Display control device, method, and computer readable medium recorded with program

Abstract

The invention relates to a display control device, a display control method, and a computer-readable medium on which a display control program is recorded. A display control device according to the present invention includes a display control unit configured to control a display of an object when an amount of change in a position of the object indicated by position information output from a detection unit that detects the object or a physical quantity determined from the amount of change is equal to or less than a first predetermined value. And a control unit that causes the display device to display a mark at a position corresponding to the position of the object indicated by the position information in the display area, and restricts the movement of the display position of the mark in the display area of the display device when the change amount or the physical quantity exceeds a second predetermined value that is greater than or equal to the first predetermined value.

Description

Technical Field

[0001] The present disclosure relates to a display control device, a display control method, and a computer-readable medium recording a display control program. Background Art

[0002] The following technique is described in WO2017 / 046938. That is, when a preceding vehicle following a following object in the following travel control is detected, a HUD (Head Up Display) is used to display a mark so as to overlap with the preceding vehicle of the following object.

[0003] When a mark is displayed at a position corresponding to an object such as a preceding vehicle, the accuracy of the position detection of the object by the sensor for detecting the object varies depending on, for example, the color of the object, the distance from the object, the weather, and the like. Moreover, when the accuracy of the position detection of the object by the sensor decreases, the mark may be displayed at a position far from the position corresponding to the object, or the display position of the mark may vibrate and change, thereby giving a sense of discomfort to the occupants of the host vehicle.

[0004] As an example, in Figure 6A a state is shown in which a bar-shaped following mark 76 is displayed at a position corresponding to a preceding vehicle 74 as an object. In addition, in Figure 6B a state is shown in which a bar-shaped following mark 76 is displayed at a position shifted 2 to 3 m in the vehicle width direction and also shifted several m in the vehicle vertical direction from the position corresponding to the preceding vehicle 74. In Figure 6B the state shown, there is a case where a sense of discomfort is given to the occupants. In addition, in Figure 7 an example of the change in the error when a camera as an example of a sensor detects the position of a preceding vehicle in rainy weather is shown. If the position detection result shown in Figure 7 is directly used to display the mark, during a period A in which the error varies, the display position of the mark vibrates and changes, and during a period B in which the preceding vehicle is lost, the mark is displayed at a position far from the position corresponding to the object. Summary of the Invention

[0005] The present disclosure provides a display control device, a display control method, and a computer-readable medium recording a display control program that can suppress the sense of discomfort given to occupants when the accuracy of position detection of an object decreases.

[0006] The display control device according to the first mode includes a display control unit configured to: when the change amount of the position of the object represented by the position information output from the detection unit of the detection object or the physical quantity obtained based on the change amount is equal to or less than a first specified value, cause the display device to display a mark at a position corresponding to the position of the object represented by the position information within the display area; and when the change amount or the physical quantity exceeds a second specified value that is greater than the first specified value, restrict the movement of the display position of the mark within the display area of the display device.

[0007] In the first mode, position information representing the position of the object is output from the detection unit of the detection object. Here, when the change amount of the position of the object represented by the position information or the physical quantity obtained based on the change amount is equal to or less than a first specified value, that is, when the accuracy of the position detection of the object is relatively high, the display device is caused to display a mark at a position corresponding to the position of the object represented by the position information within the display area.

[0008] On the other hand, when the change amount or the physical quantity exceeds a second specified value that is greater than the first specified value, that is, when the accuracy of the position detection of the object decreases, the movement of the display position of the mark within the display area of the display device is restricted. Thereby, when the accuracy of the position detection of the object decreases, it is possible to suppress the display of the mark at a position far from the position corresponding to the object and the vibratory change of the display position of the mark, and thus it is possible to suppress the discomfort felt by the occupant.

[0009] The second mode is configured to: based on the first mode, when the average value or the standard deviation of the change amount as the physical quantity exceeds a first threshold value as the second specified value, the display control unit stops the movement of the display position of the mark.

[0010] According to the second mode, when the accuracy of the position detection of the object decreases, it is possible to suppress the display of the mark at a position far from the position corresponding to the object.

[0011] The third mode is configured to: based on the second mode, when the distance from the object is equal to or greater than a specified distance, the display control unit decreases the second specified value compared to the case where the distance from the object is less than the specified distance.

[0012] According to the experiments conducted by the inventors of the present application, when the marker is displayed at a position corresponding to the position of the object, the allowable position offset of the marker decreases as the distance from the object increases. Based on this situation, in the third mode, when the distance from the object is equal to or greater than a specified distance, the second specified value is decreased compared to the case where the distance from the object is less than the specified distance. Thereby, it is possible to reduce the offset of the display position of the marker when the distance from the object is relatively large, and thus it is possible to more reliably suppress the discomfort felt by the occupant when the distance from the object is relatively large.

[0013] The fourth mode is configured such that, based on the first mode, when the change amount exceeds a second threshold value that is the second specified value, the display control unit sets the movement amount of the display position of the marker to be equal to or less than a preset upper limit value.

[0014] According to the fourth mode, when the accuracy of detecting the position of the object decreases, it is possible to suppress the vibratory change of the display position of the marker.

[0015] The fifth mode is configured such that, based on the first mode, when the change amount or the physical quantity exceeds the second specified value, the display control unit determines the display position of the marker based on the position information detected before the timing when the change amount or the physical quantity exceeds the second specified value.

[0016] When the situation where the change amount or the physical quantity exceeds the second specified value continues, if the position information detected after the timing when the change amount or the physical quantity exceeds the second specified value is used to determine the display position of the marker, it may result in a situation where the marker cannot be displayed at an appropriate position. In contrast, in the fifth mode, the display position of the marker is determined based on the position information detected before the timing when the change amount or the physical quantity exceeds the second specified value. Thereby, even when the situation where the change amount or the physical quantity exceeds the second specified value continues, it is possible to display the marker at an appropriate position.

