JP7215466B2 - Display control device and display control program - Google Patents

Description

The disclosure of this specification relates to a display control device and a display control program that control display on a head-up display.

For example, Japanese Unexamined Patent Application Publication No. 2002-200002 describes a display device for a vehicle that superimposes and displays guide displays such as arrows for route guidance such as turning right or left on the foreground using a head-up display. The vehicular display device of Patent Literature 1 controls the timing of starting guidance display using various conditions.

WO2015/118859

Japanese Patent Laid-Open No. 2002-200001 does not clearly specify the timing of ending the guidance display such as an arrow. Therefore, the timing for ending the guidance display is not set appropriately, and there is a risk that information will be presented that tends to make the occupant feel uncomfortable.

An object of the present disclosure is to provide a display control device and a display control program capable of presenting information in a manner that does not make passengers feel uncomfortable.

In order to achieve the above object, one disclosed aspect is a display control device that is used in a vehicle (A) equipped with a navigation device (55) that performs route guidance and that controls display on a head-up display (20). A navigation information acquisition unit (72) that acquires navigation information related to route guidance performed by the navigation device, and an external world information acquisition unit (74) that acquires external world information based on recognition of the driving environment around the vehicle. and a display control unit (76) for superimposing and displaying superimposed content (CTsg) for route guidance on the foreground by a head-up display in a guidance area (GA) where route guidance is performed by the navigation device, and a display control unit is a display control device that terminates display of superimposed content before passing through a guidance area based on termination determination using at least external information without using an end notification that notifies the end of route guidance in a navigation device; be done.

Further, one aspect disclosed is a display control program used in a vehicle (A) equipped with a navigation device (55) for route guidance and controlling display by a head-up display (20), comprising at least one The processing unit (11) acquires navigation information related to route guidance performed by the navigation device (S101), acquires external information based on the recognition of the driving environment around the vehicle (S102), and calculates the route by the navigation device. In the guidance area (GA) where guidance is provided, the superimposed content (CTsg) for route guidance is superimposed on the foreground by the head-up display (S104), and the end notification for notifying the end of route guidance on the navigation device is used. It is a display control program for executing processing including ending the display of the superimposed content before passing through the guidance area (S111, S113) based on the end determination using at least the external world information.

In these aspects, the superimposed content that performs route guidance is displayed at an appropriate timing without depending on the end timing of route guidance in the navigation device by performing the end determination using at least the external world information around the vehicle. can be terminated. According to the above, even if superimposed content is used, it is possible to present information that does not make the passenger feel uncomfortable.

Another aspect disclosed is a display control device for use in a vehicle (A) for controlling display by a screen display (24) and a head-up display (20), and for recognizing the driving environment around the vehicle. Superimposed contents (CTsg) for route guidance are superimposed on a head-up display in a guidance area (GA) for displaying a route guidance image (Png) on a screen display. a display control unit (76) for superimposed display on the foreground, the display control unit displaying the route guidance image on the screen display earlier than ending the display of the route guidance image, based on the end determination using at least the external world information, the guidance area is a display control device that terminates the display of superimposed content before passing through the .

Further, one aspect disclosed is a display control device used in a vehicle (A) equipped with a navigation device (55) for route guidance and controlling display by a head-up display (20), A navigation information acquisition unit (72) that acquires navigation information related to route guidance that is implemented by a navigation device; a display control unit (76) for superimposing and displaying superimposed content (CTsg) for route guidance on the foreground by means of a head-up display in the guidance area (GA) where the guidance image (Png) is displayed on the screen; and a display control device that terminates the display of the superimposed content before the guidance area is passed based on the termination determination using at least the external world information earlier than the navigation device terminates the display of the route guidance image.

Another aspect disclosed is a display control program used in a vehicle (A) for controlling display by a screen display (24) and a head-up display (20), comprising at least one processing unit (11) Then, external information based on the recognition of the driving environment around the vehicle is acquired (S202), and in the guidance area (GA) where the route guidance image (Png) is displayed on the screen display, superimposed content for route guidance is headed up. The superimposed content is displayed on the foreground by the display (S204), and the superimposed content is displayed before passing through the guidance area based on the end determination using at least the external world information earlier than the end of the display of the route guidance image by the screen display. It is a display control program that executes processing including terminating (S212).

Further, one aspect disclosed is a display control program used in a vehicle (A) equipped with a navigation device (55) for route guidance and controlling display by a head-up display (20), comprising at least one The processing unit (11) acquires navigation information related to route guidance performed by the navigation device (S101), acquires external information based on the recognition of the driving environment around the vehicle (S102), and the navigation device determines the route. In the guidance area (GA) where the guidance image (Png) is displayed on the screen, the superimposed content (CTsg) for route guidance is superimposed on the foreground by the head-up display (S104), and the navigation device terminates the display of the route guidance image. A display control program for executing processing including ending display of superimposed content before passing through a guide area (S111, S113) based on end determination using at least external world information.

In these aspects, the display of the superimposed content that provides route guidance can be appropriately ended at a timing earlier than the end of the display of the route guidance image by performing the end determination using at least the external world information around the vehicle. According to the above, even if superimposed content is used, it is possible to present information that does not make the passenger feel uncomfortable.

Another disclosed aspect is a display control device for use in a vehicle (A) equipped with a lane change function, for controlling display by a head-up display (20), which is based on recognition of the driving environment around the vehicle. An external world information acquisition unit (74) that acquires external world information, and in a scene where a lane change is performed by a lane change function, superimposed content (CTlc) indicating the moving direction in the lane change is superimposed on the foreground by a head-up display, A display control unit (76) that terminates display of superimposed content before driving control transitions from lane change to in-lane travel based on termination determination using at least external information.

Further, one aspect disclosed is a display control program used in a vehicle (A) equipped with a lane change function and controlling display by a head-up display (20), wherein at least one processing unit (11) , in a scene where the lane change is performed by the lane change function, the external world information based on the recognition of the driving environment around the vehicle is acquired (S132), and the superimposed content (CTlc) indicating the moving direction at the lane change is displayed in the foreground on the head-up display. (S134), and based on the end determination using at least the external world information, end the display of the superimposed content before the driving control transitions from the lane change to the lane running (S136, S137). is a display control program for executing

In these aspects, the display of the superimposed content indicating the direction of movement when changing lanes can be terminated at an appropriate timing by performing the termination determination using at least the external world information around the vehicle. According to the above, even if superimposed content is used, it is possible to present information that does not make the passenger feel uncomfortable.

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

1 is a diagram showing an overview of an in-vehicle network including HCUs according to the first embodiment of the present disclosure; FIG. It is a figure which shows an example of the head-up display mounted in a vehicle. It is a figure which shows an example of a schematic structure of HCU in 1st embodiment. FIG. 10 is a diagram showing details of display transition of each in-vehicle display device in a right turn guidance scene; 5 is a diagram showing a specific example of superimposed content and non-superimposed content displayed by the HUD in the route guidance scene shown in FIG. 4; FIG. FIG. 10 is a diagram for explaining the details of route guidance in a right turn scene at a multi-forked road; It is a figure for demonstrating the detail of the route guidance in a Y junction. FIG. 4 is a diagram for explaining details of route guidance at an intersection with a temporary stop; FIG. 5 is a diagram for explaining a comparison of route guidance in a right-turn scene and a left-turn scene; FIG. 10 is a diagram showing details of display transition of each in-vehicle display device in a left branch guidance scene; 11 is a diagram showing a specific example of superimposed content and non-superimposed content displayed by the HUD in the route guidance scene shown in FIG. 10; FIG. FIG. 12 is a diagram showing a modification of the display transition shown in FIG. 11; FIG. 10 is a diagram showing details of display transition of each in-vehicle display device in an auto lane change scene; 14 is a diagram showing a specific example of superimposed content displayed by the HUD in the scene of the automatic lane change shown in FIG. 13; FIG. FIG. 17 is a flowchart showing details of display control processing related to route guidance together with FIG. 16 ; FIG. FIG. 16 is a flowchart showing details of display control processing together with FIG. 15 ; 4 is a flow chart showing details of display control processing related to guidance for lane change; It is a figure which shows the whole image of the vehicle-mounted network in 2nd embodiment. It is a figure which shows an example of a schematic structure of HCU of 2nd embodiment. FIG. 21 is a flow chart showing details of display control processing related to route guidance according to the second embodiment, together with FIG. 21 ; FIG. FIG. 21 is a flowchart showing details of display control processing together with FIG. 20 ; FIG. 4 is a diagram showing a specific example of a method for detecting edges of roads in a guidance area for each shape of roads forming intersections; FIG. 3 is a diagram showing an example of a travel route along which a vehicle is guided in continuous route guidance at an intersection including multiple lanes; FIG. 24 is a diagram for explaining the concept of route guidance content in the continuous route guidance shown in FIG. 23; FIG. 7 is a diagram showing a display example of route guidance content used for route guidance when an intersection is outside the angle of view;

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

(First embodiment)
The functions of the display control device according to the first embodiment of the present disclosure are realized by an HCU (Human Machine Interface Control Unit) 100 shown in FIGS. 1 and 2. FIG. The HCU 100 configures an HMI (Human Machine Interface) system 10 used in the vehicle A together with a head-up display (HUD) 20 and the like. The HMI system 10 further includes a meter display 23, an operation device 26, a DSM (Driver Status Monitor) 27, and the like. The HMI system 10 has an input interface function for accepting user operations by a passenger (eg, driver) of the vehicle A and an output interface function for presenting information to the driver.

The HMI system 10 is communicably connected to the communication bus 99 of the in-vehicle network 1 mounted on the vehicle A. The communication bus 99 is connected with a surrounding monitoring sensor 30, a locator 40, a DCM 49, a driving support ECU (Electronic Control Unit) 50, a navigation device 55, a steering ECU 61, a body ECU 63, and the like. These nodes connected to communication bus 99 can communicate with each other.

The surroundings monitoring sensor 30 is an autonomous sensor that monitors the surrounding environment of the vehicle A. As shown in FIG. The surroundings monitoring sensor 30 detects moving objects such as pedestrians, cyclists, animals other than humans, and other vehicles from the detection range around the vehicle, as well as falling objects on the road, guardrails, curbs, road signs, lane markings, and the like. Stationary objects such as road markings and road edges can be detected. The surroundings monitoring sensor 30 provides detection information of objects detected around the vehicle A to the driving support ECU 50 and the like through the communication bus 99 .

The perimeter monitoring sensor 30 has a front camera 31 and a millimeter wave radar 32 as detection components for object detection. The front camera 31 outputs, as detection information, at least one of imaging data obtained by imaging a range in front of the vehicle A and an analysis result of the imaging data. A plurality of millimeter wave radars 32 are arranged, for example, on the front and rear bumpers of the vehicle A at intervals. The millimeter wave radar 32 radiates millimeter waves or quasi-millimeter waves toward the front range, the front side range, the rear range, the rear side range, and the like of the vehicle A. The millimeter wave radar 32 generates detection information by receiving reflected waves reflected by moving and stationary objects. In addition, detection components such as lidar and sonar may be included in the perimeter monitoring sensor 30 .

The locator 40 generates highly accurate position information and the like of the vehicle A by composite positioning that combines a plurality of acquired information. The locator 40 includes a GNSS (Global Navigation Satellite System) receiver 41 , an inertial sensor 42 , a high-precision map database (hereinafter referred to as high-precision map DB) 43 , and a locator ECU 44 .

The GNSS receiver 41 receives positioning signals transmitted from a plurality of artificial satellites (positioning satellites). The inertial sensor 42 has, for example, a gyro sensor and an acceleration sensor. The high-precision map DB 43 is mainly composed of a non-volatile memory, and stores map data with higher precision than the map data used in the navigation device 55 (hereinafter referred to as high-precision map data). The high-precision map data holds detailed information at least in the height (z) direction. The high-precision map data includes information that can be used for advanced driving assistance and automatic driving, such as three-dimensional road shape information, lane number information, and information indicating the direction of travel allowed for each lane.

The locator ECU 44 mainly includes a microcomputer having a processor, a RAM, a memory, an input/output interface, and a bus connecting them. The locator ECU 44 combines the positioning signal received by the GNSS receiver 41, the measurement result of the inertial sensor 42, the vehicle speed information output to the communication bus 99, etc., and sequentially locates the vehicle position, traveling direction, and the like of the vehicle A. The locator ECU 44 can provide the position information and direction information of the vehicle A based on the positioning result as locator information to the navigation device 55, the HCU 100, the driving support ECU 50, and the like. The locator ECU 44 can provide requested high-precision map data to the requesting ECU in response to a request from the HCU 100, the driving support ECU 50, or the like.

