JP6930563B2 - Display control device and display control program - Google Patents

Description

The disclosure according to this specification relates to a display control device and a display control program that control a display superimposed on the foreground.

Conventionally, for example, Patent Document 1 discloses a vehicle display device that superimposes a guidance display for guiding a route to a destination on the front view of the driver that can be seen through the windshield. When the vehicle approaches an intersection that guides a vehicle to turn left or right by a predetermined distance, the vehicle display device superimposes an arrow indicating the direction of turning left or right on the road as a guidance display based on route information.

International Publication No. 2015/118859

When route guidance to a destination is performed as in Patent Document 1, scenes that exist continuously at a plurality of guidance points that require guidance display may occur. In the case where a plurality of guide points are continuous and the vehicle is turned right or left at the first point in this way, the second is performed at an inappropriate timing such as when the vehicle is turning. Guidance display of the point could be started. In this case, the guidance display at the second point may be superimposed on an erroneous object or the like in the front view of the driver, which may induce erroneous recognition of the driver.

An object of the present disclosure is to provide a display control device and a display control program capable of reducing the risk of erroneous recognition of superimposed display for route guidance.

In order to achieve the above object, one aspect disclosed is a display control device that controls the display by the head-up display (20), and the route guidance from the navigation device (50) that guides the route to the destination. The route information acquisition unit (71) for acquiring information and the display control unit (78) for superimposing the route guidance contents (CTs) on the road surface from the route guidance information are provided, and the display control unit is accompanied by a right / left turn. When it is determined that the route guidance information includes continuous information indicating that the first guide point and the second guide point, which is a branch point, are continuous, the first guide content for performing the first guide is provided. After displaying (CT1), the second guidance content (CT2) that provides the second route guidance is displayed at the timing when the second guidance content can be superimposed and displayed after the first guidance content is hidden. It is a display control device to be displayed.
Further, one aspect disclosed is a display control device that controls display by the head-up display (20), and route information for acquiring route guidance information from a navigation device (50) that guides a route to a destination. It includes an acquisition unit (71) and a display control unit (78) that superimposes and displays route guidance contents (CTs) on the road surface from route guidance information, and the display control unit serves as the first guidance point with a right or left turn. If it is determined that the route guidance information includes continuous information indicating that the second guide point, which is one of the destination and the alarm point, is continuous, the first guide content that provides the first route guidance. After displaying (CT1), the second guidance content (CT2) that provides the second route guidance is displayed at the timing when the second guidance content can be superimposed and displayed after the first guidance content is hidden. It is a display control device to be displayed.
Further, one aspect disclosed is a display control program that controls display by the head-up display (20), and is a navigation device (50) that guides a route to a destination to at least one processing unit (11). (S101), the route guidance information includes continuous information indicating that the first guide point accompanied by a right / left turn and the second guide point, which is a branch point, are continuous. When it is determined whether or not the route guidance information includes continuous information (S102), the first guidance content (CT1) for performing the first route guidance is displayed, and then the second route guidance content is displayed. Processing including displaying the second guidance content (CT2) for route guidance at the timing when the second guidance content can be superimposed and displayed after the first guidance content is hidden (S105 to S107). It is a display control program to be executed.
Further, one aspect disclosed is a display control program that controls display by the head-up display (20), and is a navigation device (50) that guides a route to a destination to at least one processing unit (11). (S101), the continuous information indicating that the first guide point accompanied by a right / left turn and the second guide point, which is either the destination or the warning point, is continuous is obtained. It is determined whether or not the route guidance information is included (S102), and when it is determined that the route guidance information includes continuous information, the first guidance content (CT1) for performing the first route guidance is displayed. After that, the second guidance content (CT2) that performs the second route guidance is displayed at the timing when the second guidance content can be superimposed and displayed after the first guidance content is hidden (S105 to S107). It is a display control program that executes processing including.

Further, one aspect disclosed is a display control device that controls display by the head-up display (20), and route information for acquiring route guidance information from a navigation device (50) that guides a route to a destination. It includes an acquisition unit (71) and a display control unit (78) that superimposes and displays route guidance contents (CTs) on the road surface from route guidance information, and the display control unit serves as the first guidance point accompanied by a right or left turn. , When it is determined that the route guidance information includes continuous information indicating that the second guide point, which is a branch point, is continuous, the first guide content (CT1) for performing the first route guidance is displayed. 2. Start displaying the second guidance content (CT2) based on the estimation that the vehicle is heading in the direction along the road to the second guidance point (P2), which is the target of the second route guidance. It is a display control device to be used.
Further, one aspect disclosed is a display control device that controls display by the head-up display (20), and route information for acquiring route guidance information from a navigation device (50) that guides a route to a destination. It includes an acquisition unit (71) and a display control unit (78) that superimposes and displays route guidance contents (CTs) on the road surface from route guidance information, and the display control unit serves as the first guidance point accompanied by a right or left turn. If it is determined that the route guidance information includes continuous information indicating that the second guide point, which is one of the destination and the alarm point, is continuous, the first guide content that provides the first route guidance. Based on the fact that (CT1) is displayed and it is estimated that the vehicle is heading in the direction along the road toward the second guidance point (P2), which is the target of the second route guidance, the second guidance content ( It is a display control device that starts the display of CT2).
Further, one aspect disclosed is a display control program that controls display by the head-up display (20), and is a navigation device (50) that guides a route to a destination to at least one processing unit (11). (S101), the route guidance information includes continuous information indicating that the first guide point accompanied by a right / left turn and the second guide point, which is a branch point, are continuous. When it is determined whether or not the route guidance information includes continuous information (S102), the first guidance content (CT1) for performing the first route guidance is displayed, and the second route guidance is performed. Based on the estimation that the traveling direction of the vehicle is oriented in the direction along the road toward the second guide point (P2), which is the target of the second guide content (CT2), the display of the second guide content (CT2) is started (S105 to S107). It is a display control program that executes processing including the above .
Further, one aspect disclosed is a display control program that controls display by the head-up display (20), and is a navigation device (50) that guides a route to a destination to at least one processing unit (11). (S101), the continuous information indicating that the first guidance point accompanied by a right / left turn and the second guidance point, which is either the destination or the warning point, is continuous is obtained. It is determined whether or not the route guidance information is included (S102), and when it is determined that the route guidance information includes continuous information, the first guidance content (CT1) for performing the first route guidance is displayed. The display of the second guidance content (CT2) is started based on the estimation that the traveling direction of the vehicle is oriented in the direction along the road toward the second guidance point (P2), which is the target of the second route guidance. (S105 to S107), it is a display control program that executes a process including the above.

