Display control device, head-up display device, display control method, display control program, and vehicle display system

Abstract

To inhibit annoyance caused by stereoscopic display in a high speed area by, for example, changing a position of a view point of a virtual 3D map according to a vehicle speed.SOLUTION: A vehicle control device 10 controls a vehicle display device 20 for displaying a virtual 3D map looked down from a virtual view point and includes a control unit 11 which compares a vehicle speed of a vehicle acquired by a navigation device with a predetermined speed threshold, places a virtual camera coordinate for displaying the virtual 3D map at a first coordinate when the vehicle speed of the vehicle is lower than the predetermined speed threshold and places the virtual camera coordinate for displaying the virtual 3D map at a second coordinate which may have a coordinate value of a position higher than that of the first coordinate when the vehicle speed of the vehicle acquired by the navigation device is higher than or equal to the predetermined speed threshold to perform control to display the virtual 3D map on the vehicle display device 20 based on the first coordinate or the second coordinate.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a display control device that controls a vehicle display device that displays a virtual three-dimensional map (virtual 3D map) as if viewed from above from a virtual viewpoint, and the like. [Background technology]

[0002] For example, in paragraphs

[0006] to

[0007] (see Figure 1) of Patent Document 1, a vehicle display control device is described that performs control such that if the vehicle speed is low, the display scale is set to telephoto and a peripheral image of the vehicle and an image of the vehicle are displayed on the display device, and if the vehicle speed is high, the display scale is set to wide angle and the peripheral image and an image of the vehicle are displayed on the display device.

[0003] In the vehicle display control device of Patent Document 1, when the vehicle speed is low, detailed information about the driving environment around the vehicle can be presented to the driver by setting the display scale to telephoto. However, when the vehicle speed increases, problems arise such as the peripheral image moving too quickly or the forward display distance being too short, leaving little room for driving operation if the display scale is left set to telephoto. Therefore, when the vehicle speed is high, the display scale is set to wide-angle and the peripheral image and the vehicle image are displayed on the display device. This eliminates the annoyance of the peripheral image moving while ensuring a long forward display distance, making it possible to present the driver not only with the driving environment around the vehicle but also with the driving environment farther away. Therefore, the driving environment around the vehicle can be presented to the driver appropriately. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2023-4192 Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the vehicle display control device of Patent Document 1, when a 3D display is performed while the vehicle is traveling at high speeds, 3D objects such as buildings move quickly within the display area, which can give the occupant (driver) the sensation that the 3D objects are approaching them in a realistic manner, which can be annoying.

[0006] Therefore, an object of the present invention is to provide a display control device, etc., that can reduce the annoyance felt by three-dimensional display at high speeds, for example, by changing the viewpoint position of the virtual 3D map and displaying it according to the vehicle speed.

[0007] Other objects of the present invention will become apparent to those skilled in the art by referring to the following exemplary aspects and best modes, as well as the accompanying drawings. [Means for solving the problem]

[0008] In order to facilitate an understanding of the outline of the present invention, the following examples are given of embodiments according to the present invention.

[0009] A first aspect of the present invention is a display control device that controls a vehicle display device that displays a virtual 3D map as if viewed from a virtual viewpoint, and includes a control unit that compares the vehicle speed obtained by navigation with a predetermined speed threshold, and if the vehicle speed is less than the predetermined speed threshold, places the virtual camera coordinates that display the virtual 3D map at first coordinates, and if the vehicle speed obtained by navigation is equal to or greater than the predetermined speed threshold, places the virtual camera coordinates that display the virtual 3D map at second coordinates that can have coordinate values ​​higher than the first coordinates, and controls the display of the virtual 3D map on the vehicle display device based on the first coordinates or the second coordinates.

[0010] In a first aspect, the control unit places the virtual camera coordinates that display the virtual 3D map at first coordinates when the vehicle speed obtained by navigation is below a predetermined speed threshold, and places the virtual camera coordinates at second coordinates that can have coordinate values ​​higher than the first coordinates when the vehicle speed is above the predetermined speed threshold, and controls the display of the virtual 3D map on the vehicle display device based on the first coordinates or the second coordinates. In this way, by setting the virtual camera coordinates that display the virtual 3D map while the vehicle is traveling along the route guide according to the vehicle speed, for example, to first coordinates that are the coordinate positions when viewed from a bird's-eye view, or to second coordinates that are the coordinate positions when viewed from a zenith view, for example, at low vehicle speeds of less than 40 km / h, the first coordinates are used to three-dimensionally display features such as buildings and roads on the vehicle display device, thereby providing a highly realistic display that makes it easy to intuitively grasp the geography. On the other hand, at high vehicle speeds of 40 km / h or more, for example, the virtual camera coordinates are used to display features on the vehicle display device in planar form, for example, to reduce the annoyance felt by the three-dimensional display without compromising the information about buildings and roads. In other words, a display control device can be provided that can reduce the annoyance felt by the three-dimensional display at high speeds by changing the viewpoint position of the virtual 3D map and displaying it according to the vehicle speed.

[0011] Here, the term "virtual viewpoint" refers to the position of a virtual viewpoint camera with a depression angle that overlooks a map around the vehicle's position. The virtual viewpoint camera moves in a circular arc or elliptical arc trajectory while maintaining the same angle of view VA (VA1 to VA3) from diagonally behind the vehicle toward the front of the vehicle while gradually increasing the depression angle, as shown in Figures 5(a) and 5(b). Here, the "depression angle" refers to the inclination angle of the optical axis (indicated by a dashed dotted line) of the virtual viewpoint camera VC relative to the road surface. The term "virtual camera coordinates" refers to a coordinate system based on the position of the virtual viewpoint camera that moves in the above-mentioned circular or elliptical arc trajectory, and is also referred to as a view coordinate system or viewpoint coordinate system. Furthermore, a "virtual 3D map" is a map that adds three-dimensional information such as elevation and building height. Because mountains, buildings, etc. are depicted in three dimensions, it is possible to create a more realistic representation than a 2D map, which is depicted in two dimensions. Furthermore, because it is possible to look around in 360 degrees or move around while looking down from an aerial perspective, it is possible to observe the scenery more realistically than with a 2D map.

[0012] For example, FIG. 3(a) shows the virtual camera coordinates (first coordinates) when a virtual 3D map including a vehicle is viewed from a bird's-eye view. In this case, the virtual viewpoint camera VC is positioned at the first coordinate (Y1, Z1) diagonally behind the vehicle. FIG. 3(b) shows the camera coordinates (second coordinates) when viewed from a zenith view. In this case, the virtual viewpoint camera VC is positioned at the second coordinate (Y2, Z2) in front of the vehicle. Here, Y1 and Y2 represent height, and Z1 and Z2 represent the forward position. Furthermore, when the virtual field of view range VA displayed by the virtual viewpoint camera VC does not change between the first coordinates and the second coordinates, the virtual field of view range VA also moves as the vehicle moves. In other words, the virtual field of view range VA moves to follow the vehicle so that the first coordinates are maintained relative to the vehicle, or so that the second coordinates are maintained relative to the vehicle. For example, as shown in Figures 5(a) and 5(b) of the trajectory of the virtual viewpoint camera, when the virtual field of view range VA is changed between the first coordinate and the second coordinate, the virtual viewpoint camera VC moves between the first coordinate and the second coordinate in a circular arc trajectory (Figure 5(a)) or an elliptical arc trajectory (Figure 5(b)).

[0013] In a second aspect dependent on the first aspect, the control unit may perform control such that the center of the angle of view of the second coordinate is the same as the center of the angle of view of the first coordinate, and the second coordinate is positioned perpendicular to the xy plane of the virtual 3D map.

