WO2024034078A1 - Display control method and display control device - Google Patents

Display control method and display control device Download PDF

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Publication number
WO2024034078A1
WO2024034078A1 PCT/JP2022/030628 JP2022030628W WO2024034078A1 WO 2024034078 A1 WO2024034078 A1 WO 2024034078A1 JP 2022030628 W JP2022030628 W JP 2022030628W WO 2024034078 A1 WO2024034078 A1 WO 2024034078A1
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Prior art keywords
display
vehicle
display control
control method
viewpoint
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PCT/JP2022/030628
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French (fr)
Japanese (ja)
Inventor
敦次 梶
博司 渡辺
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日産自動車株式会社
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Priority to PCT/JP2022/030628 priority Critical patent/WO2024034078A1/en
Publication of WO2024034078A1 publication Critical patent/WO2024034078A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Arrangement of adaptations of instruments
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/01—Head-up displays

Definitions

  • the present invention relates to a display control method and a display control device.
  • Patent Document 1 discloses a head-up display device that displays a virtual image so as to be superimposed on an object in the scenery outside the vehicle. According to the head-up display device, the position of the viewer's viewpoint in the vertical direction is acquired, and the virtual image is moved away from the object according to the amount of deviation of the acquired viewpoint of the viewer from the reference position in the vertical direction. The virtual image is corrected to suppress deviation, and a display image is generated based on the corrected virtual image.
  • the present invention has been made in view of the above problems.
  • the purpose of this is to provide a display control method and display control that can suppress the sense of discomfort caused by a virtual image that is corrected and displayed so as to overlap the foreground seen by the passenger, even when the position of the passenger's viewpoint changes quickly.
  • the goal is to provide equipment.
  • a display control method and a display control device acquire viewpoint displacement information indicating a displacement of the viewpoint position of an occupant riding in a vehicle in a stationary system of the vehicle, Based on the viewpoint displacement information, at least one specific component having only a frequency equal to or lower than a predetermined frequency is extracted from among the at least one component constituting the displacement. Based on the extracted specific component, the display position of the virtual image displayed in the display area that transmits the surroundings of the vehicle is corrected.
  • the present invention even when the position of the passenger's viewpoint changes rapidly, it is possible to suppress the sense of discomfort caused by a virtual image that is corrected and displayed so as to overlap the foreground seen by the passenger.
  • FIG. 1 is a block diagram showing the configuration of a display control device according to an embodiment of the present invention.
  • FIG. 2 is a flowchart showing the processing of the display control device according to an embodiment of the present invention.
  • FIG. 3 is a diagram illustrating an example of the relationship between the amplitude of a specific component and the amount of correction of the display position.
  • FIG. 4 is a diagram illustrating an example of a shift in the position of a virtual image due to a shift in the passenger's viewpoint position.
  • Display control device configuration A configuration example of a display control device according to this embodiment will be described with reference to FIG. 1.
  • the display control device is mounted on a vehicle, for example.
  • the display control device includes a display section 21, a detection section 30, and a controller 100.
  • the display unit 21 is connected to the controller 100 and has a display area 23 that allows the surroundings of the vehicle to be seen through so that it can be viewed from the driver's seat of the vehicle or other seats of the vehicle.
  • a display area 23 that allows the surroundings of the vehicle to be seen through so that it can be viewed from the driver's seat of the vehicle or other seats of the vehicle.
  • an AR (Augmented Reality) guide (image) generated by the controller 100 is displayed. Therefore, in the display area 23, the AR guide is displayed superimposed on the scenery around the vehicle.
  • the AR guide presented by the display unit 21 includes, for example, a guide route to the vehicle's destination, a road map, the vehicle's current position, and POIs that are places of interest to the user scattered between the vehicle and the destination. It expresses things such as.
  • the display unit 21 is a head-up display device.
  • the display area 23 is a predetermined area in the windshield WS (windshield) of the vehicle, and the AR guide may be projected onto the display area 23 from a projector (not shown) to present the AR guide to the user. .
  • the user visually recognizes the AR guide superimposed on the scenery around the vehicle seen through the windshield WS.
  • the detection unit 30 acquires viewpoint displacement information indicating the displacement of the viewpoint position of the occupant riding in the vehicle in the stationary system of the vehicle. More specifically, the detection unit 30 acquires an image of the occupant's head using a camera installed inside the vehicle (in-vehicle camera), and determines the position of the occupant's viewpoint (eye position) based on the image. ), and the direction of the line of sight (the direction the eyes are facing).
  • the detection unit 30 may also be used as a driver monitoring system (DMS) or an occupant monitoring system (OMS).
  • the driver monitoring system is a system that uses an in-vehicle camera to monitor the driving conditions of passengers and is intended to prevent dangerous driving and accidents.
  • driver monitoring systems perform facial recognition, dangerous driving detection, distracted driving detection, drowsy driving detection, and age, gender, and facial expression determination.
  • the occupant monitoring system is a system that monitors the condition of the occupant using an in-vehicle camera.
  • the viewpoint displacement information indicating the displacement of the viewpoint position of the occupant riding in the vehicle indicates the amount of deviation of the viewpoint position of the occupant from a fixed position (reference position) in the stationary system of the vehicle.
  • the viewpoint displacement information includes information on the displacement of the viewpoint position along the longitudinal direction of the vehicle (the traveling direction when the vehicle travels straight), information on the displacement of the viewpoint position along the vertical direction of the vehicle (the height direction of the vehicle), It consists of information on the displacement of the viewpoint position along the front-rear direction and the left-right direction perpendicular to the vertical direction.
  • the controller 100 is a general-purpose computer that includes a CPU (Central Processing Unit), a memory, a storage device, an input/output unit, and the like.
  • the controller 100 may be connected to a navigation device (not shown).
  • a navigation device performs route guidance for a vehicle.
  • a computer program for functioning as a display control device is installed in the controller 100.
  • the controller 100 functions as a plurality of information processing circuits (110, 150, 160, 170, 140) included in the display control device.
  • the computer program may be stored in a computer-readable and writable recording medium.
  • a plurality of information processing circuits (110, 150, 160, 170, 140) are realized by software.
  • the plurality of information processing circuits (110, 150, 160, 170, 140) may be configured with separate hardware.
  • the information processing circuits (110, 150, 160, 170, 140) may also be used as a navigation device or a control unit used to control a vehicle.
  • the controller 100 includes a plurality of information processing circuits (110, 150, 160, 170, 140) including an image generation section 110, a spectrum conversion section 150, an extraction section 160, a position correction section 170, an output section 140.
  • the image generation unit 110 generates an AR guide (virtual image) that overlaps the route the vehicle is scheduled to travel, which is visible to the passenger in the display area 23 when viewed from the driver's seat.
  • the image generation unit 110 sets the display position of the AR guide assuming that the viewpoint of the passenger seated in the driver's seat is at a fixed position (reference position) in the stationary system of the vehicle.
  • the display position is corrected by a position correction unit 170, which will be described later, based on viewpoint displacement information.
  • the spectrum conversion unit 150 decomposes the displacement of the passenger's viewpoint position into at least one or more components based on the viewpoint displacement information. For example, the spectrum transform unit 150 performs Fourier transform on the displacement of the passenger's viewpoint position and decomposes it into components for each frequency. In addition, the spectrum conversion unit 150 may calculate the phase of each component obtained by decomposition.
  • the extraction unit 160 Based on the viewpoint displacement information, the extraction unit 160 extracts at least one or more specific components having only a frequency equal to or lower than a predetermined frequency from among the at least one or more components that constitute the displacement of the passenger's viewpoint position. For example, the extraction unit 160 may extract at least one or more specific components having only frequencies below a predetermined frequency from among the components for each frequency obtained by the spectrum conversion unit 150. Alternatively, the extraction unit 160 may use a low-pass filter to extract a specific component having only a frequency equal to or lower than a predetermined frequency from the displacement of the passenger's viewpoint position.
