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

Abstract

To convey information on change of a road surface form of a planned route on which a vehicle travels to an occupant in a more visible manner by, for example, changing a virtual view point on a map and displaying the highlighted virtual view point.SOLUTION: A display control device 10 controls a vehicle display device 20 for displaying a map looked down from a virtual view point and includes a control unit 11 which performs control to display a first map or a second map, having a virtual view point different from that of the first map, according to whether or not change occurs in a road surface form on a planned path on which a vehicle travels, which is determined or presumed from vehicle traveling environment information acquired from the outside, on the vehicle display device.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] For example, paragraphs

[0006] to

[0007] of Patent Document 1 describe a vehicle display control device that, if the vehicle speed is low, sets the display scale to telephoto and causes the display device to display a peripheral image around the vehicle and an image of the vehicle itself, and, if the vehicle speed is high, sets the display scale to wide angle and causes the display device to display the peripheral image and an image of the vehicle itself.

[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, eliminating the annoyance of the peripheral image moving and ensuring a long forward display distance, making it possible to present the driver with not only the driving environment around the vehicle but also the driving environment up to a distance. This allows the driving environment around the vehicle to be presented appropriately to the occupant (driver). [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, with the vehicle display control device described in Patent Document 1, when there is, for example, a narrowing of the road surface width or a change in the topography such as a road gradient, a step, or unevenness on the planned driving route of the vehicle, the display does not show much change, making it difficult for the occupant to recognize the existence of these on the planned route of the vehicle. Therefore, for example, when driving an unfamiliar road in a vehicle such as a rental car that is wider than the driver normally drives, current navigation systems cannot provide information such as narrowing of the road width, or the like, or make it difficult to understand, and so a situation may arise in which the driver is forced to take an unexpectedly narrow road at the last minute. In this case, there is a problem that the driver is forced to make dangerous driving maneuvers such as sudden lane changes because he or she is unable to check the road surface in advance.

[0006] Therefore, an object of the present invention is to provide a display control device, etc., that can convey information to occupants (drivers) in a more understandable manner by, for example, changing the virtual viewpoint of the map and highlighting changes in the road surface shape on the vehicle's planned route.

[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 to display a map as if viewed from a virtual viewpoint, and includes a control unit that controls the vehicle display device to display a first map, or a second map or a third map having a different virtual viewpoint from the first map, depending on whether or not there is a change in road surface shape on a planned route of the vehicle, which is determined or estimated from vehicle driving environment information obtained from an external source.

[0010] In a first aspect, the control unit controls the display of a first map, or a second map or a third map having a virtual viewpoint different from that of the first map, on the vehicle display device, depending on whether or not there is a change in the road surface shape along the planned vehicle travel route, which is determined or estimated from vehicle travel environment information acquired from an external source. Here, the "vehicle travel environment information acquired from an external source" refers to, for example, map information (including 3D maps), caution sign data indicating a narrowing of road width or a slope along the planned vehicle route, and the like, acquired via the locator 40, the navigation device 50, the GNSS device 60, the periphery monitoring sensor 70, the IMU 80, the map information storage device 90, or the external vehicle communication connection device 100 shown in FIG. 1 .

[0011] The term "virtual viewpoint" refers to the position of a virtual viewpoint camera with a depression angle that overlooks a map of the area surrounding the vehicle. The "first map" is a map image with an acute depression angle, projected diagonally from above the vehicle. The "second map" is a map image with a depression angle of approximately 90 degrees, projected with the virtual viewpoint facing the vehicle directly. The "third map" is a map image projected by moving the virtual viewpoint to the left or right of the first map. The virtual viewpoint camera moves in an arc or elliptical arc while maintaining the same angle of view VA (VA1-VA3) from diagonally behind the vehicle toward the front of the vehicle while gradually increasing the depression angle θ, as shown in Figures 5(a) and 5(b). Here, the "depression angle" refers to the inclination angle θ of the optical axis (shown by a dashed line) of the virtual viewpoint camera VC with respect to the road surface.

[0012] According to the first aspect, by changing the virtual viewpoint of the map and highlighting changes in road surface shape, it is possible to communicate information to the occupant (driver) in a more easily understandable manner, and therefore it is possible to present a timed planned driving route suited to the driving environment in an easy-to-see manner, creating a situation in which the occupant can check the driving environment with ease. Therefore, dangerous driving operations involving sudden lane changes, etc. can be suppressed, contributing to safe driving.

[0013] In a second aspect dependent on the first aspect, when it is determined that there is a change in road width on the road surface along the planned route of the vehicle, the control unit may perform control to highlight and display the change in road width on the second map displayed based on the position of the virtual viewpoint that can take a larger depression angle than the first map.

[0014] In the second aspect, when the control unit determines that there is a change in road width (e.g., a narrowing of road width) on the road surface along the vehicle's planned route, the control unit controls the second map, which is displayed based on the position of a virtual viewpoint that allows a larger depression angle than the first map, to change the display from a three-dimensional display to a two-dimensional display, for example, and highlight the change in road width.This makes it possible to convey the information (narrowing of road width) in a more understandable manner, creating a situation in which the occupants can easily confirm the change in road width, thereby contributing to safe driving.

[0015] In a third aspect dependent on the first aspect, when it is determined that there is a gradient change in the road surface on the planned route of the vehicle, the control unit may perform control to highlight and display the gradient change on the second map that is displayed by shifting the virtual viewpoint to either the left or right of the first map.

[0016] In the third aspect, when the control unit determines that there is a gradient change on a road on the vehicle's planned route, the control unit controls the second map, which is displayed by shifting the virtual viewpoint to the left or right from the first map, to highlight the gradient change, thereby making it possible to convey information (regarding gradient changes) in a more understandable manner and creating a situation in which the occupants can easily check the driving environment.

[0017] In a fourth aspect dependent on the first aspect, when it is estimated that there is a change in road width on the road surface along the planned route of the vehicle, the control unit may perform control to display the first map seen from a bird's-eye view diagonally behind the vehicle, and then display the second map, which is narrower than the first map, on the vehicle display device.

[0018] In a fourth aspect, when the control unit estimates that there is a change in road width on the vehicle's planned route, it displays a first map that can be seen from a bird's-eye view from diagonally behind the vehicle, and then controls the vehicle display device to display (narrow-area display or detailed display) a second map that is larger in scale than the first map and focuses on the area where the road width narrows.This makes it possible to communicate information about the road width narrowing in advance and in an easy-to-understand manner, thereby creating a situation in which the occupants can easily confirm the road width change, thereby contributing to even safer driving.