A DCM (Data Communication Module) 49 is a communication module mounted on the vehicle A. The DCM 49 transmits and receives radio waves to and from base stations around the vehicle A through wireless communication conforming to communication standards such as LTE (Long Term Evolution) and 5G. By installing the DCM 49, the vehicle A becomes a connected car that can be connected to the Internet. The DCM 49 can receive the latest high-definition map data from a server provided on the cloud. The DCM 49 updates the high-precision map data stored in the high-precision map DB 43 to the latest information in cooperation with the locator ECU 44 .

The driving support ECU 50 has a configuration that mainly includes a computer that includes a processor, a RAM, a storage unit, an input/output interface, and a bus that connects them. The driving assistance ECU 50 has a driving assistance function that assists the driving operation of the driver. As an example, the driving assistance ECU 50 enables advanced driving assistance of about level 2 in the automatic driving level defined by the Society of Automotive Engineers of America. The driving support ECU 50 has a driving environment recognition section 51, a lane maintenance control section 52, and a lane change control section 53 as functional sections for driving support by execution of a program by a processor.

The driving environment recognition unit 51 recognizes the driving environment around the vehicle A based on the detection information acquired from the surroundings monitoring sensor 30 . The driving environment recognition unit 51 recognizes road markings, vehicles in front, vehicles running in parallel, etc. as targets related to driving control in the lane maintenance control unit 52 and the lane change control unit 53, and recognizes the recognized targets. generates relative position information, etc.

The driving environment recognition unit 51 can recognize targets related to route guidance in addition to targets directly related to driving control, and generates relative position information, type information, etc. of the recognized targets. do. Specifically, when the vehicle A approaches the intersection GAi (see FIG. 4), the driving environment recognition unit 51 recognizes a target related to the intersection GAi (hereinafter referred to as an intersection target). The intersection target is a target existing in the vicinity of or in front of the intersection GAi, and specifically includes a roadside road sign, sidewalk lines ROa and ROb, a stop line ROc, and the like. In addition, the driving environment recognition unit 51 can detect the edge of the road forming the intersection GAi, and can recognize the intersection of two edges (hereinafter referred to as edge intersection ROe, see FIG. 4). As an example, the driving environment recognition unit 51 detects two edges on the front side and the turning side of the intersection GAi, and recognizes the intersection point ROe of these edges as an intersection target. The driving environment recognizing unit 51 is not limited to crossroads, and can detect each edge Ed1 on the near side and on the turning side at various types of intersections GAi such as multi-forked roads, Y-junctions, T-junctions, and roundabouts (runabouts). Ed2 is detected (see FIGS. 6-9 and 22). Then, the driving environment recognition unit 51 recognizes the edge intersection ROe of the detected edges Ed1 and Ed2.

Further, when the vehicle A approaches a branch point GAj (see FIG. 10) or a junction, the driving environment recognition unit 51 recognizes a target related to such a junction (hereinafter referred to as a point target). The point target is a target existing near or in front of the branching point. ), and the terminal ROg of the branch point GAj (see FIG. 10). The driving environment recognition unit 51 outputs to the communication bus 99 the intersection target information based on the recognition of the intersection target, the point target information based on the recognition of the point target, and the like.

The lane keeping control unit 52 is a functional unit that realizes the function of LTC (Lane Trace Control) or LTA (Lane Tracing Assist) for controlling the running of the vehicle A within the lane. Based on the recognition result of the driving environment by the driving environment recognition unit 51, the lane keeping control unit 52 generates a planned driving trajectory that follows approximately the center of the driving lane in which the vehicle is currently driving (hereinafter referred to as vehicle lane Lns, see FIG. 13). do. The lane keeping control unit 52 links the LTC function with the ACC (Adaptive Cruise Control) function that causes the vehicle A to run at a constant speed or follows the vehicle A, and controls the vehicle A to travel along the own lane (hereinafter referred to as "in-lane travel"). to continue operation control. Lane keeping control unit 52 sequentially provides status information regarding the LTC function to HCU 100 via communication bus 99 .

The lane change control unit 53 is a functional unit that realizes the function of LCA (Lane Change Assist) that controls the vehicle A to change lanes. Based on the recognition result of the driving environment by the driving environment recognition unit 51, etc., the lane keeping control unit 52 calculates a planned driving locus PLC having a shape that smoothly connects the center of the host vehicle lane Lns and the center of the adjacent lane Lnd (see FIG. 13). (see FIG. 13). The lane change control unit 53 temporarily suspends the operation control of traveling in the lane by the lane maintenance control unit 52 based on a user operation instructing execution of lane change by the LCA function, and allows the vehicle to leave the lane Lns. to Under such a state, the lane change control unit 53 automatically controls the steering angle of the steered wheels of the vehicle A according to the planned travel locus PLC, thereby moving the vehicle A from the host vehicle lane Lns to the adjacent lane Lnd.

Lane change control unit 53 sequentially provides HCU 100 with status information related to the LCA function, shape information of planned travel locus PLC, and the like via communication bus 99 . The status information is information indicating whether the operating state of the LCA function is an activation start state immediately after activation, a standby state waiting for the start of lane change, or an execution state.

The navigation device 55 is an in-vehicle device that cooperates with the HMI system 10 and provides route guidance to a destination set by a driver or the like. The navigation device 55 includes a navigation map database (hereinafter referred to as navigation map DB) 56 and a navigation display 57 . The navigation map DB 56 is mainly composed of a non-volatile memory, and stores map data (hereinafter referred to as navigation map data) used for route guidance. The navigation map data includes link data, node data, and the like for roads.

Here, the navigation map data and the high-precision map data are map data with different accuracies. For a specific range, the information recorded in the high-definition map data is of higher precision and density than the information recorded in the navigation map data. On the other hand, while the range of high-precision map data is limited to specific types of roads (for example, expressways), navigation map data, although low-precision map data, covers general roads. It is comprehensively maintained for a wide range including

The navigation display 57 is an image display such as a liquid crystal display and an organic EL display. The navigation display 57 is installed, for example, in the center of the upper surface of the instrument panel 9 or in the center cluster. The display screen of the navigation display 57 displays, for example, a route guidance image Png (see FIGS. 4 and 10, etc.), a map image based on the navigation map data, route information toward the destination, and the like.

The navigation device 55 acquires operation information input to the operation device 26, and sets a destination based on the user's operation and a route to the destination. When the vehicle approaches the guidance area GA included in the set route, the navigation device 55 guides the driver about the traveling direction of the vehicle A in the guidance area GA by combining screen display on the navigation display 57 and voice messages.

The guidance area GA is a point where route guidance is performed. The guidance area GA is set so as to include an intersection GAi (see FIG. 4) at which a right or left turn is made, a branch junction, etc., and a range in front of them. Further, a guidance area GA may be set in the vicinity of the destination and waypoints. In the guidance area GA, the navigation device 55 provides the HCU 100 with navigation information such as a start notification for notifying the start of route guidance, an end notification for notifying the end of route guidance, detailed route information indicating the content of the route guidance, and the like. do. The detailed route information includes, for example, position information and road shape information about the intersection GAi or junction, and direction information indicating the direction in which the vehicle A should travel at the intersection GAi or junction.

Here, instead of the navigation device 55, a user terminal such as a smart phone may be electrically connected to the in-vehicle network 1 or the HCU 100 by wire or wirelessly. Such a user terminal may be connected to the display audio installed in the vehicle A by wire or wirelessly. A route to a destination is set in an application (navigation application, map application, or the like) executed on the user terminal based on a user operation. As with the navigation device 55 , the user terminal performs route guidance using a combination of screen display and voice, etc., and outputs navigation information to the HCU 100 . In this case, the user terminal or the user terminal and the display audio correspond to the "navigation device mounted on the vehicle A".

The steering ECU 61 is an ECU provided in the steering control system of the vehicle A, and has a configuration that mainly includes a microcontroller. The steering ECU 61 controls the operation of the steering actuator based on at least one of the steering operation by the driver and the control command obtained from the driving support ECU 50, thereby prescribing the orientation of the steered wheels and thus the traveling direction of the vehicle A. The steering ECU 61 can provide the driving support ECU 50, the HCU 100, and the like with the rotation direction and rotation angle (steering wheel angle) of the steering wheel or the steering direction and actual steering angle of the steered wheels as steering information.

The body ECU 63 is a control device that mainly includes a microcontroller. The body ECU 63 has at least the function of controlling the operation of the lighting device mounted on the vehicle A. As shown in FIG. The body ECU 63 is electrically connected to the direction indicator switch 64 . The direction indicator switch 64 is a lever-shaped operating portion provided on the steering column portion 8 . The body ECU 63 starts flashing of either the left or right direction indicator corresponding to the direction of operation based on the detection of the user's operation input to the direction indicator switch 64 .

The direction indicator switch 64 is turned on to instruct the lane change control unit 53 to perform lane change control in a state where the LTC function is activated, in addition to the normal user operation to start blinking of the direction indicator. is entered. As an example, a user operation of half-pressing the direction switch 64 for a predetermined time (for example, about 1 to 3 seconds) is regarded as an ON operation of the LCA function. The body ECU 63 outputs ON operation information toward the driving support ECU 50 when detecting the input of the ON operation of the LCA function. The body ECU 63 cooperates with the driving support ECU 50 to keep the direction indicator blinking during the execution period of the automatic lane change by the LCA function. The body ECU 63 provides the HCU 100 with operation information indicating the blinking operation state of the direction indicator through the communication bus 99 .

Next, details of each of the meter display 23, operation device 26, DSM 27, HUD 20 and HCU 100 included in the HMI system 10 will be described in order.

The meter display 23 is mounted on the vehicle A as one of a plurality of in-vehicle display devices together with the navigation display 57, the HUD 20, and the like. The meter display 23 is an image display such as a liquid crystal display and an organic EL display. The meter display 23 is installed in front of the driver's seat and has a display screen facing the headrest portion of the driver's seat. Meter display 23 is electrically connected to HCU 100 and sequentially acquires video data generated by HCU 100 . The meter display 23 displays, on the display screen, a pointer display image indicating the vehicle speed, an indicator image indicating the status information of each in-vehicle function, and the like, based on the video data. Further, the meter display 23 displays a TBT (Turn by Turn) image Pmg (see FIGS. 4 and 10) for route guidance, a status image indicating the operating state of the driving support function, and the like on the display screen. The status image includes, for example, a lane change image Pmc (see FIG. 13) that notifies the lane change in a scene where the lane change is performed by the LCA function.

The operation device 26 is an input unit that receives user operations by a driver or the like. A user operation for switching between starting and stopping is input to the operation device 26 for, for example, the driving support function, the automatic driving function, and the like. Specifically, the operation device 26 includes a steering switch provided on the spoke portion of the steering wheel, an operation lever provided on the steering column portion 8, a voice input device for detecting the driver's speech, and the like.

The DSM 27 includes a near-infrared light source, a near-infrared camera, and a control unit for controlling them. The DSM 27 is installed, for example, on the upper surface of the steering column section 8 or the upper surface of the instrument panel 9, with the near-infrared camera facing the headrest portion of the driver's seat. The DSM 27 uses a near-infrared camera to photograph the driver's head irradiated with near-infrared light from the near-infrared light source. An image captured by the near-infrared camera is image-analyzed by the control unit. The control unit extracts information such as the position of the eye point EP and the line-of-sight direction from the captured image, and sequentially outputs the extracted state information to the HCU 100 .

The HUD 20 is electrically connected to the HCU 100 and sequentially acquires video data generated by the HCU 100 . The HUD 20 presents various information related to the vehicle A, such as route information, sign information, and status information of each in-vehicle function, to the driver using the virtual image Vi based on the video data.

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

The HUD 20 has a projector 21 and an enlarging optical system 22 . The projector 21 has an LCD (Liquid Crystal Display) panel and a backlight. The projector 21 is fixed to the housing of the HUD 20 with the display surface of the LCD panel facing the magnifying optical system 22 . The projector 21 displays each frame image of the video data on the display surface of the LCD panel, illuminates the display surface with a backlight, and emits light formed as a virtual image Vi toward the magnifying optical system 22. do. The enlarging optical system 22 is configured to include at least one optical element such as a concave mirror. The enlarging optical system 22 spreads the light emitted from the projector 21 by reflection and projects it onto the upper projection range PA.