  • the extraction of the specific component by the extraction unit 160 may be performed in each of the longitudinal, vertical, and lateral directions of the vehicle. That is, the extraction unit 160 may extract a specific component with respect to the displacement of the viewpoint position along the longitudinal direction of the vehicle. The extraction unit 160 may extract a specific component with respect to the displacement of the viewpoint position along the vertical direction of the vehicle. The extraction unit 160 may extract a specific component with respect to the displacement of the viewpoint position along the left-right direction of the vehicle.
  • the position correction unit 170 corrects the display position of the virtual image displayed in the display area 23 based on the specific component extracted by the extraction unit 160.
  • the specific component has a frequency less than or equal to a predetermined frequency, and does not have a frequency greater than the predetermined frequency. Therefore, the display position correction by the position correction unit 170 is performed based on only components having frequencies below a predetermined frequency.
  • the position correction unit 170 does not correct the display position.
  • the position correction unit 170 if the position of the passenger's viewpoint changes at a frequency higher than the predetermined frequency due to vibrations of the vehicle or the like, the position correction unit 170 does not correct the display position.
  • the position correction unit 170 if the position of the passenger's viewpoint changes at a frequency lower than a predetermined frequency due to fatigue of the passenger or a change in posture during driving, the display position is corrected by the position correction unit 170. Become. As a result, the discomfort caused by the corrected virtual image caused by a time delay during control to correct the display position is reduced.
  • the position correction unit 170 may set the correction amount to be larger as the amplitude of the specific component is larger, and change the display position by the amount of correction. This prevents the position of the AR guide, which is displayed superimposed on the scenery around the vehicle, from being displayed at a position that is significantly shifted from the scenery around the vehicle.
  • FIG. 4 is a diagram illustrating an example of a shift in the position of a virtual image due to a shift in the passenger's viewpoint position.
  • Light projected from a projector is reflected by, for example, a reflection point DP on the windshield WS and reaches the passenger's viewpoint, so that the passenger visually recognizes the AR guide.
  • the passenger's viewpoint When the passenger's viewpoint is at position PS1, the passenger recognizes that the virtual image corresponding to the AR guide is at position MG1.
  • the passenger's viewpoint changes to position PS2 in a situation where the reflection point DP does not change, the passenger will see that the virtual image corresponding to the AR guide is at position MG2. That is, when the passenger's viewpoint changes from position PS1 to position PS2, the position of the virtual image corresponding to the AR guide changes from position MG1 to position MG2.
  • the positions MG1 and MG2 are shifted by a distance LG along the longitudinal direction of the vehicle, depending on the size of the distance LG, the virtual image displayed superimposed on the scenery around the vehicle may give a sense of discomfort. It will end up being put away. Therefore, it is necessary to change the reflection point DP to prevent the position of the virtual image corresponding to the AR guide from changing from position MG1 to position MG2.
  • changes in the position of the passenger's viewpoint can include both fast changes caused by vibrations of the vehicle and slow changes caused by fatigue of the passenger or changes in posture during driving. Therefore, if the display position is corrected based on all frequency components included in changes in the passenger's viewpoint position, the display position correction will be delayed due to the time delay when correcting the virtual image. There may be cases where you are lost. In this case, the corrected virtual image will give a sense of discomfort. In order to suppress the sense of discomfort associated with such correction, the position correction unit 170 corrects the display position based on only components having frequencies below a predetermined frequency.
  • the position correction unit 170 may correct the display position when the amplitude of the specific component is larger than a predetermined threshold. As a result, if the display position of the AR guide does not deviate significantly from the scenery around the vehicle, the display position is not corrected, and the processing load associated with the display position correction is reduced.
  • the position correction unit 170 may set the first threshold as the predetermined threshold when the specific component is a component along the vertical direction of the vehicle. Then, the position correction unit 170 may set a second threshold larger than the first threshold as the predetermined threshold when the specific component is a component along the left-right direction of the vehicle.
  • the reason for this can be explained as follows.
  • the positional shift of the virtual image caused by the component along the vertical direction has the largest component due to a change in the distance between the virtual image and the vehicle. This is because the positional shift of the virtual image caused by the component along the vertical direction tends to give a sense of discomfort to the occupant, and there is a high need for correction.
  • the position correction unit 170 may set a third threshold larger than the second threshold as the predetermined threshold.
  • the reason for this can be explained as follows.
  • the positional shift of the virtual image caused by the component along the front-rear direction has the smallest element of change in the distance between the virtual image and the vehicle. This is because the positional deviation of the virtual image caused by the component along the front-rear direction does not easily give a sense of discomfort to the occupant, and there is little need for correction.
  • FIG. 3 shows how the correction amount is set by the position correction section 170.
  • FIG. 3 is a diagram illustrating an example of the relationship between the amplitude of a specific component and the amount of correction of the display position.
  • the position correction unit 170 may correct the display position when the amplitude (displacement) of the specific component is larger than a predetermined threshold TH.
  • the position correction unit 170 may set the display position correction amount to be larger as the amplitude of the specific component is larger. With these, it is possible to suppress a sense of discomfort that may occur due to correction of the display position.
  • the position correction unit 170 may continuously and smoothly increase the amount of correction of the display position in response to an increase in the amplitude of the specific component.
  • smoothly increasing means that when the correction amount of the display position is viewed as a function of the amplitude of a specific component, the differentiation of the function with respect to the amplitude is continuous. Thereby, it is possible to suppress the sense of discomfort that may occur due to the correction of the display position.
  • the output unit 140 outputs the AR guide generated by the image generation unit 110.
  • the output AR guide is displayed in the display area 23 at the display position corrected by the position correction unit 170.
  • FIG. 2 is a flowchart showing the processing of the display control device according to an embodiment of the present invention.
  • step S101 the detection unit 30 acquires viewpoint displacement information indicating the displacement of the viewpoint position of the occupant riding in the vehicle in the stationary system of the vehicle.
  • step S103 the spectrum transform unit 150 performs Fourier transform on the displacement of the passenger's viewpoint position and decomposes it into components for each frequency.
  • step S105 the extraction unit 160 extracts at least one specific component having only frequencies below a predetermined frequency from among the components for each frequency obtained by the spectrum conversion unit 150.
  • step S107 the position correction unit 170 determines whether the amplitude of the specific component is larger than a predetermined threshold.
  • step S109 the position correction unit 170 calculates the amount of correction of the display position. On the other hand, if it is determined that the amplitude of the specific component is less than or equal to the predetermined threshold (NO in step S107), the position correction unit 170 sets the display position correction amount to 0 in step S111.
  • step S113 the image generation unit 110 generates an AR guide (image). After that, the position correction unit 170 corrects the display position of the virtual image displayed in the display area.
  • step S115 the output unit 140 outputs the AR guide whose display position has been corrected.
  • the output AR guide is presented to the user via the display area 23. Thereafter, the processing of the display control device ends.
  • the display control method and display control device acquires viewpoint displacement information indicating a displacement of the viewpoint position of an occupant riding in a vehicle in a stationary system of the vehicle, and obtains viewpoint displacement information. Based on this, at least one specific component having only a frequency equal to or lower than a predetermined frequency is extracted from at least one or more components constituting the displacement. Based on the extracted specific component, the display position of the virtual image displayed in the display area that transmits the surroundings of the vehicle is corrected.
  • the display position is not corrected.
  • the position of the passenger's viewpoint changes at a frequency higher than the predetermined frequency due to vibrations of the vehicle.