[0019] In a fifth aspect dependent on the fourth aspect, the control unit may, when displaying the second map on the vehicle display device, perform control to change a virtual viewpoint position of the second map to emphasize the change in width of the road.

[0020] In the fifth aspect, when the control unit displays the second map on the vehicle display device, it changes the virtual viewpoint position of the second map to emphasize changes in road width, thereby making it possible to more emphatically communicate width reductions, etc. in addition to the narrow-area display, and creating a situation in which occupants can easily confirm width changes, thereby contributing to safe driving.

[0021] In a sixth aspect dependent on the first aspect, when it is estimated that there is a gradient change in a road on the planned route of the vehicle, the control unit may perform control to display the first map seen from a bird's-eye view diagonally behind the vehicle, and then move the virtual viewpoint to either the left or right of the first map to display a third map on the vehicle display device that emphasizes three-dimensional differences.

[0022] In the sixth aspect, when the control unit estimates that there is a gradient or step on a road on the vehicle's planned route, it displays a first map that can be seen from a bird's-eye view diagonally behind the vehicle, and then controls the vehicle display device to display a third map that emphasizes three-dimensional differences by moving the virtual viewpoint to either the left or right of the first map.This makes it possible to convey information about gradient changes in advance through estimation and in an easy-to-understand manner, thereby creating a situation in which the occupants can easily check gradient changes, etc., thereby further contributing to safer driving.

[0023] In a seventh aspect dependent on the sixth aspect, when displaying the third map, if there is a three-dimensional structure in front of the vehicle, the control unit may perform control to hide the three-dimensional structure or display it semi-transparently.

[0024] In the seventh aspect, when the control unit displays the third map, if there is a three-dimensional structure in front of the vehicle, the control unit can hide the three-dimensional structure or display it semi-transparently, thereby more emphasizing the slope, making it possible to convey information (slope, steps, etc.) more clearly and creating a situation in which the occupants can easily check slope changes, etc., thereby contributing to safe driving.

[0025] In an eighth aspect dependent on the first aspect, when it is determined or estimated that a road on the planned route of the vehicle will have a gradient change and a width decrease, the control unit may control the vehicle display device to display side by side the second map, which is displayed based on the position of the virtual viewpoint that allows a larger depression angle than the first map, and a third map, which is displayed by moving the virtual viewpoint to the left or right of the first map, or to assign priorities to displaying the gradient change and the width decrease, and to switch between displaying the second map, which is displayed based on the position of the virtual viewpoint that allows a larger depression angle in relation to the width decrease than the first map, and displaying the third map, which is displayed by moving the virtual viewpoint to the left or right of the first map in relation to the gradient change, on the vehicle display device according to the assigned display priorities.

[0026] In an eighth aspect, when it is determined or estimated that a road on the vehicle's planned route has a gradient and its width will decrease, the control unit controls the vehicle display device to display side by side a second map projected from a virtual viewpoint that allows a larger depression angle than the first map and a second map projected by shifting the virtual viewpoint to either the left or right of the first map, or, based on the idea that understanding the road width is more important than the gradient for safe driving, to display a second map projected from a virtual viewpoint that allows a larger depression angle than the first map in relation to the decrease in road width, and then to display a second map projected by shifting the virtual viewpoint to either the left or right of the first map in relation to the presence of a gradient, on the vehicle display device. In this way, even when it is determined or estimated that a road on the vehicle's planned route has a gradient or a step and its width will decrease, it is possible to more clearly convey information about the decrease in road width and the presence of a gradient, thereby creating a situation in which the occupant can easily check the road surface, thereby contributing to safe driving.

[0027] In a ninth aspect dependent on the first aspect, the control unit may control the virtual viewpoint displaying the first map to be located at a position providing a bird's-eye view diagonally rearward of the vehicle, and to change the cropping range in accordance with the movement of the vehicle, and may control the virtual viewpoint displaying the second map to be located forward of the first map, and to display the second map on the vehicle display device by fixing the virtual viewpoint to include a predetermined notification area regardless of the position of the vehicle.

[0028] In a ninth aspect, the control unit controls the virtual viewpoint displaying the first map to be positioned at a bird's-eye view from diagonally behind the vehicle, and controls the cropping range to change in accordance with the vehicle's movement, while controlling the virtual viewpoint displaying the second map to be positioned forward of the first map and fixed to include a predetermined notification area regardless of the vehicle's position, and displays the map on the vehicle display device. By fixing the position of the virtual viewpoint displaying the second map to a position where an area including the notification area is displayed regardless of the vehicle's position, the positional relationship between the vehicle and the road surface can be clearly presented. Here, the "notification area" refers to an area where there is a change in road surface width, road gradient, step, or unevenness. The first map is a map that moves in accordance with the vehicle's movement, and the second map is a map displayed with the virtual viewpoint fixed at a position where an area including the notification area is displayed regardless of the vehicle's position. When the second map is initially displayed, there is no need to display a vehicle image within the map, and as the vehicle moves, the display mode changes so that the vehicle image invades the second map.

[0029] A tenth aspect of the present invention is a head-up display device that displays a map as if viewed from a virtual viewpoint on an imaging plane that is virtually set in front of a vehicle, and includes an image display unit that displays the map, and a control unit that controls the display of a first map, or a second map or a third map whose virtual viewpoint is different from that of the first map, on the image display unit depending on whether or not there is a change in the road surface shape on a planned route for the vehicle, which is determined or estimated from driving environment information for the vehicle obtained from outside.

[0030] In a tenth aspect, the control unit controls the image display unit to display a first map or a second map with a virtual viewpoint different from that of the first map, depending on whether or not there is a change in road surface shape along the vehicle's planned driving route, as determined or estimated from vehicle driving environment information acquired from an external source. By emphasizing changes in road surface shape by changing the virtual viewpoint of the map, information can be more clearly communicated to the occupant. This allows the occupant to easily view the planned driving route at a time appropriate for the driving environment, creating a situation in which the occupant can easily check the driving environment. This reduces driving operations involving sudden lane changes, contributing to safer driving. Furthermore, by displaying a map superimposed on the vehicle's foreground, the occupant can visually confirm the route, etc., with minimal eye movement while still viewing the foreground, achieving the benefits unique to head-up display devices.