[0017] The sixth mode is configured such that, based on the first mode, the first specified value and the second specified value are respectively set in the vehicle width direction and the vehicle vertical direction, and the display control unit is configured to: when the change amount or the physical quantity in the vehicle width direction is equal to or less than the first specified value in the vehicle width direction, set the display position of the mark in the vehicle width direction at a position corresponding to the position of the object in the vehicle width direction indicated by the position information; when the change amount or the physical quantity in the vehicle width direction exceeds the second specified value in the vehicle width direction, set the display position of the mark in the vehicle width direction in such a way as to restrict the movement of the display position of the mark in the vehicle width direction within the display area of the display device; and when the change amount or the physical quantity in the vehicle vertical direction is equal to or less than the first specified value in the vehicle vertical direction, set the display position of the mark in the vehicle vertical direction at a position corresponding to the position of the object in the vehicle vertical direction indicated by the position information; when the change amount or the physical quantity in the vehicle vertical direction exceeds the second specified value in the vehicle vertical direction, set the display position of the mark in the vehicle vertical direction in such a way as to restrict the movement of the display position of the mark in the vehicle vertical direction within the display area of the display device.

[0018] When the mark is displayed at a position corresponding to the position of the object, it is possible that the allowable position offset amount of the mark is different in the vehicle width direction and the vehicle vertical direction. In contrast, in the sixth mode, the first specified value and the second specified value are respectively set in the vehicle width direction and the vehicle vertical direction, and it is determined whether the change amount or the physical quantity is equal to or less than the first specified value or exceeds the second specified value in the vehicle width direction and the vehicle vertical direction. Thereby, even when the allowable position offset amount of the mark is different in the vehicle width direction and the vehicle vertical direction, the mark can be respectively displayed at appropriate positions in the vehicle width direction and the vehicle vertical direction.

[0019] The seventh mode is configured such that, based on the first mode, the display device is a head-up display (HUD).

[0020] According to the seventh mode, in the mode of displaying the mark in the display area of the HUD, when the accuracy of detecting the position of the object is reduced, the sense of discomfort brought to the occupant can be suppressed.

[0021] The eighth mode is configured such that, based on the first mode, the object is a preceding vehicle that is subjected to follow-up control by adaptive cruise control (ACC).

[0022] In the eighth mode, a mark is displayed at a position corresponding to the preceding vehicle that is subjected to follow-up control by ACC, so that the occupant can recognize the preceding vehicle that is subjected to follow-up control by ACC. Further, according to the present disclosure, even when the accuracy of detecting the position of the object is reduced, the position shift of the mark is suppressed, so that the sense of uneasiness of the occupant regarding the accuracy of ACC can be suppressed.

[0023] The display control method according to the ninth mode is executed by a computer, and the process includes: when the change amount of the position of the object represented by the position information output from the detection unit that detects the object or a physical quantity obtained based on the change amount is equal to or less than a first specified value, causing the display device to display a mark at a position corresponding to the position of the object represented by the position information within the display area; and when the change amount or the physical quantity exceeds a second specified value that is greater than the first specified value, restricting the movement of the display position of the mark within the display area of the display device.

[0024] According to the ninth mode, similar to the first mode, when the accuracy of detecting the position of the object is reduced, the sense of discomfort brought to the occupant can be suppressed.

[0025] The tenth mode relates to a computer-readable medium recording a display control program, and the display control program causes the computer to execute a process, the process including: when the change amount of the position of the object represented by the position information output from the detection unit that detects the object or a physical quantity obtained based on the change amount is equal to or less than a first specified value, causing the display device to display a mark at a position corresponding to the position of the object represented by the position information within the display area; and when the change amount or the physical quantity exceeds a second specified value that is greater than the first specified value, restricting the movement of the display position of the mark within the display area of the display device.

[0026] According to the tenth mode, similar to the first mode, when the accuracy of detecting the position of the object is reduced, the sense of discomfort brought to the occupant can be suppressed.

[0027] According to the above mode, when the accuracy of detecting the position of the object is reduced, the display control device, the display control method, and the computer-readable medium recording the display control program according to the present disclosure can suppress the sense of discomfort brought to the occupant. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] An exemplary embodiment will be described with reference to the following drawings, wherein

[0029] Figure 1 is a block diagram showing a schematic configuration of an in-vehicle system according to an embodiment;

[0030] Figure 2 is a functional block diagram of a camera unit and a display control ECU;

[0031] Figure 3 is an explanatory diagram showing a schematic configuration of an AR - HUD, etc.;

[0032] Figure 4 is a flowchart showing a display control process according to the first embodiment;

[0033] Figure 5 is a graph showing the relationship between the distance to a preceding vehicle and the allowable amount of position deviation of a following mark along the vertical direction of the vehicle;

[0034] Figure 6A is a schematic diagram showing a state where a mark is displayed at a position corresponding to a preceding vehicle;

[0035] Figure 6B is a schematic diagram showing a state where a mark is displayed at a position that is 2 - 3 m away from the position corresponding to a preceding vehicle in the vehicle width direction and is also offset by several meters in the vehicle vertical direction;

[0036] Figure 7 is a graph showing an example of the change in the error when a camera, as an example of a sensor, detects the position of a preceding vehicle;

[0037] Figure 8 is a flowchart showing a display control process according to the second embodiment;

[0038] Figure 9 is an explanatory diagram showing the configuration of the host vehicle and a preceding vehicle, etc. in an experiment conducted by the inventors of the present application, etc.;

[0039] Figure 10A is a schematic diagram showing the allowable amount of position deviation when the distance L of a mountain - shaped mark is 100 m;

[0040] Figure 10B is a schematic diagram showing the allowable amount of position deviation when the distance L of a flat - shaped mark is 100 m. Detailed Embodiment

[0041] Hereinafter, an example of an embodiment of the present disclosure will be described in detail with reference to the drawings.

[0042] 〔First Embodiment〕

[0043] As shown Figure 1 in FIG. 1, the vehicle-mounted system 10 according to the present embodiment includes a communication bus 12. A surrounding condition acquisition device group 14, a vehicle running state detection sensor group 26, an ADAS (Advanced Driver-Assistance Systems)-ECU (Electronic Control Unit) 34, and a display control ECU 42 are respectively connected to the communication bus 12. In addition, Figure 1 only a part of the vehicle-mounted system 10 is illustrated. Hereinafter, the vehicle equipped with the vehicle-mounted system 10 is referred to as the present vehicle.