  • the display position will be corrected. As a result, the discomfort caused by the corrected virtual image caused by a time delay during control to correct the display position is reduced.
  • the display control method and display control device may correct the display position when the amplitude of the specific component is larger than a predetermined threshold. As a result, if the display position of the AR guide does not deviate significantly from the scenery around the vehicle, the display position is not corrected, and the processing load associated with the display position correction is reduced.
  • the display control method and display control device may set the first threshold value as the predetermined threshold value when the specific component is a component along the vertical direction of the vehicle.
  • a second threshold value larger than the first threshold value may be set as the predetermined threshold value.
  • the positional shift of the virtual image caused by the component along the vertical direction has the largest component due to a change in the distance between the virtual image and the vehicle.
  • the positional shift of the virtual image caused by the component along the vertical direction tends to give a sense of discomfort to the occupant, and there is a high need for correction. Therefore, correction is performed only when the need for correction of the display position is high, and the processing load is reduced.
  • the display control method and display control device may set a third threshold larger than the second threshold as the predetermined threshold when the specific component is a component along the front-rear direction. good.
  • the positional shift of the virtual image caused by the component along the front-rear direction has the smallest element of change in the distance between the virtual image and the vehicle.
  • the positional shift of the virtual image caused by the component along the front-rear direction does not give the occupant a sense of discomfort, and there is little need for correction. Therefore, correction is performed only when the need for correction of the display position is high, and the processing load is reduced.
  • the larger the amplitude of the specific component the larger the correction amount may be set, and the display position may be changed by the correction amount. Therefore, it is possible to suppress the sense of discomfort that may occur due to the correction of the display position.
  • Processing circuits include programmed processors, electrical circuits, and other devices such as application specific integrated circuits (ASICs) and circuit components arranged to perform the described functions. Also included.
  • ASICs application specific integrated circuits

Abstract

This display control method and display control device acquire viewing point displacement information that indicates displacement of the position of a viewing point of an occupant riding in a vehicle, in a stationary system of the vehicle, and extract, on the basis of the viewing point displacement information, at least one specific component having only a frequency lower than or equal to a predetermined frequency from at least one or more components constituting the displacement. The display control method and display control device correct, on the basis of the extracted specific component, a display position of a virtual image to be displayed in a display area through which surroundings of the vehicle are seen.

Description

表示制御方法及び表示制御装置Display control method and display control device
　本発明は、表示制御方法及び表示制御装置に関する。 The present invention relates to a display control method and a display control device.
　特許文献１には、車外の風景のうち対象物に重畳するように虚像を表示するヘッドアップディスプレイ装置が開示されている。当該ヘッドアップディスプレイ装置によれば、鉛直方向における視認者の視点の位置が取得され、取得される視認者の視点の位置の鉛直方向における基準位置からのずれ量に応じて、虚像が対象物からずれることを抑制するように虚像が補正され、当該補正後の虚像に基づき表示画像が生成される。 Patent Document 1 discloses a head-up display device that displays a virtual image so as to be superimposed on an object in the scenery outside the vehicle. According to the head-up display device, the position of the viewer's viewpoint in the vertical direction is acquired, and the virtual image is moved away from the object according to the amount of deviation of the acquired viewpoint of the viewer from the reference position in the vertical direction. The virtual image is corrected to suppress deviation, and a display image is generated based on the corrected virtual image.
特開２０１８－１０３８８８号公報JP2018-103888A
　特許文献１に記載された技術によれば、乗員の視点の位置の変化が速い場合に、虚像を補正する際の時間遅れなどに起因して、補正後の虚像に対して違和感が生じうるという問題がある。 According to the technology described in Patent Document 1, when the position of the passenger's viewpoint changes quickly, the virtual image after correction may feel strange due to a time delay when correcting the virtual image. There's a problem.
　本発明は、上記問題に鑑みてなされたものである。その目的とするところは、乗員の視点の位置の変化が速い場合であっても、乗員から見える前景に重なるように補正して表示した虚像に対する違和感を抑制することができる表示制御方法及び表示制御装置を提供することにある。 The present invention has been made in view of the above problems. The purpose of this is to provide a display control method and display control that can suppress the sense of discomfort caused by a virtual image that is corrected and displayed so as to overlap the foreground seen by the passenger, even when the position of the passenger's viewpoint changes quickly. The goal is to provide equipment.
　上述した課題を解決するために、本発明の一態様に係る表示制御方法及び表示制御装置は、車両の静止系における、車両に乗車する乗員の視点位置の変位を示す視点変位情報を取得し、視点変位情報に基づいて、変位を構成する少なくとも一以上の成分のうち所定周波数以下の周波数のみを有する少なくとも一以上の特定成分を抽出する。抽出した特定成分に基づいて、車両の周囲を透過させる表示領域に表示する虚像の表示位置を補正する。 In order to solve the above-mentioned problems, a display control method and a display control device according to one aspect of the present invention acquire viewpoint displacement information indicating a displacement of the viewpoint position of an occupant riding in a vehicle in a stationary system of the vehicle, Based on the viewpoint displacement information, at least one specific component having only a frequency equal to or lower than a predetermined frequency is extracted from among the at least one component constituting the displacement. Based on the extracted specific component, the display position of the virtual image displayed in the display area that transmits the surroundings of the vehicle is corrected.
　本発明によれば、乗員の視点の位置の変化が速い場合であっても、乗員から見える前景に重なるように補正して表示した虚像に対する違和感を抑制することができる。 According to the present invention, even when the position of the passenger's viewpoint changes rapidly, it is possible to suppress the sense of discomfort caused by a virtual image that is corrected and displayed so as to overlap the foreground seen by the passenger.
図１は、本発明の一実施形態に係る表示制御装置の構成を示すブロック図である。FIG. 1 is a block diagram showing the configuration of a display control device according to an embodiment of the present invention. 図２は、本発明の一実施形態に係る表示制御装置の処理を示すフローチャートである。FIG. 2 is a flowchart showing the processing of the display control device according to an embodiment of the present invention. 図３は、特定成分の振幅と表示位置の補正量の間の関係の一例を示す図である。FIG. 3 is a diagram illustrating an example of the relationship between the amplitude of a specific component and the amount of correction of the display position. 図４は、乗員の視点位置の変位に伴う、虚像の位置のずれの一例を示す図である。FIG. 4 is a diagram illustrating an example of a shift in the position of a virtual image due to a shift in the passenger's viewpoint position.
　次に、図面を参照して、本発明の実施の形態を詳細に説明する。説明において、同一のものには同一符号を付して重複説明を省略する。 Next, embodiments of the present invention will be described in detail with reference to the drawings. In the description, the same parts are given the same reference numerals and redundant description will be omitted.
　［表示制御装置の構成］
　図１を参照して、本実施形態に係る表示制御装置の構成例を説明する。表示制御装置は、一例として車両に搭載される。図１に示すように、表示制御装置は、表示部２１と、検出部３０と、コントローラ１００とを備える。 [Display control device configuration]
A configuration example of a display control device according to this embodiment will be described with reference to FIG. 1. The display control device is mounted on a vehicle, for example. As shown in FIG. 1, the display control device includes a display section 21, a detection section 30, and a controller 100.
　表示部２１は、コントローラ１００と接続され、車両の運転席又はその他の車両の座席から視認可能なように車両の周囲を透過させる表示領域２３を有する。表示領域２３には、コントローラ１００によって生成したＡＲ（Ａｕｇｍｅｎｔｅｄ　Ｒｅａｌｉｔｙ）ガイド（画像）が表示される。したがって、表示領域２３には、車両の周囲の風景に重畳してＡＲガイドが表示される。 The display unit 21 is connected to the controller 100 and has a display area 23 that allows the surroundings of the vehicle to be seen through so that it can be viewed from the driver's seat of the vehicle or other seats of the vehicle. In the display area 23, an AR (Augmented Reality) guide (image) generated by the controller 100 is displayed. Therefore, in the display area 23, the AR guide is displayed superimposed on the scenery around the vehicle.