[0031] An eleventh aspect of the present invention is a display control method for controlling a vehicle display device that displays a map as if viewed from a virtual viewpoint, the method comprising the steps of: determining, by the display control device, whether or not there has been a change in road surface shape on a planned driving route of the vehicle, as determined or estimated from driving environment information of the vehicle obtained from an external source; and controlling, by the display control device, to display, on the vehicle display device, a first map, or a second map or a third map having a different virtual viewpoint from the first map, depending on whether or not there has been a change in road surface shape on the planned driving route of the vehicle.

[0032] In an eleventh aspect, the display control device controls the display of a first map or a second map having a different virtual viewpoint from the first map on the vehicle display device, depending on whether or not there is a change in the road surface shape along the planned driving route of the vehicle, which is determined or estimated from driving environment information of the vehicle acquired from an external device. This makes it possible to present a timing and planned driving route that is suitable for the driving environment in an easy-to-view manner, thereby providing a display control method that creates a situation in which the occupant can easily check the driving environment.

[0033] A twelfth aspect of the present invention is a display control program for a display control device that controls a vehicle display device that displays a map as if viewed from a virtual viewpoint, and causes a processor of the display control device to execute a process of determining whether or not there has been a change in road surface shape on a planned route for the vehicle, as determined or estimated from vehicle driving environment information obtained from the outside, and a process of controlling the display of a first map, or a second map or a third map having a different virtual viewpoint from the first map, on the vehicle display device depending on the determination result.

[0034] In a twelfth aspect, a processor of the display control device sequentially reads and executes a display control program stored in a memory, thereby determining whether or not there is a change in road surface shape along a planned vehicle travel route, which is determined or estimated from vehicle travel environment information acquired from an external source, and, depending on the determination result, executing a process for controlling the display of a first map or a second map having a different virtual viewpoint from the first map on the vehicle display device. This makes it possible to present a planned travel route at a timing appropriate for the travel environment in an easy-to-view manner, thereby providing a display control program that allows occupants to easily check the travel environment.

[0035] A thirteenth aspect according to the present invention includes a head-up display device that displays a 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 controls the head-up display device to display a first map, or a second map or a third map whose virtual viewpoint is different from that of the first map, depending on whether or not there is a change in the road surface shape on a planned route of the vehicle, which is determined or estimated from driving environment information of the vehicle obtained from outside.

[0036] In a thirteenth aspect, the display control device controls the head-up display device to display a first map, or a second map or a third map having a virtual viewpoint different from that of the first map, depending on whether or not there is a change in the road surface shape along the planned driving route of the vehicle, which is determined or estimated from driving environment information of the vehicle acquired from an external device. This makes it possible to present the planned driving route in an easy-to-view manner at a timing appropriate for the driving environment, thereby providing a vehicle display system that allows occupants to check the driving environment with ease. Furthermore, by using the head-up display device as a vehicle display device, it is possible to obtain the effect unique to head-up displays, such as superimposing a map on the foreground of the vehicle for the occupant (driver) to view, allowing the occupant (driver) to check the route, etc., with minimal eye movement while still viewing the foreground.

[0037] 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]

[0038] [Figure 1] FIG. 1 is a block 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] FIG. 3 is a diagram used to explain the operation of the display control device according to the embodiment of the present invention, showing an example of a display transition when road width is narrowed. [Figure 4] FIG. 4 is a diagram used to explain the operation of the display control device according to the embodiment of the present invention, and shows an example of display transition when there is a road gradient. [Figure 5] FIG. 5 is a diagram used to explain the trajectory (circular arc trajectory and elliptical arc trajectory) of the virtual viewpoint camera. [Figure 6] FIG. 6 is a block 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

[0039] 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).

[0040] (Configuration of the embodiment) Please refer to Fig. 1. Fig. 1 is a block diagram showing an example of the configuration of a vehicle display system 200 including a display control device 10 of this embodiment. The display control device 10 of this embodiment controls a vehicle display device 20 that displays a map as if viewed from a virtual viewpoint. The display control device 10 controls the vehicle display device 20 to display a first map, or a second map or a third map having a different virtual viewpoint from the first map, depending on whether or not there is a change in the road surface shape along the planned vehicle travel route, which is determined or estimated from vehicle travel environment information acquired from the outside. Details will be described later.

[0041] Here, "vehicle driving environment information acquired from an external source" refers to, for example, map information acquired via a locator 40, a navigation device 50, a GNSS device 60, a perimeter monitoring sensor 70, an IMU 80, a map information storage device 90, or an external vehicle communication connection device 100, which will be described later, and caution sign data such as a narrowing of road width or a slope on the planned route of the vehicle. Also, the "virtual viewpoint" refers to the position of a virtual viewpoint camera VC having a depression angle that looks down on a map around the vehicle's position, where a "first map" is a map image displayed with an acute depression angle looking down on the vehicle at an angle, a "second map" is a map image displayed with a depression angle of approximately 90 degrees and a virtual viewpoint facing the vehicle directly, and a "third map" is a map image displayed by moving the virtual viewpoint to the left or right of the first map. 5(a) and 5(b), the virtual viewpoint camera VC moves in an arc or elliptical arc trajectory while maintaining the same angle of view VA (VA1 to VA3) from the diagonally rearward toward the frontward direction of the vehicle while gradually increasing the depression angle θ. Here, the "depression angle" refers to the inclination angle θ of the optical axis (shown by the dashed line) of the virtual viewpoint camera VC with respect to the road surface.

[0042] The first map refers to, for example, a 3D map image in which the 3D map is viewed from a bird's-eye view, the second map refers to a 2D map image in which, for example, the 3D map is viewed from a zenith view, which allows for a larger angle of depression than the first map, and the third map is a 3D map image displayed by moving the virtual view point to either the left or right of the first map. The 3D map image refers to a map image in which three-dimensional information such as altitude and building height is added to a 2D map image, and because mountains, buildings, etc. are displayed in three dimensions, it is possible to depict things more realistically than a 2D map image which is displayed in two dimensions. In addition, because it is possible to look around 360 degrees or move while looking down from a bird's-eye view, it is possible to observe the scenery more realistically than a 2D map image.

[0043] 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 (see HUD device 20A in Figure 6) that projects an information image onto the windshield of the vehicle so that occupants (such as the driver) can view it as a virtual image showing predetermined information 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 guidance for the vehicle's driving route and displays it in correspondence with the lanes, which are the actual scenery, allowing the occupant to check the driving route with minimal eye movement while viewing the actual scenery.

[0044] 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).

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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 content of the route guidance to the display control device 10.

[0049] 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).