[0044] The surrounding condition acquisition device group 14 includes devices such as a GNSS (Global Navigation Satellite System) device 16, a vehicle-mounted communication device 18, a navigation system 20, a radar device 22, and a camera unit 24 for acquiring information indicating the surrounding environment of the present vehicle.

[0045] The GNSS device 16 receives GNSS signals from multiple GNSS satellites to locate the position of the present vehicle. The vehicle-mounted communication device 18 performs at least one of vehicle-to-vehicle communication with other vehicles and vehicle-to-roadside communication with a roadside unit. The navigation system 20 includes a map information storage unit 20A that stores map information, and performs processing of displaying the position of the present vehicle on a map, determining a route to a destination, and guiding based on the position information obtained from the GNSS device 16 and the map information stored in the map information storage unit 20A.

[0046] The radar device 22 detects objects such as pedestrians and other vehicles existing around the present vehicle as point cloud information, and obtains the relative position and relative speed of the detected objects with respect to the present vehicle. In addition, the radar device 22 removes roadside objects such as noise and guide rails from the monitoring targets based on changes in the relative position and relative speed with respect to each object, and outputs information such as the relative position and relative speed of the monitoring target objects such as pedestrians and other vehicles.

[0047] The camera unit 24 captures the surroundings of the host vehicle using multiple cameras and outputs the captured images. Additionally, although not shown in the figure, the camera unit 24 incorporates a CPU (Central Processing Unit), a ROM (ReadOnly Memory), a RAM (Random Access Memory), and other memories, as well as a non-volatile storage unit such as an HDD (Hard Disk Drive) and an SSD (Solid State Drive). Stored in the storage unit is a prescribed program for causing the CPU of the camera unit 24 to function as a preceding vehicle detection unit 70 (refer to Figure 2 ). The preceding vehicle detection unit 70 identifies the preceding vehicle of the host vehicle captured in the image based on the images of the front of the host vehicle captured by the multiple cameras, and as position information, detects and outputs the distance between the host vehicle and the preceding vehicle and the relative position in the vehicle width direction. Additionally, the output cycle of the position information from the preceding vehicle detection unit 70 is, for example, 100 milliseconds.

[0048] In addition, the vehicle driving state detection sensor group 26 includes a steering angle sensor 28 that detects the steering angle of the host vehicle, a vehicle speed sensor 30 that detects the driving speed of the host vehicle, and an acceleration sensor 32 that detects the acceleration applied to the host vehicle as multiple sensors for obtaining the driving state of the vehicle.

[0049] The ADAS-ECU 34 is respectively connected to a throttle ACT 36 that changes the throttle opening degree of the host vehicle, a brake ACT 38 that changes the braking force generated by the braking device of the host vehicle, and a steering operation ACT 40 that changes the steering operation amount of the steering device of the host vehicle.

[0050] The ADAS-ECU 34 includes a CPU, a ROM, a RAM, and other memories, an HDD, an SSD, and other non-volatile storage units, and a communication I / F (Inter Face). ADAS software is stored in the storage unit. When the autonomous driving mode is selected by executing the autonomous driving software by the CPU, the ADAS-ECU 34 performs autonomous driving processing to automatically drive the host vehicle without any driving operation by the vehicle occupants.

[0051] The autonomous driving processing is a process of judging the situation of the host vehicle and its surroundings based on the information obtained from the peripheral situation acquisition device group 14 and the vehicle driving state detection sensor group 26, and controlling the throttle ACT 36, the brake ACT 38, and the steering operation ACT 40. An example of the autonomous driving processing is ACC that drives the host vehicle in a manner of following the preceding vehicle identified by the camera unit 24.

[0052] The display control ECU 42 includes a CPU 44, memories 46 such as a ROM and a RAM, a non-volatile storage unit 48 such as an HDD and an SSD, and a communication I / F 50. The CPU 44, the memories 46, the storage unit 48, and the communication I / F 50 are communicably connected to each other via an internal bus 52. A display control program 54 is stored in the storage unit 48. The display control ECU 42 reads the display control program 54 from the storage unit 48 and expands it in the memories 46, and the CPU 44 executes the display control program 54 expanded in the memories 46, thereby acting as Figure 2 the display control unit 72 shown in the figure and performing the display control process described later.

[0053] The display control ECU 42 is connected to an AR (Augmented Reality)-Head Up Display (hereinafter referred to as AR-HUD) 56 and an instrument display 68. The AR-HUD 56 according to the present embodiment is a small HUD that uses reflection on a windshield or the like to use a part of the front view of a user who is an occupant of the vehicle as a display area (imaged in the lower front of the foreground). In addition, the instrument display 68 is a display provided on the instrument panel of the vehicle. The display control ECU 42 controls the information display to the AR-HUD 56 and the instrument display 68.

[0054] As Figure 3 shown, the AR-HUD 56 includes a light source unit 58 composed of an LED (Light Emitting Diode) or the like, and a transmissive display unit 60 composed of an LCD (Liquid Crystal Display) or the like is disposed on the light emission side of the light source unit 58. A convex mirror 62 and a concave mirror 64 are sequentially disposed on the light emission side of the display unit 60, and the light that has passed through the display unit 60 is sequentially reflected by the convex mirror 62 and the concave mirror 64 and irradiated onto the windshield of the vehicle. The image ( Figure 6A such as the follow-up marker 76 shown in the figure) displayed on the display unit 60 of the AR-HUD 56 is designed with an optical system in such a manner that it is imaged on a virtual image plane 66 that is inclined with respect to the vehicle's up-and-down direction and floats in the air at a distance L1 to L2 from the user. Thereby, it is possible to make the user have an illusion that the image imaged on the virtual image plane 66 overlaps the road surface in front of the vehicle.

[0055] In addition, the display control ECU 42 is an example of the display control device and the display control unit in the present disclosure. In addition, the AR-HUD 56 is an example of a display device.

[0056] Next, as the operation of the first embodiment, with reference to Figure 4 the figure, the display control process executed by the display control ECU 42 (display control unit 72) during the period when the ignition switch of the vehicle is turned on will be described.

[0057] In step 100, the display control unit 72 asks the ADAS-ECU 34 whether ACC is being executed, and based on the result of the query, determines whether ACC is being executed by the ADAS-ECU 34. If the determination in step 100 is negative, step 100 is repeated until a positive determination is made. If the determination in step 100 is positive, the process moves to step 102.