According to these aspects, when the right / left turn point and the sequential guidance point are continuous, the guidance content for guiding the sequential guidance point is displayed after the right or left turn at the right / left turn point. It is started on the condition that the vehicle is facing in the direction in which it can be displayed. Based on the above, the display start timing of the guidance content that sequentially guides the guidance points can be appropriate. Therefore, the risk of erroneous recognition due to the superimposed display for route guidance can be reduced.

The reference numbers in parentheses are merely examples of the correspondence with the specific configuration in the embodiment described later, and do not limit the technical scope at all.

It is a figure which shows the whole image of the in-vehicle network including HCU by one Embodiment of this disclosure. It is a figure which shows an example of the HUD device mounted on a vehicle. It is a figure which shows an example of the schematic structure of HCU. It is a figure for demonstrating an example of a scene which continuously guides a right-left turn point and a continuous point. It is a figure which shows one display example of the right-left turn content which guides a right-left turn point. It is a figure which shows one display example of the guidance content which guides a continuous point. It is a flowchart which shows the detail of the guidance display processing carried out in HCU. It is a figure which shows the display when the display start of a guide content is not appropriate as a comparative example. It is a figure for demonstrating the effect of accelerating the display start of the guidance content when there is no obstruction in the roadside area of the connecting road.

The function of the display control device according to the embodiment of the present disclosure is realized by the HCU (Human Machine Interface Control Unit) 100 shown in FIGS. 1 and 2. The HCU 100 comprises an HMI (Human Machine Interface) system 10 used in the vehicle A together with a head-up display (hereinafter, “HUD”) device 20, an operation device 26, and the like. The HMI system 10 has an input interface function that accepts an operation by an occupant (for example, a driver) of the vehicle A, and an output interface function that presents information to the driver.

The HMI system 10 is communicably connected to the communication bus 99 of the vehicle-mounted network 1 mounted on the vehicle A. The HMI system 10 is one of a plurality of nodes provided in the vehicle-mounted network 1. For example, a peripheral monitoring sensor 30, a locator 40, a navigation device 50, a vehicle control ECU (Electronic Control Unit) 54, a driving support ECU 57, and the like are connected to the communication bus 99 of the vehicle-mounted network 1 as each node. These nodes connected to the communication bus 99 can communicate with each other.

The peripheral monitoring sensor 30 is an autonomous sensor that monitors the surrounding environment of the vehicle A. The peripheral monitoring sensor 30 displays the road surface such as pedestrians, cyclists, animals other than humans, moving objects such as other vehicles, falling objects on the road, guardrails, curbs, traveling lane markings, etc. from the detection range around the own vehicle. And stationary objects such as roadside structures can be detected. The peripheral monitoring sensor 30 provides the detection information of detecting an object around the vehicle A (particularly in the front range) to the driving support ECU 57, the HCU 100, and the like through the communication bus 99.

The peripheral monitoring sensor 30 has a front camera 31, a millimeter wave radar 32, a rider 33, and the like as a detection configuration for object detection. The front camera 31 outputs at least one of the imaging data obtained by photographing the front range of the vehicle A and the analysis result of the imaging data as detection information. The millimeter wave radar 32 irradiates a millimeter wave or a quasi-millimeter wave toward the front range, and generates detection information output to the outside by a process of receiving a reflected wave reflected by a moving object, a stationary object, or the like. The rider 33 irradiates the laser beam toward the front range, and generates detection information output to the outside by a process of receiving the reflected light reflected by a moving object, a stationary object, or the like.

The locator 40 generates highly accurate position information and the like of the vehicle A by compound positioning that combines a plurality of acquired information. The locator 40 can specify, for example, the lane in which the vehicle A travels among a plurality of lanes. The locator 40 is composed of a GNSS (Global Navigation Satellite System) receiver 41, an inertial sensor 42, a high-precision map database (hereinafter, “DB”) 43, a locator ECU 44, and the like.

The GNSS receiver 41 receives positioning signals transmitted from a plurality of artificial satellites (positioning satellites). The GNSS receiver 41 can receive a positioning signal from each positioning satellite of at least one satellite positioning system among satellite positioning systems such as GPS, GLONASS, Galileo, IRNSS, QZSS, and Beidou.

The inertial sensor 42 includes, 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 (hereinafter, “high-precision map data”) with higher accuracy than that used in the navigation device 50. The high-precision map data includes information on lane markings and road markings, three-dimensional shape information of structures in roadside areas, road lane number information, three-dimensional shape information, and the like.

The locator ECU 44 is mainly composed of a microcomputer including a processor, a RAM, a storage unit, an input / output interface, a bus connecting them, and the like. 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, and the like, and sequentially positions the own vehicle position, the traveling direction, and the like of the vehicle A. The locator ECU 44 provides the position information and the direction information of the vehicle A (own vehicle) based on the positioning result to the navigation device 50, the HCU 100, and the like through the communication bus 99. In addition, the locator ECU 44 determines whether or not the required high-precision map data is in the high-precision map DB 43 in response to a request from the HCU 100 or the like. When the requested high-precision map data is in the high-precision map DB 43, the locator ECU 44 reads the corresponding high-precision map data from the high-precision map DB 43 and provides it to the request source HCU 100.

The navigation device 50 is an in-vehicle device that cooperates with the HMI system 10 to provide route guidance to a destination set by an occupant. The navigation device 50 is composed of a map database for navigation (hereinafter, “navigation map DB”) 51, a navigation ECU 52, and the like. The navigation map DB 51 is mainly composed of a non-volatile memory, and comprehensively stores a wider range of map data than the high-precision map DB 43. The navigation map data stored in the navigation map DB 51 includes link data, node data, shape data, and the like for roads.

The navigation ECU 52 is mainly composed of a microcomputer provided with a processor, a RAM, a storage unit, an input / output interface, a bus connecting them, and the like. The navigation ECU 52 acquires the position information and the direction information of the vehicle A (own vehicle) from the locator ECU 44 through the communication bus 99.

The navigation ECU 52 acquires the operation information input to the operation device 26 through the communication bus 99 and the HCU 100, and sets the destination based on the driver operation. The navigation ECU 52 searches for a plurality of routes to the destination so as to satisfy the conditions such as time priority and distance priority. When one of the searched plurality of routes is selected, the navigation ECU 52 provides the route information based on the set route to the HCU 100 through the communication bus 99 together with the related navigation map data.

The navigation ECU 52 outputs a guidance execution request for the HMI system 10 when a branch point such as an intersection, a destination of a set route, and an alarm point such as a temporary stop approach. In the HMI system 10, route guidance toward the driver is performed by the HUD device 20 or the like based on the guidance implementation request. In the following description, a point on the set route where guidance to the driver is performed is referred to as a "guidance point".