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

The HUD 20 displays the superimposed content CTs (see FIG. 5 and the like) and the non-superimposed content CTn (see FIG. 5 and the like) as virtual images Vi. The superimposed content CTs is an AR display object used for augmented reality (AR) display. The display position of the superimposed content CTs is associated with a specific superimposed target existing in the foreground, such as a specific position on the road surface, a forward vehicle, a pedestrian, and a road sign. The superimposed content CTs is superimposed and displayed on a specific superimposition target in the foreground, and can be visually moved following the superimposition target so as to be relatively fixed to the superimposition target. That is, the relative positional relationship between the eyepoint EP of the driver, the superimposed object in the foreground, and the superimposed content CTs is continuously maintained. Therefore, the shape of the superimposed content CTs continues to be updated at predetermined intervals in accordance with the relative position and shape of the superimposition target. The superimposed content CTs is displayed in a more horizontal orientation than the non-superimposed content CTn, and has a display shape extending in the depth direction as seen from the driver, for example.

The non-superimposed content CTn is a non-AR display object other than the superimposed content CTs among the displayed objects superimposed on the foreground. Unlike the superimposed content CTs, the non-superimposed content CTn is superimposed and displayed in the foreground without specifying the superimposition target. The display position of the non-superimposed content CTn is not associated with a specific superimposition target. The display position of the non-superimposed content CTn is a fixed position within the projection range PA (angle of view VA). Therefore, the non-superimposed content CTn is displayed as if it were fixed relative to the vehicle configuration such as the windshield WS. In addition, the shape of the non-superimposed content CTn is substantially constant. Due to the positional relationship between the vehicle A and the superimposition target, even the non-superimposed content CTn may be superimposed and displayed on the superimposition target of the superimposed content CTs.

The HCU 100 in the HMI system 10 is an electronic control unit that comprehensively controls the display by the meter display 23 and the on-vehicle display devices such as the HUD 20 . The HCU 100 mainly includes a computer including a processing unit 11, a RAM 12, a storage unit 13, an input/output interface 14, and a bus connecting them. The processing unit 11 is hardware for arithmetic processing coupled with the RAM 12 . The processing unit 11 includes at least one arithmetic core such as a CPU (Central Processing Unit) and a GPU (Graphics Processing Unit). The processing unit 11 may be configured to further include an IP core having an FPGA (Field-Programmable Gate Array) and other dedicated functions. The RAM 12 may be configured to include a video RAM for image generation. The processing unit 11 accesses the RAM 12 to execute various processes for realizing the display control method of the present disclosure. The storage unit 13 is configured to include a nonvolatile storage medium. The storage unit 13 stores various programs (display control program, etc.) executed by the processing unit 11 .

The HCU 100 shown in FIGS. 1 to 3 has a plurality of functional units for controlling superimposition display of content by the HUD 20 by executing the display control program stored in the storage unit 13 by the processing unit 11 . Specifically, the HCU 100 includes functional units such as a viewpoint position specifying unit 71, a navigation information acquiring unit 72, a map data acquiring unit 73, a control information acquiring unit 74, a state information acquiring unit 75, and a display generating unit 76. .

The viewpoint position specifying unit 71 specifies the position of the eye point EP of the driver sitting in the driver's seat based on the state information acquired from the DSM 27 . The viewpoint position specifying unit 71 generates three-dimensional coordinates (hereinafter referred to as eyepoint coordinates) indicating the position of the eyepoint EP, and sequentially provides the generated eyepoint coordinates to the display generation unit 76 .

The navigation information acquisition unit 72 acquires navigation information from the navigation device 55 and provides the acquired navigation information to the display generation unit 76 . The navigation information acquisition unit 72 sequentially acquires the above-described start notification, detailed route information, and end notification, and grasps the content of route guidance performed by the navigation device 55 .

The map data acquisition unit 73 can acquire navigation map data and high-definition map data as map data used by the display generation unit 76 to generate the superimposed content CTs. The map data acquisition unit 73 acquires the high-precision map data together with the locator information from the locator ECU 44 in the road range where the high-precision map data is maintained. The map data acquisition unit 73 acquires navigation map data to be used as a substitute for high-definition map data in response to a request to the navigation device 55 in a road range for which high-definition map data has not yet been developed. As described above, the navigation device 55 preferentially acquires the high-precision map data over the navigation map data. The navigation device 55 provides the display generator 76 with the acquired high-precision map data or navigation map data.

The control information acquisition unit 74 acquires, from the driving assistance ECU 50 , the external world information based on the driving environment recognition, each status information of the LTC function and the LCA function, and the like. The control information acquisition unit 74 sequentially provides the acquired external world information and status information to the display generation unit 76 . The control information acquisition unit 74 can acquire intersection target information and point target information mainly based on detection information of the front camera 31 as external world information in the vicinity of the guidance area GA for route guidance. When the driving support ECU 50 is in the execution state of the LTC function, the control information acquisition unit 74 acquires the left and right boundary recognition information of the host vehicle lane Lns (see FIG. 13), the shape information of the planned travel locus, etc. from the driving support ECU 50. do. When the driving assistance ECU 50 is in the execution state of the LCA function, the control information acquiring unit 74 obtains the boundary recognition information of the adjacent lane Lnd (see FIG. 13), the shape information of the planned travel locus PLC (see FIG. 13), and the like for driving assistance. Obtained from the ECU 50 . In addition, the control information acquisition unit 74 acquires information indicating the relative position and shape of the boundary line ROf (see FIG. 13) between the host vehicle lane Lns and the adjacent lane Lnd as external world information.

The state information acquisition unit 75 acquires operation information related to driver's operation. Specifically, the state information acquisition unit 75 acquires the steering information described above from the steering ECU 61 as operation information indicating a steering operation. In addition, the state information acquisition unit 75 acquires operation information indicating the operation state (on or off) of the direction indicator from the body ECU 63 . The state information acquisition unit 75 sequentially provides the acquired steering information and operation information to the display generation unit 76 .

The display generation unit 76 controls presentation of information to the driver by the meter display 23 and the HUD 20 by generating video data that is sequentially output to the meter display 23 and the HUD 20 . The display generation unit 76 draws the original image of each content displayed as the virtual image Vi on each frame image of the video data output to the HUD 20 . When drawing the original image of the superimposed content CTs (see FIG. 5, etc.) on the frame image, the display generation unit 76 draws the drawing position and drawing shape of the original image in the frame image according to the eyepoint EP and each position of the superimposition target. correct. As a result, the superimposed content CTs is displayed in a position and shape that is correctly superimposed on the superimposition target when viewed from the eyepoint EP.

In order to make the superimposed content CTs follow the superimposition target, the display generation unit 76 repeats simulation calculations for determining the imaging shape of the virtual image Vi on the imaging plane IS. The display generator 76 reproduces the current running environment of the vehicle A in virtual space based on the navigation information, locator information, map data, and the like. The display generation unit 76 sets the own vehicle object at a reference position in the virtual three-dimensional space, associates the road model of the shape indicated by the high-precision map data with the own vehicle object based on the locator information, and displays the road model in the three-dimensional space. map. Further, the display generation unit 76 sets a virtual viewpoint position to a virtual position corresponding to the eye point EP of the driver in association with the host vehicle object. The virtual viewpoint position for the own vehicle object is successively corrected based on the latest eyepoint coordinates acquired by the viewpoint position specifying section 71 .

The display generator 76 arranges the virtual object on the road surface of the road model in the three-dimensional space. A virtual object is an object that defines the shape of the superimposed content CTs. The display generation unit 76 refers to the coordinate information of the image plane IS with respect to the vehicle A stored in advance in the storage unit 13 or the like, and defines the image plane IS between the virtual object in the virtual space and the virtual viewpoint position. do. The display generation unit 76 determines the shape of the virtual image Vi, which is formed by projecting the virtual object onto the imaging plane IS along the virtual line of sight from the virtual viewpoint position to the virtual object. The display generation unit 76 converts the original image of the superimposed content CTs into a video image in consideration of the magnification and distortion of the magnifying optical system 22 and the projection range PA so that the virtual image Vi having the determined shape is formed on the imaging plane IS. Draw on the data.

Furthermore, when the high-precision map data cannot be acquired, the display generation unit 76 maps the road model using the navigation map data. In this case, the reproducibility and accuracy of the road model reproduced in the three-dimensional space are lower than when using high-precision map data. In addition, when the high-precision map data cannot be obtained, the display generation unit 76 can use the detection information of the front camera 31 provided through the driving support ECU 50 for mapping the road model together with the navigation map data. Specifically, stop lines ROc (see FIGS. 4 and 8), pedestrian crosswalk lines ROa and ROb (see FIG. 4), left and right division lines (FIG. 13 boundary lines ROf), and roadside edges are detected. Intersection targets and point targets are mapped onto the road model. Such processing is correction processing for correcting the estimated position of the vehicle using the detection information of the front camera 31 .

The display generation unit 76 causes the HUD 20 to display the route guidance content CTsg, the route guidance icon CTng, and the like in the route guidance scene in the guidance area GA (see FIGS. 5 and 11). In addition, the display generation unit 76 causes the HUD 20 to display the LCA content CTlc and the LTC content CTlt, respectively, in a scene where the LCA function and the LTC function are operating (see FIG. 14).

The route guidance content CTsg (see FIGS. 5 and 11) is superimposed content CTs that provides route guidance in the guidance area GA. As an example, the route guidance content CTsg has a shape of two lines, and the neighborhoods of the left and right division lines on the road surface of the lane on which the vehicle is traveling are superimposed. The route guidance content CTsg is displayed as if it is attached to the road surface, and has a shape that extends like a narrow belt. Notify the driver of the driving route in GA. The drawn shape of the route guidance content CTsg is updated at a predetermined update cycle so as to match the shape of the road surface visible from the eye point EP as the vehicle A travels.

The route guidance icon CTng (see FIGS. 5 and 11) is non-superimposed content CTn, and is used for route guidance in the guidance area GA, like the route guidance content CTsg. The route guidance icon CTng has a predetermined shape and is displayed at a position within a predetermined angle of view VA. As an example, the route guidance icon CTng is an animation display in which a plurality of triangular shapes fly in the traveling direction of the vehicle A. FIG. The route guidance icon CTng may be displayed together with the route guidance content CTsg (see FIG. 12), or may be displayed exclusively with the route guidance content CTsg (see FIG. 11).

The LTC content CTlt (see FIG. 14) is superimposed content CTs indicating a planned travel locus of in-lane travel in a scene in which in-lane travel is performed by the LTC function. The LTC content CTlt is displayed based on status information indicating the execution state of the LTC function. As an example, the LTC content CTlt has a linear shape and is superimposed on the road surface of the running lane. The LTC content CTlt is based on the boundary recognition information of the vehicle lane Lns acquired by the control information acquisition unit 74, the shape information of the planned travel locus, or the like, and is based on the road surface shape of the vehicle lane Lns visually recognized within the angle of view VA. In addition, the drawing shape is updated at a predetermined update cycle.

The LCA content CTlc (see FIG. 14) is superimposed content CTs indicating the direction of movement when changing lanes in a scene where the LCA function is used to change lanes. The LCA content CTlc is displayed based on status information indicating the execution state of the LCA function. As an example, the LCA content CTlc is displayed in such a manner that the road surface of the adjacent lane Lnd (see FIG. 14), which is the destination of the automatic lane change, is painted out. As another example, the LCA content CTlc may be displayed in a strip shape indicating the planned travel locus PLC (see FIG. 13). The LCA content CTlc is displayed exclusively with the LTC content CTlt. The LCA content CTlc is based on the boundary recognition information of the adjacent lane Lnd acquired by the control information acquisition unit 74, the shape information of the planned travel locus PLC, etc., and is matched to the road surface shape of the adjacent lane Lnd visually recognized within the angle of view VA. Then, the drawing shape is updated at a predetermined update cycle.

Next, the details of the display transitions of each in-vehicle display device in the route guidance scene at the intersection GAi and the branch point GAj and the automatic lane change scene by the LCA function are shown in FIGS. 1 to 14 based on FIGS. 3 will be described below.

At the intersection GAi and the branch point GAj where route guidance is performed, the navigation device 55 sets a reference position GP based on the navigation map data. The reference position GP at the intersection GAi is, for example, the center node of the intersection GAi in the navigation map data (see FIG. 4). Also, the reference position GP at the branch point GAj is, for example, the node closest to the terminal ROg of the branch point GAj (see FIG. 10).