[0058] In step 102, the display control unit 72 obtains the position information of the preceding vehicle for follow-up control by ACC from the preceding vehicle detection unit 70 of the camera unit 24. In step 104, the display control unit 72 calculates the change amount d (e.g., Euclidean distance) of the position of the preceding vehicle indicated by the position information obtained in step 102 with respect to the reference position stored in the memory 46 or the like. In addition, for the reference position, at the first execution of the display control process, the position of the preceding vehicle indicated by the position information obtained in step 102 is initially set.

[0059] In addition, in the present embodiment, a method of calculating the change amount d of the position of the preceding vehicle based on the position coordinates of the preceding vehicle indicated by the position information will be described. However, the display control unit 72 performs a process of converting the position coordinates of the preceding vehicle into the angle of the emitted light from the AR-HUD 56 and converting the obtained angle into the coordinates of the display position on the display unit 60 of the AR-HUD 56. Therefore, the change amount d of the position of the preceding vehicle and the thresholds TH1 and TH2 described later can be defined by the angle of the emitted light from the AR-HUD 56 or by the coordinates of the display position on the display unit 60.

[0060] In addition, as an example, as Figure 5 shown, in the present embodiment, the relationship between the distance L and the position offset is preset such that the allowable position offset of the follow-up mark 76 decreases as the distance L from the preceding vehicle increases. In addition, Figure 5 the relationship shown is obtained, for example, through the experiment described later. In step 106, the display control unit 72 calculates the first threshold TH1 corresponding to the distance L from the preceding vehicle included in the position information obtained from the preceding vehicle detection unit 70 based on the relationship between the distance L and the position offset.

[0061] In step 108, the display control unit 72 determines whether the moving average of the position change amount d calculated in step 104 exceeds the first threshold value TH1 calculated in step 106. If the determination in step 108 is negative, the process proceeds to step 110. In step 110, the display control unit 72 determines whether the position change amount d calculated in step 104 exceeds the second threshold value TH2. The second threshold value TH2 is preset such that the second threshold value TH2 < the first threshold value TH1.

[0062] If the determinations in steps 108 and 110 are respectively negative, the process proceeds to step 112. Further, in step 112, the display control unit 72 sets, as the display position of the following mark 76 on the AR-HUD 56, a position corresponding to the position of the preceding vehicle indicated by the position information acquired in step 102 (for example, a position corresponding to the lower end of the preceding vehicle). If the process of step 112 is performed, the process proceeds to step 116. In step 116, the display control unit 72 sets the display position of the following mark 76 to the reference position. Further, in step 120, the display control unit 72 causes the following mark 76 to be displayed at the display position set in step 112.

[0063] In this way, when the change amount d of the position of the preceding vehicle indicated by the position information is equal to or less than the second threshold value TH2 (the second threshold value TH2 in this case is an example of the first specified value), the following mark 76 is displayed at a position corresponding to the position of the preceding vehicle indicated by the position information within the display area of the AR-HUD 56.

[0064] On the other hand, if the determination in step 110 is affirmative, the process proceeds to step 114. In step 114, the display control unit 72 sets, as the display position of the following mark 76 on the AR-HUD 56, a position within a distance of the second threshold value TH2 or less from the reference position. If the process of step 114 is performed, the process proceeds to step 116. In step 116, the display control unit 72 sets the display position of the following mark 76 to the reference position. Further, in step 120, the display control unit 72 causes the following mark 76 to be displayed at the display position set in step 114.

[0065] In this way, when the change amount d of the position of the preceding vehicle indicated by the position information satisfies the second threshold value TH2 < the change amount d ≤ the first threshold value TH1, the movement amount of the display position of the following mark 76 on the display area of the AR-HUD 56 is limited to within the second threshold value TH2. Thus, even when the position information input from the preceding vehicle detection unit 70 is, for example, like Figure 7Even when changes occur as shown in period A, the vibration change of the follow-up marker 76 in the display area of the AR-HUD 56 is suppressed. In addition, the second threshold TH2 in the above processing is an example of the second specified value and the upper limit value in the present disclosure.

[0066] On the other hand, if the determination in step 108 is affirmative, the process proceeds to step 118. In step 118, the display control unit 72 sets the current position of the follow-up marker 76 as the display position of the follow-up marker 76 on the AR-HUD 56. If the process of step 110 is performed, the process proceeds to step 120. In step 120, the display control unit 72 causes the follow-up marker 76 to be displayed at the display position set in step 118. Then, if the process of step 120 is performed, the process returns to step 100.

[0067] In this way, when the change amount d of the position of the preceding vehicle indicated by the position information is such that d > the first threshold TH1, the movement amount of the display position of the follow-up marker 76 on the display area of the AR-HUD 56 is set to 0. Thus, even when the value of the preceding vehicle is lost as shown in period B in the position information input from the preceding vehicle detection unit 70, the follow-up marker 76 is suppressed from being displayed at a position far from the position corresponding to the preceding vehicle in the display area of the AR-HUD 56. In addition, the first threshold TH2 in the above processing is an example of the second specified value. Figure 7 Even when changes occur as shown in period B, the vibration change of the follow-up marker 76 in the display area of the AR-HUD 56 is suppressed. In addition, the first threshold TH2 in the above processing is an example of the second specified value.

[0068] In addition, when d > the first threshold TH1, the reference position is not updated. Therefore, when the state where d > the first threshold TH1 continues, the display position of the follow-up marker 76 is determined based on the position information detected before the timing when d > the first threshold TH1. Thus, even when the state where d > the first threshold TH1 continues, the follow-up marker 76 can be displayed at an appropriate position.

[0069] As described above, in the first embodiment, the display control unit 72 (display control ECU 42) is input with position information indicating the position of the preceding vehicle from the preceding vehicle detection unit 70. Further, when the amount of change in the position of the preceding vehicle or a physical quantity obtained based on the amount of change is equal to or less than a first specified value, a following mark 76 is caused to be displayed at a position corresponding to the position of the preceding vehicle indicated by the position information within the display area of the AR-HUD 56. On the other hand, when the amount of change in the position of the preceding vehicle or a physical quantity obtained based on the amount of change exceeds a second specified value that is greater than the first specified value, the movement of the display position of the following mark 76 within the display area of the AR-HUD 56 is restricted. Thereby, when the accuracy of detecting the position of the preceding vehicle decreases, it is possible to suppress the following mark 76 from being displayed at a position far from the position corresponding to the preceding vehicle and the display position of the following mark 76 from changing vibrantly, and thus suppress the discomfort felt by the occupant.