[0050] 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.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] The display control device 10 of this embodiment includes a control unit 11 and a storage unit 12. The control unit 11 can control the display of a first map, or a second map or a third map having a different virtual viewpoint from the first map, on the vehicle display device 20, depending on whether or not there is a change in the road surface shape along the planned travel route of the vehicle, which is determined or estimated from vehicle travel environment information acquired from the outside.

[0056] Furthermore, when it is determined that there is a change in road width on the planned route of the vehicle, the control unit 11 can perform control to highlight and display the change in road width on a second map displayed based on the position of a virtual viewpoint that can take a larger depression angle than the first map. Furthermore, when it is determined that there is a change in gradient (including steps and unevenness) on a road on the planned route of the vehicle, the control unit 11 can perform control to highlight and display the change in gradient on a second map displayed by shifting the virtual viewpoint to either the left or right of the first map.

[0057] Furthermore, when it is estimated that there is a change in road width on the planned route of the vehicle, the control unit 11 can perform control to display a first map seen from a bird's-eye view diagonally behind the vehicle, and then display a second map of a narrower area than the first map on the vehicle display device 20. Here, when displaying the second map on the vehicle display device 20, the control unit 11 may perform control to change (for example, move upward) the virtual viewpoint position of the second map to emphasize the change in road width.

[0058] Furthermore, when it is estimated that there is a gradient change (including steps and unevenness) on a road on the planned route of the vehicle, the control unit 11 can perform control to display a first map seen from a bird's-eye view diagonally behind the vehicle, and then to move the virtual viewpoint to either the left or right of the first map to display a third map that emphasizes three-dimensional differences on the vehicle display device 20. Here, when displaying the third map, if there is a three-dimensional structure in front of the vehicle, the control unit 11 may perform control to hide the three-dimensional structure or display it semi-transparently.

[0059] Furthermore, when it is determined or estimated that a road on the planned route of the vehicle has a gradient change and a narrowing in road width, the control unit 11 can display a second map, which is displayed based on the position of a virtual viewpoint that allows a larger depression angle than the first map, and a third map, which is displayed by shifting the virtual viewpoint to either the left or the right of the first map, side by side on the vehicle display device 20. In this case, the control unit 11 can assign priorities to the display of the gradient change and the narrowing in road width, and, according to the assigned display priorities, can perform control to switch between displaying on the vehicle display device 20 the second map, which is displayed based on the position of a virtual viewpoint that allows a larger depression angle than the first map in relation to the narrowing in road width, and displaying on the vehicle display device 20 the third map, which is displayed by shifting the virtual viewpoint to either the left or the right of the first map in relation to the gradient change.

[0060] The control unit 11 can also control the virtual viewpoint displaying the first map to be positioned diagonally behind the vehicle, providing a bird's-eye view, and change the cropping range to follow the movement of the vehicle, while controlling the virtual viewpoint displaying the second map to be positioned forward of the first map, and fixedly displaying the map on the vehicle display device 20 so as to include a predetermined notification area regardless of the vehicle's position. Here, the "notification area" refers to an area where there are changes in road width, gradients, steps, unevenness, etc., and the first map is a map that moves in accordance with the movement of the vehicle, while the second map is a map that is displayed with the virtual viewpoint fixed at a position that shows an area including the notification area, regardless of the vehicle's position. When the second map is initially displayed, there is no need to display a vehicle image within the map, and as the vehicle moves, the display mode changes so that the vehicle image invades the second map.

[0061] 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.

[0062] The memory unit 12 is allocated a program area 121 and a work area 122, each of which is a non-volatile memory equipped with DRAM, SRAM, or the like, and stores programs and work data. The program area 121 stores the display control program of this embodiment, while the work area 122 stores caution sign data, such as road width narrowing and road gradients on the vehicle's planned route, a first map, a second map, a third map that are updated based on the caution sign data, and an image display area (VRAM). When displaying, the control unit 11 transfers (draws) the first map, the second map, or the third map to the image display area (VRAM) at high speed, reads out the drawn first map, the second map, or the third map in synchronization with the display timing of the vehicle display device 20, and outputs it to the vehicle display device 20. This allows a desired display to be obtained.

[0063] (Operation of the embodiment) Fig. 2 is a flowchart showing the operation of display control device 10 of this embodiment. Figs. 3 to 5 are diagrams cited for explaining the operation of display control device 10 of this embodiment, and show an example of display transition when road width narrows (Fig. 3), an example of display transition when there is a road gradient (Fig. 4), and the trajectory of virtual viewpoint camera VC (Fig. 5), respectively. The operation of display control device 10 of this embodiment shown in Fig. 1 will be described in detail below with reference to Figs. 2 to 5.

[0064] 2, in the display control device 10 of this embodiment, first, when a vehicle startup condition such as ignition on is satisfied, the control unit 11 acquires vehicle driving environment information from an external device (step ST101). Here, the "vehicle driving environment information" refers to, for example, map information acquired via the locator 40, navigation device 50, GNSS device 60, periphery monitoring sensor 70, IMU 80, map information storage device 90, or external vehicle communication connection device 100 shown in FIG. 1, and caution sign data such as narrowing of road width, road gradient, steps, and unevenness on the planned route of the vehicle.

[0065] Next, the control unit 11 determines or estimates the road surface shape on the planned driving route of the vehicle from the acquired driving environment information of the vehicle (step ST102). Here, it is assumed that the control unit 11 determines or estimates the road surface shape, such as a narrowing of the road surface width, road gradient, steps, and unevenness, on the planned driving route of the vehicle from the vehicle position information and the surrounding map information on the driving route. Next, the control unit 11 determines or estimates whether or not there is a change in the road surface shape on the planned driving route of the vehicle (step ST103). Here, if there is a change in the road surface shape (step ST103 "YES") and further, if the change in the road surface shape is a narrowing of the road width (step ST104 "YES"), the control unit 11 displays a first map that can be seen from a bird's-eye view diagonally behind the vehicle (step ST105). Then, after the vehicle has traveled a certain distance, the control unit 11 controls the vehicular display device 20 to display, for example, a second map that is narrower than the first map (step ST106). When displaying the second map, the control unit 11 may perform control to highlight the change in road width using the second map displayed based on the position of a virtual viewpoint that can have a larger depression angle than the first map (for example, by raising the position of the virtual viewpoint).

[0066] An example of the display transition in the case of a change in road width is shown in Fig. 3. Fig. 3(a) shows an example of the first map before the transition on the left, and an example of the second map to which the transition occurs when a change in road surface shape is determined or estimated to be a decrease in road width in the direction of the arrow.