[0014] In the second mode, the control unit performs control so that the center of the angle of view indicated by the second coordinates is the same as the center of the angle of view indicated by the first coordinates, and so that the second coordinates are positioned perpendicular to the xy plane of the virtual 3D map. The virtual viewpoint camera, whose trajectory is controlled by the control unit, has a predetermined virtual field of view range VA, and the virtual 3D map projected within this virtual field of view range VA can be displayed on the vehicle display device. Note that VA1 to VA3 are field of view angles (the range that the virtual viewpoint camera can capture) whose positions change as the virtual viewpoint camera VC moves in accordance with the movement of the vehicle. As long as the virtual viewpoint camera VC follows the arc or ellipse trajectory shown in Figures 5(a) and 5(b), the field of view angles VA1 to VA3 have the same center (indicated by the dashed line in the figure) regardless of the position on the trajectory of the virtual viewpoint camera VC. In other words, both the first coordinates and the second coordinates are located at the center VA of the angle of view of the virtual field of view projected by the virtual viewpoint camera VC. C remains unchanged.

[0015] In a third aspect dependent on the first aspect, the control unit may perform a perspective transformation of the first coordinates or the second coordinates into display coordinates to draw the virtual 3D map in a display area of ​​the vehicle display device, and may control the reading of the virtual 3D map from the display area in synchronization with the display timing of the display device and the display on the vehicle display device.

[0016] In a third aspect, the control unit performs perspective transformation of the first coordinates or the second coordinates into display coordinates, draws a virtual 3D map in the display area of ​​the vehicle display device (e.g., the VRAM in the working area 122 of the memory unit 12 in FIG. 1), and controls the reading of the drawn virtual 3D map from the display area in synchronization with the display timing and displaying it on the vehicle display device. In this way, by performing perspective transformation on the virtual 3D map extracted as the vehicle moves, it is possible to reproduce visual depth according to the virtual viewpoint even when displaying a 2D map. Specifically, it is possible to reduce the annoyance felt by a 3D display without losing information about buildings and roads. Here, "perspective transformation" is a type of affine transformation that changes the viewpoint of an image to transform an image with a perspective effect, and is used to reproduce the visual effect of a planar object viewed from a viewpoint in three-dimensional space.

[0017] A fourth aspect of the present invention is a head-up display device that displays a virtual 3D map as if viewed from a virtual viewpoint on an imaging surface that is virtually set in front of a vehicle, and includes an image display unit that displays the virtual 3D map, and a control unit that compares the vehicle speed of the vehicle obtained by navigation with a predetermined speed threshold, and if the vehicle speed of the vehicle obtained by navigation is less than the predetermined speed threshold, places the virtual viewpoint coordinates that display the virtual 3D map at first coordinates, and if the vehicle speed of the vehicle obtained by navigation is equal to or greater than the predetermined speed threshold, places the virtual viewpoint coordinates that display the virtual 3D map at second coordinates that can have coordinate values ​​higher than the first coordinates, and controls the display of the virtual 3D map on the image display unit based on the first coordinates or the second coordinates.

[0018] In a fourth aspect, the control unit controls the image display unit to place the virtual camera coordinates that display the virtual 3D map at first coordinates when the vehicle speed obtained by navigation is below a predetermined speed threshold, and to place the virtual camera coordinates at second coordinates that can have coordinate values ​​higher than the first coordinates when the vehicle speed is above the predetermined speed threshold. In this way, by positioning the virtual camera coordinates that display the virtual 3D map while the vehicle is traveling along the route guide at first coordinates (coordinate positions when viewed from a bird's-eye view) or second coordinates (coordinate positions when viewed from a zenith view) according to the vehicle speed, for example, at low vehicle speeds of less than 40 km / h, the first coordinates are used to display features such as buildings and roads in a three-dimensional manner on the image display unit of the vehicle display device, thereby providing a highly realistic display that allows for an intuitive understanding of the geography. On the other hand, at high vehicle speeds of 40 km / h or more, for example, the virtual camera coordinates are set to second coordinates that can take coordinate values ​​higher than the first coordinates and are displayed in a two-dimensional manner on the image display unit, thereby providing a head-up display device that reduces the annoyance felt by the three-dimensional display without compromising information about buildings and roads. In addition, by displaying the virtual 3D map superimposed on the foreground of the vehicle, an effect unique to head-up display devices can be obtained, such as allowing the user to check the route, etc., with minimal eye movement while viewing the foreground.

[0019] A fifth aspect according to the present invention is a display control method for controlling a vehicle display device that displays a virtual 3D map displayed by a virtual viewpoint camera that moves along a predetermined trajectory following the movement of a vehicle, the method comprising the steps of: comparing the vehicle speed of the vehicle obtained by navigation with a predetermined speed threshold; and, if the vehicle speed of the vehicle obtained by the navigation is less than the predetermined speed threshold, arranging the virtual camera coordinates that display the virtual 3D map at first coordinates; and, if the vehicle speed of the vehicle obtained by the navigation is equal to or greater than the predetermined speed threshold, arranging the virtual camera coordinates that display the virtual 3D map at second coordinates that can have coordinate values ​​higher than the first coordinates; and controlling the display of the virtual 3D map on the vehicle display device based on the first coordinates or the second coordinates.

[0020] In a fifth aspect, the display control device controls the vehicle display device to display information obtained by projecting a virtual 3D map from a bird's-eye view when the vehicle speed is below a predetermined speed threshold, and to switch to display information obtained by projecting the virtual 3D map from a zenith view when the vehicle speed is equal to or greater than the predetermined speed threshold. Therefore, for example, in a low-speed range where the vehicle speed is less than 40 km / h, first coordinates are used to three-dimensionally display features such as buildings and roads on the vehicle display device, thereby providing a highly realistic display that makes it easy to intuitively grasp the geography. On the other hand, in a high-speed range where the vehicle speed is 40 km / h or higher, second coordinates are used to display the virtual camera coordinates on the vehicle display device in two dimensions, which can be higher than the first coordinates, thereby reducing the annoyance felt by the three-dimensional display without compromising the information about buildings and roads.

[0021] A sixth aspect of the present invention is a display control program for controlling a vehicle display device that displays a virtual 3D map as if viewed from a virtual viewpoint, the program causing a processor of the display control device to execute the following processes: compare the vehicle speed obtained by navigation with a predetermined speed threshold; if the vehicle speed is less than the predetermined speed threshold, place the virtual camera coordinates that display the virtual 3D map at first coordinates; if the vehicle speed obtained by navigation is equal to or greater than the predetermined speed threshold, place the virtual camera coordinates that display the virtual 3D map at second coordinates that can have coordinate values ​​higher than the first coordinates; and control the display of the virtual 3D map on the vehicle display device based on the first coordinates or the second coordinates.

[0022] In a sixth aspect, a processor of the display control device reads and executes a display control program stored in an internal or external memory, thereby executing a process in which, when the vehicle speed acquired by navigation is below a predetermined speed threshold, the virtual camera coordinates for displaying the virtual 3D map are set to first coordinates, and when the vehicle speed is equal to or greater than the predetermined speed threshold, the virtual camera coordinates are set to second coordinates that can assume higher coordinate values ​​than the first coordinates. Therefore, for example, in a low-speed range where the vehicle speed is less than 40 km / h, features such as buildings and roads are displayed three-dimensionally on the vehicle display device using the first coordinates, thereby enabling a highly realistic display that makes it easy to intuitively grasp the geography. On the other hand, in a high-speed range where the vehicle speed is 40 km / h or higher, the virtual camera coordinates are displayed two-dimensionally on the vehicle display device using the second coordinates that can assume higher coordinate values ​​than the first coordinates, thereby reducing the annoyance felt by the three-dimensional display without compromising the information on buildings and roads.

[0023] A seventh aspect according to the present invention includes a head-up display device that displays a virtual 3D map as if viewed from a virtual viewpoint on an imaging surface that is virtually set in front of the vehicle, and a display control device that compares the vehicle speed of the vehicle obtained by navigation with a predetermined speed threshold, and if the vehicle speed of the vehicle obtained by navigation is less than the predetermined speed threshold, places the virtual camera coordinates that display the virtual 3D map at first coordinates, and if the vehicle speed of the vehicle obtained by navigation is equal to or greater than the predetermined speed threshold, places the virtual camera coordinates that display the virtual 3D map at second coordinates that can have coordinate values ​​higher than the first coordinates, and controls the virtual 3D map to be displayed on the head-up display device based on the first coordinates or the second coordinates.