[0070] Further, in the first embodiment, when the mean value or standard deviation of the above-described amount of change, which is a physical quantity obtained based on the amount of change in the position of the preceding vehicle, exceeds a first threshold value TH1 that is the second specified value, the display control unit 72 stops the movement of the display position of the following mark 76. Thereby, when the accuracy of detecting the position of the preceding vehicle decreases, it is possible to suppress the following mark 76 from being displayed at a position far from the position corresponding to the preceding vehicle.

[0071] Further, in the first embodiment, when the distance L to the preceding vehicle is equal to or greater than a specified distance, the display control unit 72 decreases the first threshold value TH1 compared to when the distance L to the preceding vehicle is less than the specified distance. Thereby, it is possible to reduce the amount of deviation of the position of the following mark 76 when the distance L to the preceding vehicle is relatively large, and it is possible to more reliably suppress the discomfort felt by the occupant when the distance L to the preceding vehicle is relatively large.

[0072] Further, in the first embodiment, when the amount of change in the position of the preceding vehicle exceeds a second threshold value TH2 that is the second specified value, the display control unit 72 sets the amount of movement of the display position of the following mark 76 to be equal to or less than a preset upper limit value. Thereby, when the accuracy of detecting the position of the preceding vehicle decreases, it is possible to suppress the display position of the following mark 76 from changing vibrantly.

[0073] In addition, in the first embodiment, when the amount of change in the position of the preceding vehicle or the physical quantity calculated based on the amount of change exceeds a second specified value, the display control unit 72 determines the display position of the following mark 76 based on the position information detected before the time when the amount of change or the physical quantity exceeds the second specified value. Thereby, even when the situation where the amount of change or the physical quantity exceeds the second specified value continues, the following mark 76 can be displayed at an appropriate position.

[0074] In addition, in the first embodiment, as the display device in the present disclosure, the AR-HUD 56 is applied. Thus, in this mode where the following mark 76 is displayed in the display area of the AR-HUD 56, when the accuracy of detecting the position of the preceding vehicle decreases, the sense of discomfort brought to the occupant can be suppressed.

[0075] In addition, in the first embodiment, the preceding vehicle is a preceding vehicle that performs following control by ACC. Thereby, the occupant can recognize the preceding vehicle that performs following control by ACC, and the sense of uneasiness about the accuracy of ACC brought to the occupant can be suppressed.

[0076] 〔Second Embodiment〕

[0077] Next, a second embodiment of the present disclosure will be described. In addition, the second embodiment has the same structure as the first embodiment, so the same reference numerals are assigned to each part and the description of the structure is omitted. Hereinafter, with reference to Figure 8 , the display control process according to the second embodiment will be described. In addition, in the second embodiment, the vehicle width direction is referred to as the x direction, and the vehicle up-and-down direction is referred to as the y direction.

[0078] In the display control process according to the second embodiment, if the position information of the preceding vehicle is obtained in step 102, the process proceeds to step 122. In step 122, the display control unit 72 calculates the change amount dx in the x direction of the position of the preceding vehicle indicated by the position information obtained in step 102 with respect to the reference position. In step 124, the display control unit 72 calculates, as the first threshold values corresponding to the distance L from the preceding vehicle, the first threshold value THx1 in the x direction and the first threshold value THy1 in the y direction based on the relationship between the distance L and the position offset amount (refer to Figure 5 ).

[0079] In step 126, the display control unit 72 determines whether the moving average of the position change amount dx in the x direction calculated in step 122 exceeds the first threshold THx1 in the x direction calculated in step 124. If the determination in step 126 is negative, the process proceeds to step 128. In step 128, the display control unit 72 determines whether the position change amount dx in the x direction calculated in step 122 exceeds the second threshold THx2 in the x direction. In addition, the second threshold THx2 is preset such that the second threshold THx2 in the x direction < the first threshold THx1 in the x direction.

[0080] If the determinations in steps 126 and 128 are respectively negative, the process proceeds to step 130. Moreover, in step 130, the display control unit 72 sets the position in the x direction corresponding to the position of the preceding vehicle indicated by the position information acquired in step 102 as the display position of the following mark 76 in the x direction of the AR-HUD 56. If the process of step 130 is performed, the process proceeds to step 134. In step 134, the display control unit 72 sets the display position of the following mark 76 in the x direction to the reference position in the x direction.

[0081] In addition, if the determination in step 128 is affirmative, the process proceeds to step 132. In step 114, the display control unit 72 sets the position within the second threshold THx2 from the reference position in the x direction in the x direction as the display position of the following mark 76 in the x direction of the AR-HUD 56. If the process of step 132 is performed, the process proceeds to step 134. In step 134, the display control unit 72 sets the display position of the following mark 76 in the x direction to the reference position in the x direction.

[0082] On the other hand, if the determination in step 126 is affirmative, the process proceeds to step 136. In step 136, the display control unit 72 sets the current position of the following mark 76 in the x direction as the display position of the following mark 76 in the x direction of the AR-HUD 56. If the process of step 136 is performed, the process proceeds to step 138.

[0083] In step 138, the display control unit 72 calculates the change amount dy in the y direction of the position of the preceding vehicle indicated by the position information acquired in step 102 with respect to the reference position. In step 140, the display control unit 72 determines whether the moving average of the position change amount dy in the y direction calculated in step 122 exceeds the first threshold THy1 in the y direction calculated in step 124.

[0084] In the case where the determination in step 140 is negated, move to step 142. In step 142, the display control unit 72 determines whether the amount of position change dy in the y direction calculated in step 138 exceeds the second threshold THy2 in the y direction. Further, the second threshold THy2 is preset such that the second threshold THy2 in the y direction < the first threshold THy1 in the y direction.