[0067] In FIG. 3(a), the first map shown on the left is a typical bird's-eye view map seen from diagonally behind the vehicle, displaying road Rd on the vehicle's travel route and surrounding buildings Bd in 3D. Meanwhile, the second map, as indicated by the arrow, is a narrow-area display that focuses on narrowing road widths more than the first map, displaying road Rd' and buildings Bd' in greater detail at a larger scale. For the narrow-area display, the scale is displayed within a range of, for example, 100 m (whereas a wide-area display ranges from 100 m to 200 km). Similarly, FIG. 3(b) shows an example of the first map before transition on the left, and an example of the second map to which transition occurs when a change in road surface shape is determined or estimated to be a narrowing of road width, as indicated by the arrow. In FIG. 3(b), the first map is a typical bird's-eye view map seen from diagonally behind the vehicle, displaying road Rd on the vehicle's travel route and surrounding buildings Bd in 3D. On the other hand, the second map not only displays the narrow area, but also raises the virtual viewpoint position, thereby displaying the building Bd'' in a nearly planar view (2D view), thereby more emphasizing the changes in the width of the road surface Rd''.

[0068] Next, the control unit 11 again acquires vehicle driving environment information from the outside (step ST107) and determines or estimates the road surface shape (step ST108). If it is determined or estimated that there is a change in the road surface shape (step ST108 "YES"), the operation of steps ST106 to ST108 is repeated, and if it is determined or estimated that there is no change in the road surface shape (step ST108 "NO"), the map display on the vehicle display device 20 is turned off when a termination condition such as ignition off is met, and the above-mentioned series of operations is terminated.

[0069] On the other hand, if it is determined or estimated in step ST104 that there is no change in road width ("NO" in step ST104), the control unit 11 determines or estimates the presence or absence of other changes, for example, a change in road gradient (step ST110). Here, the change is not limited to road gradient, but may be a step, unevenness, or the like. For example, if it is determined or estimated that there is a change in road gradient ("YES" in step ST110), the control unit 11 displays a first map seen from a bird's-eye view diagonally behind the vehicle, and then, after traveling a certain distance, controls the vehicle display device 20 to display a third map in which the virtual viewpoint is shifted to either the left or right of the first map and the three-dimensional difference is emphasized (step ST112). Here, when displaying the third map, if there is a three-dimensional structure in front of the vehicle, the control unit 11 may control the display device 20 to hide the three-dimensional structure or to display it semi-transparently.

[0070] FIG. 4 shows an example of a display transition when there is a change in road gradient. In FIG. 4, an example of the first map before the transition is shown on the left, and an example of the third map displayed when there is a change in road gradient is shown on the right of the arrow. The first map is a normal bird's-eye view map seen from diagonally behind vehicle C, and is a map that displays road Rd on vehicle C's driving route and surrounding buildings Bd in 3D. On the other hand, the third map is a 3D map that emphasizes three-dimensional differences by moving the virtual viewpoint to either the left or right of the first map. Road Rd''' on the vehicle's driving route is displayed three-dimensionally at an appropriate angle, and surrounding buildings Bd''' are also displayed with their 3D emphasis. When displaying the third map, if there is a three-dimensional structure in front of the vehicle, the three-dimensional structure can be hidden or displayed semi-transparently to further highlight the gradient and attract the occupant's attention.

[0071] Next, the control unit 11 acquires vehicle driving environment information from an external source (step ST113) and determines or estimates the road surface shape (step ST114). If it is determined or estimated that there is a change in the road surface shape (step ST115 "YES"), the control unit 11 repeatedly executes the operations of steps ST106 to ST108. If it is determined or estimated that there is no change in the road surface shape (step ST115 "NO"), the control unit 11 turns off the map display on the vehicle display device 20 when a termination condition such as turning off the ignition is met, and ends the series of operations described above. Note that if it is determined in step ST103 that there is no change in the road surface shape (step ST103 "NO"), or if it is determined in step ST110 that there is no other change in the road surface condition (step ST110 "NO"), the control unit 11 also turns off the map display on the vehicle display device 20 when a termination condition such as turning off the ignition is met, and ends the series of operations described above.

[0072] When it is determined or estimated that a road on the vehicle's planned route has a gradient or a step and the road width will decrease, the control unit 11 can display a second map displayed from a virtual viewpoint that allows a larger depression angle than the first map and a third map displayed by shifting the virtual viewpoint to either the left or right of the first map side by side on the vehicle display device 20. Furthermore, based on the idea that understanding the road width is more important than the gradient for safe driving, for example, the control unit 11 may control the vehicle display device 20 to display a second map displayed from a virtual viewpoint that allows a larger depression angle than the first map, regarding the decrease in road width, and then display a third map displayed by shifting the virtual viewpoint to either the left or right of the first map, regarding the existence of a road gradient. In this way, even when it is determined or estimated that a road on the vehicle's planned route has a gradient or a step and the road width will decrease, information such as the decrease in road width and the existence of the gradient or step can be more clearly conveyed, creating a situation in which the occupant can easily confirm the gradient change, etc., thereby contributing to safe driving.

[0073] Alternatively, the control unit 11 may control the display of the first map so that the virtual viewpoint displaying the first map is positioned diagonally behind the vehicle, providing a bird's-eye view, and so that the cropping range changes in response to the vehicle's movement. Alternatively, the control unit 11 may control the display of the second map so that the virtual viewpoint displaying the first map is positioned forward of the first map and is fixed to include a predetermined notification area regardless of the vehicle's position. Here, the "notification area" refers to an area where road width changes, gradients, steps, unevenness, etc. exist. The first map is a map that moves in response to the vehicle's movement, and the second map is a map that is displayed with a virtual viewpoint fixed at a position that includes the notification area, regardless of the vehicle's position. When the second map is initially displayed, there is no need to display a vehicle image within the map; as the vehicle moves, the display mode changes so that the vehicle image intrudes into the second map. By fixing the virtual viewpoint position in this way, the positional relationship between the vehicle and the road surface can be presented in an easy-to-understand manner.