　表示部２１によって提示されるＡＲガイドは、例えば、車両の目的地までの誘導経路、道路地図、車両の現在位置、車両と目的地との間に点在するユーザの興味のある場所であるＰＯＩなどを表現するものである。 The AR guide presented by the display unit 21 includes, for example, a guide route to the vehicle's destination, a road map, the vehicle's current position, and POIs that are places of interest to the user scattered between the vehicle and the destination. It expresses things such as.
　例えば、表示部２１は、ヘッドアップディスプレイ装置である。表示領域２３は、車両のウィンドシールドＷＳ（フロントガラス）における所定の領域であって、図示しないプロジェクターから表示領域２３にＡＲガイドが投射されてユーザにＡＲガイドが提示されるものであってもよい。その結果、ユーザは、ウィンドシールドＷＳ越しに見える車両の周囲の風景に重畳されたＡＲガイドを視認することになる。 For example, the display unit 21 is a head-up display device. The display area 23 is a predetermined area in the windshield WS (windshield) of the vehicle, and the AR guide may be projected onto the display area 23 from a projector (not shown) to present the AR guide to the user. . As a result, the user visually recognizes the AR guide superimposed on the scenery around the vehicle seen through the windshield WS.
　検出部３０は、車両の静止系における、車両に乗車する乗員の視点位置の変位を示す視点変位情報を取得する。より具体的には、検出部３０は、車室内に設置されたカメラ（車内カメラ）により、乗員の頭部を撮像した画像を取得し、当該画像に基づいて乗員の視点の位置（目の位置）、および、視線の方向（目の向いている方向）などを取得する。検出部３０は、ドライバー監視システム（ＤＭＳ：Ｄｒｉｖｅｒ　Ｍｏｎｉｔｏｒｉｎｇ　Ｓｙｓｔｅｍ）、あるいは、乗員監視システム（ＯＭＳ：Ｏｃｃｕｐａｎｔ　Ｍｏｎｉｔｏｒｉｎｇ　Ｓｙｓｔｅｍ）と兼用してもよい。 The detection unit 30 acquires viewpoint displacement information indicating the displacement of the viewpoint position of the occupant riding in the vehicle in the stationary system of the vehicle. More specifically, the detection unit 30 acquires an image of the occupant's head using a camera installed inside the vehicle (in-vehicle camera), and determines the position of the occupant's viewpoint (eye position) based on the image. ), and the direction of the line of sight (the direction the eyes are facing). The detection unit 30 may also be used as a driver monitoring system (DMS) or an occupant monitoring system (OMS).
　ドライバー監視システムは、車内カメラによって乗員の運転状態を監視し、危険運転・事故防止を目的としたシステムである。例えば、ドライバー監視システムは、顔認証、危険運転検出、よそ見運転検出、居眠り運転検出、年齢・性別・表情判定を行う。乗員監視システムも、同様に、車内カメラによって乗員の状態を監視するシステムである。 The driver monitoring system is a system that uses an in-vehicle camera to monitor the driving conditions of passengers and is intended to prevent dangerous driving and accidents. For example, driver monitoring systems perform facial recognition, dangerous driving detection, distracted driving detection, drowsy driving detection, and age, gender, and facial expression determination. Similarly, the occupant monitoring system is a system that monitors the condition of the occupant using an in-vehicle camera.
　車両に乗車する乗員の視点位置の変位を示す視点変位情報は、車両の静止系において固定された位置（基準位置）からの乗員の視点位置のズレ量を示す。視点変位情報は、車両の前後方向（車両が直進する際の進行方向）に沿った視点位置の変位の情報、車両の鉛直方向（車両の高さ方向）に沿った視点位置の変位の情報、前後方向および鉛直方向に直交する左右方向に沿った視点位置の変位の情報からなる。 The viewpoint displacement information indicating the displacement of the viewpoint position of the occupant riding in the vehicle indicates the amount of deviation of the viewpoint position of the occupant from a fixed position (reference position) in the stationary system of the vehicle. The viewpoint displacement information includes information on the displacement of the viewpoint position along the longitudinal direction of the vehicle (the traveling direction when the vehicle travels straight), information on the displacement of the viewpoint position along the vertical direction of the vehicle (the height direction of the vehicle), It consists of information on the displacement of the viewpoint position along the front-rear direction and the left-right direction perpendicular to the vertical direction.
　コントローラ１００は、ＣＰＵ（Ｃｅｎｔｒａｌ　Ｐｒｏｃｅｓｓｉｎｇ　Ｕｎｉｔ）、メモリ、記憶装置、入出力部などを備える汎用のコンピュータである。コントローラ１００は、図示しないナビゲーション装置と接続されるものであってもよい。例えば、ナビゲーション装置は、車両のルート案内を実行する。 The controller 100 is a general-purpose computer that includes a CPU (Central Processing Unit), a memory, a storage device, an input/output unit, and the like. The controller 100 may be connected to a navigation device (not shown). For example, a navigation device performs route guidance for a vehicle.
　コントローラ１００には、表示制御装置として機能するためのコンピュータプログラムがインストールされている。コンピュータプログラムを実行することにより、コントローラ１００は、表示制御装置が備える複数の情報処理回路（１１０、１５０、１６０、１７０、１４０）として機能する。なお、コンピュータプログラムは、コンピュータによって読み書き可能な記録媒体に格納されるものであってもよい。 A computer program for functioning as a display control device is installed in the controller 100. By executing the computer program, the controller 100 functions as a plurality of information processing circuits (110, 150, 160, 170, 140) included in the display control device. Note that the computer program may be stored in a computer-readable and writable recording medium.
　本実施形態では、ソフトウェアによって複数の情報処理回路（１１０、１５０、１６０、１７０、１４０）を実現する例を示す。ただし、以下に示す各情報処理を実行するための専用のハードウェアを用意して、情報処理回路（１１０、１５０、１６０、１７０、１４０）を構成することも可能である。また、複数の情報処理回路（１１０、１５０、１６０、１７０、１４０）を個別のハードウェアにより構成してもよい。さらに、情報処理回路（１１０、１５０、１６０、１７０、１４０）は、ナビゲーション装置、あるいは、車両の制御に用いる制御ユニットと兼用してもよい。 In this embodiment, an example is shown in which a plurality of information processing circuits (110, 150, 160, 170, 140) are realized by software. However, it is also possible to configure the information processing circuits (110, 150, 160, 170, 140) by preparing dedicated hardware for executing each information processing described below. Further, the plurality of information processing circuits (110, 150, 160, 170, 140) may be configured with separate hardware. Furthermore, the information processing circuits (110, 150, 160, 170, 140) may also be used as a navigation device or a control unit used to control a vehicle.
　図１に示すように、コントローラ１００は、複数の情報処理回路（１１０、１５０、１６０、１７０、１４０）として、画像生成部１１０、スペクトル変換部１５０、抽出部１６０、位置補正部１７０、出力部１４０を備える。 As shown in FIG. 1, the controller 100 includes a plurality of information processing circuits (110, 150, 160, 170, 140) including an image generation section 110, a spectrum conversion section 150, an extraction section 160, a position correction section 170, an output section 140.