The vehicle control ECU 54 is an electronic control device that performs acceleration / deceleration control, steering control, and the like of the vehicle A. The vehicle control ECU 54 is connected to a group of sensors that detect the driving operation of the driver, for example, a steering angle sensor 55, an accelerator position sensor, a brake stroke sensor, and the like. The vehicle control ECU 54 is connected to a group of actuators related to the traveling of the vehicle A, for example, an EPS (Electric Power Steering) motor, an electronically controlled throttle and injector, a brake actuator, and the like.

The vehicle control ECU 54 outputs measurement information (for example, steering angle information) by the sensor group to the communication bus 99, and acquires the driving operation information described later from the driving support ECU 57 through the communication bus 99. The vehicle control ECU 54 controls each operation of the actuator group, and eventually the behavior of the vehicle A, based on the measurement information by the sensor group or the driving operation information acquired from the driving support ECU 57.

The driving support ECU 57 includes at least one of a driving support function that supports a driving operation by the driver and an automatic driving function that can substitute the driving operation of the driver. The driving support function or the automatic driving function includes an ACC (Adaptive Cruise Control) function that controls the traveling speed or the inter-vehicle distance, an LTC (Lane Trace Control) function that controls the steering angle according to the lane, and the like. The driving support function may further include an AEB (Autonomous Emergency Braking) function for forcibly decelerating the vehicle A.

The driving support ECU 57 recognizes the traveling environment around the vehicle A based on the detection information acquired from the peripheral monitoring sensor 30. The driving support ECU 57 generates driving operation information for driving support or automatic driving based on the recognition result of the driving environment. The driving support ECU 57 causes the vehicle control ECU 54 to execute the above-mentioned acceleration / deceleration control and steering control by providing the generated driving operation information to the vehicle control ECU 54.

The driving support ECU 57 can provide the HCU 100 with the analysis result of the detection information carried out for recognizing the driving environment as the analyzed detection information. As an example, the driving support ECU 57 can provide the HCU 100 with information extracted from the image data of the front camera 31, specifically, the lane marking (white line) of the traveling road and the relative position information of the road edge. In addition, the driving support ECU 57 can also provide the HCU 100 with type information such as structures provided in the roadside area on the side of the road and three-dimensional shape information.

Next, the details of the HUD device 20 and the HCU 100 will be described.

The HUD device 20 is mounted on the vehicle A as one of a plurality of in-vehicle display devices together with a multi-information display, a center information display, and the like. The HUD device 20 presents various information related to the vehicle A to the driver by displaying Augmented Reality (hereinafter referred to as “AR”) using a virtual image Vi. The virtual image Vi displayed in AR can be moved in the appearance of the driver following the superimposed object so as to be relatively fixed to the superimposed object in the foreground.

The HUD device 20 is electrically connected to the HCU 100, and sequentially acquires video data generated by the HCU 100. The HUD device 20 is housed in the storage space in the instrument panel 9 below the windshield WS. The HUD device 20 projects the light formed as a virtual image Vi toward the projection range PA of the windshield WS. The light projected on the windshield WS is reflected toward the driver's seat side in the projection range PA and is perceived by the driver. The driver visually recognizes the display in which the virtual image Vi is superimposed on the superimposed object in the foreground that can be seen through the projection range PA.

The HUD device 20 is composed of a projector 21, a magnifying optical system 22, and the like. The projector 21 has an LCD (Liquid Crystal Display) panel and a backlight. The projector 21 is fixed to the housing of the HUD device 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, and transmits and illuminates the display surface with a backlight to emit light formed as a virtual image Vi toward the magnifying optical system 22. do. The magnifying optical system 22 includes at least one concave mirror in which a metal such as aluminum is vapor-deposited on the surface of a base material made of synthetic resin or glass. The magnifying optical system 22 projects the light emitted from the projector 21 onto the upper projection range PA while spreading it by reflection.

The HCU 100 is an electronic control device that integrally controls the display by a plurality of display devices including the HUD device 20 in the HMI system 10. The HCU 100 is mainly composed of 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 combined with the RAM 12. The processing unit 11 has a configuration including 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 FPGA (Field-Programmable Gate Array), an IP core having other dedicated functions, and the like. The storage unit 13 is configured to include a non-volatile storage medium. Various programs (display control programs, etc.) executed by the processing unit 11 are stored in the storage unit 13.

The HCU 100 shown in FIGS. 1 to 3 is provided with a plurality of functional units by executing a program stored in the storage unit 13 by the processing unit 11. Specifically, the HCU 100 includes a route information acquisition unit 71, a position information acquisition unit 72, a vehicle information acquisition unit 73, an outside world information acquisition unit 74, a continuous guidance determination unit 75, a roadside object determination unit 76, and a vehicle attitude determination unit 77. And functional units such as the display generation unit 78 are constructed. The route information acquisition unit 71, the position information acquisition unit 72, the vehicle information acquisition unit 73, and the outside world information acquisition unit 74 are functional units that acquire information from the communication bus 99.

When the destination is set in the navigation device 50, the route information acquisition unit 71 acquires the route information related to the route guidance to the destination and the navigation map data used for the route guidance from the navigation ECU 52. In addition, the route information acquisition unit 71 acquires the guidance execution request output by the navigation ECU 52 together with the route information, the navigation map data, and the like based on the approach to the guidance point.

The route information acquisition unit 71 can perform a process of acquiring high-precision map data from the locator 40 together with the navigation map data or in place of the navigation map data. The route information acquisition unit 71 requests the locator ECU 44 to provide related high-precision map data based on the route information acquired from the navigation ECU 52. When the high-precision map data requested in this way is stored in the high-precision map DB 43, the route information acquisition unit 71 acquires the high-precision map data returned from the locator ECU 44.

The position information acquisition unit 72 acquires the position information and the direction information of the vehicle A from the locator ECU 44. The own vehicle information acquisition unit 73 acquires the latest steering angle information measured by the steering angle sensor 55 from the vehicle control ECU 54 as one of the own vehicle information indicating the traveling state of the vehicle A.

The outside world information acquisition unit 74 acquires detection information about the front range of the vehicle A from at least one of the peripheral monitoring sensor 30 and the driving support ECU 57. The detection information may be image data of the front range taken by the front camera 31, or may be an analysis result obtained by recognizing the driving environment by the peripheral monitoring sensor 30 or the driving support ECU 57.

When the detection information is an analysis result, the analysis result includes information indicating the relative position of the lane marking or the road edge in the front range as described above. In addition, the detection information as the analysis result is the type information about the structure provided on the side of the road in the front range, for example, the shield BO (see FIG. 6) that blocks the driver's side view, and 3 It contains at least dimensional shape information. The shield BO is, for example, a building such as a building, a fence surrounding the site in the roadside area, or the like.