[0074] Here, we will provide additional information about the virtual viewpoint. As described above, the virtual viewpoint refers to the position of the virtual viewpoint camera VC with a depression angle that overlooks a map of the area surrounding the vehicle. The "first map" is a map image displayed with an acute depression angle, looking down on the vehicle at an angle. The "second map" is a map image displayed with a depression angle of approximately 90 degrees, with the virtual viewpoint facing the vehicle directly. The "third map" is a map image displayed by moving the virtual viewpoint to either the left or right of the first map. For example, as shown in Figures 5(a) and 5(b), the virtual viewpoint moves in an arc or elliptical arc trajectory while gradually increasing the depression angle θ from diagonally behind the vehicle toward the front of the vehicle, maintaining the same angle of view VA (VA1 to VA3). Here, the "depression angle" refers to the inclination angle θ of the optical axis (indicated by a dashed line) of the virtual viewpoint camera VC with respect to the road surface.

[0075] The virtual viewpoint camera VC has a predetermined virtual field of view (field angle VA), and a map image projected within this virtual field of view range VA can be displayed on the vehicle display device 20. Note that VA1 to VA3 are field angles (the range that the virtual viewpoint camera VC can capture) whose position changes due to the virtual viewpoint camera VC moving relatively as the vehicle moves, and as long as the virtual viewpoint camera VC follows an arc or ellipse orbit, the field angles VA1 to VA3 are centered on the center VA regardless of the position of the virtual viewpoint camera VC on the orbit. C In other words, the center of the angle of view (VA) of the virtual field of view VA displayed by the virtual viewpoint camera VC is the same for both the first and second maps. C ) remains unchanged.

[0076] (Variation) As described above, the display control device 10 of this embodiment controls the vehicle display device 20, and the control unit 11 controls the vehicle display device 20 to display a first map or a second map with a different virtual viewpoint from the first map, depending on whether or not there is a change in road surface shape along the vehicle's planned driving route, as determined or estimated from vehicle driving environment information acquired from an external device. This allows the change in road surface shape to be emphasized by changing the virtual viewpoint of the map, thereby enabling more easily understood information to be conveyed to the occupant. Therefore, the planned driving route can be presented in an easy-to-view manner at a timing appropriate for the driving environment, creating a situation in which the occupant can easily check the driving environment. Therefore, it has been described as contributing to safe driving by suppressing driving operations that involve sudden lane changes.

[0077] On the other hand, 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, that is, can perform control to display a first map or a second map having a different virtual viewpoint from the first map on an image display unit (image display unit 23 in FIG. 6 described later) depending on whether or not there is a change in the road surface shape along the planned vehicle travel route, which is determined or estimated from vehicle travel environment information acquired from the outside, thereby achieving the same effect and reducing the load on the display control device 10. In addition, an effect unique to the HUD device 20A can be achieved, such as displaying a map superimposed on the foreground of the vehicle for viewing, allowing the driver to check the route, etc., with minimal eye movement while viewing the foreground.

[0078] 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 map as if viewed from a virtual viewpoint on an imaging plane that is 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.

[0079] As described above, the control unit 21 controls the display of the first map or the second map, which has a different virtual viewpoint from the first map, on the vehicle display device 20, depending on whether or not there is a change in the road surface shape along the planned vehicle travel route, which is determined or estimated from vehicle travel environment information acquired from an external source. Note that the storage unit 22 is assigned and stores caution sign data, such as information about a narrowing of road width or a slope along the planned vehicle route, the first map, the second map, the third map, and the image display area (VRAM), which are updated based on the caution sign data.

[0080] The image display unit 23 displays a map image under the control of the control unit 21, and is mainly composed of, for example, a light source consisting of a light-emitting diode 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 first map, a second map, or a third 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 so as to be superimposed on the viewer's forward field of vision, allowing the viewer to view it.

[0081] According to the HUD device 20A of this embodiment, the control unit 21 controls the image display unit 23 to display either a first map or a second map with a different virtual viewpoint from the first map, depending on whether or not there is a change in road surface shape along the planned vehicle travel route, as determined or estimated from vehicle travel environment information acquired from an external source. By emphasizing changes in road surface shape by changing the virtual viewpoint of the map, information can be more clearly communicated to the occupant. This allows the planned travel route to be presented in a timely manner appropriate for the travel environment, allowing the occupant (driver) to easily check the travel environment. This reduces driving operations involving sudden lane changes, contributing to safer driving. Furthermore, by displaying a map superimposed on the vehicle's foreground, the occupant can easily view the map and check the route, etc., with minimal eye movement while still viewing the foreground. This is another advantage unique to the HUD device 20A.

[0082] (Effects of the embodiment) As described above, the display control device of this embodiment is a display control device 10 that controls a vehicle display device 20 that displays a map as if viewed from a virtual viewpoint, as shown in Fig. 1. The display control device 10 has a control unit 11 that controls the vehicle display device 20 to display a first map, or a second map or a third map that has a different virtual viewpoint from the first map, depending on whether or not there is a change in the road surface shape along a planned vehicle travel route, which is determined or estimated from vehicle travel environment information acquired from the outside.

[0083] According to the display control device 10 of this embodiment, the control unit 11 controls the display of the first map or the second map, which has a virtual viewpoint different from that of the first map, on the vehicle display device 20 depending on whether or not there is a change in road surface shape along the planned driving route of the vehicle, as determined or estimated from driving environment information of the vehicle acquired from an external source. By changing the virtual viewpoint of the map to highlight changes in road surface shape, it is possible to communicate information to the occupants in a more easily understandable manner. Therefore, it is possible to clearly present the planned driving route at a timing appropriate for the driving environment, creating a situation in which the occupants can easily check the driving environment. Therefore, driving operations involving sudden lane changes can be suppressed, contributing to safe driving.

[0084] Furthermore, according to the display control device 10 of this embodiment, when the control unit 11 determines that there is a change in road width on the vehicle's planned route, the control unit 11 controls the second map, which is displayed based on the position of a virtual viewpoint that allows a larger depression angle than the first map, to change the display from a three-dimensional display to a two-dimensional display, for example, and highlight the change in width, thereby making it possible to communicate information about the decrease in width more clearly and creating a situation in which the occupants can easily confirm the change in width, thereby contributing to safe driving.

[0085] Furthermore, according to the display control device 10 of this embodiment, when the control unit 11 determines that there is a gradient change on a road on the vehicle's planned route, the control unit 11 controls the second map, which is displayed by shifting the virtual viewpoint to the left or right from the first map, to highlight and display the gradient change, thereby making it possible to communicate information about the gradient change in a more understandable manner and creating a situation in which the occupants can easily check the driving environment.

[0086] Furthermore, according to the display control device 10 of this embodiment, when the control unit 11 displays the second map on the vehicle display device 20, it changes the virtual viewpoint position of the second map to emphasize changes in road width, thereby making it possible to more emphatically convey width reductions, etc. in addition to the narrow-area display, and creating a situation in which the occupants can easily confirm width changes, thereby contributing to safe driving.