　画像生成部１１０は、例えば、画像生成部１１０は、運転席から見て表示領域２３において乗員から視認される、車両が走行を予定する経路に重なるＡＲガイド（虚像）を生成する。なお、画像生成部１１０は、車両の静止系において固定された位置（基準位置）に、運転席に着座する乗員の視点があるとして、ＡＲガイドの表示位置を設定する。当該表示位置は、後述する位置補正部１７０によって視点変位情報に基づいて補正される。 For example, the image generation unit 110 generates an AR guide (virtual image) that overlaps the route the vehicle is scheduled to travel, which is visible to the passenger in the display area 23 when viewed from the driver's seat. Note that the image generation unit 110 sets the display position of the AR guide assuming that the viewpoint of the passenger seated in the driver's seat is at a fixed position (reference position) in the stationary system of the vehicle. The display position is corrected by a position correction unit 170, which will be described later, based on viewpoint displacement information.
　スペクトル変換部１５０は、視点変位情報に基づいて、乗員の視点位置の変位を少なくとも一以上の成分に分解する。例えば、スペクトル変換部１５０は、乗員の視点位置の変位に対してフーリエ変換を行い、周波数ごとの成分に分解する。その他、スペクトル変換部１５０は、分解によって得られた成分ごとの位相を算出するものであってもよい。 The spectrum conversion unit 150 decomposes the displacement of the passenger's viewpoint position into at least one or more components based on the viewpoint displacement information. For example, the spectrum transform unit 150 performs Fourier transform on the displacement of the passenger's viewpoint position and decomposes it into components for each frequency. In addition, the spectrum conversion unit 150 may calculate the phase of each component obtained by decomposition.
　抽出部１６０は、視点変位情報に基づいて、乗員の視点位置の変位を構成する少なくとも一以上の成分のうち所定周波数以下の周波数のみを有する少なくとも一以上の特定成分を抽出する。例えば、抽出部１６０は、スペクトル変換部１５０によって得られた周波数ごとの成分のうち、所定周波数以下の周波数のみを有する少なくとも一以上の特定成分を抽出するものであってもよい。その他、抽出部１６０は、ローパスフィルタを用いて、乗員の視点位置の変位から所定周波数以下の周波数のみを有する特定成分を抽出するものであってもよい。 Based on the viewpoint displacement information, the extraction unit 160 extracts at least one or more specific components having only a frequency equal to or lower than a predetermined frequency from among the at least one or more components that constitute the displacement of the passenger's viewpoint position. For example, the extraction unit 160 may extract at least one or more specific components having only frequencies below a predetermined frequency from among the components for each frequency obtained by the spectrum conversion unit 150. Alternatively, the extraction unit 160 may use a low-pass filter to extract a specific component having only a frequency equal to or lower than a predetermined frequency from the displacement of the passenger's viewpoint position.
　抽出部１６０による特定成分の抽出は、車両の前後方向、鉛直方向、左右方向のそれぞれの方向ごとに行われてもよい。すなわち、抽出部１６０は、車両の前後方向に沿った視点位置の変位に対して特定成分を抽出してもよい。抽出部１６０は、車両の鉛直方向に沿った視点位置の変位に対して特定成分を抽出してもよい。抽出部１６０は、車両の左右方向に沿った視点位置の変位に対して特定成分を抽出してもよい。 The extraction of the specific component by the extraction unit 160 may be performed in each of the longitudinal, vertical, and lateral directions of the vehicle. That is, the extraction unit 160 may extract a specific component with respect to the displacement of the viewpoint position along the longitudinal direction of the vehicle. The extraction unit 160 may extract a specific component with respect to the displacement of the viewpoint position along the vertical direction of the vehicle. The extraction unit 160 may extract a specific component with respect to the displacement of the viewpoint position along the left-right direction of the vehicle.
　位置補正部１７０は、抽出部１６０によって抽出した特定成分に基づいて、表示領域２３に表示する虚像の表示位置を補正する。特定成分は所定周波数以下の周波数を有し、所定周波数よりも大きな周波数を有していない。そのため、位置補正部１７０による表示位置の補正は、所定周波数以下の周波数のみを有する成分に基づいて行われることになる。 The position correction unit 170 corrects the display position of the virtual image displayed in the display area 23 based on the specific component extracted by the extraction unit 160. The specific component has a frequency less than or equal to a predetermined frequency, and does not have a frequency greater than the predetermined frequency. Therefore, the display position correction by the position correction unit 170 is performed based on only components having frequencies below a predetermined frequency.
　したがって、車両の振動などに起因して乗員の視点の位置が所定周波数よりも大きな周波数で変化する場合には、位置補正部１７０による表示位置の補正は行われない。一方で、乗員の疲労や運転中の姿勢の変化などに起因して乗員の視点の位置が所定周波数以下の周波数で変化する場合には、位置補正部１７０による表示位置の補正が行われることになる。その結果、表示位置を補正する制御時の時間遅れなどに起因する補正後の虚像に対する違和感が低減される。 Therefore, if the position of the passenger's viewpoint changes at a frequency higher than the predetermined frequency due to vibrations of the vehicle or the like, the position correction unit 170 does not correct the display position. On the other hand, if the position of the passenger's viewpoint changes at a frequency lower than a predetermined frequency due to fatigue of the passenger or a change in posture during driving, the display position is corrected by the position correction unit 170. Become. As a result, the discomfort caused by the corrected virtual image caused by a time delay during control to correct the display position is reduced.
　また、位置補正部１７０は、特定成分の振幅が大きいほど補正量を大きく設定し、補正量の分だけ表示位置を変更するものであってもよい。これにより、車両の周囲の風景に重畳して表示されるＡＲガイドの位置が、車両の周囲の風景と大きくずれた位置に表示されることが抑制される。 Furthermore, the position correction unit 170 may set the correction amount to be larger as the amplitude of the specific component is larger, and change the display position by the amount of correction. This prevents the position of the AR guide, which is displayed superimposed on the scenery around the vehicle, from being displayed at a position that is significantly shifted from the scenery around the vehicle.
　乗員の視点位置の変位に起因してＡＲガイドの表示位置が変化してしまう点について、図４を参照して説明する。図４は、乗員の視点位置の変位に伴う、虚像の位置のずれの一例を示す図である。図示しないプロジェクターから投射された光が、例えば、ウィンドシールドＷＳ上の反射点ＤＰで反射されて、乗員の視点に到達する結果、乗員はＡＲガイドを視認する。 The point where the display position of the AR guide changes due to the displacement of the passenger's viewpoint position will be explained with reference to FIG. 4. FIG. 4 is a diagram illustrating an example of a shift in the position of a virtual image due to a shift in the passenger's viewpoint position. Light projected from a projector (not shown) is reflected by, for example, a reflection point DP on the windshield WS and reaches the passenger's viewpoint, so that the passenger visually recognizes the AR guide.
　乗員の視点が位置ＰＳ１にある場合、乗員はＡＲガイドに対応する虚像が位置ＭＧ１にあると認識する。ここで、反射点ＤＰが変化しない状況で、乗員の視点が位置ＰＳ２に変化してしまうと、乗員はＡＲガイドに対応する虚像は位置ＭＧ２にあるように見えてしまう。つまり、乗員の視点が位置ＰＳ１から位置ＰＳ２に変化すると、ＡＲガイドに対応する虚像の位置は、位置ＭＧ１から位置ＭＧ２に変化してしまう。 When the passenger's viewpoint is at position PS1, the passenger recognizes that the virtual image corresponding to the AR guide is at position MG1. Here, if the passenger's viewpoint changes to position PS2 in a situation where the reflection point DP does not change, the passenger will see that the virtual image corresponding to the AR guide is at position MG2. That is, when the passenger's viewpoint changes from position PS1 to position PS2, the position of the virtual image corresponding to the AR guide changes from position MG1 to position MG2.