<Route guidance scene at an intersection>
In the scene of right turn guidance at the intersection GAi shown in FIGS. 55 starts the right turn route guidance. At point P1, the navigation device 55 causes the navigation display 57 to start displaying a route guidance image Png, and transmits a start notification for notifying the start of route guidance and detailed route information indicating the details of the route guidance to the communication bus 99. Output.

The start notification and detailed route information output from the navigation device 55 are acquired as navigation information by the navigation information acquisition unit 72 in the HCU 100 . Based on such a start notification, the display generation unit 76 starts the display of the TBT image Pmg on the meter display 23 and the superimposed display of the route guidance content CTsg on the HUD 20 . The display generation unit 76 determines each drawing shape of the TBT image Pmg and the route guidance content CTsg based on the detailed route information. As described above, the TBT image Pmg and the route guidance content CTsg that provide route guidance with substantially the same contents as the route guidance image Png are displayed at substantially the same timing as the display start of the route guidance image Png or at a slightly delayed timing. Display starts.

The driving support ECU 50 generates intersection target information related to the intersection GAi in the driving environment recognition unit 51 based on the approach of the vehicle A to the intersection GAi, and outputs the information to the communication bus 99 . The intersection target information output from the driving support ECU 50 is acquired as the external world information by the control information acquiring section 74 in the HCU 100 .

The display generation unit 76 sets the display start position of the route guidance icon CTng (see point P2) and the display end position of the route guidance content CTsg (see point P3) on the front side of the intersection GAi with reference to the intersection target. do. Note that the point P2 may be farther from the reference position GP of the intersection GAi than the point P3, or may be at the same position as the point P3.

The display generator 76 continuously grasps the position of the own vehicle (vehicle A) with respect to the intersection GAi based on the locator information and the external world information. When the vehicle A reaches the display start position (see point P2), the display generator 76 starts drawing the original image of the route guidance icon CTng on the video data. As a result, the HUD 20 displays both the route guidance content CTsg and the route guidance icon CTng as virtual images. When the vehicle A reaches the display end position (see point P3), the display generator 76 stops drawing the original image of the route guidance content CTsg on the video data. As a result, the route guidance content CTsg is hidden, and the HUD 20 continues route guidance using only the route guidance icon CTng. As described above, the display generation unit 76 terminates the display of the route guidance content CTsg based on the termination determination using the intersection target information (external information) without using the termination notification from the navigation device 55 .

When the vehicle A, which has completed the right turn at the intersection GAi, reaches the point P4, the navigation device 55 ends the route guidance. A distance from the reference position GP to the point P4 is, for example, approximately 30 to 50 m. The point P4 is set, for example, at the position of the first node after passing the intersection GAi. At point P4, the navigation device 55 terminates the display of the route guidance image Png on the navigation display 57 and outputs to the communication bus 99 an end notification for notifying the end of the route guidance.

In the HCU 100 , the end notification output from the navigation device 55 is acquired as navigation information by the navigation information acquisition section 72 . Based on such an end notification, the display generation unit 76 ends both the display of the TBT image Pmg on the meter display 23 and the display of the route guidance icon CTng on the HUD 20 at point P4. As described above, the display of the TBT image Pmg and the route guidance icon CTng is ended at substantially the same timing as the end of the display of the route guidance image Png or at a timing slightly delayed.

As described above, the display generation unit 76 sets the conditions for determining whether to start displaying the non-superimposed content CTn and the conditions for determining whether to end displaying the superimposed content CTs. The display generation unit 76 identifies a recognizable intersection target for each intersection GAi, and uses the identified intersection target as a reference to establish the above-described start determination and end determination.

As an example, the display generation unit 76 uses external information (intersection target information) indicating the relative positions of intersection targets such as stop lines ROc, sidewalk lines ROa and ROb, road signs, traffic lights, guidance signboards, and road structures. Then, the start judgment and the end judgment are established. As another example, the display generation unit 76 uses the node of the intersection GAi or the edge intersection ROe of the road structure as a reference at the intersection GAi where none of the stop line ROc, the sidewalk lines ROa and ROb, and the road signs are recognized. Then, the start judgment and the end judgment are established.

The display generation unit 76 can set a plurality of patterns of conditions using an intersection target, an edge intersection ROe, etc., as conditions for establishing the end determination. Specifically, the display generation unit 76 can set the fact that the own vehicle has crossed the stop line ROc or the sidewalk lines ROa and ROb (hereinafter referred to as condition 1) as the establishment condition for the termination determination. In addition, the display generation unit 76 determines that the distance to any one of the stop line ROc, the sidewalk lines ROa and ROb, the road sign, and the node of the intersection GAi is less than the threshold value (hereinafter referred to as condition 2). It can be used as a condition for establishing a judgment. Further, the display generation unit 76 can set the condition that the stop line ROc or the sidewalk lines ROa and ROb are crossed and the steering wheel angle exceeds a predetermined angle (hereinafter referred to as condition 3) as the establishment condition for the end determination. In addition, the display generation unit 76 determines that the end position GEp (see FIGS. 6 and 7) set on the exit road from the intersection is out of the angle of view VA (hereinafter referred to as condition 4). Can be conditional. As an example, the end position GEp is set at or near the node closest to the intersection GAi among the nodes defining the exit road. After setting the condition for satisfying the end condition, the display generation unit 76 further sets the condition for satisfying the start determination corresponding to the set condition for satisfying the end determination.

The display generation unit 76 can change the establishment conditions for the plurality of end determinations described above based on information related to at least one of the intersection GAi and the vehicle A. FIG. Specifically, the display generation unit 76 changes the establishment condition of the end determination according to the shape of the intersection, the presence or absence of the stop line ROc, the direction of the right or left turn at the intersection GAi, the superimposition accuracy of the superimposed content CTs, and the like. The superimposition period of content CTs can be adjusted.

<Change of superimposition period based on intersection shape>
The display generation unit 76 changes the establishment conditions for the end determination according to the road shape of the intersection GAi that serves as the guidance area GA. As an example, when route guidance is provided at complex intersections such as five-way and six-way intersections (see FIG. 6) and Y-junctions (see FIG. 7), the display generation unit 76 generates more route guidance content than normal route guidance. Change the conditions for completion determination so that the display of CTsg ends later. That is, the display generation unit 76 delays establishment of the end determination so that the display of the route guidance content CTsg is continued more than usual.

Specifically, when the intersection GAi has a normal shape (a crossroad, a T-junction, etc.), the display generator 76 sets the condition 2 as the end condition. On the other hand, if the intersection GAi is a complex intersection (multi-forked road), the display generator 76 sets the condition 1, condition 3, or condition 4 as the termination condition. Similarly, when the intersection GAi is a Y-junction, the display generator 76 sets the condition 1, condition 3, or condition 4 as the termination condition.

As described above, the route guidance content CTsg is displayed for a longer time at multi-forked roads and Y-junctions than at normal-shaped simple intersections. As a result, the route guidance content CTsg is not displayed on the near side of the stop line ROc or the entrance of the intersection GAi, and the situation in which the exit direction is lost after entering the center of the intersection is less likely to occur.

More specifically, when condition 4 above is set as the end condition for a multi-way intersection, the route guidance content CTsg extends from the host vehicle side to the end position GEp (see FIG. 6) so as to stick to the road surface. It becomes a state to do. The end position GEp set at the multi-forked road is set on the exit road from the intersection GAi, so even if there are multiple right turn possible directions (or left turn possible directions) at the intersection GAi, it is possible to turn right (or turn left). ), it will be a point where the correct direction to go can be specified. Therefore, the route guidance content CTsg continues to be displayed until the correct exit road is within the angle of view VA. (see diagram) can be clearly communicated to the driver.

Similarly, even if the condition 4 is set as the end condition at the Y-junction, the route guidance content CTsg is set to the end position GEp (see FIG. 7) set on the exit road from the intersection GAi. It will be in the form of stretching from. Therefore, the route guidance content CTsg indicates whether the branch of the Y-junction is going diagonally to the left (see the left diagram in FIG. 7) or diagonally to the right (see the right diagram in FIG. 7). The driver can be informed in an easy-to-understand manner until the vehicle is within the angle VA.

<Change of superimposed period based on presence or absence of stop line>
The display generation unit 76 changes or adjusts the condition for determining the end based on whether or not there is a stop line ROc (see FIG. 8) for instructing a temporary stop at the entrance of the vehicle side of the intersection GAi serving as the guidance area GA. do. Specifically, the display generation unit 76 sets the completion condition of the end determination so that the end of the display of the route guidance content CTsg is later when there is a stop line ROc on the near side of the intersection GAi than when there is no stop line ROc. change.

Here, when the stop line ROc is set, the driver temporarily stops the vehicle A before the stop line ROc. Therefore, even if the route guidance content CTsg is the superimposed content CTs, it is difficult for the driver to check the surroundings. Therefore, even if a longer display period of the route guidance content CTsg is ensured at the intersection GAi where the stop line ROc exists than at the intersection GAi where the stop line ROc does not exist, the driver is less likely to feel annoyed.

For example, when the intersection is a simple intersection such as a T-junction and there is no stop line ROc, the display generation unit 76 sets the above condition 2 as the establishment condition for the end determination. On the other hand, if there is a stop line ROc on the vehicle side of the T-junction (see the left diagram in FIG. 8), the display generator 76 sets Condition 1 above as the end condition instead of Condition 2 above. As described above, the display generation unit 76 continues the superimposed display of the route guidance content CTsg until after the vehicle A enters the intersection GAi.

Further, when there is a stop line ROc at the Y-junction (see the right diagram of FIG. 8), the display generation unit 76 adjusts the predetermined steering wheel angle set as the condition for establishing the end determination to be larger (see condition 3 above), Alternatively, an adjustment (see Condition 4 above) or the like is performed to move the end position GEp away from the intersection GAi. As described above, the superimposed display of the route guidance content CTsg continues at least until after the vehicle A enters the intersection GAi, and is more difficult to end than when there is no stop line ROc.

<Change of superimposition period based on direction of right/left turn>
When the oncoming lane is not crossed at the intersection GAi serving as the guidance area GA, the display generation unit 76 determines whether the completion of the end determination is established so that the end of the display of the route guidance content CTsg is later than when the oncoming lane is crossed. change the conditions. As an example, in a country or region where the vehicle A drives on the left side, the display generation unit 76 sets the conditions for satisfying the end determination so that the timing for ending the display of the route guidance content CTsg is later in the left turn scene than in the right turn scene. to change

In this case, when the vehicle A turns right (see the right diagram of FIG. 9), the display of the route guidance content CTsg ends before the vehicle A starts turning right. Therefore, a situation in which the route guidance content CTsg hinders the visibility of an oncoming vehicle traveling toward the own vehicle in the oncoming lane is unlikely to occur. On the other hand, when the vehicle A turns left (see the left diagram in FIG. 9), the route guidance content CTsg continues to be displayed until after the vehicle A starts turning to the left. In such a left turn scene, the route guidance content and the oncoming vehicle do not substantially overlap. In addition, even if the driver sees the pedestrian crossing on the exit road, the route guidance content CTsg is less likely to interfere with the driver's vision of the pedestrian crossing. Therefore, it is preferable that the display period of the route guidance content CTsg is longer in the left turn scene than in the right turn scene.

Note that in a country or region where vehicle A drives on the right side, the display generation unit 76 sets the completion condition of the end determination so that the timing of ending the display of the route guidance content CTsg is later in the right turn scene than in the left turn scene. change. Such timing adjustment makes it possible to display the route guidance content CTsg that does not easily interfere with the driver's confirmation of the surroundings.

<Change of Superposition Period According to Superimposition Accuracy>
The display generation unit 76 changes the establishment condition for end determination based on whether or not the high-precision map data used to generate the superimposed content CTs has been acquired. The display generation unit 76 can accurately superimpose the route guidance content CTsg as if it were attached to the road surface at the intersection GAi for which the high-precision map data has been obtained. On the other hand, at intersections GAi where high-precision map data cannot be obtained, the route guidance content CTsg tends to shift from the road surface, and thus tends to be annoying. Therefore, when the high-precision map data can be acquired, the display generation unit 76 determines whether the end determination is satisfied so that the display of the route guidance content CTsg is continued longer than when the high-precision map data is not acquired. delay. Alternatively, when the high-precision map data cannot be acquired, the display generation unit 76 determines whether the end determination is established so that the display period of the route guidance content CTsg is shorter than when the high-precision map data is acquired. expedite.