The continuous guidance determination unit 75 determines whether or not the route information acquired by the route information acquisition unit 71 includes continuous information indicating the continuity of a plurality of guidance points. The continuous information includes a guide point for guiding the right and left turns of vehicle A (own vehicle) (hereinafter, "right and left turn point P1") and a guide point for guiding after the right and left turn point P1 (hereinafter, "continuous point"). It is information which shows continuation with P2 "). When the route information transmitted together with the guidance execution request includes information on a plurality of guidance points, the continuous guidance determination unit 75 considers that these guidance points are continuous, that is, the route information includes continuous information. It is determined that it is.

Here, the right / left turn point P1 is limited to a guide point where a branch such as a right turn or a left turn occurs, such as an intersection. On the other hand, the continuous point P2 may be any one of a branch point such as an intersection, a destination of a set route, and an alarm point for calling attention such as a temporary stop and a slowdown.

In addition, three or more guide points may be continuous on the set path at intervals less than a predetermined distance (hereinafter, “threshold distance”) from each other. In this case, the intermediate continuous point P2 sandwiched between the first right / left turn point P1 and the last continuous point P2 is limited to a branch point such as an intersection, like the right / left turn point P1. For example, when a plurality of (4 times) branches occur continuously, the group of route information includes information on a plurality of (4) guide points. In the continuous guidance determination unit 75, the first guidance point is set to the right / left turn point P1, and the second to fourth guidance points are set to the continuous point P2 for convenience.

The roadside object determination unit 76 determines whether or not there is a specific object in the roadside area of the road on which the vehicle A travels, based on the detection information acquired by the outside world information acquisition unit 74. The specific object is an object for which conditions are set in advance, as it is not appropriate as a target for superimposing a virtual image Vi (hereinafter, “guidance content CNT2”, see FIG. 6) that guides the continuous point P2. Specifically, the roadside object determination unit 76 specifies the shield BO (see FIG. 6) provided in the roadside area as described above as a specific object.

The roadside object determination unit 76 cooperates with the vehicle attitude determination unit 77 to grasp the progress of the right / left turn of the vehicle A at the right / left turn point P1. The roadside object determination unit 76 is a road heading from the right / left turn point P1 to the continuous point P2 after the vehicle A starts turning right or left at the right / left turn point P1 (branch point) (hereinafter, “connecting road Rc”, FIG. 4) It is determined whether or not there is a shield BO in the roadside area. When there is no obstruction BO in the roadside area of the connecting road Rc, that is, when the roadside area is open, the roadside object determination unit 76 provides the vehicle attitude determination unit 77 with a determination result that there is no obstruction BO. do.

The vehicle posture determination unit 77 acquires the content of the guidance content CNT2 (see FIG. 6) used for guiding the continuous point P2 from the display generation unit 78 as content information. The vehicle attitude determination unit 77 estimates the direction of the vehicle A turning at the right / left turn point P1 with respect to the connecting road Rc. The vehicle posture determination unit 77 grasps the guidance content CNT2 used for guiding the continuous point P2 based on the content information, and determines whether or not the direction of the vehicle A is such that the grasped guidance content CNT2 can be displayed. (Hereinafter, "traveling direction determination"). When the vehicle attitude determination unit 77 determines that the vehicle A is facing in a direction in which the guidance content CNT2 can be displayed by executing the traveling direction determination, the vehicle A is determined to be straight ahead and the display permission of the guidance content CNT2 is displayed. Notify 78.

The vehicle posture determination unit 77 can determine the traveling direction by using a plurality of acquired information different from each other. The first traveling direction determination is performed based on the detection information of the front camera 31 acquired by the outside world information acquisition unit 74. This detection information may be the imaging data of the front camera 31, or may be the analysis result of the imaging data as described above. The vehicle posture determination unit 77 grasps the relative position of the lane marking or the road edge on the connecting road Rc based on the detection information. The vehicle posture determination unit 77 establishes a straight-ahead determination at the timing when the lane markings or road edges located on the left and right sides of the vehicle A enter the angle of view of the front camera 31 and are in a state where they can be photographed. .. The vehicle attitude determination unit 77 may establish the straight-ahead determination at the timing when the lane marking on one side or the road end enters the angle of view of the front camera 31.

The second traveling direction determination is performed using the navigation map data or high-precision map data acquired by the route information acquisition unit 71 and the direction information acquired by the position information acquisition unit 72. For example, when neither the lane marking line of the connecting road Rc nor the road edge can be detected from the imaging data, the traveling direction determination is performed by combining the map data and the direction information.

Based on the map data, the vehicle posture determination unit 77 calculates the intersection angle θ1 at the right / left turn point P1 between the road heading for the right / left turn point P1 (hereinafter, “first road R1”) and the connecting road Rc. The vehicle posture determination unit 77 sets a threshold angle θth (θ1> θth) slightly smaller than the intersection angle θ1 with reference to the intersection angle θ1. The vehicle attitude determination unit 77 calculates the attitude change angle θc of the vehicle A in the yaw direction at the right / left turn point P1 based on the direction information, based on the extension direction of the first road R1. The vehicle attitude determination unit 77 establishes the straight-ahead determination at the timing when the attitude change angle θc exceeds the threshold angle θth.

The third traveling direction determination is performed using the steering angle information acquired by the own vehicle information acquisition unit 73. For example, when it is difficult to detect the lane marking and the road edge of the connecting road Rc and the reception environment of the positioning signal is not good, the traveling direction determination using the steering angle information is performed.

The vehicle attitude determination unit 77 monitors the transition of the steering operation at the right / left turn point P1 based on the steering angle information. The vehicle attitude determination unit 77 establishes the straight-ahead determination when the angular velocity of the steering becomes less than a predetermined speed, that is, when the change in the steering angle has settled down. The vehicle attitude determination unit 77 may establish the straight-ahead determination at the timing when the steering angle becomes less than a predetermined threshold value in the process of returning the steering based on the steering angle information. In this case, the predetermined threshold value for establishing the straight-ahead determination is appropriately changed based on the map data according to the intersection angle θ1 and the shape of the connecting road Rc.

The vehicle posture determination unit 77 changes the determination criteria for establishing the straight-ahead determination in the traveling direction determination according to the type of the guidance content CNT2. When the vehicle attitude determination unit 77 has the continuous point P2 as the destination and the guidance content CNT2 is superimposed on the building or the like in the roadside area which is the goal point, the vehicle attitude determination unit 77 relaxes the determination criteria for establishing the straight-ahead determination, and the guidance content CNT2 Advance the timing to start the display of.

In addition, the vehicle attitude determination unit 77 changes the determination criteria for establishing the straight-ahead determination according to the visibility status of the roadside area of the connecting road Rc. When the vehicle attitude determination unit 77 determines that the roadside object determination unit 76 does not have a shield BO (see FIG. 6) in the roadside area of the connecting road Rc, the vehicle attitude determination unit 77 determines that there is a shield BO in the roadside area. However, the criteria for establishing a straight-ahead judgment are relaxed. Also in this case, adjustments are made to accelerate the display start of the guidance content CNT2.