[0085] In the case where the determinations in steps 140 and 142 are respectively negated, move to step 144. Moreover, in step 144, the display control unit 72 sets the position in the y direction corresponding to the position of the preceding vehicle indicated by the position information acquired in step 102 as the display position of the follow-up mark 76 in the y direction of the AR-HUD 56. If the process of step 144 is performed, move to step 148. In step 148, the display control unit 72 sets the display position of the follow-up mark 76 in the y direction to the reference position in the y direction.

[0086] In addition, in the case where the determination in step 142 is affirmed, move to step 146. In step 146, the display control unit 72 sets the position within the second threshold THy2 from the reference position in the y direction in the y direction as the display position of the follow-up mark 76 in the y direction of the AR-HUD 56. If the process of step 146 is performed, move to step 148. In step 148, the display control unit 72 sets the display position of the follow-up mark 76 in the y direction to the reference position in the y direction.

[0087] On the other hand, in the case where the determination in step 140 is affirmed, move to step 150. In step 150, the display control unit 72 sets the current position of the follow-up mark 76 in the y direction as the display position of the follow-up mark 76 in the y direction of the AR-HUD 56. If the process of step 150 is performed, move to step 152.

[0088] In step 152, the display control unit 72 causes the follow-up mark 76 to be displayed at a position corresponding to the display position in the x direction set in step 130 or 134 or 136 and the display position in the y direction set in step 144 or 146 or 150. If the process of step 152 is performed, return to step 100.

[0089] When the following mark 76 is displayed at a position corresponding to the preceding vehicle, it is possible that the allowable position offset of the following mark 76 is different in the x-direction and the y-direction. In contrast, in the second embodiment, a first specified value (second threshold value) and a second specified value (first threshold value) are respectively set in the x-direction and the y-direction, and it is determined whether the position change amount dx or its moving average value is less than or equal to the first specified value or exceeds the second specified value in the x-direction and the y-direction, respectively. Thus, even when the allowable position offset of the following mark 76 is different in the x-direction and the y-direction, the following mark 76 can be displayed at appropriate positions in the x-direction and the y-direction, respectively.

[0090] In addition, in the above-described embodiment, an example of a method that combines a method of stopping the movement of the following mark 76 when the moving average value of the position change amount d exceeds the first threshold value (an example of the second specified value) and a method of restricting the movement amount of the mark when the position change amount d exceeds the second threshold value (an example of the second specified value) has been described. However, the above two methods can also be implemented independently. In this case, for example, it can be set that the first specified value = the second specified value.

[0091] In addition, in the above-described embodiment, a method of using the moving average value as an example of a physical quantity obtained from the change amount of the position of the object has been described, but the present disclosure is not limited thereto, and a standard deviation or the like can be used instead of the moving average value.

[0092] In addition, in the above-described embodiment, a method of applying the preceding vehicle that performs following control by ACC as an example of the object in the present disclosure has been described, but the object in the present disclosure is not limited to the preceding vehicle. For example, it can also be a pedestrian or the like.

[0093] In addition, in the above-described embodiment, a method of displaying the following mark 76 or the like at a position corresponding to an object included in the foreground of the vehicle visually recognized through the display area of the AR-HUD 56 has been described, but the present disclosure is not limited thereto. For example, the AR-HUD 56 can be configured to display an image simulating the foreground of the own vehicle in the display area of the AR-HUD 56, and the following mark 76 or the like can be displayed at a position corresponding to an object included in the image simulating the foreground of the own vehicle.

[0094] In addition, the mark in the present disclosure is not limited to Figure 6A and Figure 6B the rod-shaped following mark 76 shown, and for example, a mountain-shaped mark 78, a flat-shaped mark 80, or a mark of other shapes shown in Figure 9 etc. can also be applied.

[0095] In addition, in the above-described embodiments, an example of using the AR-HUD 56 as a display device in the present disclosure has been described. However, the present disclosure is not limited thereto, and the display device in the present disclosure may also be an instrument display 68.

[0096] Moreover, in the above, an example of pre-storing (installing) a display control program 54, which is an example of a display control program related to the present disclosure, in the storage unit 48 has been described. However, the display control program related to the present disclosure can also be provided in a form recorded on a non-temporary recording medium such as an HDD, SSD, or DVD.

[0097] Regarding the above embodiments, the following remarks are also disclosed.

[0098] (Remark 1)

[0099] A display control device, including a display control unit configured to: when a change amount of the position of the object represented by the position information output from a detection unit of a detection target object or a physical quantity obtained based on the change amount is equal to or less than a first specified value, cause a display device to display a marker at a position corresponding to the position of the object represented by the position information within a display area; and when the change amount or the physical quantity exceeds a second specified value that is greater than the first specified value, restrict movement of the display position of the marker within the display area of the display device.

[0100] (Remark 2)

[0101] According to the display control device described in Remark 1, when an average value or a standard deviation of the change amount, which is the physical quantity, exceeds a first threshold value that is the second specified value, the display control unit stops movement of the display position of the marker.

[0102] (Remark 3)

[0103] According to the display control device described in Remark 2, when the distance from the object is equal to or greater than a specified distance, the display control unit reduces the second specified value compared to the case where the distance from the object is less than the specified distance.

[0104] (Remark 4)

[0105] According to the display control device described in any one of Remarks 1 to 3, when the change amount exceeds a second threshold value that is the second specified value, the display control unit makes the movement amount of the display position of the marker equal to or less than a preset upper limit value.

[0106] (Remark 5)

[0107] The display control device according to any one of Notes 1 to 4, wherein when the change amount or the physical quantity exceeds the second specified value, the display control unit determines the display position of the mark based on the position information detected before the change amount or the physical quantity exceeds the second specified value.

[0108] (Note 6)

[0109] The display control device according to any one of Notes 1 to 5, wherein the first specified value and the second specified value are respectively set in the vehicle width direction and the vehicle vertical direction, and the display control unit is configured to: when the change amount or the physical quantity in the vehicle width direction is equal to or less than the first specified value in the vehicle width direction, set the display position of the mark in the vehicle width direction at a position corresponding to the position of the object in the vehicle width direction indicated by the position information; when the change amount or the physical quantity in the vehicle width direction exceeds the second specified value in the vehicle width direction, set the display position of the mark in the vehicle width direction in such a way as to limit the movement of the display position of the mark in the vehicle width direction within the display area of the display device; and when the change amount or the physical quantity in the vehicle vertical direction is equal to or less than the first specified value in the vehicle vertical direction, set the display position of the mark in the vehicle vertical direction at a position corresponding to the position of the object in the vehicle vertical direction indicated by the position information; when the change amount or the physical quantity in the vehicle vertical direction exceeds the second specified value in the vehicle vertical direction, set the display position of the mark in the vehicle vertical direction in such a way as to limit the movement of the display position of the mark in the vehicle vertical direction within the display area of the display device.