[0024] In a seventh aspect, the display control device performs control such that, when the vehicle speed acquired by navigation is below a predetermined speed threshold, the virtual camera coordinates for projecting the virtual 3D map are set to first coordinates, and when the vehicle speed is equal to or greater than the predetermined speed threshold, the virtual camera coordinates are set to second coordinates that can assume coordinate values ​​higher than the first coordinates, and the virtual 3D map is displayed as if viewed from a virtual viewpoint on an imaging plane virtually set in front of the vehicle. Therefore, for example, in a low-speed range where the vehicle speed is less than 40 km / h, the first coordinates are used to three-dimensionally display features such as buildings and roads on the vehicle display device, thereby providing a highly realistic display that makes it easy to intuitively grasp the geography. On the other hand, in a high-speed range where the vehicle speed is 40 km / h or higher, the virtual camera coordinates are used to two-dimensionally display features such as buildings and roads on the head-up display device, thereby providing a vehicle display system that can reduce the annoyance felt by the three-dimensional display without compromising information about buildings and roads.

[0025] Those skilled in the art will easily understand that the exemplified embodiments according to the present invention can be further modified without departing from the spirit of the present invention. [Brief explanation of the drawings]

[0026] [Figure 1] FIG. 1 is a diagram showing an example of the configuration of a vehicle display system including a display control device according to an embodiment of the present invention. [Figure 2] FIG. 2 is a flowchart showing the operation of the display control device according to the embodiment of the present invention. [Figure 3] Figure 3 is a diagram cited to explain the operation of a display control device according to an embodiment of the present invention, where Figure 3(a) shows camera coordinates (first coordinates) when looking down on a virtual 3D map including a vehicle from a bird's-eye viewpoint, and Figure 3(b) shows camera coordinates (second coordinates) when looking down from a zenith viewpoint. [Figure 4]Figure 4 is a diagram cited to explain the operation of a display control device according to an embodiment of the present invention, where Figure 4(a) shows an example of a display on a vehicle display device when a virtual 3D map including a vehicle is viewed from a bird's-eye view, and Figure 4(b) shows an example of a display on a vehicle display device when viewed from a zenith view. [Figure 5] FIG. 5 is a diagram used to explain the trajectory of the virtual viewpoint camera, where FIG. 5(a) shows a circular arc trajectory and FIG. 5(b) shows an elliptical arc trajectory. [Figure 6] FIG. 6 is a diagram showing an example of the configuration of a head-up display device according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0027] The best mode described below is used to facilitate understanding of the present invention, and therefore, those skilled in the art should be aware that the present invention is not unduly limited by the mode described below (hereinafter referred to as the present mode).

[0028] (Configuration of the embodiment) Please refer to Fig. 1. Fig. 1 is a block diagram showing an example of the configuration of a vehicular display system 200 including a display control device 10 according to this embodiment. The display control device 10 according to this embodiment controls a vehicular display device 20 that displays a virtual 3D map as if viewed from a virtual viewpoint, which will be described later. Here, the display control device 10 compares the vehicle speed acquired by navigation with a predetermined speed threshold, and when the vehicle speed is less than the predetermined speed threshold, positions the virtual camera coordinates that display the virtual 3D map at first coordinates (see Y1, Z1 in Fig. 3(a)), and when the vehicle speed acquired by navigation is equal to or greater than the predetermined speed threshold, positions the virtual camera coordinates at second coordinates (see Y2, Z2 in Fig. 3(b)), which may have coordinate values ​​higher than the first coordinates, and controls the vehicular display device 20 to display the virtual 3D map based on the first coordinates or the second coordinates. Details will be described later.

[0029] Here, the "virtual viewpoint" refers to the position of a virtual viewpoint camera VC with a depression angle overlooking a map around the vehicle's position. The virtual viewpoint camera VC moves in an arc or elliptical arc while maintaining the same angle of view VA (VA1 to VA3) from diagonally behind the vehicle toward the front of the vehicle while gradually increasing the depression angle, as shown in Figures 5(a) and 5(b) (described later). Here, the "depression angle" refers to the inclination angle of the optical axis (indicated by a dashed dotted line) of the virtual viewpoint camera VC relative to the road surface. The "virtual 3D map" refers to a map that adds three-dimensional information, such as elevation and building height, to a standard 2D map. The "predetermined speed threshold" refers to a specified value, such as 40 km / h, and the virtual camera coordinates are positioned at first or second coordinates depending on whether the vehicle speed is less than or greater than the specified value. Note that "virtual camera coordinates" refers to a coordinate system based on the position of a virtual viewpoint camera that moves, for example, along an arc trajectory (see Figure 5(a)) or an elliptical arc trajectory (see Figure 5(b)), and "first coordinates" refers to, for example, the virtual camera coordinates when a virtual 3D map including a vehicle is viewed from a bird's-eye view (see Y1, Z1 in Figure 3(a)), and "second coordinates" refers to, for example, the virtual camera coordinates when a virtual 3D map including a vehicle is viewed from a zenith view (see Y2, Z2 in Figure 3(b)).

[0030] The vehicle display device 20 may be, for example, a center information display (CID) that consolidates entertainment functions such as television and radio, navigation functions, and various setting operations for air conditioning, etc., on a display and can be operated like a tablet, or a head-up display device (HUD device) that projects an information image onto the vehicle's windshield, allowing occupants (such as the driver) to view predetermined information as a virtual image along with the actual scenery in the field of view ahead of the vehicle, and adjusts the shape, size, and display position of the information image showing the vehicle's route guide and displays it in correspondence with the lanes, which are the actual scenery, allowing the occupant to check the route with minimal eye movement while viewing the actual scenery.

[0031] The display control device 10 of this embodiment is connected to an I / O interface 30 so as to be capable of bidirectional communication. Here, the I / O interface 30 communicates (CAN communication) with an ECU (Electronic Control Unit) and other components (reference numerals 40 to 100 described later) provided in a vehicle in accordance with, for example, the CAN (Control Area Network) standard. Note that the communication standard adopted by the I / O interface 30 is not limited to CAN, and may include, for example, wired communication interfaces such as CANFD (CAN with Flexible Data Rate), LIN (Local Interconnect Network), Ethernet (registered trademark), MOST (Media Oriented Systems Transport: NOST is a registered trademark), UART (Universal Asynchronous Receiver Transmitter), or USB (Universal Serial Bus), or in-vehicle communication (internal communication LAN) interfaces capable of short-range wireless communication within several tens of meters, such as personal area networks (PANs) such as Bluetooth (registered trademark) and local area networks such as 802.11x Wi-Fi (registered trademark).

[0032] The I / O interface 30 may also include an external communication interface for communication outside the vehicle, such as a wide area communication network (e.g., an Internet communication network) based on cellular communication standards such as a wireless wide area network (WAN0, IEEE802.16-2004 (WiMAX: World Wide Interoperability for Microwave Access), IEEE802.e-based (Multiple WiMAX), 4G, 4G-LTE, LTE Advanced, and 5G.

[0033] In addition to the display control device 10 of this embodiment, the I / O interface 30 is connected to a locator 40, a navigation device 50, a GNSS (Global Navigation Satellite Systems) device 60, a surrounding monitoring sensor 70, an IMU (Inertial Measurement Unit) 80, a map information storage device 90, an external vehicle communication connection device 100, and even an ECU (Electronic Control Unit) not shown.

[0034] The locator 40 combines the positioning data received by the GNSS device 60, the measurement results of the IMU 80, and the vehicle speed information (ECU output) of the vehicle output to the I / O interface 30, etc., to sequentially locate the vehicle's own position and direction of travel, etc., and provides the display control device 10, etc. with the position information and direction information of the vehicle based on the positioning results.

[0035] The navigation device 50 is an in-vehicle device that provides route guidance to a destination set by a passenger (driver) or the like. The navigation device 50 is equipped with a map DB (Data Base) for navigation. The map DB for navigation is mainly composed of non-volatile memory and stores map data (navigation map data) used for route guidance. The navigation map data includes links and node data for roads, and provides navigation information indicating the contents of the route guidance to the display control device 10.