　位置ＭＧ１と位置ＭＧ２は、車両の前後方向に沿って距離ＬＧだけずれているため、距離ＬＧの大きさによっては、車両の周囲の風景に重畳して表示される虚像に対して違和感が生じてしまうことになる。そこで、反射点ＤＰを変化させて、ＡＲガイドに対応する虚像の位置が、位置ＭＧ１から位置ＭＧ２に変化してしまうことを抑制する必要が生じる。 Since the positions MG1 and MG2 are shifted by a distance LG along the longitudinal direction of the vehicle, depending on the size of the distance LG, the virtual image displayed superimposed on the scenery around the vehicle may give a sense of discomfort. It will end up being put away. Therefore, it is necessary to change the reflection point DP to prevent the position of the virtual image corresponding to the AR guide from changing from position MG1 to position MG2.
　しかしながら、乗員の視点の位置の変化は、車両の振動などに起因した速い変化と、乗員の疲労や運転中の姿勢の変化などに起因した遅い変化の両者を含みうる。そのため、乗員の視点の位置の変化に含まれる全ての周波数の成分に基づいて表示位置の補正を行うと、虚像を補正する際の時間遅れなどに起因して、表示位置の補正が遅れて行われてしまう場合が生じうる。この場合、補正後の虚像に対して違和感が生じてしまう。このような補正に伴う違和感を抑制するため、位置補正部１７０は、所定周波数以下の周波数のみを有する成分に基づいて表示位置の補正を行うのである。 However, changes in the position of the passenger's viewpoint can include both fast changes caused by vibrations of the vehicle and slow changes caused by fatigue of the passenger or changes in posture during driving. Therefore, if the display position is corrected based on all frequency components included in changes in the passenger's viewpoint position, the display position correction will be delayed due to the time delay when correcting the virtual image. There may be cases where you are lost. In this case, the corrected virtual image will give a sense of discomfort. In order to suppress the sense of discomfort associated with such correction, the position correction unit 170 corrects the display position based on only components having frequencies below a predetermined frequency.
　なお、位置補正部１７０は、特定成分の振幅が所定閾値よりも大きい場合に、表示位置を補正するものであってもよい。これにより、ＡＲガイドの表示位置が、車両の周囲の風景と大きくずれない場合には、表示位置の補正が行われず、表示位置の補正に伴う処理負荷が低減される。 Note that the position correction unit 170 may correct the display position when the amplitude of the specific component is larger than a predetermined threshold. As a result, if the display position of the AR guide does not deviate significantly from the scenery around the vehicle, the display position is not corrected, and the processing load associated with the display position correction is reduced.
　その他、位置補正部１７０は、特定成分が車両の鉛直方向に沿う成分である場合に、所定閾値に第１閾値を設定するものであってもよい。そして、位置補正部１７０は、特定成分が車両の左右方向に沿う成分である場合に、第１閾値よりも大きい第２閾値を、所定閾値として設定するものであってもよい。この理由は次のように説明できる。鉛直方向に沿う成分に起因して生じる虚像の位置ずれは、虚像と車両の間の距離の変化の要素が最も大きい。鉛直方向に沿う成分に起因して生じる虚像の位置ずれは、乗員にとって違和感を与えやすく、補正の必要性が高いためである。 In addition, the position correction unit 170 may set the first threshold as the predetermined threshold when the specific component is a component along the vertical direction of the vehicle. Then, the position correction unit 170 may set a second threshold larger than the first threshold as the predetermined threshold when the specific component is a component along the left-right direction of the vehicle. The reason for this can be explained as follows. The positional shift of the virtual image caused by the component along the vertical direction has the largest component due to a change in the distance between the virtual image and the vehicle. This is because the positional shift of the virtual image caused by the component along the vertical direction tends to give a sense of discomfort to the occupant, and there is a high need for correction.
　また、位置補正部１７０は、特定成分が前後方向に沿う成分である場合に、第２閾値よりも大きい第３閾値を、所定閾値として設定するものであってもよい。この理由は次のように説明できる。前後方向に沿う成分に起因して生じる虚像の位置ずれは、虚像と車両の間の距離の変化の要素が最も小さい。前後方向に沿う成分に起因して生じる虚像の位置ずれは、乗員にとって違和感を与えにくく、補正の必要性が低いためである。 Furthermore, when the specific component is a component along the front-rear direction, the position correction unit 170 may set a third threshold larger than the second threshold as the predetermined threshold. The reason for this can be explained as follows. The positional shift of the virtual image caused by the component along the front-rear direction has the smallest element of change in the distance between the virtual image and the vehicle. This is because the positional deviation of the virtual image caused by the component along the front-rear direction does not easily give a sense of discomfort to the occupant, and there is little need for correction.
　位置補正部１７０による補正量の設定の様子を、図３に示す。図３は、特定成分の振幅と表示位置の補正量の間の関係の一例を示す図である。例えば、図３に示すように、位置補正部１７０は、特定成分の振幅（変位）が所定閾値ＴＨよりも大きい場合に、表示位置を補正するものであってもよい。そして、位置補正部１７０は、特定成分の振幅が大きいほど、表示位置の補正量を大きく設定するものであってもよい。これらにより、表示位置の補正に伴って生じうる違和感を抑制できる。 FIG. 3 shows how the correction amount is set by the position correction section 170. FIG. 3 is a diagram illustrating an example of the relationship between the amplitude of a specific component and the amount of correction of the display position. For example, as shown in FIG. 3, the position correction unit 170 may correct the display position when the amplitude (displacement) of the specific component is larger than a predetermined threshold TH. The position correction unit 170 may set the display position correction amount to be larger as the amplitude of the specific component is larger. With these, it is possible to suppress a sense of discomfort that may occur due to correction of the display position.
　さらに、位置補正部１７０は、特定成分の振幅の増加に対応して、表示位置の補正量を連続的かつ滑らかに増加させるものであってもよい。ここで、「滑らかに増加」とは、表示位置の補正量を特定成分の振幅の関数と見た場合に、当該関数の振幅による微分が連続的であることを意味する。これにより、表示位置の補正に伴って生じうる違和感を抑制できる。 Furthermore, the position correction unit 170 may continuously and smoothly increase the amount of correction of the display position in response to an increase in the amplitude of the specific component. Here, "smoothly increasing" means that when the correction amount of the display position is viewed as a function of the amplitude of a specific component, the differentiation of the function with respect to the amplitude is continuous. Thereby, it is possible to suppress the sense of discomfort that may occur due to the correction of the display position.
　出力部１４０は、画像生成部１１０によって生成されたＡＲガイドを出力する。出力されたＡＲガイドは、位置補正部１７０によって補正された表示位置において表示領域２３に表示される。 The output unit 140 outputs the AR guide generated by the image generation unit 110. The output AR guide is displayed in the display area 23 at the display position corrected by the position correction unit 170.
　［表示制御装置の処理手順］
　次に、本実施形態に係る表示制御装置の処理手順を、図２のフローチャートを参照して説明する。図２は、本発明の一実施形態に係る表示制御装置の処理を示すフローチャートである。 [Display control device processing procedure]
Next, the processing procedure of the display control device according to this embodiment will be explained with reference to the flowchart of FIG. FIG. 2 is a flowchart showing the processing of the display control device according to an embodiment of the present invention.
　ステップＳ１０１にて、検出部３０は、車両の静止系における、車両に乗車する乗員の視点位置の変位を示す視点変位情報を取得する。 In step S101, the detection unit 30 acquires viewpoint displacement information indicating the displacement of the viewpoint position of the occupant riding in the vehicle in the stationary system of the vehicle.