In addition, the display generation unit 76 determines whether or not there is information (hereinafter referred to as camera recognition information) that can be used for generating the superimposed content CTs in the external world information based on the detection information of the front camera 31 . As described above, the camera recognition information is generated by the driving environment recognition unit 51 of the driving support ECU 50 based on the imaging data of the front camera 31, and is sequentially provided to the control information acquisition unit 74. The camera recognition information is, for example, external world information indicating the relative positions of an intersection target and a point target.

The display generation unit 76 changes the establishment condition of the end determination based on whether or not the camera recognition information that can be used for generating the route guidance content CTsg has been acquired. Specifically, when the route guidance content CTsg is generated using the camera recognition information, the display generation unit 76 does not use the camera recognition information to generate the route guidance content CTsg even if the high-precision map data cannot be acquired. The positional accuracy of the superimposed display can be improved more than the case. Therefore, when the camera recognition information has been acquired, the display generation unit 76 delays establishment of the end determination so that the display of the route guidance content CTsg is less likely to end than when the camera recognition information has not been acquired. . Alternatively, when the camera recognition information has not been acquired, the display generation unit 76 makes the completion determination earlier than when the camera recognition information has been acquired.

Based on the presence/absence of the high-precision map data and the presence/absence of the camera recognition information of the front camera 31 described above, the display generation unit 76 changes the establishment conditions for end determination into three levels. Specifically, when the high-precision map data is used to draw the route guidance content CTsg, the display generation unit 76 changes the completion condition of the end determination so that the display of the route guidance content CTsg is continued for the longest time. . On the other hand, when the navigation map data is used to draw the route guidance content CTsg and the camera recognition information is not acquired, the display generation unit 76 displays the route guidance content CTsg in the shortest possible time. Set conditions for completion judgment. On the other hand, if the navigation map data is used for drawing the route guidance content CTsg and the superimposed position can be corrected using the camera recognition information, the display generation unit 76 sets the condition for establishing the end determination to medium. set to The display period of the route guidance content CTsg in this case is shorter than the display period when the high-precision map data is used, and is longer than the display period when the navigation map data is used without camera recognition information.

As an example, the display generation unit 76 sets any of the above conditions for completion determination when drawing the route guidance content CTsg using the navigation map data in a state in which there is no camera recognition information. In addition, when the route guidance content CTsg is drawn using the navigation map data with camera recognition, the display generation unit 76 relaxes the determination value of the completion condition of the end condition, and continues the superimposed display for a long time. Furthermore, when the high-precision map data is used to draw the superimposed content CTs, the display generation unit 76 does not substantially set the establishment condition for the termination determination. In this case, the display generation unit 76 continues the superimposed display of the route guidance content CTsg until the navigation information acquisition unit 72 acquires the end notification.

<Route guidance scene at junction>
In the scene of left branch guidance at the branch point GAj shown in FIGS. The navigation device 55 starts guidance for a left branch. Even in the branch guidance scene, the navigation device 55 causes the navigation display 57 to start displaying the route guidance image Png at point P1, and outputs a start notification and detailed route information to the HCU 100. FIG.

The display generation unit 76 starts display of the TBT image Pmg on the meter display 23 and superimposition display of the route guidance content CTsg on the HUD 20 based on the start notification and detailed route information acquired by the navigation information acquisition unit 72 . The TBT image Pmg and the route guidance content CTsg start to be displayed together with the route guidance image Png, and, like the route guidance image Png, instruct the vehicle to change lanes to the branch lane Lnj.

Based on the approach of the vehicle A to the branch point GAj, the driving support ECU 50 generates point target information related to the branch point GAj in the driving environment recognition unit 51 and outputs the point target information to the HCU 100 . The point target information is acquired as external world information by the control information acquisition unit 74 in the HCU 100 . The display generation unit 76 uses the point target as a reference, and sets the display start position of the route guidance icon CTng (see points P2 and P3) and the display end position of the route guidance content CTsg (see points P3 to P6) as a reference. Set to the near side of the position GP.

Points P3 to P6 that can be used as the display end position of the route guidance content CTsg will be described in detail. Point P3 is a position where at least part of vehicle A that has started lateral movement to branch lane Lnj touches boundary line ROf. . A point P4 is a position where the center or the center of gravity of the vehicle A is on the boundary line ROf. Point P5 is a position where the entire vehicle A has crossed over the boundary line ROf. Point P6 is the position where the blinking of the direction indicator is turned off. Furthermore, the display end position may be set at a predetermined distance (for example, about 30 to 100 m) ahead of the points P3 to P6. Also, the point P2 that can be used as the display start position of the route guidance content CTsg is set at a position farther from the reference position GP than the point P3 by a predetermined distance.

The display generation unit 76 continuously grasps the position of the own vehicle with respect to the junction GAj based on the locator information and the external world information. When the vehicle A reaches the display end position (see point P3), the display generation unit 76 ends the display of the route guidance content CTsg. As described above, the display generation unit 76 ends the display of the route guidance content CTsg based on the end determination using the point target information (external information) without using the end notification from the navigation device 55 .

The display generation unit 76 sets the display start position (see point P3) of the route guidance icon CTng to the display end position of the route guidance content CTsg. When the vehicle A reaches the display start position, the display generation unit 76 starts displaying the route guidance icon CTng instead of the route guidance content CTsg. The display generation unit 76 continues the route guidance by displaying the route guidance icon CTng at least during the period after the display of the route guidance content CTsg ends.

The display generation unit 76 changes the visibility of the route guidance icon CTng during the display period of the route guidance icon CTng. Specifically, the display generation unit 76 changes the mode to lower the visibility of the route guidance icon CTng. As an example, the display generation unit 76 converts the route guidance icon CTng with high visibility (hereinafter referred to as first route guidance icon) to the route guidance icon CTng with low visibility (hereinafter referred to as second route guidance icon). switch. The mode change to lower the visibility is realized by, for example, reducing the display size, lowering the display brightness or display saturation, suppressing or canceling effects such as animation, and the like. The display generation unit 76 performs display transition from the first route guidance icon to the second route guidance icon, for example, at a point (for example, point P6) on the near side of the reference position GP.

In addition, the display generation unit 76 can appropriately change the execution point of the display transition that lowers the visibility. In addition, the display generation unit 76 may change the mode to continuously lower the visibility of the route guidance icon CTng. Further, the route guidance icon CTng (first route guidance icon) may start to be displayed from point P2. In this case, both the route guidance content CTsg and the route guidance icon CTng are displayed at points P2 to P3 (see FIG. 12).

When the vehicle A, which has completed the lane change to the branch lane Lnj, passes the reference position GP and reaches the point P7, the navigation device 55 ends the route guidance. A distance from the reference position GP to the point P7 is, for example, approximately 30 to 100 m. The point P7 is set, for example, at the position of the first node after passing through the reference position GP. At point P7, the navigation device 55 terminates the display of the route guidance image Png on the navigation display 57, and outputs an end notification for notifying the end of the route guidance toward the HCU 100. FIG.

The display generation unit 76 causes the meter display 23 to display the TBT image Pmg and the HUD 20 to display the route guidance icon CTng at point P7 based on the end notification acquired as the navigation information by the navigation information acquisition unit 72. , terminate together. As described above, the display of the TBT image Pmg and the route guidance icon CTng (second route guidance icon) is also ended in accordance with the end of the display of the route guidance image Png.

As described above, the display generation unit 76 also sets the conditions for determining whether to start displaying the non-superimposed content CTn and the conditions for determining whether to end displaying the superimposed content CTs at the branch point GAj. Then, the display generation unit 76 utilizes the external world information (point target information) indicating the relative position of the boundary line ROf or the terminal ROg, which is the point target, to establish these start determination and end determination.

Specifically, the display generation unit 76 can set the fact that the boundary line ROf of the branch lane Lnj is crossed (see points P3 and P4, hereinafter referred to as condition 5) as a condition for the completion determination. The display generation unit 76 can set the completion of crossing over the boundary line ROf of the branch lane Lnj (see point P5, hereinafter referred to as condition 6) as a condition for establishing the end determination. The display generation unit 76 can set the fact that the direction indicator is turned off (see point P6, hereinafter referred to as condition 7) as a condition for establishing the end determination. The display generation unit 76 predicts the positions of points P3 to P6, and can use the fact that a position a predetermined distance ahead of points P3 to P6 (hereinafter referred to as condition 8) is reached as a condition for the completion determination. Also at the branch point GAj, the conditions for establishing the start determination may be appropriately set according to the conditions for establishing the end determination.

<Scene of auto lane change>
In the automatic lane change scene shown in FIGS. 13 and 14, the HCU 100 determines the timing at which the LCA function transitions to the execution state (see point P1) based on the status information of the LCA function acquired by the control information acquisition unit 74. grasp. The HCU 100 may grasp the timing at which the LCA function transitions from the OFF state to the activated state instead of the execution transition timing of the LCA function.

The display generation unit 76 starts the display of the lane change image Pmc on the meter display 23 and the superimposition display of the LCA content CTlc on the HUD 20 based on the status information indicating the execution state of the LCA function. Both the lane change image Pmc and the LCA content CTlc have content indicating the moving direction of the vehicle A in the auto lane change.

In the HCU 100, the control information acquisition unit 74 acquires the external world information indicating the relative position of the boundary line ROf between the host vehicle lane Lns and the adjacent lane Lnd. The display generation unit 76 uses the external world information about the boundary line ROf to set display transition positions (see points P2 to P6) for transitioning the superimposed content CTs from the LCA content CTlc to the LTC content CTlt.

Points P2 to P6 that can be used as display transition positions will be described in detail. Point P2 is a position where at least part of vehicle A that has started lateral movement to adjacent lane Lnd touches boundary line ROf. A point P3 is a position where the center or the center of gravity of the vehicle A is on the boundary line ROf. Point P4 is a position where the entire vehicle A has crossed over the boundary line ROf. Point P5 is a position at which the main subject of operation control transitions from the LCA function to the LTC function. Point P6 is the position where the blinking of the direction indicator is turned off. Any one of these points P2 to P6 is set as the display transition position by the display generation unit 76 (point P2 in FIG. 13).

As described above, the display generation unit 76 grasps the position of the vehicle A with respect to the boundary line ROf from the external world information, and ends the display of the LCA content CTlc based on the end determination using at least the external world information. Further, the display generation unit 76 causes the meter display 23 to continue displaying the lane change image Pmc until the blinking of the direction indicator turns off. Therefore, when the display transition positions are set to points P2 to P5, the display generation unit 76 generates the LCA content CTlc based on the termination determination using at least the external world information earlier than the display of the lane change image Pmc is terminated. end the display of

Next, the details of the display control method for realizing the route guidance and lane change guidance described so far, particularly the contents related to the display of the superimposed content CTs, will be described based on the flow charts shown in FIGS. 4 to 14, description will be made below.

The display control processing shown in FIGS. 15 and 16 is started by the HCU 100 that receives the start notification from the navigation device 55. FIG. In S101 of the display control process shown in FIG. 15, detailed route information and the like necessary for displaying the TBT image Pmg and the route guidance content CTsg are acquired, and the process proceeds to S102. In S102, acquisition of external world information required for drawing the route guidance content CTsg, in other words, acquisition of external world information used for simulation calculation of the display layout of the superimposed content CTs is started, and the process proceeds to S103.

In S103, the map data used for the simulation calculation of the display layout of the superimposed content CTs is acquired, and the process proceeds to S104. At S103, the acquisition of the high-precision map data from the locator 40 is given priority, and if there is no high-precision map data of the guidance area GA, the navigation map data of the guidance area GA is acquired from the navigation device 55. FIG.

In S104, the information obtained in S101 to S103 is used to start displaying the route guidance content CTsg on the HUD 20, and the process proceeds to S105. In S104, display of the TBT image Pmg on the meter display 23 is also started along with the route guidance content CTsg.

In S105, it is determined whether or not the high-precision map data used to generate the route guidance content CTsg has been acquired. If it is determined in S105 that the high-precision map data has been acquired, the process proceeds to S106. On the other hand, if it is determined in S105 that the high-precision map data has not been acquired, the process proceeds to S107.

In S107, it is determined whether or not the camera recognition information used to generate the route guidance content CTsg has been acquired. If it is determined in S107 that the camera recognition information has been acquired, the process proceeds to S108. On the other hand, if it is determined in S107 that the camera recognition information has not been acquired, the process proceeds to S109.