[0036] The navigation device 50 can acquire and store the latest map information, for example, by communicating with an external center (not shown) via a V2X (Vehicle to X) type communication system (not shown) (via an external vehicle communication connection device 100, described later). The map information stored in the map DB is mapping data that has been digitized to represent the vehicle's driving environment. The mapping data is preferably digital data of a particularly high-precision dynamic map. Here, a "dynamic map" is a digital map that combines a huge amount of dynamic information that changes every moment, such as traffic regulations, construction information, accidents, congestion, pedestrians, and traffic lights, with static information such as high-precision three-dimensional position information (road surface information, slope information, three-dimensional structures).

[0037] The GNSS device 60 receives positioning signals transmitted from artificial satellites (positioning satellites), detects the current position of the vehicle, and outputs the detected position data to the locator 40. The GNSS device 60 can receive positioning signals from positioning satellites of at least one satellite positioning system among satellite positioning systems such as GPS (Global Positioning System), GLONASS, Galileo, IRNSS, ZSS, and Beidou.

[0038] The perimeter monitoring sensor 70 detects specific objects present around the vehicle (in front, to the sides, and behind). Specific objects detected by the perimeter monitoring sensor 70 include obstacles such as pedestrians, bicycles, motorcycles, and preceding vehicles, and may also include the road surface of the driving lane, lane markings, roadside objects, and features. The perimeter monitoring sensor 70 is composed of a detection unit that includes, for example, a radar sensor such as millimeter-wave data, ultrasonic radar, or laser radar, a camera (infrared camera, stereo camera), or any combination thereof, and a processing device that processes (data fusion) one or more of the detected data. Publicly known methods are used for object detection using these radar sensors and cameras. By detecting objects using these sensors, it is possible to output information such as the presence or absence of a specific object in three-dimensional space, and if a specific object exists, the position of the specific object (relative distance from the vehicle, left-right position when the vehicle's direction of travel is the forward-backward direction, up-down position, etc.), size (size in the horizontal direction (left-right), vertical direction (up-down), etc.), direction of movement (horizontal direction (left-right)), depth direction (front-back direction)), speed of change (horizontal direction (left-right), depth direction (front-back direction)), or type of predetermined object to the display control device 10 of this embodiment.

[0039] The IMU 80 has, for example, a gyro sensor and an acceleration sensor, detects velocities in the yaw, pitch, and roll angular directions, and outputs the detected angular velocity data to the locator 40. The locator 40 can detect the attitude of the vehicle by detecting the angular velocities in the yaw, pitch, and roll directions.

[0040] Map information storage device 90 is a storage medium that stores map data including the surroundings of the vehicle, and outputs map data of the surroundings of the vehicle to display control device 10 based on the position information and direction information of the vehicle determined by locator 40. Map information storage device 90 also outputs the relative position (distance and direction) of specific objects, such as characteristic points such as buildings, branch points on roads, etc., to display control device 10 based on the position information and direction information of the vehicle determined by locator 40. Note that while an example has been shown in which map information storage device 90 is external to display control device 10, it may also be built into display control device 10. It may also be a server that distributes map information to display control device 10 from outside the vehicle via communication, in which case it is possible to obtain the latest map information, such as a virtual 3D map, from a server provided on the cloud.

[0041] The exterior-vehicle communication connection device 100 is a communication device that exchanges information with the vehicle itself, such as other vehicles connected to the vehicle itself via vehicle-to-vehicle (V2V) communication, pedestrians (mobile information terminals carried by pedestrians) connected to the vehicle itself via vehicle-to-pedestrian (V2P) communication, and network communication devices connected to the vehicle itself via vehicle-to-roadside infrastructure (V2I) communication. In a broad sense, the term includes all of the above-mentioned V2X connections. The exterior-vehicle communication connection device 100 may acquire the positions of features such as pedestrians, bicycles, motorcycles, other vehicles (preceding vehicles), road surfaces, lane lines, roadside objects, or buildings, and output the positions to the display control device 10 or the like. The exterior-vehicle communication connection device 100 may also have the same function as the locator 40 and output position information and direction information of the vehicle itself to the display control device 10. Furthermore, the exterior-vehicle communication connection device 100 may also have the function of a road information database and acquire road information and output it to the display control device 10.

[0042] The display control device 10 of this embodiment includes a control unit 11 and a storage unit 12. The control unit 11 compares the vehicle speed acquired by navigation (navigation device 50) with a predetermined speed threshold. If the vehicle speed is less than the predetermined speed threshold, the virtual camera coordinates displaying the virtual 3D map are set to first coordinates (see Y1 and Z1 in FIG. 3(a)). If the vehicle speed is equal to or greater than the predetermined speed threshold, the virtual camera coordinates are set to second coordinates (see Y2 and Z2 in FIG. 3(b)), which may be higher than the first coordinates. The control unit 11 controls the display of the virtual 3D map on the vehicle display device 20 based on the first coordinates or the second coordinates. Here, the "predetermined speed threshold" refers to a designated value, such as 40 km / h, that is preset by the occupant (driver). The "virtual camera coordinates" refer to a coordinate system based on the position of a virtual viewpoint camera VC that moves along a circular or elliptical arc trajectory, as shown in FIGS. 5(a) and 5(b). These coordinates are also referred to as a view coordinate system or a viewpoint coordinate system. In addition, "first coordinates" refers to the virtual camera coordinates when the virtual 3D map including the vehicle is viewed from a bird's-eye view, and "second coordinates" refers to the virtual camera coordinates when the virtual 3D map including the vehicle is viewed from a zenith view.

[0043] For example, FIG. 3(a) shows the virtual camera coordinates (first coordinates) when a virtual 3D map including a vehicle is viewed from a bird's-eye view. In this case, the virtual viewpoint camera VC is positioned at the first coordinates (Y1, Z1) diagonally behind the vehicle. FIG. 3(b) shows the virtual camera coordinates (second coordinates) when viewed from a zenith view. In this case, the virtual viewpoint camera VC is positioned at the second coordinates (Y2, Z2) in front of the vehicle. Here, Y1 and Y2 represent the height position, and Z1 and Z2 represent the forward position. In addition, when the virtual field of view displayed by the virtual viewpoint camera VC does not change between the first coordinates and the second coordinates, the virtual field of view also moves as the vehicle moves. In other words, the virtual field of view moves to follow the vehicle so that the first coordinates are maintained relative to the vehicle, or so that the second coordinates are maintained relative to the vehicle. For example, as shown in Figures 5(a) and 5(b) of the trajectory of the virtual viewpoint camera VC, when the virtual field of view is changed between the first coordinate and the second coordinate, the virtual viewpoint camera VC moves between the first coordinate and the second coordinate in an arc trajectory (Figure 5(a)) or an elliptical trajectory (Figure 5(b)).

[0044] The control unit 11 determines the center of the angle of view VA of the second coordinate system. C The first coordinate is the center of the field of view VA. C and the second coordinate can be controlled to be perpendicular to the xy plane of the virtual 3D map. For example, as shown in Figures 5(a) and 5(b), the virtual viewpoint camera VC has a predetermined virtual field of view range (field angle VA), and the virtual 3D map projected within this virtual field of view range VA can be displayed on the vehicle display device. Note that VA1 to VA3 are field angles (range that the virtual viewpoint camera VC can capture) whose positions change as the virtual viewpoint camera VC moves in accordance with the movement of the vehicle, and as long as the virtual viewpoint camera VC follows an arc or ellipse orbit, the field angles VA1 to VA3 will be centered at VA regardless of the position of the virtual viewpoint camera VC on the orbit. C In other words, both the first and second coordinates are the same as the center of the angle of view (VA C ) remains unchanged.

[0045] The control unit 11 performs a perspective transformation (a type of affine transformation for changing the viewpoint of an image to deform an image with a perspective effect, and is used to reproduce the visual effect when an object on a plane is viewed from a viewpoint in three-dimensional space) of the first coordinates or the second coordinates into display coordinates, draws a virtual 3D map in the display area (VRAM for the image area, described later) of the vehicle display device 20, and controls the reading of the virtual 3D map from the VRAM in synchronization with the display timing of the vehicle display device 20 and displaying it on the vehicle display device 20.