　ステップＳ１０３にて、スペクトル変換部１５０は、乗員の視点位置の変位に対してフーリエ変換を行い、周波数ごとの成分に分解する。 In step S103, the spectrum transform unit 150 performs Fourier transform on the displacement of the passenger's viewpoint position and decomposes it into components for each frequency.
　ステップＳ１０５にて、抽出部１６０は、スペクトル変換部１５０によって得られた周波数ごとの成分のうち、所定周波数以下の周波数のみを有する少なくとも一以上の特定成分を抽出する。 In step S105, the extraction unit 160 extracts at least one specific component having only frequencies below a predetermined frequency from among the components for each frequency obtained by the spectrum conversion unit 150.
　ステップＳ１０７にて、位置補正部１７０は、特定成分の振幅が所定閾値よりも大きいか否かを判定する。 In step S107, the position correction unit 170 determines whether the amplitude of the specific component is larger than a predetermined threshold.
　特定成分の振幅が所定閾値よりも大きいと判定された場合（ステップＳ１０７でＹＥＳの場合）、ステップＳ１０９にて、位置補正部１７０は、表示位置の補正量を算出する。一方、特定成分の振幅が所定閾値以下であると判定された場合（ステップＳ１０７でＮＯの場合）、ステップＳ１１１にて、位置補正部１７０は、表示位置の補正量を０に設定する。 If it is determined that the amplitude of the specific component is larger than the predetermined threshold (YES in step S107), in step S109, the position correction unit 170 calculates the amount of correction of the display position. On the other hand, if it is determined that the amplitude of the specific component is less than or equal to the predetermined threshold (NO in step S107), the position correction unit 170 sets the display position correction amount to 0 in step S111.
　ステップＳ１１３にて、画像生成部１１０はＡＲガイド（画像）を生成する。その後、位置補正部１７０は、表示領域に表示する虚像の表示位置を補正する。 In step S113, the image generation unit 110 generates an AR guide (image). After that, the position correction unit 170 corrects the display position of the virtual image displayed in the display area.
　ステップＳ１１５にて、出力部１４０は、表示位置が補正されたＡＲガイドを出力する。出力されたＡＲガイドは、表示領域２３を介してユーザに提示される。その後、表示制御装置の処理を終了する。 In step S115, the output unit 140 outputs the AR guide whose display position has been corrected. The output AR guide is presented to the user via the display area 23. Thereafter, the processing of the display control device ends.
　［実施形態の効果］
　以上詳細に説明したように、本実施形態に係る表示制御方法及び表示制御装置は、車両の静止系における、車両に乗車する乗員の視点位置の変位を示す視点変位情報を取得し、視点変位情報に基づいて、変位を構成する少なくとも一以上の成分のうち所定周波数以下の周波数のみを有する少なくとも一以上の特定成分を抽出する。抽出した特定成分に基づいて、車両の周囲を透過させる表示領域に表示する虚像の表示位置を補正する。 [Effects of embodiment]
As described in detail above, the display control method and display control device according to the present embodiment acquires viewpoint displacement information indicating a displacement of the viewpoint position of an occupant riding in a vehicle in a stationary system of the vehicle, and obtains viewpoint displacement information. Based on this, at least one specific component having only a frequency equal to or lower than a predetermined frequency is extracted from at least one or more components constituting the displacement. Based on the extracted specific component, the display position of the virtual image displayed in the display area that transmits the surroundings of the vehicle is corrected.
　これにより、乗員の視点の位置の変化が速い場合であっても、乗員から見える前景に重なるように補正して表示した虚像に対する違和感を抑制することができる。 As a result, even if the position of the passenger's viewpoint changes quickly, it is possible to suppress the sense of discomfort caused by the virtual image that is corrected and displayed so as to overlap the foreground seen by the passenger.
　特に、車両の振動などに起因して乗員の視点の位置が所定周波数よりも大きな周波数で変化する場合には、表示位置の補正は行われない。一方で、乗員の疲労や運転中の姿勢の変化などに起因して乗員の視点の位置が所定周波数以下の周波数で変化する場合には、表示位置の補正が行われることになる。その結果、表示位置を補正する制御時の時間遅れなどに起因する補正後の虚像に対する違和感が低減される。 In particular, if the position of the passenger's viewpoint changes at a frequency higher than the predetermined frequency due to vibrations of the vehicle, the display position is not corrected. On the other hand, if the position of the passenger's viewpoint changes at a frequency lower than a predetermined frequency due to fatigue of the passenger or a change in posture during driving, the display position will be corrected. As a result, the discomfort caused by the corrected virtual image caused by a time delay during control to correct the display position is reduced.
　また、本実施形態に係る表示制御方法及び表示制御装置は、特定成分の振幅が所定閾値よりも大きい場合に、表示位置を補正するものであってもよい。これにより、ＡＲガイドの表示位置が、車両の周囲の風景と大きくずれない場合には、表示位置の補正が行われず、表示位置の補正に伴う処理負荷が低減される。 Furthermore, the display control method and display control device according to the present embodiment may correct the display position when the amplitude of the specific component is larger than a predetermined threshold. As a result, if the display position of the AR guide does not deviate significantly from the scenery around the vehicle, the display position is not corrected, and the processing load associated with the display position correction is reduced.
　さらに、本実施形態に係る表示制御方法及び表示制御装置は、特定成分が車両の鉛直方向に沿う成分である場合に、所定閾値に第１閾値を設定するものであってもよい。そして、特定成分が車両の前後方向および鉛直方向に直交する左右方向に沿う成分である場合に、第１閾値よりも大きい第２閾値を、所定閾値として設定するものであってもよい。鉛直方向に沿う成分に起因して生じる虚像の位置ずれは、虚像と車両の間の距離の変化の要素が最も大きい。鉛直方向に沿う成分に起因して生じる虚像の位置ずれは、乗員にとって違和感を与えやすく、補正の必要性が高い。したがって、表示位置の補正の必要性が高い場合に限定して補正が行われ、処理負荷が低減される。 Furthermore, the display control method and display control device according to the present embodiment may set the first threshold value as the predetermined threshold value when the specific component is a component along the vertical direction of the vehicle. When the specific component is a component along the left-right direction perpendicular to the longitudinal direction and the vertical direction of the vehicle, a second threshold value larger than the first threshold value may be set as the predetermined threshold value. The positional shift of the virtual image caused by the component along the vertical direction has the largest component due to a change in the distance between the virtual image and the vehicle. The positional shift of the virtual image caused by the component along the vertical direction tends to give a sense of discomfort to the occupant, and there is a high need for correction. Therefore, correction is performed only when the need for correction of the display position is high, and the processing load is reduced.
　また、本実施形態に係る表示制御方法及び表示制御装置は、特定成分が前後方向に沿う成分である場合に、第２閾値よりも大きい第３閾値を、所定閾値として設定するものであってもよい。前後方向に沿う成分に起因して生じる虚像の位置ずれは、虚像と車両の間の距離の変化の要素が最も小さい。前後方向に沿う成分に起因して生じる虚像の位置ずれは、乗員にとって違和感を与えにくく、補正の必要性が低い。したがって、表示位置の補正の必要性が高い場合に限定して補正が行われ、処理負荷が低減される。 Further, the display control method and display control device according to the present embodiment may set a third threshold larger than the second threshold as the predetermined threshold when the specific component is a component along the front-rear direction. good. The positional shift of the virtual image caused by the component along the front-rear direction has the smallest element of change in the distance between the virtual image and the vehicle. The positional shift of the virtual image caused by the component along the front-rear direction does not give the occupant a sense of discomfort, and there is little need for correction. Therefore, correction is performed only when the need for correction of the display position is high, and the processing load is reduced.