[0110] (Note 7)

[0111] The display control device according to any one of Notes 1 to 6, wherein the display device is a head-up display.

[0112] (Note 8)

[0113] The display control device according to any one of Notes 1 to 7, wherein the object is a preceding vehicle that is subjected to follow-up control by adaptive cruise control.

[0114] (Note 9)

[0115] A display control method, wherein the display control method performs processing through a computer, and the processing includes: when a change amount of the position of the object represented by the position information output from a detection unit of a detection object or a physical quantity obtained based on the change amount is equal to or less than a first specified value, causing a display device to display a mark at a position corresponding to the position of the object represented by the position information within a display area; and when the change amount or the physical quantity exceeds a second specified value that is greater than the first specified value, restricting the movement of the display position of the mark within the display area of the display device.

[0116] (Note 10)

[0117] According to the display control method described in Note 9, wherein when the mean value or the standard deviation of the change amount, which is the physical quantity, exceeds a first threshold value that is the second specified value, the movement of the display position of the mark is stopped.

[0118] (Note 11)

[0119] According to the display control method described in Note 10, wherein when the distance from the object is equal to or greater than a specified distance, the second specified value is reduced as compared with the case where the distance from the object is less than the specified distance.

[0120] (Note 12)

[0121] According to the display control method described in any one of Notes 9 to 11, wherein when the change amount exceeds a second threshold value that is the second specified value, the movement amount of the display position of the mark is made equal to or less than a preset upper limit value.

[0122] (Note 13)

[0123] According to the display control method described in any one of Notes 9 to 12, wherein when the change amount or the physical quantity exceeds the second specified value, the display position of the mark is determined based on the position information detected before the timing when the change amount or the physical quantity exceeds the second specified value.

[0124] (Note 14)

[0125] A display control method according to any one of Notes 9 to 13, wherein the first specified value and the second specified value are respectively set in the vehicle width direction and the vehicle vertical direction, and when the change amount or the physical quantity in the vehicle width direction is equal to or less than the first specified value in the vehicle width direction, the display position of the above-mentioned mark in the vehicle width direction is set at a position corresponding to the position of the above-mentioned object in the vehicle width direction indicated by the above-mentioned position information, and when the change amount or the physical quantity in the vehicle width direction exceeds the second specified value in the vehicle width direction, the display position of the above-mentioned mark in the vehicle width direction is set in such a way as to restrict the movement of the display position of the above-mentioned mark in the vehicle width direction within the display area of the above-mentioned display device, and further, when the change amount or the physical quantity in the vehicle vertical direction is equal to or less than the first specified value in the vehicle vertical direction, the display position of the above-mentioned mark in the vehicle vertical direction is set at a position corresponding to the position of the above-mentioned object in the vehicle vertical direction indicated by the above-mentioned position information, and when the change amount or the physical quantity in the vehicle vertical direction exceeds the second specified value in the vehicle vertical direction, the display position of the above-mentioned mark in the vehicle vertical direction is set in such a way as to restrict the movement of the display position of the above-mentioned mark in the vehicle vertical direction within the display area of the above-mentioned display device.

[0126] (Note 15)

[0127] A display control method according to any one of Notes 9 to 14, wherein the above-mentioned display device is a head-up display.

[0128] (Note 16)

[0129] A display control method according to any one of Notes 9 to 15, wherein the above-mentioned object is a preceding vehicle that is subjected to follow-up control by adaptive cruise control.

[0130] (Note 17)

[0131] A display control program, wherein,

[0132] The above-mentioned display control program is used to cause a computer to execute a process, and the process includes:

[0133] When the change amount of the position of the object represented by the position information output from the detection unit of the object to be detected or a physical quantity obtained based on the change amount is equal to or less than a first specified value, a display device is caused to display a mark at a position corresponding to the position of the object represented by the position information within a display area. When the change amount or the physical quantity exceeds a second specified value that is greater than the first specified value, the movement of the display position of the mark within the display area of the display device is restricted.

[0134] (Note 18)

[0135] According to the display control program described in Note 17, wherein when the average value or the standard deviation of the change amount as the physical quantity exceeds a first threshold value as the second specified value, the movement of the display position of the mark is stopped.

[0136] (Note 19)

[0137] According to the display control program described in Note 18, wherein when the distance from the object is equal to or greater than a specified distance, the second specified value is reduced as compared with the case where the distance from the object is less than the specified distance.

[0138] (Note 20)

[0139] According to the display control program described in any one of Notes 17 to 19, wherein when the change amount exceeds a second threshold value as the second specified value, the movement amount of the display position of the mark is made equal to or less than a preset upper limit value.

[0140] (Note 21)

[0141] According to the display control program described in any one of Notes 17 to 20, wherein when the change amount or the physical quantity exceeds the second specified value, the display position of the mark is determined based on the position information detected before the timing when the change amount or the physical quantity exceeds the second specified value.

[0142] (Note 22)

[0143] A display control program according to any one of Notes 17 to 21, wherein the first specified value and the second specified value are respectively set in the vehicle width direction and the vehicle vertical direction, and when the change amount or the physical quantity in the vehicle width direction is equal to or less than the first specified value in the vehicle width direction, the display position of the above-mentioned mark in the vehicle width direction is set at a position corresponding to the position of the above-mentioned object in the vehicle width direction indicated by the above-mentioned position information, and when the change amount or the physical quantity in the vehicle width direction exceeds the second specified value in the vehicle width direction, the display position of the above-mentioned mark in the vehicle width direction is set in such a way as to restrict the movement of the display position of the above-mentioned mark in the vehicle width direction within the display area of the above-mentioned display device, and further, when the change amount or the physical quantity in the vehicle vertical direction is equal to or less than the first specified value in the vehicle vertical direction, the display position of the above-mentioned mark in the vehicle vertical direction is set at a position corresponding to the position of the above-mentioned object in the vehicle vertical direction indicated by the above-mentioned position information, and when the change amount or the physical quantity in the vehicle vertical direction exceeds the second specified value in the vehicle vertical direction, the display position of the above-mentioned mark in the vehicle vertical direction is set in such a way as to restrict the movement of the display position of the above-mentioned mark in the vehicle vertical direction within the display area of the above-mentioned display device.