[0046] The control unit 11 is equipped with peripheral LSIs such as a processor and a graphics controller, and the processor sequentially reads out the display control program allocated to and stored in the program area 121 of the storage unit 12 and operates in cooperation with the graphics controller, thereby executing the above-mentioned functions. The processor and the graphics controller may be incorporated in an application specific integrated circuit (ASIC), or may include a field programmable gate array (FPGA), or a combination thereof.

[0047] The storage unit 12 is allocated a program area 121 and a work area 122, each of which stores a program and work data. These are non-volatile memories equipped with DRAM, SRAM, etc. The program area 120 stores a display control program of this embodiment, while the work area 121 stores virtual camera coordinates, first coordinates, second coordinates, and an image area. The image area temporarily stores images (virtual 3D maps included in the virtual field of view displayed by the virtual viewpoint camera VC) developed based on the first coordinates and second coordinates as a first map and a second map, respectively. A display area (VRAM) that is a copy of the screen of the vehicle display device 20 is allocated to a portion of the image area, and the first map or the second map is transferred (drawn) to the VRAM at high speed when displayed.

[0048] (Operation of the embodiment) FIG. 2 is a flowchart showing the operation of the display control device 10 of this embodiment. Also, FIGS. 3 to 5 are diagrams cited to explain the operation of the vehicle display device 10 of this embodiment. FIG. 3(a) shows camera coordinates (first coordinates) when a virtual 3D map including a vehicle is viewed from a bird's-eye viewpoint, FIG. 3(b) shows camera coordinates (second coordinates) when viewed from a zenith viewpoint, FIG. 4(a) shows a display example on the vehicle display device 20 when a virtual 3D map including a vehicle is viewed from a bird's-eye viewpoint, and FIG. 4(b) shows a display example on the vehicle display device 20 when viewed from a zenith viewpoint. Also, FIG. 5(a) shows a circular arc trajectory, and FIG. 5(b) shows an elliptical arc trajectory. Hereinafter, the operation of the display control device 10 of this embodiment shown in FIG. 1 will be described in detail with reference to FIGS. 2 to 5.

[0049] As shown in FIG. 2, in the display control device 10 of this embodiment, first, when the ignition is switched from off to on, the control unit 11 performs initial settings of the position (depression angle: angle with respect to a virtual 3D map of the vehicle's surroundings) of the virtual viewpoint camera VC on its trajectory (the circular arc trajectory (FIG. 5(a)) and the elliptical arc trajectory (FIG. 5(b)) shown in FIG. 5) and the designated value of the vehicle speed (predetermined speed threshold) (step ST101). The initial settings are either performed automatically by using the default values ​​as they are, or manually by the occupant operating an input device not shown.

[0050] Next, the control unit 11 acquires the current location and vehicle speed information of the vehicle (step ST102). The current location and vehicle speed information of the vehicle are provided to the display control device 10 (control unit 11) by the locator 40 via the I / O interface 30. The locator 40 combines the positioning data received by the GNSS device 60, the measurement results by the IMU 80, and the vehicle speed information of the vehicle output to the I / O interface 30, etc., to sequentially determine the vehicle's own position, traveling direction, etc., and provides the display control device 10, etc. with position information and direction information of the vehicle based on the positioning results.

[0051] Next, the control unit 11 cuts out a virtual 3D map based on the vehicle route guide generated by the navigation device 50, and sequentially acquires the cut-out virtual 3D map (step ST103). The virtual 3D map may be, for example, one that includes static information such as high-precision three-dimensional position information (road surface information, lane information, three-dimensional structure information) acquired from a server (not shown) connected via the exterior-vehicle communication connection device 100, or one that has already been acquired and registered by the navigation device 50 or the map information storage device 90. For example, as shown in FIGS. 5(a) and 5(b), the control unit 11 can cut out a virtual 3D map included in a virtual field of view (angles of view AV1 to AV3) displayed by a virtual viewpoint camera VC that moves with the vehicle along the route guide generated by the navigation device 50, and sequentially overwrite the cut-out virtual 3D map in the working area 122 (image area) of the storage unit 12.

[0052] Next, control unit 11 compares the vehicle speed output by locator 40 with an initially set designated value (step ST104). Here, it is assumed that 40 km / h is set as the default designated value. Here, if the vehicle speed output by locator 40 is less than 40 km / h (step ST104 "YES"), control unit 11 places the virtual camera coordinates showing the virtual 3D map at the first coordinates (step ST105). On the other hand, if the vehicle speed is 40 km / h or more (step ST104 "NO"), control unit 11 performs control to place the virtual camera coordinates at the second coordinates, which can have coordinate values ​​higher than the first coordinates (step ST106). At this time, control unit 11 also performs control to make the center of the angle of view indicated by the second coordinates the same as the center of the angle of view indicated by the first coordinates, and to place the second coordinates perpendicular to the xy plane of the virtual 3D map.

[0053] For example, FIG. 3(a) shows the virtual camera coordinates (first coordinates) when a virtual 3D map including a vehicle is viewed from a bird's-eye view point. In this case, the virtual viewpoint camera VC is positioned at the first coordinate (Y1, Z1) diagonally behind the vehicle. FIG. 3(b) shows the camera coordinates (second coordinates) when viewed from a zenith view point. In this case, the virtual viewpoint camera VC is positioned at the second coordinate (Y2, Z2) in front of the vehicle. Here, Y1 and Y2 represent height, and Z1 and Z2 represent the forward position. The coordinate values ​​(Y, Z) that the first and second coordinates can take are sequentially stored in the working area 122 of the storage unit 12. In addition, when the virtual field of view range VA displayed by the virtual viewpoint camera VC does not change between the first coordinate and the second coordinate, the virtual field of view range VA also moves as the vehicle moves. In other words, the virtual field of view VA moves to follow the vehicle so that a first coordinate is maintained relative to the vehicle, or so that a second coordinate is maintained relative to the vehicle.

[0054] For example, as shown in Figures 5(a) and 5(b) , when the virtual field of view range VA is changed between first and second coordinates, the virtual field of view camera VC moves between the first and second coordinates on a circular arc orbit (Figure 5(a)) or an elliptical arc orbit (Figure 5(b)). The virtual field of view camera VC has a predetermined virtual field of view range VA, and a virtual 3D map projected within this virtual field of view range VA can be displayed on the vehicle display device. Note that VA1 to VA3 are field of view angles (the range that the virtual field of view camera VC can capture) whose positions change as the virtual field of view camera VC moves in accordance with the movement of the vehicle. As long as the virtual field of view camera VC moves along the circular arc orbit (Figure 5(a)) or elliptical orbit (Figure 5(b)) shown in Figure 5, the field of view angles VA1 to VA3 have the same center (indicated by the dashed line in the figure) regardless of the position on the orbit of the virtual field of view camera VC. In other words, for both the first and second coordinates, the center position VA of the field of view of the virtual field of view projected by the virtual field of view camera VC is the same. C remains unchanged.

[0055] Next, the control unit 11 performs perspective transformation of the first coordinates or the second coordinates into display coordinates and draws the cut-out image (virtual 3D map) in the image area (work area 122) of the storage unit (step ST107). Then, in synchronization with (waiting for) the display timing of the vehicle display device 20 (step ST108 "YES"), the control unit 11 reads the image (virtual 3D map) from the VRAM (display area) of the image area and displays it on the vehicle display device 20. At this time, when the vehicle speed is less than a specified value, the control unit 11 displays on the vehicle display device 20 a stereoscopic image obtained by projecting the virtual 3D map from a bird's-eye viewpoint, and when the vehicle speed is equal to or greater than the specified value, the control unit 11 switches to a planar image obtained by projecting the virtual 3D map from a zenith viewpoint and displays the image on the vehicle display device 20 (step ST109).