　さらに、本実施形態に係る表示制御方法及び表示制御装置は、特定成分の振幅が大きいほど補正量を大きく設定し、補正量の分だけ表示位置を変更するものであってもよい。これにより、表示位置の補正に伴って生じうる違和感を抑制できる。 Further, in the display control method and display control device according to the present embodiment, the larger the amplitude of the specific component, the larger the correction amount may be set, and the display position may be changed by the correction amount. Thereby, it is possible to suppress the sense of discomfort that may occur due to the correction of the display position.
　上述の実施形態で示した各機能は、１又は複数の処理回路によって実装されうる。処理回路には、プログラムされたプロセッサや、電気回路などが含まれ、さらには、特定用途向けの集積回路（ＡＳＩＣ）のような装置や、記載された機能を実行するよう配置された回路構成要素なども含まれる。 Each function shown in the embodiments described above may be implemented by one or more processing circuits. Processing circuits include programmed processors, electrical circuits, and other devices such as application specific integrated circuits (ASICs) and circuit components arranged to perform the described functions. Also included.
　以上、実施形態に沿って本発明の内容を説明したが、本発明はこれらの記載に限定されるものではなく、種々の変形及び改良が可能であることは、当業者には自明である。この開示の一部をなす論述および図面は本発明を限定するものであると理解すべきではない。この開示から当業者には様々な代替実施形態、実施例および運用技術が明らかとなろう。 Although the content of the present invention has been described above in accordance with the embodiments, it is obvious to those skilled in the art that the present invention is not limited to these descriptions, and that various modifications and improvements can be made. The discussion and drawings that form part of this disclosure should not be construed as limiting the invention. Various alternative embodiments, implementations, and operational techniques will be apparent to those skilled in the art from this disclosure.
　本発明はここでは記載していない様々な実施形態等を含むことは勿論である。したがって、本発明の技術的範囲は上記の説明から妥当な特許請求の範囲に係る発明特定事項によってのみ定められるものである。 It goes without saying that the present invention includes various embodiments not described here. Therefore, the technical scope of the present invention is determined only by the matters specifying the invention in the claims that are reasonable from the above description.
　２１　　表示部
　２３　　表示領域
　３０　　検出部
　１００　コントローラ
　１１０　画像生成部
　１４０　出力部
　１５０　スペクトル変換部
　１６０　抽出部
　１７０　位置補正部 21 Display section 23 Display area 30 Detection section 100 Controller 110 Image generation section 140 Output section 150 Spectrum conversion section 160 Extraction section 170 Position correction section

Claims (6)

  1. 　表示部と検出部とコントローラとを備える装置を制御する表示制御方法であって、
    　前記表示部は、車両の周囲を透過させる表示領域を有し、
    　前記検出部は、
    　　前記車両の静止系における、前記車両に乗車する乗員の視点位置の変位を示す視点変位情報を取得し、
    　前記コントローラは、
    　　前記視点変位情報に基づいて、前記変位を構成する少なくとも一以上の成分のうち所定周波数以下の周波数のみを有する少なくとも一以上の特定成分を抽出し、
    　　前記特定成分に基づいて、前記表示領域に表示する虚像の表示位置を補正すること
    を特徴とする表示制御方法。     A display control method for controlling a device including a display section, a detection section, and a controller, the method comprising:
    The display section has a display area that transmits the surroundings of the vehicle,
    The detection unit includes:
    Obtaining viewpoint displacement information indicating a displacement of a viewpoint position of an occupant riding in the vehicle in a stationary system of the vehicle;
    The controller includes:
    Based on the viewpoint displacement information, extracting at least one or more specific components having only a frequency equal to or lower than a predetermined frequency from among at least one or more components constituting the displacement;
    A display control method comprising: correcting a display position of a virtual image displayed in the display area based on the specific component.
  2. 　請求項１に記載の表示制御方法であって、
    　前記コントローラは、
    　　前記特定成分の振幅が所定閾値よりも大きい場合に、前記表示位置を補正すること
    を特徴とする表示制御方法。     The display control method according to claim 1,
    The controller includes:
    A display control method comprising: correcting the display position when the amplitude of the specific component is larger than a predetermined threshold.
  3. 　請求項２に記載の表示制御方法であって、
    　前記コントローラは、
    　　前記特定成分が車両の鉛直方向に沿う成分である場合に、前記所定閾値に第１閾値を設定し、
    　　前記特定成分が前記車両の前後方向および前記鉛直方向に直交する左右方向に沿う成分である場合に、前記第１閾値よりも大きい第２閾値を、前記所定閾値として設定すること
    を特徴とする表示制御方法。     The display control method according to claim 2,
    The controller includes:
    When the specific component is a component along the vertical direction of the vehicle, a first threshold is set as the predetermined threshold;
    A display characterized in that when the specific component is a component along a left-right direction perpendicular to the longitudinal direction and the vertical direction of the vehicle, a second threshold value larger than the first threshold value is set as the predetermined threshold value. Control method.
  4. 　請求項３に記載の表示制御方法であって、
    　前記コントローラは、
    　　前記特定成分が前記前後方向に沿う成分である場合に、前記第２閾値よりも大きい第３閾値を、前記所定閾値として設定すること
    を特徴とする表示制御方法。     4. The display control method according to claim 3,
    The controller includes:
    A display control method characterized in that when the specific component is a component along the front-back direction, a third threshold larger than the second threshold is set as the predetermined threshold.
  5. 　請求項１～４のいずれか一項に記載の表示制御方法であって、
    　前記コントローラは、
    　　前記特定成分の振幅が大きいほど補正量を大きく設定し、前記補正量の分だけ前記表示位置を変更すること
    を特徴とする表示制御方法。     The display control method according to any one of claims 1 to 4, comprising:
    The controller includes:
    A display control method characterized in that the larger the amplitude of the specific component, the larger the correction amount is set, and the display position is changed by the amount of correction.
  6. 　表示部と検出部とコントローラとを備える表示制御装置であって、
    　前記表示部は、車両の周囲を透過させる表示領域を有し、
    　前記検出部は、
    　　前記車両の静止系における、前記車両に乗車する乗員の視点位置の変位を示す視点変位情報を取得し、
    　前記コントローラは、
    　　前記視点変位情報に基づいて、前記変位を構成する少なくとも一以上の成分のうち所定周波数以下の周波数のみを有する少なくとも一以上の特定成分を抽出し、
    　　前記特定成分に基づいて、前記表示領域に表示する虚像の表示位置を補正すること
    を特徴とする表示制御装置。     A display control device comprising a display section, a detection section, and a controller,
    The display section has a display area that transmits the surroundings of the vehicle,
    The detection unit includes:
    Obtaining viewpoint displacement information indicating a displacement of a viewpoint position of an occupant riding in the vehicle in a stationary system of the vehicle;
    The controller includes:
    Based on the viewpoint displacement information, extracting at least one or more specific components having only a frequency equal to or lower than a predetermined frequency from among at least one or more components constituting the displacement;
    A display control device that corrects a display position of a virtual image displayed in the display area based on the specific component.
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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015060180A (en) * 2013-09-20 2015-03-30 日本精機株式会社 Head-up display device
JP2020095155A (en) * 2018-12-12 2020-06-18 株式会社デンソー Virtual image display system, display control device and display control program
JP2021075219A (en) * 2019-11-12 2021-05-20 株式会社デンソー Display control device and display control program

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015060180A (en) * 2013-09-20 2015-03-30 日本精機株式会社 Head-up display device
JP2020095155A (en) * 2018-12-12 2020-06-18 株式会社デンソー Virtual image display system, display control device and display control program
JP2021075219A (en) * 2019-11-12 2021-05-20 株式会社デンソー Display control device and display control program

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