The display generation unit 78 generates video data that is sequentially output to the HUD device 20. When the route information acquisition unit 71 acquires the guidance execution request output by the navigation ECU 52, the display generation unit 78 superimposes and displays the original image of the content displayed on the foreground at the guidance point on each frame image constituting the video data. draw. The display generation unit 78 has a function of selecting the content to be used at the guide point, a function of drawing the content, a function of controlling the display period of the content, and the like.

The display generation unit 78 selects the content to be used for the route guidance at each guidance point based on the route information and the map data acquired by the route information acquisition unit 71. The display generation unit 78 prepares the drawing data of the selected content so that it can be drawn by image processing such as combining the part data stored in the storage unit 13.

The display generation unit 78 uses either the guidance execution request notified by the navigation ECU 52 or the display permission notified by the vehicle posture determination unit 77 as a trigger to set the display start and display end timings of the display content. Control. Based on the acquisition of these guidance implementation requests or display permission notifications, the display generation unit 78 applies the prepared drawing data to each frame image in front of each guidance point in a form that matches the traveling of the vehicle A along the set route. Start the drawing process.

When the continuous guidance determination unit 75 determines that the right / left turn point P1 and the continuous point P2 are continuous, the display generation unit 78 displays the right / left turn content CNT1 (see FIG. 5) and the guidance content CNT2 (see FIG. 6). Draw in order on the frame image. The details of the guidance display in such continuous branching will be described with reference to FIGS. 1 and 3 based on FIGS. 4 to 6.

When the navigation device 50 sets a route for continuously turning right and left, the navigation ECU 52 provides guidance at a predetermined distance (for example, 300 m) before the first intersection (right / left turn point P1). The route information is output to the HCU 100 together with the request. This route information includes distance information to the first intersection, distance information between the two intersections (for example, 150 m), the direction of turning left and right at each intersection, navigation map data showing the shape of the intersection, and the number of lanes. And lane information indicating the direction of travel allowed for each lane.

The display generation unit 78 starts drawing the right / left turn content CNT1 that guides the right / left turn point P1 on each frame image based on the acquisition of the guidance execution request by the route information acquisition unit 71. As shown in FIG. 5, the right / left turn content CNT1 is superimposed and displayed on the road surface of the first road R1, and shows the driver the planned traveling locus of the vehicle A based on the route information. In the route guidance scene shown in FIG. 4, the right / left turn content CNT1 AR displays the approach route to the right / left turn point P1 and the exit route from the right / left turn point P1. With such a display, the right / left turn content CNT1 urges the driver to move to the right turn lane until the right / left turn point P1 is reached and to make a right turn at the right / left turn point P1.

When the right turn of the vehicle A is started at the right / left turn point P1, the vehicle attitude determination unit 77 determines the traveling direction. When the vehicle attitude determination unit 77 establishes a straight-ahead determination based on the imaging data or the like, the vehicle attitude determination unit 77 notifies the display generation unit 78 of the display permission of the guidance content CNT2. The display generation unit 78 starts drawing the guidance content CNT2 that guides the continuous point P2 on each frame image based on the acquisition of the display permission notification.

As shown in FIG. 6, the guidance content CNT2 is superimposed and displayed on the road surface of the connecting road Rc, and shows the driver the planned travel locus of the vehicle A based on the route information. In the route guidance scene shown in FIG. 4, the guidance content CNT2 AR displays the approach route to the continuous point P2 and the exit route from the continuous point P2. With such a display, the guidance content CNT2 indicates the relative position of the continuous point P2 and prompts the driver to make a left turn at the continuous point P2.

The details of the guidance display processing performed by the HCU 100 will be described below with reference to FIGS. 3 and 4 based on the flowchart shown in FIG. 7. The guidance display process shown in FIG. 7 is started based on the guidance execution request notified from the navigation ECU 52 to the HCU 100.

In S101, the navigation-related information related to the guidance execution request that triggered the start of the guidance display processing this time, specifically, the position information, the direction information, the route information, and the like of the vehicle A are acquired, and the process proceeds to S102.

In S102, the route information acquired in S101 is referred to, and it is determined whether or not continuous guidance is performed based on whether or not the route information includes continuous information. If it is determined in S102 that continuous guidance is not performed, the process proceeds to S104. On the other hand, if it is determined in S102 that continuous guidance is to be performed, the process proceeds to S103. In S103, the number of continuous guide points is set based on the route information, the route information in the series of guide sections is separated as the information of each guide point, and the process proceeds to S104.

In S104, the numerical value of the counter that counts the guide points is set to "1", and the process proceeds to S105. In S105, the content about the current (Nth) guide point is generated based on the numerical value of the counter. Specifically, by drawing the content on the video data, the AR display of the content is started, and the process proceeds to S106.

In S106, it is determined whether or not there is a next (N + 1th) guide point. If there is no next guide point, the display end timing of the current (Nth) display content is determined. In this case, for example, the timing of traveling a predetermined distance after passing the current guide point is set as the display end timing. If it is determined in S106 that the display end timing has come, the process proceeds to S107.

On the other hand, in S106 when there is a next (N + 1st) guide point (continuous point P2), the traveling direction determination is performed. If it is determined in S106 that the timing is such that the next guidance content CNT2 can be displayed based on the establishment of the straight-ahead determination of the vehicle A, the process proceeds to S107. In S107, the AR display of the current (Nth) guidance content CNT2 is finished, and the process proceeds to S108.

In S108, it is determined whether or not there is a remaining guide point set in S103. If it is determined in S108 that there are no remaining guidance points, a series of guidance display processes based on the current guidance implementation request is terminated. On the other hand, if it is determined in S108 that there are remaining guide points, the process proceeds to S109.

In S109, the value of the counter of the guide point is increased by one, and the process proceeds to S105. In the second and subsequent S105s, the generation of the guidance content CNT2 that guides the next (N + 1th) guide point, that is, the continuous point P2, and the AR display are started based on the value of the counter incremented in S109. Then, in subsequent steps S106 to S109, the AR display is switched or the end is waited for. When the guidance at all the guidance points is completed in this way, the series of guidance display processing based on the current guidance implementation request is completed.

In the present embodiment described so far, when the right / left turn point P1 and the continuous point P2 are continuous, the display of the guidance content CNT2 that guides the continuous point P2 is displayed after the start of the right turn or the left turn at the right / left turn point P1. It is started on the condition that the straight-ahead judgment is established. Based on the above, the display start timing of the guidance content CNT2 that guides the continuous point P2 may be appropriate. Therefore, the risk of erroneous recognition due to the superimposed display for route guidance can be reduced.