[0087] Furthermore, according to the display control device 10 of this embodiment, when the control unit 11 estimates that there is a gradient change on a road on the vehicle's planned route, it displays a first map that can be seen from a bird's-eye view diagonally behind the vehicle, and then controls the vehicle display device 20 to display a third map that emphasizes the three-dimensional difference by moving the virtual viewpoint to either the left or right of the first map, thereby making it possible to convey information about gradient changes in advance through estimation in an easy-to-understand manner, and therefore creating a situation in which the occupants can easily check gradient changes, etc., thereby further contributing to safer driving.

[0088] Furthermore, according to the display control device 10 of this embodiment, when displaying the third map, if there is a three-dimensional structure in front of the vehicle, the control unit 11 can make the three-dimensional structure invisible or display it semi-transparently, thereby emphasizing the slope and conveying information (slope, steps, etc.) more clearly. This creates a situation in which the occupants can easily check slope changes, etc., thereby contributing to safe driving.

[0089] Furthermore, according to the display control device 10 of this embodiment, when it is determined or estimated that a road on the planned route of the vehicle has a gradient or a step and the road width will decrease, the control unit 11 controls the vehicle display device 20 to display side by side a second map displayed from a virtual viewpoint that allows a larger depression angle than the first map and a second map displayed by shifting the virtual viewpoint to either the left or right of the first map, or, based on the idea that understanding the road width is more important than the gradient for safe driving, to display a second map displayed from a virtual viewpoint that allows a larger depression angle than the first map in relation to the decrease in road width, and then to display a second map displayed by shifting the virtual viewpoint to either the left or right of the first map in relation to the presence of a gradient, on the vehicle display device 20. In this way, even when it is determined or estimated that a road on the planned route of the vehicle has a gradient or a step and the road width will decrease, it is possible to convey information (such as a decrease in road width, a gradient, or a step) in a more easily understandable manner, thereby creating a situation in which the occupant can easily confirm the gradient change, etc., thereby contributing to safe driving.

[0090] Furthermore, according to the display control device 10 of this embodiment, the control unit 11 controls the virtual viewpoint displaying the first map to be positioned at a bird's-eye view from diagonally behind the vehicle, and controls the cropping range to change in response to the vehicle's movement. The virtual viewpoint displaying the second map is positioned forward of the first map and fixed to include a predetermined notification area regardless of the vehicle's position, and the second map is displayed on the vehicle display device 20. In this way, by fixing the position of the virtual viewpoint displaying the second map to a position where an area including the notification area is displayed regardless of the vehicle's position, the positional relationship between the vehicle and the road surface can be clearly presented. Here, the "notification area" refers to an area where there are changes in road width, gradients, steps, unevenness, etc. The first map is a map that moves in response to the vehicle's movement, and the second map is a map displayed with the virtual viewpoint fixed in a position where an area including the notification area is displayed regardless of the vehicle's position. When the second map is initially displayed, there is no need to display a vehicle image within the map. As the vehicle moves, the display mode changes so that the vehicle image invades the second map.

[0091] The head-up display device of this embodiment is, for example, a head-up display device (HUD device 20A) that displays a map as if viewed from a virtual viewpoint on an imaging plane that is virtually set in front of the vehicle, as shown in Fig. 6. The HUD device 20A includes an image display unit 23 that displays the map, and a control unit 21 that controls the display of a first map, or a second map or a third map that has a different virtual viewpoint from the first map, on the image display unit 23, depending on whether or not there is a change in the road surface shape on the planned travel route of the vehicle, which is determined or estimated from travel environment information of the vehicle obtained from an external source.

[0092] According to the HUD device 20A of this embodiment, the control unit 21 controls the image display unit 23 to display either a first map or a second map with a different virtual viewpoint from the first map, depending on whether or not there is a change in road surface shape along the planned vehicle travel route, as determined or estimated from vehicle travel environment information acquired from an external device. By emphasizing changes in road surface shape by changing the virtual viewpoint of the map, information can be more clearly communicated to the occupant. This allows the planned travel route to be presented in a timely manner appropriate for the travel environment, allowing the occupant (driver) to easily check the travel environment. This reduces driving operations involving sudden lane changes, contributing to safer driving. Furthermore, by displaying a map superimposed on the vehicle's foreground, the occupant can easily view the map, thereby enabling the occupant to check the route, etc., with minimal eye movement while still viewing the foreground. Another advantage unique to the HUD device 20A is that the map can be superimposed on the occupant's view, allowing them to check the route, etc., with minimal eye movement while still viewing the foreground.

[0093] The display control method of this embodiment is a display control method for controlling a vehicle display device 20 that displays a map as if viewed from a virtual viewpoint, for example, as shown in Fig. 1. The display control method includes steps (ST101 to ST103) in which the display control device 10 determines whether or not there is a change in road surface shape along a planned vehicle travel route, which is determined or estimated from vehicle travel environment information acquired from an external source, as shown in Fig. 2, and steps (ST104 to ST116) in which the display control device 10 controls the vehicle display device 20 to display a first map, or a second map or a third map having a different virtual viewpoint from the first map, depending on whether or not there is a change in road surface shape along the planned vehicle travel route.

[0094] According to the display control method of this embodiment, the display control device 10 controls the display of a first map or a second map with a different virtual viewpoint from the first map on the vehicle display device 20, depending on whether or not there is a change in the road surface shape along the planned driving route of the vehicle, which is determined or estimated from driving environment information of the vehicle acquired from an external source. Therefore, it is possible to present a timing and planned driving route that is suitable for the driving environment in an easy-to-view manner, and it is possible to provide a display control method that creates a situation in which the occupant can easily check the driving environment.

[0095] The display control program of this embodiment is, for example, a display control program of a display control device 10 that controls a vehicle display device 20 that displays a map as if viewed from a virtual viewpoint, as shown in Fig. 1. The display control program causes a processor included in the display control device 10 to execute, for example, as shown in Fig. 2, a process of determining whether or not there is a change in the road surface shape along a planned vehicle travel route, which is determined or estimated from vehicle travel environment information acquired from the outside (ST101 to ST103), and a process of controlling the display of a first map, or a second map or a third map having a different virtual viewpoint from the first map, on the vehicle display device 20 according to the determination result (ST104 to ST116).