[0056] FIG. 4(a) shows an example of a display on the vehicle display device 20 of a virtual 3D map including a vehicle when viewed from a bird's-eye view, and FIG. 4(b) shows an example of a display on the vehicle display device 20 when viewed from a zenith view. In FIGS. 4(a) and 4(b), Rd (Rd') indicates a road, and Bd (Bd') indicates a building located around the road. When the vehicle is traveling along the route guide, the control unit 11 refers to vehicle speed information, and if the speed is less than a specified value, outputs a display (Rd, Bd) of the virtual 3D map viewed from a bird's-eye view as shown in FIG. 4(a). When the vehicle speed exceeds the specified value, the control unit 11 switches to a display (RD', Bd') of the virtual 3D map viewed from a zenith view (directly above) as shown in FIG. 4(b). In either display, the center of the angle of view VA is located at the center of the angle of view VA as shown in FIGS. 3(a) and 3(b) and FIGS. 5(a) and 5(b). C There is no change in the position of

[0057] In this way, the control unit 11 positions the virtual camera coordinates that display the virtual 3D map when the vehicle is traveling along the route guide at the first coordinates (coordinate positions when viewed from a bird's-eye view) or the second coordinates (coordinate positions when viewed from a zenith view) according to the vehicle speed. For example, in a low-speed range where the vehicle speed is less than 40 km / h, the first coordinates are used to display features such as buildings and roads in a three-dimensional manner on the vehicle display device 20, thereby providing a highly realistic display that makes it easy to intuitively grasp the geography. On the other hand, in a high-speed range where the vehicle speed is 40 km / h or more, the virtual camera coordinates are displayed in a two-dimensional manner on the vehicle display device 20 using the second coordinates, which can take coordinate values ​​higher than the first coordinates. This reduces the annoyance felt by the three-dimensional display at high speeds without compromising the information about buildings and roads.

[0058] The control unit 11 repeatedly executes the above-described exemplary operation (steps ST102 to ST109), and when an end condition is met, such as the ignition being switched from on to off (step ST110 "YES"), ends the above-described series of operations.

[0059] (Variation) As described above, this embodiment is a display control device 10 that controls a vehicle display device 20 that displays a virtual 3D map as if viewed from a virtual viewpoint, in which a control unit 11 compares the vehicle speed acquired by navigation with a predetermined speed threshold, and when the vehicle speed is less than the predetermined speed threshold, arranges the virtual camera coordinates that display the virtual 3D map at a first coordinate (temporarily stores in a working area 122), and when the vehicle speed acquired by navigation is equal to or greater than the predetermined speed threshold, arranges the virtual camera coordinates at a second coordinate that can take a coordinate value higher than the first coordinate (temporarily stores in a working area 122), and The configuration is such that an image (virtual 3D map) developed based on the landmark is displayed on the vehicle display device 20, and as a result, at low speeds, first coordinates are used to display features such as buildings and roads in three dimensions on the vehicle display device 20, thereby providing a highly realistic display that makes it easy to intuitively grasp the geography, while at high speeds, second coordinates that can take on higher coordinate values ​​than the first coordinates are used to display the virtual camera coordinates in two dimensions on the vehicle display device 20, thereby reducing the annoyance felt by three-dimensional displays at high speeds without compromising information about buildings and roads.

[0060] In contrast, for example, a head-up display device (HUD device 20A shown in FIG. 6) used as the vehicle display device 20 can incorporate the functions of the control unit 11 of the display control device 10, i.e., compare the vehicle speed acquired by navigation with a predetermined speed threshold, and if the vehicle speed is less than the predetermined speed threshold, place the virtual camera coordinates displaying the virtual 3D map at first coordinates, and if the vehicle speed acquired by navigation is equal to or greater than the predetermined speed threshold, place the virtual camera coordinates at second coordinates that can take coordinate values ​​higher than the first coordinates, and display an image (virtual 3D map) developed based on the first coordinates or the second coordinates on the image display unit 23. This can also provide the same effect and reduce the load on the display control device 10. In addition, the HUD device 20A can also provide an effect unique to the HUD device 20A, such as superimposing and displaying the virtual 3D map on the foreground of the vehicle, allowing the driver to check the route, etc., with minimal eye movement while viewing the foreground.

[0061] An example of the configuration of a head-up display device (HUD device 20A) of this embodiment is shown in Fig. 6. In Fig. 6, the HUD device 20A of this embodiment displays a virtual 3D map as if viewed from a virtual viewpoint on an imaging plane virtually set in front of the vehicle. To this end, the HUD device 20A has a control unit 21, a storage unit 22, and an image display unit 23.

[0062] As described above, the control unit 21 compares the vehicle speed obtained by navigation with a predetermined speed threshold, and when the vehicle speed is less than the predetermined speed threshold, places the virtual camera coordinates that display the virtual 3D map at first coordinates, and when the vehicle speed obtained by navigation is equal to or greater than the predetermined speed threshold, places the virtual camera coordinates at second coordinates that can take on coordinate values ​​higher than the first coordinates, and performs control to display the virtual 3D map developed based on the first coordinates or the second coordinates on the image display unit 23. The storage unit 22 stores the values ​​of the first coordinates and second coordinates that change sequentially depending on the vehicle moving according to the route guide, and the image (virtual 3D map) developed based on the first coordinates and second coordinates.

[0063] The image display unit 23 displays a virtual 3D map under the control of the control unit 21, and is mainly composed of, for example, a light source consisting of light-emitting diodes mounted on a wiring board, a projection unit 231 including a relay optical system, and a liquid crystal display 232 including a TFT (Thin Film Transistor Liquid Crystal) type liquid crystal display element located on the emission side (directly above) of the light source so as to transmit illumination light from the light source to form display light, and the display light can be output by transmitting light emitted from the light source through the liquid crystal display element. The liquid crystal display 232 is a display device that forms a desired image (here, a virtual 3D map) based on display image data (drive signals) generated under the control of the control unit 21, and displays the image formed in a display area virtually set in front of the vehicle 1 so as to be superimposed on the viewer's forward field of vision, allowing the viewer to view it.

[0064] According to the HUD device 20A of this embodiment, the control unit 21 performs control so that when the vehicle speed acquired by navigation is below a predetermined speed threshold, the virtual camera coordinates that display the virtual 3D map are placed at first coordinates, and when the vehicle speed is equal to or greater than the predetermined speed threshold, the virtual camera coordinates are placed at second coordinates that can have coordinate values ​​higher than the first coordinates and displayed on the image display unit 23. In other words, by positioning the virtual camera coordinates that display the virtual 3D map when the vehicle is traveling along the route guide at first coordinates (coordinate positions when viewed from a bird's-eye view) or second coordinates (coordinate positions when viewed from a zenith view) according to the vehicle speed, for example, in a low-speed range where the vehicle speed is less than 40 km / h, the first coordinates are used to three-dimensionally display features such as buildings and roads on the image display unit 23, thereby providing a highly realistic display that allows for an intuitive understanding of the geography. On the other hand, in a high-speed range where the vehicle speed is 40 km / h or more, for example, the second coordinates that can take on coordinate values ​​higher than the first coordinates are used to display the virtual camera coordinates on the image display unit 23 in two dimensions, thereby providing HUD device 20A that reduces the annoyance felt by three-dimensional display at high speeds without compromising information about buildings and roads. In addition, by displaying the virtual 3D map superimposed on the foreground of the vehicle, an effect unique to HUD device 20A can be obtained, such as allowing the user to check the route, etc., with minimal eye movement while viewing the foreground.

[0065] (Effects of the embodiment) As described above, the display control device of this embodiment is, for example, a display control device 10 that controls a vehicle display device 20 that displays a virtual 3D map as if viewed from a virtual viewpoint, as shown in Fig. 1. The display control device 10 includes a control unit 11 that compares the vehicle speed acquired by navigation with a predetermined speed threshold, and arranges the virtual camera coordinates that display the virtual 3D map at first coordinates when the vehicle speed is less than the predetermined speed threshold, and arranges the virtual camera coordinates that display the virtual 3D map at second coordinates that can have coordinate values ​​higher than the first coordinates when the vehicle speed acquired by navigation is equal to or greater than the predetermined speed threshold, and controls the vehicle display device 20 to display the virtual 3D map based on the first coordinates or the second coordinates.