In S106, conditions for end determination are set when using the high-precision map data, and the process proceeds to S110. On the other hand, in S108, conditions are set for completion determination when the navigation map data is used with the camera recognition information present, and the process proceeds to S110. Further, in S109, conditions are set to establish the completion determination when the navigation map data is used without camera recognition information, and the process proceeds to S110.

As described above, when the superimposed content CTs is generated using the high-precision map data, the end determination is made so that the display is less likely to end than when the superimposed content CTs is generated using the navigation map data. Conditions are changed (relaxed). In addition, when there is camera recognition information, the condition for end determination is changed (relaxed) so that the display is less likely to end than when there is no camera recognition information. Furthermore, in S106, S108 and S109, the condition for judging the end is changed according to the shape of the road in the guidance area GA, the presence or absence of the stop line ROc, the direction of right or left turn, and the like.

Incidentally, in S106, it is not necessary to set the termination condition. In this case, as will be described later, the display of the route guidance content CTsg is terminated based on the non-satisfaction of the termination condition (S111: NO) and the acquisition of the termination notification (S112: YES).

In S110 shown in FIG. 16, acquisition of steering information (operation information) including information such as steering wheel angle is started, and the process proceeds to S111. It should be noted that S110 may be skipped when the operation information is not used in the end determination conditions set in S106, S108, or S109.

In S111, it is determined using at least the external world information whether or not the end condition set in S106, S108 or S109 is met. If it is determined in S111 that the end condition is satisfied, the process proceeds to S113. On the other hand, when it is determined in S111 that the end determination has not been established, the process proceeds to S112.

In S<b>112 , it is determined whether or not a termination notification has been received from the navigation device 55 . If it is determined in S112 that the end notification has not been obtained, the process returns to S110. As a result, the display of the route guidance content CTsg is continued. On the other hand, if it is determined in S112 that the end notification has been acquired, the process proceeds to S113.

In S113, the display of the route guidance content CTsg is ended based on the establishment of the end determination in S111 or the acquisition of the end notification in S112, and the display control processing relating to route guidance is ended. If the termination determination is made in S111, the display of the route guidance content CTsg is terminated without waiting for the termination notification from the navigation device 55 to be received. Note that the display of the route guidance icon CTng and the TBT image Pmg is continued even after the display of the route guidance content CTsg ends.

The display control process shown in FIG. 17 is started by the HCU 100 that receives status information that notifies, for example, the transition to the execution state of the LCA function. In S131 of the display control process shown in FIG. 17, the shape information of the planned travel locus PLC in the planned lane change is acquired, and the process proceeds to S132. In S132, acquisition of external world information necessary for drawing the LCA content CTlc is started, and the process proceeds to S133. In S133, the map data of the road section including the entire planned travel locus PLC is acquired, and the process proceeds to S134. At S133, similarly to S103, priority is given to obtaining high-precision map data from the locator 40. FIG.

In S134, the information obtained in S131 to S133 is used to start displaying the LCA content CTlc by the HUD 20, and the process proceeds to S135. In S134, switching of the superimposed display from the LTC content CTlt to the LCA content CTlc is performed. Also, in S134, along with the LCA content CTlc, display of the lane change image Pmc on the meter display 23 is started.

In S135, conditions for completion determination for ending the display of the LCA content CTlc are set, and the process proceeds to S136. In S136, it is determined using at least the external world information whether or not the end condition set in S135 is satisfied. If it is determined in S136 that the termination condition is satisfied, the process proceeds to S137. On the other hand, if it is determined in S136 that the end determination is not established, S136 is repeated and the end determination is awaited.

In S137, the display of the LCA content CTlc is ended, the display of the LTC content CTlt is started, and the process proceeds to S138. In S138, it is determined whether or not blinking of the direction indicator has been turned off, in other words, whether or not a series of lane changes has been completed. When it is determined in S138 that the direction indicator is turned off, the process proceeds to S139. In S139, the display of the lane change image Pmc on the meter display 23 is terminated, and the series of display control processing is terminated. As described above, the display of the LCA content CTlc is ended earlier than the end of the display of the lane change image Pmc based on the end determination in S136 using at least the external world information.

According to the first embodiment described so far, the route guidance content CTsg can be determined without relying on the route guidance end timing of the navigation device 55 by performing the end determination using at least the external world information around the vehicle A. , can be terminated at an appropriate time. According to the above, it is difficult for the route guidance content CTsg to continue to be displayed in a conspicuous position even though the vehicle A has finished turning left or right. Therefore, even if the superimposed content CTs is used, it is possible to present information that does not make passengers such as drivers feel uncomfortable.

In addition, in the first embodiment, the display of the route guidance content CTsg is properly ended at a timing earlier than the end of the display of the route guidance image Png by executing the end determination using at least the information of the external world around the vehicle A. obtain. According to the above, even if the superimposed content CTs is used, it is possible to present information that does not make the passenger such as the driver feel uncomfortable.

Further, in the first embodiment, when an intersection GAi is set as the guidance area GA, the intersection target information related to the intersection GAi is acquired as the external world information. Then, the display generation unit 76 terminates the display of the route guidance content CTsg based on the termination determination using the intersection target information. As described above, by using the intersection target recognized by the driving environment recognition unit 51, the display generation unit 76 can further optimize the display end timing of the route guidance content CTsg according to the intersection GAi at which the vehicle is traveling. .

Furthermore, in the first embodiment, when the intersection GAi serving as the guidance area GA is a predetermined complex intersection, the display generation unit 76 is configured so that the display of the route guidance content CTsg is later completed than when the intersection is not a complicated intersection. , to change the conditions for completion determination. Therefore, the route guidance content CTsg can be superimposed on the road surface of the correct exit road from the intersection GAi. As a result, the route guidance content CTsg can provide route guidance that is easy for the driver to understand.

In addition, in the first embodiment, when there is a stop line ROc on the near side of the intersection GAi serving as the guidance area GA, display generation is performed so that the display of the route guidance content CTsg ends later than when there is no stop line ROc. The unit 76 changes the establishment condition of the termination determination. Therefore, the display period of the route guidance content CTsg is ensured in a scene where the route guidance content CTsg is unlikely to be an obstacle due to the temporary stop of the vehicle A. As a result, route guidance that is easy for the driver to understand is implemented.

In addition, in the first embodiment, when the oncoming lane is not crossed when turning right or left at the intersection GAi serving as the guidance area GA, display of the route guidance content CTsg is made to end later than when the oncoming lane is crossed. The generation unit 76 changes the condition for establishing the end determination. According to the above, it becomes difficult for the route guidance content CTsg to obstruct the visibility of the oncoming vehicle in the right turn scene. In addition, in a left turn scene in which it is not necessary to check for oncoming vehicles, the display period of the route guidance content CTsg is ensured to provide route guidance that is easy for the driver to understand.

Furthermore, in the first embodiment, when a branch point GAj is set as the guidance area GA, point target information related to the branch point GAj is acquired as external world information. Then, the display generation unit 76 terminates the display of the route guidance content CTsg based on the termination determination using the point target information. As described above, by using the point target recognized by the driving environment recognition unit 51, the display generation unit 76 can further optimize the display end timing of the route guidance content CTsg in accordance with the branch point GAj during driving. can be Note that the display generation unit 76 can optimize the display end timing of the route guidance content CTsg not only at the branch point GAj but also at the confluence based on the end determination using the point target information.

In addition, the control information acquisition unit 74 of the first embodiment can acquire the position information of the edge intersection ROe obtained by detecting the edge of the road in the guidance area GA as the external world information. Then, the display generation unit 76 uses the position information of the edge intersection ROe for end determination, and ends the route guidance content CTsg based on the end determination. By using detection processing derived from the road structure such as edge detection, the display generation unit 76 can display the route guidance content CTsg even in the guidance area GA where there are no specific targets such as road markings and road signs. can be terminated properly.

Further, the display generation unit 76 of the first embodiment can change the conditions for end determination according to the road shape of the guidance area GA. Therefore, the display generation unit 76 can reduce discomfort while utilizing the advantage of the superimposed content CTs as necessary.

Furthermore, in the first embodiment, the route guidance icon CTng is displayed as the non-superimposed content CTn that continues the route guidance during the period after the display of the route guidance content ends. Then, the display generation unit 76 performs a mode change to lower the visibility of the route guidance icon CTng during the display period of the route guidance icon CTng. Therefore, while realizing easy-to-understand route guidance by displaying the route guidance icon CTng, the process of lowering the visibility of the route guidance icon CTng reduces the annoyance of the display.

In addition, in the first embodiment, the display of the LCA content CTlc, which indicates the direction of movement when changing lanes, can be terminated at an appropriate timing by performing the termination determination using at least the information about the external world around the vehicle A. According to the above, it is difficult for the LCA content CTlc to continue to be displayed in a conspicuous position even though the vehicle A has finished changing lanes. Therefore, even if the superimposed content CTs is used, it is possible to present information that does not make passengers such as drivers feel uncomfortable.

Further, in the first embodiment, in the scene of the automatic lane change by the LCA function, the display generation unit 76 generates the LCA content based on the end determination using the external world information earlier than the end of the display of the lane change image Pmc on the meter display 23. Terminate the display of CTlc. As described above, if the state of the LCA function can be confirmed visually on the meter display 23, the display end timing of the LCA content CTlc can be appropriately advanced so as not to make the passenger feel uncomfortable.

Furthermore, in the first embodiment, navigation map data and high-precision map data with different accuracies are acquired as map data used to generate superimposed content CTs. Then, the display generation unit 76 can change the condition for end determination based on whether or not the high-precision map data can be acquired. According to the above, the display generation unit 76 can optimize the display end timing of the superimposed content CTs according to the accuracy of the map data.

Specifically, when the display generation unit 76 draws the superimposed content CTs using the high-precision map data, the display of the superimposed content CTs is less likely to end than when drawing the superimposed content CTs using the navigation map data. Relax the conditions for end determination. In other words, the display generation unit 76 can end the display of the superimposed content CTs early when it cannot be superimposed on the road surface with high accuracy. Therefore, the display generation unit 76 can appropriately stop displaying the superimposed content CTs in a situation where the superimposed content CTs is likely to be disturbing due to the accuracy of the map data.

In addition, when the display generation unit 76 of the first embodiment uses the camera recognition information based on the imaging data of the front camera 31 for content generation, the display of the route guidance content CTsg is displayed more than when the camera recognition information is not used for content generation. make it difficult to terminate According to such a change in the establishment condition of the end determination, when the superimposition accuracy of the route guidance content CTsg is ensured, the display period of the route guidance content CTsg is easily ensured. As a result, route guidance that is easy for the driver to understand can be performed.

Furthermore, in the first embodiment, in addition to the external world information, operation information (steering information, etc.) related to the driver's operation is used for end determination. Therefore, even after the vehicle A moves to a position where targets such as the stop line ROc and the sidewalk lines ROa and ROb are outside the angle of view of the front camera 31, the display generation unit 76 generates the route guidance content CTsg. Display can be terminated. In this way, by using the operation information for end determination, the degree of freedom in setting the display end timing can be further improved.

In the first embodiment, the meter display 23 corresponds to the "screen display", and the front camera 31 corresponds to the "vehicle camera". Further, the control information acquisition unit 74 corresponds to the "external world information acquisition unit", the state information acquisition unit 75 corresponds to the "operation information acquisition unit", the display generation unit 76 corresponds to the "display control unit", and the HCU 100 It corresponds to a "display control device". Furthermore, the route guidance content CTsg and the LCA content CTlc correspond to "superimposed content", the route guidance icon CTng corresponds to "non-superimposed content", and the navigation map data corresponds to "low-precision map data". The LCA function corresponds to the "lane change function", the relative position information of the edge intersection ROe corresponds to the "edge position information", and the stop line ROc corresponds to the "stop line".

(Second embodiment)
The second embodiment of the present disclosure, shown in FIGS. 18-22, is a modification of the first embodiment. In the second embodiment, the configuration of the HMI system 210 is different from that in the first embodiment. The HMI system 210 has functions corresponding to the navigation device 55 (see FIG. 1) of the first embodiment, and has a navigation display 24 and a navigation map DB 25 . The navigation display 24 and the navigation map DB 25 have substantially the same configurations as the navigation display 57 and the navigation map DB 56 (see FIG. 1) of the first embodiment, respectively.