More specifically, as in the comparative example shown in FIG. 8, when the display of the content CNTX that guides the next guide point (continuous point) is started during the turn at the right / left turn point, at least a part of the content CNTX is started. Can be superimposed and displayed on the shield BO in the roadside area. For example, when switching to the content CNTX is performed based on the result of the map matching process performed by the navigation ECU 52, the display switching as in this comparative example is likely to occur. Then, the content CNTX which is started to be displayed when the vehicle A is not facing the front of the road may be a display which gives a misunderstanding or annoyance to the driver. Therefore, the information presented by the content CNT is difficult to be correctly transmitted to the driver.

On the other hand, in the present embodiment shown in FIG. 6, the display start timing of the guidance content CNT2 is started according to the establishment of the straight-ahead determination of the vehicle A. Therefore, the guidance content CNT2 is superposed on the correct superimposition target, and can exert the function of presenting information for guiding the continuous point P2 with high certainty.

Further, in the present embodiment, the situation where the display start timing of the guidance content CNT2 is delayed is also reduced. According to the above, it becomes easy to secure the time for recognizing the continuous point P2, so that the driver can smoothly perform the recognition at the continuous guide points.

In addition, in the present embodiment, after the start of the right or left turn at the right / left turn point P1, the vehicle A travels by using the detection information of the lane marking or the road edge of the connecting road Rc by the front camera 31 mounted on the vehicle A. Directional determination is performed. Therefore, the vehicle posture determination unit 77 can grasp the direction of the vehicle A with respect to the connecting road Rc in real time and determine the display start timing of the guidance content CNT2. Based on the above, it is possible to improve the accuracy of the straight-ahead determination of the vehicle A and further reduce the risk of erroneous recognition of route guidance.

Further, in the present embodiment, after the start of the right turn or the left turn at the right / left turn point P1, the traveling direction of the vehicle A is determined by using the map data and the direction information based on the positioning signal. Therefore, the vehicle posture determination unit 77 can grasp the direction of the vehicle A with respect to the connecting road Rc and determine the display start timing of the guidance content CNT2 even if the connecting road Rc is in a mode in which it is difficult to detect the lane marking and the road end. .. Based on the above, since the straight-ahead determination can be performed without depending on the road environment, the risk of erroneous recognition of route guidance can be reduced in many driving scenes.

Further, in the present embodiment, after the start of the right turn or the left turn at the right / left turn point P1, the traveling direction of the vehicle A is determined by using the steering angle information. If the end of the turn of the vehicle A can be grasped by using the own vehicle information in this way, the vehicle posture determination unit 77 can determine the display start timing of the guidance content CNT2 without being affected by the external environment of the vehicle A. Based on the above, it is possible to reduce the risk of erroneous recognition of route guidance in more driving scenes.

In addition, in the present embodiment, as shown in FIG. 9, when there is no shield BO (see FIG. 6) in the roadside area of the connecting road Rc, the display start of the guidance content CNT2 is accelerated. In such a scene, even if the superimposition display of the guidance content CNT2 is started at an early stage, the superimposition on the superimposition target does not occur, so that the possibility of erroneous recognition can be substantially eliminated. Therefore, according to the process of accelerating the display start of the guidance content CNT2 based on the absence of the shield BO, it is possible to obtain the merit that the driver recognizes the continuous point P2 at an early stage.

Further, in the present embodiment, when the superimposition target of the guidance content CNT2 guided at the continuous point P2 is in the roadside area of the connecting road Rc, the judgment criteria for straight-ahead determination is relaxed as compared with the case where the superimposition target is in the road surface area. NS. According to such adjustment, in the case where the continuous point P2 is the destination or the like, the guidance content CNT2 can be superimposed on the building or the like in the roadside area which is the goal point at an early stage. Therefore, the recognition of the continuous point P2 by the driver can also be performed at an early stage.

In the above embodiment, the navigation map data and the high-precision map data correspond to "map information", the front camera 31 corresponds to the "outside world sensor", and the display generation unit 78 corresponds to the "display control unit". The shield BO corresponds to a "specific object". Further, the continuous point P2 corresponds to the "sequential guidance point", the connecting road Rc corresponds to the "road", and the HCU 100 corresponds to the "display control device".

(Other embodiments)
Although one embodiment of the present disclosure has been described above, the present disclosure is not construed as being limited to the above embodiment, and is applied to various embodiments and combinations without departing from the gist of the present disclosure. be able to.

In the first modification of the above embodiment, the continuous guidance determination unit 75 performs the following determination as to whether or not the plurality of guidance points are continuous, instead of the navigation ECU 52. Specifically, the continuous guidance determination unit 75 refers to the route information provided by the navigation ECU 52, and calculates the distance between the right / left turn point P1 and the continuous point P2 lined up on the set route indicated by the route information. When the distance between these two points arranged on the set route is shorter than the threshold distance, the continuous guidance determination unit 75 determines that the right / left turn point P1 and the continuous point P2 are continuous, that is, there is continuous information. .. In the continuous guidance determination unit 75, the threshold distance used for the continuous determination is set to, for example, several hundreds to 1,000 m. The threshold distance may be adjustable by a user of vehicle A such as a driver, or may be automatically adjusted according to the type of continuous point P2.

In the modified examples 2 to 4 of the above-described embodiment, the conditions for establishing the straight-ahead determination in the traveling direction determination are different from those of the above-described embodiment. The vehicle attitude determination unit 77 of the second modification is the guidance content in at least one of the travel direction determination based on the detection information, the travel direction determination using the map data and the direction information, and the travel direction determination using the steering angle information. When it is determined that CNT2 can be displayed, the straight-ahead determination is established. Further, the vehicle posture determination unit 77 of the modification 3 establishes a straight-ahead determination based on a majority decision of these three traveling direction determinations. Further, the vehicle posture determination unit 77 of the modified example 4 has only one or two determination functions of the three traveling direction determinations.

In the above embodiment, when there is no specific object such as a shield BO in the roadside area of the connecting road Rc, the timing of switching to the guidance content CNT2 is accelerated. The specific type of such a specific object is not limited to the above-mentioned shield BO, and may be appropriately changed depending on, for example, the content of the guidance content CNT2. Further, the process of recognizing a specific object may be performed by the peripheral monitoring sensor 30 or the driving support ECU 57, or may be performed by the outside world information acquisition unit 74 or the roadside object determination unit 76.

In the modified example 5 of the above embodiment, the process of adjusting the display start timing of the guidance content CNT2 based on the presence or absence of a specific object in the roadside area is performed by the judgment of the display generation unit 78. That is, the display generation unit 78 of the modification 5 acquires the determination result that there is no obstruction BO from the roadside object determination unit 76, and advances the display start timing. Further, in the modification 6 of the above embodiment, the process of adjusting the display start timing of the guidance content CNT2 based on the presence or absence of a specific object in the roadside area is omitted. Further, in the modified example 7 of the above embodiment, the process of adjusting the display start timing of the guidance content CNT2 based on whether or not the superimposed object is in the roadside area is omitted.