[0144] (Note 23)

[0145] A display control program according to any one of Notes 17 to 22, wherein the above-mentioned display device is a head-up display.

[0146] (Note 24)

[0147] A display control method according to any one of Notes 17 to 23, wherein the above-mentioned object is a preceding vehicle that is subjected to follow-up control by adaptive cruise control.

[0148]

Embodiment

[0149] Hereinafter, the experiments conducted by the inventors of the present application will be described. In this experiment, as Figure 9 shown, the vehicle in which the test subject person is riding is placed on the test road, and the preceding vehicle is placed on the test road in front of the vehicle. In addition, through the AR-HUD 56 of the vehicle, a follow-up mark is superimposed and displayed at a position in the foreground of the vehicle corresponding approximately to the preceding vehicle. Further, as the superimposed follow-up marks, Figure 9The chevron-shaped marker 78 and the flat-shaped marker 80 shown. Moreover, the display position of the following marker is changed in the vehicle up-and-down direction, and the test subject is made to evaluate whether the following marker is recognized as a position shift at each display position. The position of the preceding vehicle is moved within the range of 30 to 100 m in front of the own vehicle, and this is performed separately for a plurality of test subjects.

[0150] As a result of the experiment, Figure 10A shows the position shift allowance at a distance L = 100 m between the own vehicle and the preceding vehicle when the chevron-shaped marker 78 is used as the following marker. In addition, Figure 10B shows the position shift allowance at a distance L = 100 m between the own vehicle and the preceding vehicle when the flat-shaped marker 80 is used as the following marker. As shown in Figure 10A , Figure 10B It can be seen from this experiment that in the upper direction in the vehicle up-and-down direction, the position shift allowance of the flat-shaped marker 80 is larger than that of the chevron-shaped marker 78, and in the lower direction, the position shift allowance of the chevron-shaped marker 78 is larger than that of the flat-shaped marker 80.

[0151] In addition, the relationship between the distance L between the own vehicle and the preceding vehicle and the position shift allowance of the following marker when the chevron-shaped marker 78 is used is as shown in Figure 5 From the result, it can be seen that when the marker is displayed at a position corresponding to the position of an object such as a preceding vehicle, the allowable position shift amount of the marker becomes smaller as the distance from the object becomes larger.

Claims

1. A display control device, wherein: The display control device includes a display control unit, which is configured as follows: When a change in the position of an object represented by position information output from a detection unit for detecting the object or a physical quantity calculated based on the change is less than a first prescribed value, a display device displays a mark at a position within a display area that corresponds to the position of the object represented by the position information, and when the change or the physical quantity exceeds a second prescribed value that is greater than the first prescribed value, movement of the display position of the mark within the display area of ​​the display device is restricted.

2. The display control device according to claim 1, wherein: The display control unit stops the movement of the display position of the mark when the mean or the standard deviation of the change amount as the physical quantity exceeds the first threshold value as the second predetermined value.

3. The display control device according to claim 2, wherein: When the distance to the object is equal to or greater than a predetermined distance, the display control unit decreases the second predetermined value compared to when the distance to the object is less than the predetermined distance.

4. The display control device according to claim 1, wherein: When the amount of change exceeds a second threshold value serving as the second predetermined value, the display control unit controls the amount of movement of the display position of the mark to be equal to or less than a preset upper limit value.

5. The display control device according to claim 1, wherein: When the amount of change or the physical quantity exceeds the second predetermined value, the display control unit determines a display position of the mark based on position information detected before the amount of change or the physical quantity exceeds the second predetermined value.

6. The display control device according to claim 1, wherein: The first predetermined value and the second predetermined value are set in the vehicle width direction and the vehicle up-down direction, respectively. The display control unit is configured as follows: When the amount of change or the physical quantity in the vehicle width direction is less than a first prescribed value in the vehicle width direction, the display position of the mark in the vehicle width direction is set to a position corresponding to the position of the object in the vehicle width direction indicated by the position information, and when the amount of change or the physical quantity in the vehicle width direction exceeds a second prescribed value in the vehicle width direction, the display position of the mark in the vehicle width direction is set in a manner that limits movement of the display position of the mark in the vehicle width direction within a display area of ​​the display device, and, When the amount of change or the physical quantity in the up-down direction of the vehicle is less than the first prescribed value in the up-down direction of the vehicle, the display position of the mark in the up-down direction of the vehicle is set to a position corresponding to the position of the object in the up-down direction of the vehicle represented by the position information; when the amount of change or the physical quantity in the up-down direction of the vehicle exceeds the second prescribed value in the up-down direction of the vehicle, the display position of the mark in the up-down direction of the vehicle is set in a manner that limits the movement of the display position of the mark in the up-down direction of the vehicle within the display area of ​​the display device.

7. The display control device according to claim 1, wherein: The display device is a head-up display.

8. The display control device according to claim 1, wherein: The target object is a preceding vehicle that is being followed by the adaptive cruise control.

9. A display control method, wherein: The display control method is executed by a computer, and the process includes: When a change in the position of an object represented by position information output from a detection unit for detecting the object or a physical quantity calculated based on the change is less than a first prescribed value, a display device displays a mark at a position within a display area that corresponds to the position of the object represented by the position information, and when the change or the physical quantity exceeds a second prescribed value that is greater than the first prescribed value, movement of the display position of the mark within the display area of ​​the display device is restricted.

10. A computer readable medium, wherein: The computer-readable medium records a display control program, which is used to cause a computer to execute a process, the process comprising: When a change in the position of an object represented by position information output from a detection unit for detecting the object or a physical quantity calculated based on the change is less than a first prescribed value, a display device displays a mark at a position within a display area that corresponds to the position of the object represented by the position information, and when the change or the physical quantity exceeds a second prescribed value that is greater than the first prescribed value, movement of the display position of the mark within the display area of ​​the display device is restricted.

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