As in the first embodiment, the HCU 100 shown in FIGS. 18 and 19 provides route guidance at intersections GAi and branch points GAj (see FIGS. 4 to 12) and automatic lane change guidance (see FIGS. 13 and 14). ) and The HCU 100 includes a navigation information generation section 272 as a functional section in addition to a viewpoint position identification section 71, a map data acquisition section 73, a control information acquisition section 74, a state information acquisition section 75, and a display generation section .

The navigation information generation unit 272 uses the navigation map data acquired from the navigation map DB 25 and the locator information acquired from the locator ECU 44 to set the destination and the route to the destination based on the user's operation. The navigation information generator 272 executes route guidance according to the set route. In addition to the HUD 20 and the meter display 23, the display generation unit 76 generates video data that is sequentially output to the navigation display 24, and controls presentation of information by the navigation display 24 to the driver. The navigation information generation unit 272 and the display generation unit 76 display the traveling direction of the vehicle A in the guidance area GA on the navigation display 24 by approaching the guidance area GA (see FIG. 4, etc.) included in the set route. The driver is guided by the route guidance image Png (see FIG. 4, etc.).

The navigation information generation unit 272 grasps the remaining distance Dr from the guide area GA included in the set route to the reference position GP based on the locator information, and at the timing when the remaining distance Dr becomes less than the predetermined distance, causes the HCU 100 to start the display control process shown in . The predetermined distance is about 300 m for general roads and about 1000 m for highways, as in the first embodiment.

In S201 of the display control processing shown in FIGS. 20 and 21, the detailed route information of the guidance area GA generated by the navigation information generation unit 272 is converted to the TBT image Pmg (see FIGS. 4 and 10) and the route guidance content CTsg (see FIGS. 4 and 10). (See FIGS. 5 and 11). Then, in S202 and S203, the external world information and map data are acquired, and the process proceeds to S204. In S203, priority is given to obtaining high-precision map data from the locator 40, and if there is no high-precision map data, navigation map data is obtained from the navigation map DB25.

In S204, the information obtained in S201 to S203 is used to start displaying the route guidance content CTsg on the HUD 20, and the process proceeds to S205. In S204, display of the route guidance image Png (see FIGS. 4 and 10) on the navigation display 24 and display of the TBT image Pmg on the meter display 23 are also started.

In S205-S209, similar to S105-S109 (see FIG. 15) of the first embodiment, conditions for completion determination are set according to the presence or absence of high-precision map data and the presence or absence of camera recognition information, and the process proceeds to S210. . In addition, in S205 to S209, conditions for establishing the end determination are adjusted according to the shape of the road in the guidance area GA, the presence or absence of the stop line ROc, the direction of right or left turn, and the like. At S210, acquisition of the driver's operation information is started, and the process proceeds to S211.

In S211, using the external world information (and operation information), it is determined whether or not the termination condition set in S206, S208 or S209 is satisfied. If it is determined in S211 that the termination condition is satisfied, the process proceeds to S212. In S212, the display of the route guidance content CTsg is ended based on the establishment of the termination determination in S211, and the process proceeds to S213.

In S213, it is determined whether or not the vehicle A has reached the route guidance end point (see point P4 in FIG. 4). If it is determined in S213 that vehicle A has reached the route guidance end point, the process proceeds to S214. In S214, both the display of the route guidance image Png on the navigation display 24 and the display of the TBT image Pmg on the meter display 23 are ended, and the series of display control processing ends. As described above, the display of the route guidance content CTsg is ended earlier than the end of the display of the route guidance image Png based on the end determination in S211 using at least the external world information.

In the second embodiment described so far, the same effect as in the first embodiment is obtained, and the route guidance content CTsg is displayed at a timing earlier than the display end of the route guidance image Png by performing the end determination using the external world information. , can be properly terminated. According to the above, it is difficult for the highly attractive route guidance content CTsg to continue to be displayed even after the right or left turn has been completed. Therefore, it is possible to present information that does not make passengers such as drivers feel uncomfortable.

In addition, in the second embodiment as well, the HCU 100 performs the same display control processing (see FIGS. 15 and 16) as in the first embodiment in a scene in which an automatic lane change is performed by the LCA function. implement. As a result, the display end timing of the LCA content CTlc can also be appropriately set based on the end determination using the external world information. According to the above, it is difficult for the highly attractive LCA content CTlc to continue to be displayed even though the lane change has been completed. Therefore, it is possible to present information that does not make passengers such as a driver feel uncomfortable even in a scene where an automatic lane is to be changed. Incidentally, in the second embodiment, the navigation display 24 corresponds to the "screen display".

(Other embodiments)
A plurality of embodiments and modifications of the present disclosure have been described above, but the present disclosure is not to be construed as being limited to the above-described embodiments and modifications. Applicable to embodiments and combinations.

As described in the above embodiment, the control information acquisition unit 74 acquires the relative position information of the edge intersection ROe on the front side and the turning side of the intersection GAi as the intersection target information. The shape of such an intersection GAi is not limited to a crossroad. The control information acquisition unit 74 detects each edge Ed1, Ed2 on the near side and on the turning side at various intersections GAi such as a multi-forked road (6-forked road), a Y-junction, a T-junction and a runabout as shown in FIG. can be detected and the relative position information of the edge intersection ROe can be obtained.

The navigation device 55 and the navigation information generation unit 272 of the above-described embodiment are capable of performing complex route guidance when left and right turns are successively made at a plurality of intersections GAi. As an example, as shown in FIG. 23, when a right turn at an intersection GAi serving as a first guidance area GA1 and a left turn at an intersection GAi serving as a second guidance area GA2 are continuous, the second Route guidance considering a left turn is performed in the first guidance area GA1.

Specifically, in the guidance route GR generated by the navigation device 55 or the navigation information generation unit 272, in the approach section to the first intersection GAi, the vehicle A is in the leftmost lane among the plurality of right-turn lanes. is induced to This leftmost right turn lane is a lane connected to the left turn lane of the second intersection GAi. When vehicle A is traveling in a lane other than the leftmost lane among a plurality of right-turn lanes, as shown in FIG. is performed by the route guidance content CTsg.

More specifically, the route guidance content CTsg includes an approach section CTg1 indicating the route to the intersection GAi, a position section CTg2 indicating the entry position to the intersection GAi, and an exit direction section CTg3 indicating the exit direction from the intersection GAi. Become. In complex route guidance, the detailed route information acquired by the HCU 100 includes advance preparation information that instructs a lane change to the leftmost right turn lane in the approach section in order to turn left at the second intersection GAi. is added. Based on such preparatory information, the HCU 100 generates the approach section CTg1 in a manner that guides the vehicle to change lanes to the left. If the lane change to the leftmost right turn lane is completed according to the guidance of the route guidance content CTsg, the vehicle A can smoothly turn left at the second intersection GAi.

As shown in FIG. 25, when the intersection GAi is outside the angle of view VA until just before reaching the intersection GAi due to the road shape and slope of the guidance area GA, the mode of the route guidance content CTsg is changed. As an example, the HCU displays the approach section CTg1 as the superimposed content CTs, while displaying the position section CTg2 and the exit direction section CTg3 as the non-superimposed content CTn. The approach part CTg1 has a strip-like elongated shape stuck to the road surface, like the route guidance content CTsg (see FIG. 5) of the above embodiment. On the other hand, the position portion CTg2 and the exit direction portion CTg3 are displayed at one of the four corners of the oblong rectangular angle of view VA that is closest to the intersection GAi. The position part CTg2 is displayed in a partial ring that emphasizes the corners of the angle of view VA, and emphasizes the intersection outside the angle of view VA. The exit direction portion CTg3 is displayed in the shape of an arrow pointing in the turning direction at the intersection GAi. When left turn guidance is performed at the intersection GAi, the exit direction portion CTg3 is shaped to point leftward.

In the above-described embodiment, in addition to the presence or absence of high-precision map data, the establishment condition for determining the end of route guidance content CTsg is changed according to the presence or absence of camera recognition information. However, in Modified Example 1 of the above-described embodiment, the presence or absence of camera recognition information is not reflected in the change of the condition for establishing the end determination. That is, in Modification 1, S107 and S108 (see FIG. 15) or S207 and S208 (see FIG. 20) in the display control process are omitted.

In the above embodiment, the display of the superimposed content is ended based on the end determination using at least the external world information. However, in the modification 2 of the above-described embodiment, the display control unit performs end determination using at least high-precision map data or navigation map data and position information of the vehicle instead of end determination using at least external world information. implement. Then, the display control unit specifies the position of the vehicle relative to the guidance area based on the end determination using at least the high-precision map data or the navigation map data and the position information of the vehicle, and terminates the display of the superimposed content. Display of the superimposed content can also be appropriately terminated by such processing.

In the above-described embodiment, the stop line ROc, the sidewalk lines ROa and ROb, road signs, etc. are recognized mainly based on the information (captured image) detected by the front camera 31, and provided to the HCU 100 as outside world information. Then, the display generation unit 76 performs end determination using the information of these targets. However, for example, when information such as the stop line ROc and the sidewalk lines ROa and ROb is added to the navigation map data, the display generation unit 76 can further use this information to carry out the end determination.

The establishment condition of the end determination adopted by the display generation unit 76 may be determined based on the angle of view VA of the HUD 20 . Specifically, when the angle of view VA of the HUD 20 is increased toward the angle of depression, the range in which the superimposed content CTs can be superimposed is also increased toward the vicinity of the vehicle. As a result, even if the display end timing of the superimposed content CTs is delayed, the superimposed content CTs remains attached to the superimposition target. Therefore, the display end timing of the superimposed content CTs is preferably set to coincide with the timing at which the superimposition target is framed out from the angle of view VA.

The route guidance content CTsg of Modification 3 of the above-described embodiment is superimposed and displayed in such a manner that the road surface range corresponding to the guidance route is painted out. Further, the LCA content CTlc of Modification 3 is in the form of two lines extending from the own vehicle lane Lns toward the adjacent lane Lnd according to the shape of the planned travel locus PLC. Further, the LTC content CTlt of Modification 3 is superimposed in the vicinity of the left and right division lines of the host vehicle lane Lns, and is in the form of two lines extending along each section line.

The route guidance content CTsg of Modification 4 of the above embodiment is superimposed on the center of the road surface of the driving lane corresponding to the guidance route, and is in the form of a single line extending in the traveling direction. Further, the LCA content CTlc of Modification 4 is in the form of a single line indicating the shape of the planned travel locus PLC. Furthermore, the LTC content CTlt of Modification 4 is superimposed and displayed in such a manner that the road surface of the host vehicle lane Lns is painted out.

As in Modifications 3 and 4 above, the mode of displaying each superimposed content CTs may be changed as appropriate. Further, each aspect of the route guidance content CTsg, the LCA content CTlc, and the LTC content CTlt may be the same or different.

In the above-described embodiment, the condition for determining the end of the route guidance content CTsg is changed according to the road shape of the intersection GAi, the branch point GAj, and the junction, and the presence or absence of high-definition map data and camera recognition information. Furthermore, the condition for establishing the end determination is also changed according to the presence or absence of the stop line ROc, the direction of the right or left turn at the intersection GAi, and the like. However, at least some of these pieces of information need not be used to change or adjust the condition for establishing the termination determination. Furthermore, regardless of the road shape and the accuracy of the map data, the condition for establishing the end determination may be constant. Further, the condition for establishing the end determination of the LCA content CTlc may also be changed according to whether or not the high-precision map data and the camera recognition information can be acquired. In addition, the map data that the HCU 100 can acquire may be only one of the high-definition map data and the navigation map data. Also, other information acquired by the HCU 100 may be used for the termination determination in addition to the external world information and the operation information.

The imaging data used as the camera recognition information is not limited to data shot by the front camera 31 . For example, external world information based on image data captured by a rear camera, a front side camera, and a rear side camera may be used as camera recognition information for generating superimposed content.

Each content in the above embodiment includes static elements such as display color, display brightness, and reference display shape, and dynamic elements such as presence/absence of blinking, blinking cycle, presence/absence of animation, and animation operation. may be changed as appropriate. Also, the static or dynamic elements of each content may be changeable according to the driver's preferences. Furthermore, the driving scene in which the route guidance display is illustrated in the description of the above embodiment and modification is an example. The HCU can implement route guidance display using both non-superimposed content and superimposed content in driving scenes different from the above.