[0096] According to the display control program of this embodiment, the processor of the display control device 10 sequentially reads and executes the display control program stored in memory (the program area 122 of the storage unit 12), thereby determining whether or not there is a change in the road surface shape along the planned driving route of the vehicle, which is determined or estimated from driving environment information of the vehicle acquired from outside, and, depending on the determination result, executes processing to control the display of the first map or a second map having a different virtual viewpoint from the first map on the vehicle display device 20. Therefore, it is possible to present the planned driving route at an easy-to-view timing suited to the driving environment, and it is possible to provide a display control program that creates a situation in which the occupant can easily check the driving environment.

[0097] The vehicular display system of this embodiment is a vehicular display system 200 having, for example, a head-up display device (used as a vehicular display device 20, for example, a HUD device 20A shown in FIG. 6) that displays a map as if viewed from a virtual viewpoint on an imaging surface that is virtually set in front of the vehicle, as shown in FIG. 1, and a display control device 10 that controls the display of a first map, or a second map or a third map that has a different virtual viewpoint from the first map, on the HUD device 20A, depending on whether or not there is a change in the road surface shape on the planned route of travel of the vehicle, which is determined or estimated from vehicle travel environment information obtained from the outside.

[0098] According to the vehicular display system 200 of this embodiment, the display control device 10 controls the HUD device 20A to display a first map or a second map with a virtual viewpoint different from that of the first map, depending on whether or not there is a change in the road surface shape along the planned driving route of the vehicle, which is determined or estimated from driving environment information of the vehicle acquired from an external device. Therefore, the planned driving route can be presented in an easy-to-view manner at a timing appropriate for the driving environment, thereby providing the vehicular display system 200 that allows the occupant (driver) to check the driving environment with ease. Furthermore, by using the HUD device 20A as the vehicular display device 20, the occupant can visually confirm the map by superimposing it on the foreground of the vehicle, thereby obtaining the effect unique to the HUD device 20A, such as being able to check the route, etc., with minimal eye movement while still viewing the foreground.

[0099] 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]

[0100] 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 map as if viewed from a virtual viewpoint, a control unit that controls the display of a first map, or a second map or a third map having a virtual viewpoint different from that of the first map, on the vehicle display device, depending on whether or not there is a change in road surface shape on a planned route of the vehicle, which change is determined or estimated from vehicle driving environment information acquired from an external source.

2. The control unit 2. The display control device for a vehicle according to claim 1, wherein, when it is determined that there is a change in road width on the planned route of the vehicle, the display control device performs control to highlight and display the change in road width on the second map displayed based on the position of the virtual viewpoint that can take a larger depression angle than the first map.

3. The control unit 2. The display control device for a vehicle according to claim 1, wherein, when it is determined that there is a gradient change in the road surface on the planned route of the vehicle, control is performed to highlight and display the gradient change on the second map that is displayed by shifting the virtual viewpoint to either the left or right of the first map.

4. The control unit 2. The vehicle display control device according to claim 1, wherein, when it is estimated that there is a change in road width on the planned route of the vehicle, control is performed to display the first map seen from a bird's-eye view diagonally behind the vehicle, and then display the second map, which is narrower than the first map, on the vehicle display device.

5. The control unit 5. The vehicle display control device according to claim 4, wherein when the second map is displayed on the vehicle display device, a virtual viewpoint position of the second map is changed to emphasize the change in road width.

6. The control unit 2. The vehicle display control device according to claim 1, wherein, when it is estimated that a gradient change exists on a road on a planned route of the vehicle, control is performed to display the first map seen from a bird's-eye view diagonally behind the vehicle, and then to move the virtual viewpoint to either the left or right of the first map to display the third map on the vehicle display device, with three-dimensional differences emphasized.

7. The control unit 7. The vehicle display control device according to claim 6, wherein when the third map is displayed, if there is a three-dimensional structure in front of the vehicle, the three-dimensional structure is hidden or displayed semi-transparently.

8. The control unit If it is determined or estimated that a road on the planned route of the vehicle has a gradient change and a width decrease, The second map, which is displayed based on the position of the virtual viewpoint that can take a larger depression angle than the first map, and the third map, which is displayed by moving the virtual viewpoint to either the left or the right of the first map, are displayed side by side on the vehicle display device; or or the vehicular display control device according to claim 1, wherein priorities are assigned to the display of the gradient change and the narrowing of road width, and control is performed to switch between displaying, on the vehicular display device, the second map displayed based on the position of the virtual viewpoint that allows a larger depression angle in relation to the narrowing of road width than in the first map, and displaying, on the vehicular display device, the third map displayed by shifting the virtual viewpoint to the left or right of the first map in relation to the gradient change, in accordance with the assigned display priorities.

9. The control unit 2. The vehicle display control device according to claim 1, wherein the virtual viewpoint displaying the first map is located at a position that provides a bird's-eye view diagonally rearward of the vehicle, and the cut-out range is controlled to change in accordance with the movement of the vehicle, and the virtual viewpoint displaying the second map is located forward of the first map, and the map is fixed to include a predetermined notification area regardless of the position of the vehicle and is displayed on the vehicle display device.

10. A head-up display device that displays a 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 map; a control unit that performs control to display a first map, or a second map or a third map having a virtual viewpoint different from that of the first map, on the image display unit, depending on whether or not there is a change in road surface shape on a planned driving route of the vehicle, which change is determined or estimated from driving environment information of the vehicle obtained from an external source.

11. A display control method for controlling a vehicle display device that displays a map as if viewed from a virtual viewpoint, comprising: A display control device a step of determining whether or not there is a change in road surface shape on a planned travel route of the vehicle, the change being determined or estimated from travel environment information of the vehicle acquired from an external source; The display control device and performing control to display, on the vehicle display device, a first map, or a second map or a third map having a virtual viewpoint different from that of the first map, depending on whether or not there is a change in road surface shape on the planned driving route of the vehicle.

12. A display control program for a display control device that controls a vehicle display device that displays a map as if viewed from a virtual viewpoint, A processor included in the display control device A process of determining whether or not there is a change in road surface shape on a planned travel route of the vehicle, which is determined or estimated from travel environment information of the vehicle acquired from an external source; and a display control program that executes a process of controlling the display of a first map, or a second map or a third map having a virtual viewpoint different from that of the first map, on the vehicle display device depending on the determination result.

13. a head-up display device that displays a 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 controls the head-up display device to display a first map, or a second map or a third map that has a scale or a virtual viewpoint different from that of the first map, depending on whether or not there is a change in road surface shape on a planned route of the vehicle, which is determined or estimated from driving environment information of the vehicle obtained from an external source.

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