane different from the own lane, etc. Display lane content (CX) and
   When changing non-lanes, the own lane content is displayed, while the other lane content is hidden.
   Display control device.
2. When changing lanes, the display control unit displays the other lane content corresponding to the other lane at the lane change destination, while hiding the other lane content corresponding to the other lane different from the lane change destination. To do,
   The display control device according to claim 1.
3. The display control unit displays the own lane content and the other lane content in the same line type as the road marking line.
   The display control device according to claim 1 or 2.
4. The display control unit
   When changing lanes, the own lane content and the other lane content are displayed in the same line type as the road lane marking.
   When changing non-lanes, the content of the own lane is displayed as a solid line.
   The display control device according to claim 1 or 2.
5. The display control unit continuously displays a portion of the own lane content in which the display form does not change when transitioning from a non-lane change to a lane change.
   The display control device according to any one of claims 1 to 4.
6. The display control unit displays the own lane content at a position offset to the center side in the width direction in the own lane from the actual road marking line.
   The display control device according to any one of claims 1 to 5.
7. The display control unit displays the own lane content so as to become thicker toward the front side in the traveling direction.
   The display control device according to any one of claims 1 to 6.
8. The display control unit displays the own lane content so as to be thicker at the curved portion.
   The display control device according to any one of claims 1 to 7.
9. A display control method for controlling the display of the display image in the vehicle display device (191) that superimposes and displays the display image on the road surface (RS) that is visually recognized through the front windshield (4) of the vehicle (1). ,
   The process of acquiring the lane marking information regarding the laying state of the road marking line on the road surface, and
   The process of acquiring environmental information regarding the driving environment of the vehicle and
   When the traveling environment corresponding to the acquired environmental information is a poor visibility environment, a process of displaying the lane marking content which is the display image corresponding to the road lane marking based on the acquired lane marking information. ,
   Including
   The process of displaying the lane marking content is
   When changing lanes, the own lane content (CS1, CS2), which is the lane marking content corresponding to the own lane in which the vehicle is traveling, and the lane marking content corresponding to another lane different from the own lane, etc. Display lane content (CX) and
   This is a process of displaying the own lane content while hiding the other lane content when changing non-lanes.
   Display control method.
10. Display control configured to control the display of the display image in the vehicle display device (191) that superimposes and displays the display image on the road surface (RS) that is visible through the front windshield (4) of the vehicle (1). A display control program executed by the device (20).
    The process executed by the display control device is
    The process of acquiring the lane marking information regarding the laying state of the road marking line on the road surface, and
    The process of acquiring environmental information regarding the driving environment of the vehicle and
    When the traveling environment corresponding to the acquired environmental information is a poor visibility environment, a process of displaying the lane marking content which is the display image corresponding to the road lane marking based on the acquired lane marking information. ,
    Including
    The process of displaying the lane marking content is
    When changing lanes, the own lane content (CS1, CS2), which is the lane marking content corresponding to the own lane in which the vehicle is traveling, and the lane marking content corresponding to another lane different from the own lane, etc. Display lane content (CX) and
    This is a process of displaying the own lane content while hiding the other lane content when changing non-lanes.
    Display control program.

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