[0066] According to the display control device 10 of this embodiment, when the vehicle speed obtained by navigation is below a predetermined speed threshold, the control unit 11 places the virtual camera coordinates that display the virtual 3D map at first coordinates, and when the vehicle speed is equal to or greater than the predetermined speed threshold, places the virtual camera coordinates at second coordinates that can have coordinate values ​​higher than the first coordinates, and performs control to display the virtual 3D map on the vehicle display device 20 based on the first coordinates or the second coordinates. In this way, by positioning the virtual camera coordinates that display the virtual 3D map when the vehicle is moving along the route guide at the first coordinates (the coordinate position when looking down from a bird's-eye viewpoint) or the second coordinates (the coordinate position when looking down from a zenith viewpoint) depending on the condition (vehicle speed), for example, in low-speed areas where the vehicle speed is less than 40 km / h, the first coordinates are used to display features such as buildings and roads in three dimensions on the vehicle display device 20, making it possible to provide a highly realistic display that makes it easy to intuitively grasp the geography.On the other hand, in high-speed areas where the vehicle speed is 40 km / h or more, the virtual camera coordinates are displayed in two dimensions on the vehicle display device 20 using the second coordinates, which can take coordinate values ​​higher than the first coordinates, making it possible to reduce the annoyance felt by the three-dimensional display at high speeds without losing information about buildings and roads.

[0067] Furthermore, in the display control device 10 of this embodiment, the control unit 11 controls the center of the angle of view indicated by the second coordinates to be the same as the center of the angle of view indicated by the first coordinates, and to position the second coordinates perpendicular to the xy plane of the virtual 3D map. For example, as shown in FIGS. 5(a) and 5(b), the virtual viewpoint camera VC, whose trajectory is controlled by the control unit 11, has a predetermined virtual field of view range VA, and the virtual 3D map projected within this virtual field of view range VA can be displayed on the vehicle display device 20. Here, VA1 to VA3 are field of view angles (the range that the virtual viewpoint camera VC can capture) whose positions change as the virtual viewpoint camera VC moves in accordance with the movement of the vehicle. As long as the virtual viewpoint camera VC follows an arc trajectory (FIG. 5(a)) or an elliptical trajectory (FIG. 5(b)), the field of view angles VA1 to VA3 have the same center (indicated by the dashed line in the figure) regardless of the position on the trajectory of the virtual viewpoint camera VC. In other words, both the first coordinates and the second coordinates are located at the center VA of the angle of view of the virtual field of view projected by the virtual viewpoint camera VC. C remains unchanged.

[0068] In addition, in the display control device 10 of this embodiment, the control unit 11 performs perspective transformation of the first coordinates or the second coordinates into display coordinates, draws a virtual 3D map in the display area (allocated to a part of the image storage area 123) of the vehicle display device 20, and controls the reading of the drawn virtual 3D map from the display area in synchronization with the display timing and displaying it on the vehicle display device 20. In this way, by performing perspective transformation on the virtual 3D map extracted as the vehicle moves, it is possible to reproduce visual depth corresponding to the camera viewpoint even when displaying a 2D map. Specifically, it is possible to reduce the annoyance felt by a 3D display without losing information about buildings and roads. Here, "perspective transformation" is a type of affine transformation that changes the viewpoint of an image to transform an image with a perspective effect, and is used to reproduce the visual effect of a planar object viewed from a viewpoint in three-dimensional space.

[0069] The head-up display device of this embodiment is a head-up display device (HUD device 20A) that displays a virtual 3D map as if viewed from a virtual viewpoint on an imaging plane virtually set in front of the vehicle. The HUD device 20A includes, for example, an image display unit 23 (liquid crystal display 232) that displays the virtual 3D map, and a control unit 21 that performs control to compare the vehicle speed acquired by navigation with a predetermined speed threshold, and to arrange the virtual viewpoint coordinates for displaying the virtual 3D map at first coordinates when the vehicle speed is less than the predetermined speed threshold, and to arrange the virtual viewpoint coordinates for displaying the virtual 3D map at second coordinates that can have coordinate values ​​higher than the first coordinates when the vehicle speed acquired by navigation is equal to or greater than the predetermined speed threshold, and to display the virtual 3D map on the image display unit 23 based on the first coordinates or the second coordinates, as shown in FIG. 6 .

[0070] According to the head-up display device (HUD device 20A) of this embodiment, the control unit 21 positions the virtual camera coordinates that display a virtual 3D map when the vehicle is moving along a route guide at first coordinates (coordinate positions when viewed from a bird's-eye view) or second coordinates (coordinate positions when viewed from a zenith view) according to the vehicle speed, and displays the virtual 3D map on the image display unit 23 based on the second coordinates or the second coordinates. For example, in a low-speed range where the vehicle speed is less than 40 km / h, the first coordinates are used to display features such as buildings and roads in three dimensions on the vehicle display device on the image display unit 23, thereby providing a highly realistic display that makes it easy to intuitively grasp the geography. On the other hand, in a high-speed range where the vehicle speed is 40 km / h or more, the second coordinates, which can take on coordinate values ​​higher than the first coordinates, are used to display the virtual camera coordinates in two dimensions on the image display unit 23, thereby providing a HUD device 20A that reduces the annoyance felt by three-dimensional displays at high speeds without losing information about buildings and roads. In addition, the HUD device 20A also provides an advantage unique to the device, namely, that a virtual 3D map is superimposed on the view in front of the vehicle and can be visually recognized, allowing the driver to check the route, etc. with minimal eye movement while viewing the view in front of the vehicle.

[0071] 3A and 3B, the display control method of this embodiment is a display control method for controlling a vehicle display device 20 (see FIG. 1) that displays a virtual 3D map displayed by a virtual viewpoint camera VC that moves along a predetermined trajectory while following the movement of the vehicle. The display control method includes, for example, the steps of: comparing the vehicle speed acquired by navigation with a predetermined speed threshold (step ST104); if the vehicle speed is less than the predetermined speed threshold (step ST104 “YES”), arranging the virtual camera coordinates that display the virtual 3D map at first coordinates (step ST105); if the vehicle speed acquired by navigation is equal to or greater than the predetermined speed threshold (step ST104 “NO”), arranging the virtual camera coordinates that display the virtual 3D map at second coordinates that may be higher than the first coordinates (step ST106); and controlling the display of the virtual 3D map on the vehicle display device 20 based on the first coordinates or the second coordinates (steps ST107 to ST109).

[0072] In the display control method of this embodiment, the display control device 10 controls the vehicle display device 20 to display information obtained by projecting a virtual 3D map from a bird's-eye view when the vehicle speed is below a predetermined speed threshold, and to switch to display information obtained by projecting a virtual 3D map from a zenith view when the vehicle speed is equal to or greater than the predetermined speed threshold. Therefore, for example, in a low-speed range where the vehicle speed is less than 40 km / h, first coordinates are used to three-dimensionally display features such as buildings and roads on the vehicle display device 20, thereby providing a highly realistic display that makes it easy to intuitively grasp the geography. On the other hand, in a high-speed range where the vehicle speed is 40 km / h or higher, second coordinates that can take on higher coordinate values ​​than the first coordinates are used to display the virtual camera coordinates on the vehicle display device 20 in two dimensions, thereby reducing the annoyance felt by a three-dimensional display at high speeds without compromising the information about buildings and roads.

[0073] The display control program of this embodiment is, for example, a display control program (stored in the program area 120 of the storage unit 12) that controls the vehicular display device 20 to display a virtual 3D map as if viewed from a virtual viewpoint, as shown in Fig. 1. The display control program causes the processor of the display control device 10 to execute the following processes: compare the vehicle speed acquired by navigation with a predetermined speed threshold (step ST104); if the vehicle speed is less than the predetermined speed threshold (step ST104 "YES"), arrange the virtual camera coordinates that display the virtual 3D map at first coordinates (step ST105); if the vehicle speed acquired by navigation is equal to or greater than the predetermined speed threshold (step ST104 "NO"), arrange the virtual camera coordinates that display the virtual 3D map at second coordinates that may be higher than the first coordinates (step ST106); and control the display of the virtual 3D map on the vehicular display device 20 based on the first coordinates or the second coordinates (steps ST107 to ST109).