The mode of the content superimposed on the foreground at each guide point may be changed as appropriate. In the modified example 8 of the above embodiment, a non-AR display object is used for guiding the guide point. In this modification 8, the AR display object and the non-AR display object are appropriately used according to the type of the guidance content CNT2. The non-AR display object is not superimposed on a specific overlay target, and is displayed as if it is relatively fixed to the vehicle configuration such as the windshield WS.

In the ninth modification of the above embodiment, a user terminal such as a smartphone is connected to the in-vehicle network. In the application executed on the user terminal, a route to the destination is set by a user operation such as a driver. The user terminal can provide the route information to the destination, the related navigation map data, and the like to the route information acquisition unit 71 through the in-vehicle network or the like.

Further, the route information acquisition unit 71 of the modified example 10 of the above embodiment can acquire route information, map data, and the like from a server on the cloud through the network outside the vehicle. The navigation device does not have to be mounted on the vehicle as long as the information necessary for route guidance can be acquired from the smartphone or the cloud server as in the above modified examples 9 and 10.

In the modified example 11 of the above embodiment, the HCU 100 and the HUD device 20 are integrally configured. That is, the processing function of the HCU 100 is mounted on the control circuit of the HUD device 20 of the modification 11.

The specific configuration of the projector of the HUD device used for the superimposed display may be changed as appropriate. For example, the HUD device of the modified example 12 is provided with an EL (Electro Luminescence) panel instead of the LCD and the backlight. Further, instead of the EL panel, a projector using a display such as a plasma display panel, a cathode ray tube and an LED can be adopted as the HUD device.

Further, the HUD device of the modified example 13 is provided with a laser module (hereinafter referred to as “LSM”) and a screen instead of the LCD and the backlight. The LSM includes, for example, a laser light source, a MEMS (Micro Electro Mechanical Systems) scanner, and the like. The screen is, for example, a micromirror array or a microlens array. In the HUD device of the modification 14, a display image is drawn on the screen by scanning the laser beam emitted from the LSM. The HUD device projects the display image drawn on the screen onto the windshield by the magnifying optical element, and displays the virtual image in the air.

Further, the HUD device of the modified example 15 is provided with a DLP (Digital Light Processing, registered trademark) projector. A DLP projector has a digital mirror device (hereinafter, "DMD") provided with a large number of micromirrors, and a projection light source that projects light toward the DMD. The DLP projector draws a display image on the screen under the control of linking the DMD and the projection light source. Further, in the HUD apparatus of the modified example 16, a projector using LCOS (Liquid Crystal On Silicon) is adopted. Furthermore, in the HUD device of the modified example 17, a holographic optical element is adopted as one of the optical systems for displaying a virtual image in the air.

In the above embodiment, each function provided by the HCU can also be provided by software and the hardware that executes it, software only, hardware only, or a combination thereof. Further, when such a function is provided by an electronic circuit as hardware, each function can also be provided by a digital circuit including a large number of logic circuits or an analog circuit.

Further, the form of the storage medium for storing the program or the like capable of realizing the above display control method may be changed as appropriate. For example, the storage medium is not limited to the configuration provided on the circuit board, and may be provided in the form of a memory card or the like, inserted into the slot portion, and electrically connected to the control circuit of the HCU. .. Further, the storage medium may be an optical disk and a hard disk drive that serve as a copy base for the program to the HCU.

The vehicle equipped with the HMI system is not limited to a general private car, but may be a vehicle for rent-a-car, a vehicle for a manned taxi, a vehicle for ride sharing, a freight vehicle, a bus, or the like. Further, the HMI system and the HCU may be mounted on a vehicle dedicated to unmanned driving used for mobility services.

The control unit and its method described in the present disclosure may be realized by a dedicated computer constituting a processor programmed to execute one or a plurality of functions embodied by a computer program. Alternatively, the apparatus and method thereof described in the present disclosure may be realized by a dedicated hardware logic circuit. Alternatively, the apparatus and method thereof described in the present disclosure may be realized by one or more dedicated computers configured by a combination of a processor that executes a computer program and one or more hardware logic circuits. Further, the computer program may be stored in a computer-readable non-transitional tangible recording medium as an instruction executed by the computer.
The technical ideas grasped from the embodiments and modifications described so far are described below.
(Appendix 1)
A display control device used in a vehicle (A) that controls a display superimposed on the foreground for route guidance.
The route information used for the route guidance includes continuous information indicating the continuity of the right / left turn point (P1) for guiding the right / left turn of the vehicle and the sequential guidance point (P2) for guiding after the right / left turn point. The continuous guidance determination unit (75) that determines whether or not is included, and
Vehicle attitude determination that estimates the direction of the vehicle with respect to the traveling road (Rc) and determines whether or not the direction of the vehicle is such that the guidance content (CNT2) that guides the guidance points in sequence can be displayed. Department (77) and
When it is determined that the route information includes the continuous information, after displaying the right / left turn content (CNT1) that guides the right / left turn point, the direction of the vehicle becomes the direction in which the guidance content can be displayed. On the condition that the display control unit (78) starts displaying the guidance content,
A display control device comprising.
(Appendix 2)
Based on the detection information of the lane marking or the road edge of the road by the outside world sensor (31) mounted on the vehicle, the vehicle posture determination unit is oriented so that the guidance content can be displayed. The display control device according to Appendix 1 for determining that.
(Appendix 3)
The vehicle posture determination unit can display the guidance content in the direction of the vehicle by using the map information about the road on which the vehicle is traveling and the direction information of the vehicle based on the positioning signal received from the positioning satellite. The display control device according to Appendix 1 or 2, which determines that the orientation is correct.
(Appendix 4)
The vehicle attitude determination unit uses the steering angle information regarding the steering angle of the vehicle to determine that the direction of the vehicle is the direction in which the guidance content can be displayed. The display control device described.
(Appendix 5)
A roadside object determination unit ( 76), with more
When it is determined that the specific object is not in the roadside area, the display start of the guidance content is earlier than when it is determined that the specific object is in the roadside area. Display control device.
(Appendix 6)
Whether or not the guidance content can be displayed when the vehicle attitude determination unit superimposes the guidance content on the roadside area of the road, as compared with the case where the superposition target of the guidance content is on the road surface area of the road. The display control device according to any one of Supplementary note 1 to 5, which relaxes the determination criteria for determining the above.
(Appendix 7)
A display control program used in the vehicle (A) to control the display superimposed on the foreground for route guidance.
In at least one processing unit (11)
The route information used for the route guidance includes continuous information indicating the continuity of the right / left turn point (P1) for guiding the right / left turn of the vehicle and the sequential guidance point (P2) for guiding after the right / left turn point. Is included (S102),
The direction of the vehicle with respect to the traveling road (Rc) is estimated, and it is determined whether or not the direction of the vehicle is such that the guidance content (CNT2) for guiding the guidance points in sequence can be displayed (S106). ,
When it is determined that the route information includes the continuous information, after displaying the right / left turn content (CNT1) that guides the right / left turn point, the direction of the vehicle becomes the direction in which the guidance content can be displayed. On the condition that the display of the guidance content is started (S105),
A display control program that executes processing including that.