The HCU of the above embodiment uses the eyepoint position information detected by the DSM so that the superimposed content is superimposed on the superimposed target without any deviation from the driver's perspective, and the virtual image light formed as the superimposed content CTs. The projection shape and projection position were controlled sequentially. However, the HCU of Modified Example 5 of the above-described embodiment uses preset reference eyepoint center setting information without using DSM detection information, and the projection shape and Control the projection position.

On the other hand, in Modification 6 of the above-described embodiment, in addition to eyepoint position information detected by the DSM, detection information from, for example, a gyro sensor provided in a HUD is further used to form a virtual image formed as superimposed content. The projection shape and projection position of light are controlled sequentially. The gyro sensor is an attitude sensor that mainly detects the attitude of the vehicle A in the pitch direction. By using such a posture sensor that detects the posture of the vehicle, the superimposed content can be superimposed on the superimposition target more accurately.

The HUD projector of Modification 7 is provided with an EL (Electro Luminescence) panel instead of the LCD panel and the backlight. Further, instead of the EL panel, a projector using a display device such as a plasma display panel, a cathode ray tube, and an LED can be adopted as the HUD 20 .

The HUD of Modification 8 is provided with a laser module (hereinafter referred to as LSM) and a screen instead of the LCD and backlight. The LSM has a configuration including, for example, a laser light source and a MEMS (Micro Electro Mechanical Systems) scanner. The screen is for example a micromirror array or a microlens array. In such a HUD, a display image is drawn on the screen by scanning laser light emitted from the LSM. A HUD projects a display image drawn on a screen onto a windshield using a magnifying optical element to display a virtual image in mid-air.

The HUD of Modification 9 is provided with a DLP (Digital Light Processing, registered trademark) projector. A DLP projector has a digital mirror device (DMD hereinafter) provided with a large number of micromirrors, and a projection light source that projects light toward the DMD. A DLP projector renders a display image on a screen through coordinated control of the DMD and the projection light source.

Furthermore, the HUD of Modification 10 employs a projector using LCOS (Liquid Crystal On Silicon). Further, in the HUD of Modified Example 11, a holographic optical element is adopted as one of the optical systems for displaying the virtual image Vi in the air.

In Modification 12 of the above embodiment, the HCU and HUD are configured integrally. That is, the HCU processing function is implemented in the control circuit of the HUD. Further, in the thirteenth modification, an HCU is provided as the meter ECU.

In Modification 14 of the above-described embodiment, the HCU 100 is provided with a camera image acquisition unit that acquires the image data of the front camera 31, which is the image data of the foreground of the vehicle. The display generation unit 76 generates video data in which original images such as the route guidance content CTsg, the LCA content CTlc, and the LTC content CTlt are superimposed on the real image of the foreground based on the imaging data. Based on such video data, the HUD 20 displays video in which each content is superimposed on a real image as a virtual image in the foreground. As described above, when the angle of view VA of the HUD 20 is not sufficient, a virtual image display may be performed in which an original image such as content used for AR display is superimposed on a real image.

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

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

The vehicle equipped with the HMI system is not limited to a general private passenger car, and may be a rental car vehicle, a manned taxi vehicle, a ride-sharing vehicle, a freight vehicle, a bus, or the like. Furthermore, HMI systems including HCUs may be installed in driverless vehicles used for mobility services.

A vehicle equipped with an HMI system may be a right-hand drive vehicle or a left-hand drive vehicle. Furthermore, the traffic environment in which the vehicle travels may be a traffic environment assuming left-hand traffic or a traffic environment assuming right-hand traffic. Lane keeping control and related displays according to the present disclosure are appropriately optimized according to the road traffic laws of each country and region, as well as the position of the steering wheel of the vehicle.

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

A Vehicle, CTlc LCA content (superimposed content), CTsg Route guidance content (superimposed content), CTng Route guidance icon (non-superimposed content), GA Guidance area, GAi Intersection, GAj Junction point (junction junction), ROc Stop line ( stop line), Pmc lane change image, Png route guidance image, 11 processing unit, 20 HUD (head-up display), 23 meter display (screen display), 24 navigation display (screen display), 31 front camera (in-vehicle camera), 55 navigation device, 72 navigation information acquisition unit, 73 map data acquisition unit, 74 control information acquisition unit (external world information acquisition unit), 75 state information acquisition unit (operation information acquisition unit), 76 display generation unit (display control part), 100 HCU (display control unit)

Claims (22)

A display control device used in a vehicle (A) equipped with a navigation device (55) for route guidance and controlling display by a head-up display (20),
a navigation information acquisition unit (72) for acquiring navigation information related to route guidance performed by the navigation device;
an external world information acquisition unit (74) that acquires external world information based on the recognition of the driving environment around the vehicle;
A display control unit (76) that superimposes and displays superimposed content (CTsg) for route guidance on the foreground by the head-up display in the guidance area (GA) where route guidance is performed by the navigation device,
The display control unit displays the superimposed content before passing through the guidance area based on the end determination using at least the external world information without using the end notification for notifying the end of the route guidance by the navigation device. A display controller that terminates a display. A display control device used in a vehicle (A) for controlling display by a screen display (24) and a head-up display (20),
an external world information acquisition unit (74) that acquires external world information based on the recognition of the driving environment around the vehicle;
a display control unit (76) for superimposing and displaying superimposed content (CTsg) for route guidance on the foreground by the head-up display in the guidance area (GA) for displaying the route guidance image (Png) on the screen display; with
The display control unit displays the superimposed content before passing through the guidance area earlier than ending the display of the route guidance image on the screen display based on the end determination using at least the external world information. Display controller to terminate. A display control device used in a vehicle (A) equipped with a navigation device (55) for route guidance and controlling display by a head-up display (20),
a navigation information acquisition unit (72) for acquiring navigation information related to route guidance performed by the navigation device;
an external world information acquisition unit (74) that acquires external world information based on the recognition of the driving environment around the vehicle;
a display control unit (76) for superimposing and displaying superimposed content (CTsg) for route guidance on the foreground by the head-up display in the guidance area (GA) where the navigation device displays the route guidance image (Png) on the screen; prepared,
The display control unit terminates the display of the superimposed content before the navigation device terminates the display of the route guidance image, based on termination determination using at least the external world information, before passing through the guidance area. display controller to let you The display control device according to any one of claims 1 to 3, wherein the guidance area is an intersection (GAi) where the vehicle is scheduled to turn left or right. The external world information acquisition unit acquires intersection target information based on recognition of targets related to the intersection as the external world information,
5. The display control device according to claim 4, wherein the display control unit terminates display of the superimposed content based on the termination determination using the intersection target information. When the intersection serving as the guidance area is a complicated intersection defined in advance, the display control unit performs the end determination so that the display of the superimposed content is finished later than when the intersection is not the complicated intersection. 6. The display control device according to claim 4, wherein the establishment condition is changed. When there is a stop line (ROc) on the near side of the intersection serving as the guidance area, the display control unit controls the end of the display of the superimposed content so that the end of the display of the superimposed content is later than when there is no stop line. 7. The display control device according to any one of claims 4 to 6, wherein conditions for establishment of determination are changed. The display control unit determines the end so that the end of the display of the superimposed content is later than when the oncoming lane is crossed when the oncoming lane is not crossed when turning right or left at the intersection serving as the guidance area. 8. The display control device according to any one of claims 4 to 7, wherein the condition for establishment of is changed. The guidance area is a junction where the vehicle is scheduled to change lanes,
The external world information acquisition unit acquires, as the external world information, point target information based on recognition of a target related to the junction point,
The display control device according to any one of claims 1 to 8, wherein the display control unit terminates display of the superimposed content based on the termination determination using the point target information. The external world information acquisition unit acquires edge position information obtained by detecting an edge of a road in the guidance area as the external world information,
The display control device according to any one of claims 1 to 9, wherein the display control unit terminates display of the superimposed content based on the termination determination using the edge position information. 11. The display control device according to any one of claims 1 to 10, wherein the display control unit changes conditions for establishing the end determination according to the shape of the road in the guidance area. The display control unit
displaying non-superimposed content (CTng) for continuing route guidance at least during a period after the display of the superimposed content is terminated;
12. The display control device according to any one of claims 1 to 11, wherein during the display period of the non-superimposed content, a mode change is performed to reduce the visibility of the non-superimposed content. A display control device used in a vehicle (A) equipped with a lane change function and controlling display by a head-up display (20),
an external world information acquisition unit (74) that acquires external world information based on the recognition of the driving environment around the vehicle;
In the scene where the lane change is performed by the lane change function, the superimposed content (CTlc) indicating the moving direction in the lane change is displayed superimposed on the foreground by the head-up display, and based on the end determination using at least the external world information, A display control unit (76) for ending display of the superimposed content before driving control transitions from lane change to in-lane travel . A display control device for further controlling the display of a screen display (23),
The display control unit
causing the screen display to display a lane change image (Pmc) for notifying the implementation of the lane change in a scene where the lane change is performed by the lane change function;
14. The display control device according to claim 13, wherein display of said superimposed content is terminated earlier than display of said lane change image by said screen display is terminated based on termination determination using at least said external world information. a map data acquisition unit (73) for acquiring low-precision map data and high-precision map data having different accuracies as map data used for generating the superimposed content in the display control unit;
15. The display control unit according to any one of claims 1 to 14, wherein the display control unit changes the conditions for the termination determination based on whether or not the high-precision map data used to generate the superimposed content has been acquired. Display controller. When the display control unit generates the superimposed content using the high-precision map data, the display of the superimposed content is less likely to end than when the superimposed content is generated using the low-precision map data. 16. The display control device according to claim 15, wherein the establishment condition of the end determination is changed as follows. The external world information acquisition unit acquires, as the external world information, camera recognition information based on imaging data of an in-vehicle camera (31) mounted on the vehicle,
When the display control unit generates the superimposed content using the camera recognition information based on the imaging data, the display of the superimposed content ends earlier than when the camera recognition information is not used to generate the superimposed content. 17. The display control device according to any one of claims 1 to 16, wherein the establishment condition of the end determination is changed so as to make it difficult for the end determination to be performed. further comprising an operation information acquisition unit (75) that acquires operation information related to the operation of the vehicle occupant,
The display control device according to any one of claims 1 to 17, wherein the display control unit terminates display of the superimposed content based on the termination determination using the operation information in addition to the external world information. A display control program used in a vehicle (A) equipped with a navigation device (55) for route guidance and controlling display by a head-up display (20),
in at least one processing unit (11),
Acquiring navigation information related to route guidance performed by the navigation device (S101),
acquiring external world information based on the recognition of the driving environment around the vehicle (S102);
In the guidance area (GA) where route guidance is performed by the navigation device, superimposed content (CTsg) for route guidance is superimposed on the foreground by the head-up display (S104),
The display of the superimposed content is ended before passing through the guidance area based on the end determination using at least the external world information without using the end notification for notifying the end of the route guidance by the navigation device (S111). , S113),
A display control program that causes a process including: A display control program used in a vehicle (A) for controlling display by a screen display (24) and a head-up display (20),
in at least one processing unit (11),
obtaining external world information based on the recognition of the driving environment around the vehicle (S202);
In the guidance area (GA) where the route guidance image (Png) is displayed on the screen display, superimposed content for route guidance is superimposed on the foreground by the head-up display (S204),
ending the display of the superimposed content before passing through the guidance area earlier than ending the display of the route guidance image on the screen display, based on end determination using at least the external world information (S212);
A display control program that causes a process including: A display control program used in a vehicle (A) equipped with a navigation device (55) for route guidance and controlling display by a head-up display (20),
in at least one processing unit (11),
Acquiring navigation information related to route guidance performed by the navigation device (S101),
acquiring external world information based on the recognition of the driving environment around the vehicle (S102);
In the guidance area (GA) where the navigation device displays the route guidance image (Png) on the screen, superimposed content (CTsg) for route guidance is displayed superimposed on the foreground by the head-up display (S104),
Before the navigation device terminates the display of the route guidance image, the display of the superimposed content is terminated before passing through the guidance area based on termination determination using at least the external world information (S111, S113). ,
A display control program that causes a process including: A display control program used in a vehicle (A) equipped with a lane change function and controlling display by a head-up display (20),
in at least one processing unit (11),
obtaining external world information based on recognition of the driving environment around the vehicle in a scene where the lane change is performed by the lane change function (S132);
The superimposed content (CTlc) indicating the direction of movement when changing lanes is superimposed and displayed on the foreground by the head-up display (S134),
terminating the display of the superimposed content before the driving control transitions from lane change to in-lane travel based on the end determination using at least the external world information (S136, S137);
A display control program that causes a process including:

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