[0074] In the display control program of this embodiment, the processor of the display control device 10 (control unit 11) sequentially reads and executes the display control program (here, the display control program stored in the program area 120 of the memory unit 12) stored in an internal or external memory, so that when the vehicle speed obtained by navigation is below a predetermined speed threshold, the virtual camera coordinates displaying the virtual 3D map are placed at first coordinates, and when the vehicle speed is equal to or greater than the predetermined speed threshold, the virtual camera coordinates are placed at second coordinates that can have higher coordinate values ​​than the first coordinates, and the virtual 3D map cut out based on the first coordinates or the second coordinates is displayed on the vehicle display device 20. Therefore, for example, in low-speed areas where the vehicle speed is less than 40 km / h, the first coordinates are used to display features such as buildings and roads in three dimensions on the vehicle display device 20, thereby providing a highly realistic display that makes it easy to intuitively grasp the geography.On the other hand, in high-speed areas where the vehicle speed is 40 km / h or more, the virtual camera coordinates are displayed in two dimensions on the vehicle display device 20 using second coordinates that can take on coordinate values ​​higher than the first coordinates, thereby reducing the annoyance felt by three-dimensional displays at high speeds without compromising the information on buildings and roads.

[0075] As shown in FIG. 1, the vehicular display system 200 of this embodiment includes a head-up display device (vehicular display device 20, see HUD device 20A in FIG. 6) that displays a virtual 3D map as if viewed from a virtual viewpoint on an imaging surface that is virtually set in front of the vehicle, and a display control device 10 that compares the vehicle speed obtained by navigation with a predetermined speed threshold, and places the virtual camera coordinates that display the virtual 3D map at first coordinates if the vehicle speed is less than the predetermined speed threshold, and places the virtual camera coordinates that display the virtual 3D map at second coordinates that can have coordinate values ​​higher than the first coordinates if the vehicle speed obtained by navigation is equal to or greater than the predetermined speed threshold, and controls the virtual 3D map to be displayed on the HUD device 20A (see FIG. 6) based on the first coordinates or the second coordinates.

[0076] In the vehicular display system 200 of this embodiment, the display control device 10 controls the display of the virtual 3D map by positioning the virtual camera coordinates for projecting the virtual 3D map at first coordinates when the vehicle speed acquired by navigation is below a predetermined speed threshold, and by positioning the virtual camera coordinates at second coordinates that can assume coordinate values ​​higher than the first coordinates when the vehicle speed is equal to or greater than the predetermined speed threshold, and controls the display of the virtual 3D map as if viewed from a virtual viewpoint on an imaging plane virtually set in front of the vehicle. Therefore, for example, in a low-speed range where the vehicle speed is less than 40 km / h, the first coordinates are used to three-dimensionally display features such as buildings and roads on the vehicular display device 20A, thereby providing a highly realistic display that makes it easy to intuitively grasp the geography. On the other hand, in a high-speed range where the vehicle speed is 40 km / h or higher, the virtual camera coordinates are used to two-dimensionally display features such as buildings and roads on the HUD device 20A, thereby providing a vehicular display system 200 that can reduce the annoyance felt by a three-dimensional display at high speeds without compromising information about buildings and roads.

[0077] The present invention is not limited to the above-described exemplary embodiments, and those skilled in the art will be able to easily modify the above-described exemplary embodiments to the extent that they fall within the scope of the claims. [Explanation of symbols]

[0078] 10···Display control device, 11···Control unit, 12···Storage unit, 20···Vehicle display device, 20A···Head-up display device (HUD device), 21···Control unit (HUD device), 22···Storage unit (HUD device), 23···Image display unit (HUD device), 30···I / O interface, 40···Locator, 50···Navigation device, 60···GNSS device, 70···Periphery monitoring sensor, 80···IMU, 90···Map information storage device, 100···External vehicle communication connection device, 121···Program area, 122···Work area, 200···Vehicle display system, 231···Projection unit, 232···LCD display, VC···Virtual viewpoint camera, VA (VA1 to VA3)···Angle of view (virtual field of view range), VA C Center of angle of view

Claims

1. A display control device that controls a vehicle display device that displays a virtual 3D map as if viewed from a virtual viewpoint, a control unit that compares the vehicle speed obtained by navigation with a predetermined speed threshold, and if the vehicle speed is less than the predetermined speed threshold, places the virtual camera coordinates that display the virtual 3D map at first coordinates, and if the vehicle speed obtained by navigation is equal to or greater than the predetermined speed threshold, places the virtual camera coordinates at second coordinates that can have coordinate values ​​higher than the first coordinates, and controls the display of the virtual 3D map on the vehicle display device based on the first coordinates or the second coordinates.

2. The control unit The display control device according to claim 1 , wherein the display control device performs control such that the center of the angle of view of the second coordinates is the same as the center of the angle of view of the first coordinates, and the second coordinates are positioned perpendicular to an xy plane of the virtual 3D map.

3. The control unit 3. The display control device according to claim 1, further comprising: a display control unit that performs perspective transformation of the first coordinates or the second coordinates into display coordinates to draw the virtual 3D map in a display area of ​​the vehicle display device; and a display control unit that reads the virtual 3D map from the display area in synchronization with display timing of the vehicle display device and displays the virtual 3D map on the vehicle display device.

4. A head-up display device that displays a virtual 3D map as if viewed from a virtual viewpoint on an imaging plane that is virtually set in front of a vehicle, an image display unit that displays the virtual 3D map; a control unit that compares the vehicle speed obtained by navigation with a predetermined speed threshold, and if the vehicle speed is less than the predetermined speed threshold, places the virtual camera coordinates that display the virtual 3D map at first coordinates, and if the vehicle speed obtained by navigation is equal to or greater than the predetermined speed threshold, places the virtual camera coordinates at second coordinates that can have coordinate values ​​higher than the first coordinates, and controls the display of the virtual 3D map on the image display unit based on the first coordinates or the second coordinates.

5. A display control method for controlling a vehicle display device that displays a virtual 3D map captured by a virtual viewpoint camera that moves along a predetermined trajectory while following the movement of a vehicle, comprising: a step of comparing the vehicle speed of the vehicle acquired by navigation with a predetermined speed threshold, and arranging the virtual camera coordinates showing the virtual 3D map at first coordinates when the vehicle speed of the vehicle acquired by navigation is less than the predetermined speed threshold, and arranging the virtual camera coordinates at second coordinates that can take on coordinate values ​​higher than the first coordinates when the vehicle speed of the vehicle acquired by navigation is equal to or greater than the predetermined speed threshold; and controlling the display of the virtual 3D map on the vehicle display device based on the first coordinates or the second coordinates.

6. A display control program for controlling a vehicle display device that displays a virtual 3D map as if viewed from a virtual viewpoint, A processor included in the display control device a process of comparing a vehicle speed acquired by navigation with a predetermined speed threshold, and arranging virtual camera coordinates showing the virtual 3D map at first coordinates when the vehicle speed is less than the predetermined speed threshold, and arranging virtual camera coordinates showing the virtual 3D map at second coordinates that may have higher coordinate values ​​than the first coordinates when the vehicle speed acquired by navigation is equal to or greater than the predetermined speed threshold; and performing a process of controlling the display of the virtual 3D map on the vehicle display device based on the first coordinates or the second coordinates.

7. a head-up display device that displays a virtual 3D map as if viewed from a virtual viewpoint on an imaging plane that is virtually set in front of the vehicle; and a display control device that compares the vehicle speed obtained by navigation with a predetermined speed threshold, and if the vehicle speed is less than the predetermined speed threshold, places the virtual camera coordinates that display the virtual 3D map at first coordinates, and if the vehicle speed obtained by navigation is equal to or greater than the predetermined speed threshold, places the virtual camera coordinates at second coordinates that can take coordinate values ​​higher than the first coordinates, and controls the virtual 3D map to be displayed on the head-up display device based on the first coordinates or the second coordinates.

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