A vehicle, BO shield (specific object), CNT1 right / left turn content, CNT2 guidance content, P1 right / left turn point, P2 continuous point (sequential guidance point), Rc connecting road (road), 11 processing unit, 31 front camera (outside world) Sensor), 75 continuous guidance judgment unit, 76
Roadside object determination unit, 77 vehicle attitude determination unit, 78 display generation unit (display control unit), 100 HCU (display control device)

Claims (9)

A display control device that controls the display on the head-up display (20).
A route information acquisition unit (71) that acquires route guidance information from a navigation device (50) that provides route guidance to a destination, and a route information acquisition unit (71).
A display control unit (78) for superimposing and displaying route guidance contents (CTs) on the road surface from the route guidance information is provided.
When the display control unit determines that the route guidance information includes continuous information indicating that the first guide point accompanied by a right / left turn and the second guide point, which is a branch point, are continuous. After displaying the first guidance content (CT1) that provides the first route guidance, the second guidance content (CT2) that performs the second route guidance is displayed after the first guidance content is hidden. A display control device that displays the second guidance content at the timing when it becomes possible to superimpose the display. A display control device that controls the display on the head-up display (20).
A route information acquisition unit (71) that acquires route guidance information from a navigation device (50) that provides route guidance to a destination, and a route information acquisition unit (71).
A display control unit (78) for superimposing and displaying route guidance contents (CTs) on the road surface from the route guidance information is provided.
The display control unit includes continuous information indicating that the first guide point accompanied by a right / left turn and the second guide point, which is either a destination or an alarm point, are continuous in the route guidance information. If it is determined that the first guidance content (CT1) for performing the first route guidance is displayed, then the second guidance content (CT2) for performing the second route guidance is displayed, and the first guidance content is displayed. A display control device that displays the second guidance content at a timing when it becomes possible to superimpose the display after the display is hidden. The display control device according to claim 1 or 2 , wherein the first guidance content and the second guidance content are the route guidance contents indicating a planned traveling locus. A display control program that controls the display on the head-up display (20).
In at least one processing unit (11)
Obtaining route guidance information from the navigation device (50) that guides the route to the destination (S101),
It is determined whether or not the route guidance information includes continuous information indicating that the first guidance point accompanied by a right / left turn and the second guidance point which is a branch point are continuous (S102).
When it is determined that the route guidance information includes the continuous information, the first guide content (CT1) for performing the first route guidance is displayed, and then the second guide content for performing the second route guidance is displayed. (CT2) is displayed at the timing when the second guide content can be superimposed and displayed after the first guide content is hidden (S105 to S107).
A display control program that executes processing including that. A display control program that controls the display on the head-up display (20).
In at least one processing unit (11)
Obtaining route guidance information from the navigation device (50) that guides the route to the destination (S101),
It is determined whether or not the route guidance information includes continuous information indicating that the first guidance point accompanied by a right or left turn and the second guidance point, which is either a destination or an alarm point, are continuous. (S102),
When it is determined that the route guidance information includes the continuous information, the first guide content (CT1) for performing the first route guidance is displayed, and then the second guide content for performing the second route guidance is displayed. (CT2) is displayed at the timing when the second guide content can be superimposed and displayed after the first guide content is hidden (S105 to S107).
A display control program that executes processing including that. A display control device that controls the display on the head-up display (20).
A route information acquisition unit (71) that acquires route guidance information from a navigation device (50) that provides route guidance to a destination, and a route information acquisition unit (71).
A display control unit (78) for superimposing and displaying route guidance contents (CTs) on the road surface from the route guidance information is provided.
When the display control unit determines that the route guidance information includes continuous information indicating that the first guide point accompanied by a right / left turn and the second guide point, which is a branch point, are continuous. The first guidance content (CT1) that provides the first route guidance is displayed, and the vehicle travels in the direction along the road toward the second guidance point (P2), which is the target of the second route guidance. A display control device that starts displaying the second guidance content (CT2) based on the estimation. A display control device that controls the display on the head-up display (20).
A route information acquisition unit (71) that acquires route guidance information from a navigation device (50) that provides route guidance to a destination, and a route information acquisition unit (71).
A display control unit (78) for superimposing and displaying route guidance contents (CTs) on the road surface from the route guidance information is provided.
The display control unit includes continuous information indicating that the first guide point accompanied by a right / left turn and the second guide point, which is either a destination or an alarm point, are continuous in the route guidance information. If it is determined that the vehicle will be displayed, the first guidance content (CT1) for providing the first route guidance will be displayed, and the vehicle will be in the direction along the road toward the second guidance point (P2), which is the target of the second route guidance. A display control device that starts displaying the second guidance content (CT2) based on the estimation that the traveling direction of the second guide content (CT2) is oriented. A display control program that controls the display on the head-up display (20).
In at least one processing unit (11)
Obtaining route guidance information from the navigation device (50) that guides the route to the destination (S101),
It is determined whether or not the route guidance information includes continuous information indicating that the first guidance point accompanied by a right / left turn and the second guidance point which is a branch point are continuous (S102).
When it is determined that the route guidance information includes the continuous information, the first guide content (CT1) for performing the first route guidance is displayed, and the second guide point which is the target of the second route guidance is displayed. Based on the estimation that the traveling direction of the vehicle is oriented in the direction along the road toward (P2), the display of the second guidance content (CT2) is started (S105 to S107).
A display control program that executes processing including that. A display control program that controls the display on the head-up display (20).
In at least one processing unit (11)
Obtaining route guidance information from the navigation device (50) that guides the route to the destination (S101),
It is determined whether or not the route guidance information includes continuous information indicating that the first guidance point accompanied by a right or left turn and the second guidance point, which is either a destination or an alarm point, are continuous. (S102),
When it is determined that the route guidance information includes the continuous information, the first guide content (CT1) for performing the first route guidance is displayed, and the second guide point which is the target of the second route guidance is displayed. Based on the estimation that the traveling direction of the vehicle is oriented in the direction along the road toward (P2), the display of the second guidance content (CT2) is started (S105 to S107).
A display control program that executes processing including that.

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